End effector and surgical instrument

Abstract

The application relates to an end instrument and a surgical instrument. The end instrument comprises a base, a joint assembly and a sensor assembly. The base is connected with a connecting rod. The joint assembly is movably connected to one end of the base away from the connecting rod and can move relative to the base. The sensor assembly is arranged on the joint assembly and is used for detecting the motion state of the joint assembly. Thus, during surgery, the surgical robot can detect the motion state of the joint assembly in real time through the sensor assembly, the surgical robot can be adjusted in real time according to the real-time motion state of the joint assembly, the motion precision of the joint assembly (distal joint) is improved, and the precise control of the joint assembly by the surgical robot is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical surgical equipment, in particular to a terminal instrument and a surgical instrument. BACKGROUND

[0002] With the application of surgical robots, modern surgery has entered the era of minimally invasive surgery. Among them, the laparoscopic surgical robot system is the most commonly used equipment for laparoscopic surgery. The surgical instrument of the laparoscopic surgical robot system is divided into a remote position, a middle position and a near position. The remote position is the surgical operation position, the near position is the integrated position of the remote driving component, and the middle position is the connection and support position. The plurality of driving shafts of the instrument near position correspond to the plurality of joints of the instrument remote position (actuator), each driving shaft is associated with the corresponding remote joint through a driving rope, and the implementation form is that one end of each pair of driving ropes is fixed with the remote joint, and the other end is fixed with the corresponding driving shaft. The movement demand of the remote joint is realized through rope driving. In order to realize the accurate surgery of the instrument, the endoscope or ultrasonic image is often used to position the instrument terminal in the related technology, but the endoscope is easy to be blocked, and the accuracy of the ultrasonic image is limited, so that the laparoscopic surgical robot cannot accurately control the remote joint. SUMMARY

[0003] Therefore, it is necessary to provide a terminal instrument and a surgical instrument aiming at the problem of low motion control precision of the remote joint of the laparoscopic surgical robot system.

[0004] In a first aspect, an embodiment of the present application provides a terminal instrument for assembling with a connecting rod of a surgical instrument, the terminal instrument comprising a base, a joint assembly and a sensor assembly.

[0005] The base is connected with the connecting rod. The joint assembly is movably connected to one end of the base away from the connecting rod and can move relative to the base. The sensor assembly is arranged on the joint assembly, and the sensor assembly is used to detect the motion state of the joint assembly.

[0006] In one embodiment, the joint assembly comprises a joint and an actuating mechanism arranged on the joint, and the joint is rotatably connected with the base.

[0007] The sensor assembly comprises a first sensor arranged between the joint and the base, and the first sensor is used to detect the rotation angle of the joint.

[0008] In one embodiment, the actuating mechanism is rotatably connected with the joint.

[0009] The sensor assembly comprises a second sensor arranged between the actuating mechanism and the joint, and the second sensor is used to detect the rotation angle of the actuating mechanism.

[0010] In one of the embodiments, the base is provided with a first rotating shaft extending in a first direction, and the joint is rotatably arranged on the first rotating shaft; the joint is provided with a second rotating shaft extending in a second direction, and the actuating mechanism is rotatably arranged on the second rotating shaft.

[0011] The first direction and the second direction are perpendicular to each other and both are perpendicular to the extending direction of the connecting rod.

[0012] In one of the embodiments, the joint comprises a main body, a connecting part and an assembling part, the connecting part and the assembling part are connected to opposite ends of the main body; the connecting part is sleeved on the first rotating shaft, and the second rotating shaft is arranged on the assembling part.

[0013] In one of the embodiments, the first sensor is an electromagnetic sensor.

[0014] The first sensor comprises a first magnetic ring and a first reading head which cooperate with each other; the first magnetic ring is sleeved on the first rotating shaft and fixedly connected with the connecting part; and the first reading head is fixed on the base.

[0015] In one of the embodiments, the base comprises a base body and two extending parts arranged on the base body, the base body is connected with the connecting rod, and the two extending parts are arranged at intervals at one end of the base body away from the connecting rod; and two ends of the first rotating shaft are respectively connected to the two extending parts.

[0016] In one of the embodiments, one side of one of the extending parts close to the first rotating shaft is provided with a boss, the boss is provided with a first clamping groove, and the first reading head is located in the first clamping groove.

[0017] In one of the embodiments, the extending part connected with the boss is provided with a first wire slot, the base body is provided with a first lead hole in communication with the first wire slot; and a lead of the first reading head is arranged in the first wire slot and the first lead hole.

[0018] In one of the embodiments, the second sensor is an electromagnetic sensor.

[0019] The second sensor comprises a second magnetic ring and a second reading head which cooperate with each other; the second magnetic ring is sleeved on the second rotating shaft and fixedly connected with the actuating mechanism; and the second reading head is fixed on the assembling part.

[0020] In one of the embodiments, the number of the assembling parts is two, the two assembling parts are arranged at intervals at one end of the main body away from the connecting part, and two ends of the second rotating shaft are respectively connected to the two assembling parts.

[0021] A fixing part is provided on the side of the assembly part near the second rotating shaft, and a second slot is provided on the fixing part, and the second reading head is located in the second slot.

[0022] In one embodiment, the assembly part connected to the fixing part is provided with a second wire groove, and the main body part is provided with a second lead hole communicating with the second wire groove; the lead of the second reading head passes through the second wire groove and the second lead hole.

[0023] Secondly, embodiments of this application provide a surgical instrument, including an instrument box, a connecting rod, and an end effector as described in the first aspect;

[0024] One end of the connecting rod is connected to the instrument box, and the other end of the connecting rod is connected to the end instrument.

[0025] The aforementioned end effector and surgical instruments integrate sensor components on the joint components to detect the motion state of the joint components. In this way, during surgery, the surgical robot can detect the motion state of the joint components in real time through the sensor components, which facilitates the surgical robot to make real-time adjustments based on the real-time motion of the joint components, thereby improving the motion accuracy of the joint components (distal joints) and ultimately achieving precise control of the joint components by the surgical robot. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a surgical instrument provided in one embodiment of this application;

[0028] Figure 2 for Figure 1 A schematic diagram of the end effector in the image;

[0029] Figure 3 for Figure 2 A schematic diagram of the base and joints from a first-view perspective;

[0030] Figure 4 for Figure 3 A schematic diagram of the base structure;

[0031] Figure 5 for Figure 3 A schematic diagram of the joint and the first sensor in the diagram;

[0032] Figure 6 for Figure 2 A schematic diagram of the joint components in the diagram;

[0033] Figure 7 for Figure 6 Partial structural diagram;

[0034] Figure 8 for Figure 6 A schematic diagram of the joint structure in the diagram;

[0035] Figure 9 for Figure 7 A schematic diagram of the structure of the second sensor and some components;

[0036] Figure 10 for Figure 2 A schematic diagram of the base and joints from a second-view perspective;

[0037] Figure 11 for Figure 5 A schematic diagram of the structure of the first magnetic ring in the middle;

[0038] Figure 12 This is a schematic diagram showing the connection of a first sensor, a signal processing unit, and a wireless communication unit according to an embodiment of this application.

[0039] Figure label:

[0040] 1-Surgical instrument; 10-Instrument box; 20-Power box; 30-Connecting rod; 40-End instrument; 41-Base; 411-Base part; 412-Extension part; 4121-First groove; 413-First pivot; 414-Boss; 4141-First slot; 42-Joint assembly; 421-Joint; 4211-Main body part; 4212-Connecting part; 4213-Assembly part; 4214-Second pivot; 4215-Fixing part; 4216-Second slot; 4217-Second wire groove; 4218-Second lead hole; 4219-Housing shell; 422-Actuator; 43-Sensor assembly; 431-First sensor; 4311-First magnetic ring; 4312-First read head; 432-Second sensor; 4321-Second magnetic ring; 4322-Second read head; 44-Signal processing unit; 45-Wireless communication unit. Detailed Implementation

[0041] In order to make the above objectives, features and advantages of the present application more clear and understandable, the detailed description of the embodiments of the present application is made below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in many different ways from what is described herein, and should not be construed as being limited to the embodiments set forth herein, but should be understood to include all possible embodiments that can be made within the scope of the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore should not be construed or implied to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

[0043] In addition, the terms "first", "second", "third" and the like are used only for descriptive purposes, and should not be construed as indicating or implying relative importance or implying a specific number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0044] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0046] It is to be noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In addition, the term "connected" as used herein means the element is directly connected to the other element or intervening elements can also be present. As used herein, the terms "vertical", "horizontal", "up", "down", "left", "right", and the like as used herein are used for illustration only and do not indicate the only orientation of the device.

[0047] As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including", as used herein, specify the presence of stated features, integers, steps, operations, elements, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, parts, or combinations thereof. Also, in the present specification, the term "and / or" includes any and all combinations of the associated listed items.

[0048] To solve the problem that the laparoscopic surgery robot cannot accurately control the distal joint as described in the background, the embodiment of the present application provides an end instrument and a surgical instrument, which can improve the movement accuracy of the joint assembly (distal joint), and further realize accurate control of the joint assembly by the surgical robot.

[0049] In a first aspect, referring to Figures 1-12 The embodiment of the present application provides an end instrument 40, which is used for assembling with a connecting rod 30 of a surgical instrument 1, wherein the surgical instrument 1 can be installed on a surgical robot and used for surgical operation on a patient.

[0050] Specifically, as Figures 2-5 The end instrument 40 includes a base 41, a joint assembly 42 and a sensor assembly 43. The base 41 is connected with the connecting rod 30. The joint assembly 42 is movably connected to one end of the base 41 away from the connecting rod 30, and can move relative to the base 41. The sensor assembly 43 is arranged on the joint assembly 42, and the sensor assembly 43 is used for detecting the movement state of the joint assembly 42.

[0051] It can be understood that the "movably connected" means that the joint assembly 42 is movably connected to the base 41 or rotatably connected to the base 41. When the joint assembly 42 is movably connected to the base 41, the joint assembly 42 can slide relative to the base 41, and the sensor assembly 43 is configured to detect the sliding displacement of the joint assembly 42; when the joint assembly 42 is rotatably connected to the base 41, the joint assembly 42 can rotate relative to the base 41, and the sensor assembly 43 is configured to detect the rotation angle of the joint assembly 42.

[0052] It should be noted that the sensor assembly 43 can be electrically connected to the control console of the surgical robot, so that the surgical robot can obtain the movement state detected by the sensor assembly 43 in time.

[0053] The above-mentioned end instrument 40, by integrating the sensor assembly 43 for detecting the movement state of the joint assembly 42 on the joint assembly 42, so that during the operation, the surgical robot can detect the movement state of the joint assembly 42 in real time through the sensor assembly 43, and the surgical robot can be adjusted in real time according to the real-time movement state of the joint assembly 42, so as to realize the precise control of the joint assembly 42 by the surgical robot.

[0054] In one embodiment, referring to Figure 2 and Figure 5 , the joint assembly 42 includes a joint 421 and an execution mechanism 422 arranged on the joint 421, and the joint 421 is rotatably connected to the base 41. The sensor assembly 43 includes a first sensor 431, the first sensor 431 is arranged between the joint 421 and the base 41, and is configured to detect the rotation angle of the joint 421.

[0055] It can be understood that the execution mechanism 422 can be a clamp or a scissors, which is used to perform various operations on the lesion area of the patient during the operation. One end of the joint 421 is connected to the base 41, and the other end is connected to the execution mechanism 422. By controlling the rotation of the joint 421, the position of the execution mechanism 422 can be changed, so that the execution mechanism 422 can reach the desired position. In this embodiment, by arranging the first sensor 431, the rotation angle of the joint 421 can be detected in real time, so that the surgical robot can obtain the movement state (rotation angle) of the joint 421 in time, and the surgical robot can be adjusted in real time according to the real-time movement state of the joint 421, so as to realize the precise control of the execution mechanism 422 by the surgical robot.

[0056] In one embodiment, referring to Figure 6 and Figure 7 , the execution mechanism 422 is rotatably connected to the joint 421. The sensor assembly 43 includes a second sensor 432, the second sensor 432 is arranged between the execution mechanism 422 and the joint 421, and is configured to detect the rotation angle of the execution mechanism 422.

[0057] It should be noted that the joint 421 can be rotated relative to the base 41 in the first dimension, and the actuator 422 is rotated relative to the joint 421 in the second dimension. In this way, the actuator 422 is equivalent to being rotatable in two dimensions, and the range of motion of the actuator 422 is larger, and at the same time, the first sensor 431 and the second sensor 432 can detect the motion of the actuator 422 in real time, so as to facilitate the surgical robot to adjust in real time according to the real-time motion of the actuator 422, thereby realizing precise control of the actuator 422 by the surgical robot.

[0058] In one embodiment, as shown in Figure 2 and Figure 4 , the base 41 is provided with a first rotating shaft 413 extending along the first direction a, and the joint 421 is rotatably arranged on the first rotating shaft 413. Specifically, the joint 421 can be sleeved on the first rotating shaft 413, and the joint 421 and the first rotating shaft 413 are movably connected, and the first rotating shaft 413 is fixed when the joint 421 rotates. Alternatively, the joint 421 can be fixed on the first rotating shaft 413, and the first rotating shaft 413 is rotatably arranged on the base 41, and the first rotating shaft 413 and the joint 421 rotate simultaneously when the joint 421 rotates.

[0059] As shown in Figure 2 , Figure 7 and Figure 8 , the joint 421 is provided with a second rotating shaft 4214 extending along the second direction b, and the actuator 422 is rotatably arranged on the second rotating shaft 4214. The second rotating shaft 4214 and the first rotating shaft 413 can be arranged in the same way, and the embodiments of the present application will not be repeated here.

[0060] Among them, the first direction a and the second direction b are perpendicular to each other, and both are perpendicular to the extension direction of the connecting rod 30. It can be understood that the joint 421 drives the actuator 422 to rotate around the first rotating shaft 413, which is equivalent to the actuator 422 rotating in the first dimension, and the actuator 422 rotating around the second rotating shaft 4214 is equivalent to the actuator 422 rotating in the second dimension. In this way, by arranging the first rotating shaft 413 and the second rotating shaft 4214, on the one hand, the actuator 422 can be rotated in two dimensions; on the other hand, the structure of the end instrument 40 can be simpler.

[0061] In one embodiment, as shown in Figure 3As shown, the joint 421 comprises a main body portion 4211, a connecting portion 4212 and an assembling portion 4213, the connecting portion 4212 and the assembling portion 4213 are connected to opposite ends of the main body portion 4211. The connecting portion 4212 is sleeved on the first rotating shaft 413, and the second rotating shaft 4214 is arranged on the assembling portion 4213. Here, the connecting portion 4212 is used for assembling with the first rotating shaft 413, and the assembling portion 4213 is used for assembling the second rotating shaft 4214. The main body portion 4211 is located between the connecting portion 4212 and the assembling portion 4213, and the connecting portion 4212 and the assembling portion 4213 are integrally arranged with the main body portion 4211.

[0062] In one embodiment, referring to Figure 5 As shown, the first sensor 431 is an electromagnetic sensor. The first sensor 431 comprises a first magnetic ring 4311 and a first read head 4312 which cooperate with each other. The working principle of the first sensor 431 is as follows: the rotation of the first magnetic ring 4311 will cause the change of the internal magnetic field strength, and the first read head 4312 detects the change of the magnetic field strength and then outputs a signal after signal processing. The structure of the first magnetic ring 4311 is as shown in Figure 11 As shown, the first magnetic ring 4311 is provided with equally spaced magnetic poles, the magnetic poles comprise N magnetic poles and S magnetic poles, the N magnetic poles and the S magnetic poles are arranged alternately, and the number of the magnetic poles determines the resolution of the first sensor 431.

[0063] Specifically, the first magnetic ring 4311 is sleeved on the first rotating shaft 413 and fixedly connected with the connecting portion 4212, and the first read head 4312 is fixed on the base 41. In this way, when the joint 421 rotates, the joint 421 and the first magnetic ring 4311 rotate simultaneously, the first magnetic ring 4311 generates a periodically changing space leakage magnetic field, the first read head 4312 detects the change of the magnetic field strength and then outputs a signal after signal processing.

[0064] It can be understood that the type of the first sensor 431 is not limited to the electromagnetic sensor, and the first sensor 431 can also be a photoelectric sensor.

[0065] In one embodiment, referring to Figure 3 and Figure 4 As shown, the base 41 comprises a base body portion 411 and two extension portions 412 arranged on the base body portion 411, the base body portion 411 is connected with the connecting rod 30, and the two extension portions 412 are arranged at intervals at one end of the base body portion 411 away from the connecting rod 30. The two ends of the first rotating shaft 413 are connected to the two extension portions 412 respectively.

[0066] Specifically, the base portion 411 can be sleeved on the end of the connecting rod 30. The root of the extension portion 412 is connected with the base portion 411, and the end of the extension portion 412 extends away from the base portion 411. It can be understood that the connecting rod 30 extends along the central axis of itself. Referring to Figure 2 As shown, the connecting rod 30 can rotate along the c direction in the figure. In this way, when the connecting rod 30 rotates, the end instrument 40 can be driven to rotate along the c direction in the figure by the base portion 411.

[0067] In one of the embodiments, a boss 414 is arranged on one of the extension portions 412 close to the first rotating shaft 413, and a first clamping groove 4141 is arranged on the boss 414, and the first reading head 4312 is located in the first clamping groove 4141. In one example, a through hole (not shown) is arranged on the boss 414, and the first rotating shaft 413 is connected with the one of the extension portions 412 after penetrating through the through hole. In another example, the first rotating shaft 413 is connected on the boss 414 close to one end of the boss 414.

[0068] In addition, the first magnetic ring 4311 and the connecting portion 4212 can be arranged between the boss 414 and the other extension portion 412. In this way, it is equivalent to integrating the first sensor 431 in the “interior” of the end instrument 40, that is, between the base 41 and the joint assembly 42. On the one hand, the space utilization of the end instrument 40 is improved; on the other hand, the first sensor 431 is prevented from being exposed, and the detection accuracy of the first sensor 431 is prevented from being affected by external dust pollution.

[0069] In one of the embodiments, referring to Figure 4 As shown, the extension portion 412 connected with the boss 414 is provided with a first wire slot 4121, and the base portion 411 is provided with a first lead hole (not shown) in communication with the first wire slot 4121. The lead of the first reading head 4312 penetrates through the first wire slot 4121 and the first lead hole. Specifically, the first wire slot 4121 can be arranged on the “inside” of the extension portion 412 to avoid the lead of the first reading head 4312 being exposed to affect the aesthetic appearance. In this way, the lead of the first reading head 4312 can sequentially penetrate through the first wire slot 4121 and the first lead hole, so as to extend to the interior of the connecting rod 30, so as to be electrically connected with the control console of the surgical robot.

[0070] In one of the embodiments, referring to Figure 7 As shown, the second sensor 432 is an electromagnetic sensor. The second sensor 432 includes a second magnetic ring 4321 and a second reading head 4322 which cooperate with each other. The working principle of the second sensor 432 is the same as that of the first sensor 431, and the working principle of the second sensor 432 will not be described herein.

[0071] The second magnetic ring 4321 is sleeved on the second rotating shaft 4214 and fixedly connected with the actuating mechanism 422. The second reading head 4322 is fixed on the assembling part 4213. In this way, when the actuating mechanism 422 rotates, the actuating mechanism 422 and the second magnetic ring 4321 rotate simultaneously, the second magnetic ring 4321 generates a periodically changed space leakage magnetic field, and the second reading head 4322 detects the change of the magnetic field intensity, and then outputs a signal after signal processing.

[0072] It can be understood that the type of the second sensor 432 is not limited to the electromagnetic sensor, and the second sensor 432 can also be an optical sensor.

[0073] In one embodiment, as shown in Figure 6 、 Figure 7 and Figure 8 , the number of the assembling parts 4213 is two, the two assembling parts 4213 are arranged at the end of the main part 4211 away from the connecting part 4212, and the two ends of the second rotating shaft 4214 are connected to the two assembling parts 4213 respectively. Figure 9 As shown in , one assembling part 4213 is provided with a fixing part 4215 near the side of the second rotating shaft 4214, the fixing part 4215 is provided with a second clamping groove 4216, and the second reading head 4322 is located in the second clamping groove 4216.

[0074] In addition, the second rotating shaft 4214 can also be sleeved with a shell 4219, the second magnetic ring 4321 is located in the shell 4219, and the fixing part 4215 is connected with one end of the shell 4219. In this way, the fixing part 4215, the second sensor 432 and the shell 4219 form a modular integrated structure. It can be understood that the modular integrated structure has the advantages of convenient manufacturing and assembly, and the first sensor 431 can also be a modular integrated structure.

[0075] It should be noted that the second sensor 432 is integrated on the second rotating shaft 4214, which can not only facilitate the timely detection of the rotation angle of the joint 421, but also can avoid the exposure of the second sensor 432 and prevent the external dust from polluting the second reading head 4322, thereby affecting the detection accuracy of the second sensor 432.

[0076] It is understood that when the actuator 422 is a clamp, it includes two mating jaws. The number of second sensors 432 can be one or two. When there is one second sensor 432, it detects only the rotation angle of one jaw. When there are two second sensors 432, they detect the rotation angles of both jaws respectively. When the actuator 422 is a scissor, it includes two mating blades. The number of second sensors 432 can also be one or two. When there is one second sensor 432, it detects only the rotation angle of one blade. When there are two second sensors 432, they detect the rotation angles of both blades respectively. This application embodiment does not limit the number of second sensors 432.

[0077] In one embodiment, reference Figure 5 and Figure 8 As shown, the assembly part 4213, which is connected to the fixing part 4215, is provided with a second wire groove 4217, and the main body part 4211 is provided with a second lead hole 4218 communicating with the second wire groove 4217. The lead wire of the second reading head 4322 passes through the second wire groove 4217 and the second lead hole 4218. Specifically, the second wire groove 4217 can be provided "inside" of the assembly part 4213 to avoid the lead wire of the second reading head 4322 being exposed and affecting the aesthetics. In this way, the lead wire of the second reading head 4322 can pass through the second wire groove 4217 and the second lead hole 4218 in sequence, thereby extending into the connecting rod 30 to facilitate electrical connection with the control console of the surgical robot.

[0078] In one embodiment, reference Figure 12 As shown, the end effector 40 also includes a signal processing unit 44, the signal receiving end of which is electrically connected to the sensor assembly 43. Specifically, the signal receiving end of the signal processing unit 44 is electrically connected to the first reading head 4312 of the first sensor 431 and the second reading head 4322 of the second sensor 432.

[0079] Thus, after the first reading head 4312 and the second reading head 4322 detect the change in magnetic field strength, they transmit the magnetic field strength change information to the signal processing unit 44. The signal processing unit 44 generates a digital signal that can be recognized by the control console. It is understood that the signal processing unit 44 can be integrated into the end-effector 40 or the instrument box 10, and the signal processing unit 44 can transmit the digital signal to the control console wirelessly or via wired means.

[0080] In one of the embodiments, the terminal instrument 40 further comprises a wireless communication unit 45, which is electrically connected with the signal output end of the signal processing unit 44 to wirelessly transmit the output signal of the signal processing unit 44 to the control console of the surgical robot. Specifically, the wireless communication unit 45 can be Bluetooth, Wi-Fi (Wireless Fidelity), RFID (Radio Frequency IDentification), etc.

[0081] In a second aspect, referring to Figure 1 The embodiments of the present application provide a surgical instrument 1, which comprises an instrument box 10, a connecting rod 30 and the terminal instrument 40 as in the first aspect. Wherein one end of the connecting rod 30 is connected with the instrument box 10, and the other end of the connecting rod 30 is connected with the terminal instrument 40.

[0082] The surgical instrument 1 described above, by integrating the sensor assembly 43 for detecting the motion state of the joint assembly 42 on the joint assembly 42, so that during the surgery, the surgical robot can detect the motion state of the joint assembly 42 in real time through the sensor assembly 43, which is convenient for the surgical robot to adjust in real time according to the real-time motion state of the joint assembly 42, thereby improving the motion accuracy of the joint assembly 42, and further realizing the precise control of the joint assembly 42 by the surgical robot.

[0083] In a third aspect, referring to Figure 1 The embodiments of the present application provide a surgical robot, which comprises the surgical instrument 1 as in the second aspect. The surgical robot can be a laparoscopic surgical robot, or a robot for other types of surgery.

[0084] The surgical robot can further comprise a power box 20, a control console and a mechanical arm. The power box 20 can be sleeved on the connecting rod 30 and connected with the instrument box 10. The mechanical arm is connected with the surgical instrument 1, and the control console is electrically connected with the sensor assembly 43 for controlling the motion of the mechanical arm and the surgical instrument 1.

[0085] The surgical robot described above, by integrating the sensor assembly 43 for detecting the motion state of the joint assembly 42 on the joint assembly 42, so that during the surgery, the surgical robot can detect the motion state of the joint assembly 42 in real time through the sensor assembly 43, which is convenient for the surgical robot to adjust in real time according to the real-time motion state of the joint assembly 42, thereby realizing the precise control of the joint assembly 42 by the surgical robot.

[0086] In the description of the specification, the description of the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are contained in at least one embodiment or example of the present application. In the description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0087] The technical features of the above-described embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features of the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict each other, they should be considered as the scope of the present application.

[0088] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent application scope. It should be noted that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A surgical instrument, characterized by The utility model provides an endoscope, which comprises an instrument box (10), a connecting rod (30) and an end instrument (40), one end of the connecting rod (30) is connected with the instrument box (10), and the other end of the connecting rod (30) is connected with the end instrument (40); The end instrument (40) comprises: a base (41) connected with the connecting rod (30), the base (41) is provided with a first rotating shaft (413) extending in a first direction; a joint assembly (42) movably connected to one end of the base (41) away from the connecting rod (30) and capable of moving relative to the base (41), the joint assembly (42) comprises a joint (421) and an actuating mechanism (422) arranged on the joint (421), the joint (421) is rotatably connected with the base (41), the joint (421) is rotatably arranged on the first rotating shaft (413), the joint (421) is provided with a second rotating shaft (4214) extending in a second direction, the actuating mechanism (422) is rotatably arranged on the second rotating shaft (4214), the joint (421) comprises a main body portion (4211), a connecting portion (4212) and an assembling portion (4213), the connecting portion (4212) and the assembling portion (4213) are connected to opposite ends of the main body portion (4211), the connecting portion (4212) is sleeved on the first rotating shaft (413), and the second rotating shaft (4214) is arranged on the assembling portion (4213), wherein the first direction and the second direction are perpendicular to each other and perpendicular to the extending direction of the connecting rod (30); and a sensor assembly (43) arranged on the joint assembly (42), the sensor assembly (43) is used for detecting the motion state of the joint assembly (42), the sensor assembly (43) comprises a first sensor (431), the first sensor (431) is arranged between the joint (421) and the base (41) and used for detecting the rotation angle of the joint (421), the first sensor (431) is an electromagnetic sensor, the first sensor (431) comprises a first magnetic ring (4311) and a first read head (4312) cooperating with each other, wherein the first magnetic ring (4311) is sleeved on the first rotating shaft (413) and fixedly connected with the connecting portion (4212), and the first read head (4312) is fixed on the base (41). The sensor assembly (43) comprises a second sensor (432), which is an electromagnetic sensor; the second sensor (432) comprises a second magnetic ring (4321) and a second read head (4322) that cooperate with each other; wherein the second magnetic ring (4321) is sleeved on a second rotating shaft (4214) and is fixedly connected with the actuator (422), and the second read head (4322) is fixed on the assembly part (4213); the second sensor (432) is arranged between the actuator (422) and the joint (421) and is used for detecting the rotation angle of the actuator (422); the second sensor (432) is integrated on the second rotating shaft (4214).

2. The surgical instrument of claim 1, wherein, The base (41) comprises a base body part (411) connected with the connecting rod (30) and two extension parts (412) arranged on the base body part (411) and spaced apart from each other at an end of the base body part (411) away from the connecting rod (30); and two ends of the first rotating shaft (413) are connected to the two extension parts (412), respectively.

3. The surgical instrument of claim 2, wherein, One of the extension parts (412) is provided with a boss (414) on a side close to the first rotating shaft (413), and the boss (414) is provided with a first clamping groove (4141), and the first read head (4312) is located in the first clamping groove (4141).

4. The surgical instrument of claim 3, wherein, The extension part (412) connected with the boss (414) is provided with a first wire groove (4121), and the base body part (411) is provided with a first lead hole (4142) in communication with the first wire groove (4121); and a lead wire of the first read head (4312) is arranged in the first wire groove (4121) and the first lead hole (4142).

5. The surgical instrument of claim 1, wherein, The number of the assembly parts (4213) is two, and the two assembly parts (4213) are arranged at an end of the main body part (4211) away from the connecting part (4212) and spaced apart from each other, and two ends of the second rotating shaft (4214) are connected to the two assembly parts (4213), respectively. One of the assembly parts (4213) is provided with a fixing part (4215) on a side close to the second rotating shaft (4214), and the fixing part (4215) is provided with a second clamping groove (4216), and the second read head (4322) is located in the second clamping groove (4216).

6. The surgical instrument of claim 5, wherein, The assembly part (4213) connected with the fixing part (4215) is provided with a second wire groove (4217), and the main body part (4211) is provided with a second lead hole (4218) in communication with the second wire groove (4217); and a lead wire of the second read head (4322) is arranged in the second wire groove (4217) and the second lead hole (4218).

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