Terminal interface system and surgical instrument

Abstract

The application provides an end interface system and surgical instrument, which comprises a power device, an instrument rod, an interface base, a driving connection shaft and a first transmission shaft, the interface base is installed at the distal end of the instrument rod, and the interface base is provided with a fixed connection structure for installing a surgical action mechanism; the first transmission shaft is arranged in the instrument rod and movably connected with the interface base, the driving connection shaft is connected with the distal end of the first transmission shaft, the power device is connected with the proximal end of the first transmission shaft, and the power device can drive the first transmission shaft to move longitudinally and drive the driving connection shaft to extend or retract relative to the interface base, so that the technical problem that the end of the instrument is difficult to control is solved.

Description

Technical Field

[0001] This invention relates to the technical field of medical devices, and more particularly to an end-effector interface system and surgical instruments. Background Technology

[0002] Minimally invasive surgical robotic systems can reduce the physical labor of surgeons during operations through interventional treatment, while achieving precise surgery, resulting in less trauma, less blood loss, less postoperative infection, and faster postoperative recovery for patients. Surgical instruments are generally classified into single-use, reusable, and long-term reusable categories. The lifespan of the instrument tip varies depending on the type of surgery, operating conditions, and structural form. For example, scissors and arc shears are prone to blade damage during surgery, making them unsuitable for multiple uses. Electrocautery forceps and monopolar electric shears are prone to charring tissue adhering to the instrument during surgery, making cleaning and sterilization inconvenient. Furthermore, the insulating components at the instrument tip are easily damaged by high temperatures, thus these instruments are not suitable for multiple uses. However, the transmission structure at the rear end of the instrument tip can usually be reused multiple times. Accurate control of the instrument tip is crucial for performing minimally invasive surgery. The structure of minimally invasive surgical instruments is relatively complex, making the control of the instrument tip quite challenging. Summary of the Invention

[0003] The purpose of this invention is to provide an end-effector interface system and surgical instruments to solve the technical problem of the difficulty in manipulating the end of the instrument.

[0004] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0005] This invention provides an end-effector system, comprising: a power unit, an instrument rod, an interface base, a drive connecting shaft, and a first transmission shaft. The interface base is mounted on the distal end of the instrument rod and has a fixed connection structure for mounting a surgical action mechanism. The first transmission shaft is disposed in the instrument rod and movably connected to the interface base. The drive connecting shaft is connected to the distal end of the first transmission shaft. The power unit is connected to the proximal end of the first transmission shaft. The power unit is capable of driving the first transmission shaft to move longitudinally and causing the drive connecting shaft to extend or retract relative to the interface base.

[0006] The present invention provides a surgical instrument, comprising: a surgical action mechanism and the aforementioned end interface system, wherein the surgical action mechanism is mounted on the interface base.

[0007] The features and advantages of this invention are:

[0008] The surgical actuation mechanism is mounted to the interface base via a fixed structure. When the power unit drives the first drive shaft, the extension or retraction of the distal drive connecting shaft can be controlled via the instrument rod, the first drive shaft, and the interface base to manipulate the surgical actuation mechanism. Using this end-effector interface system, the operator can operate the power unit externally to control the surgical actuation mechanism inside the body to perform surgery. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a diagram of surgical instruments;

[0011] Figure 2 This is a schematic diagram of the installation of the end-point interface system and jaw assembly;

[0012] Figure 3 This is a schematic diagram showing the separation of the end-point interface system and the jaw assembly;

[0013] Figure 4 This is a schematic diagram of the bending of the end-interface system and jaw assembly;

[0014] Figures 5A-5B This is a schematic diagram of the end-point interface system and jaw assembly;

[0015] Figure 6 This is a disassembly diagram of the end interface system;

[0016] Figure 7 This is a schematic diagram of the retracted state of the drive shaft in the end interface system;

[0017] Figure 8 This is a schematic diagram of the extended state of the drive shaft in the end interface system;

[0018] Figure 9 This is a cross-sectional view of the drive shaft in the bending state of the end interface system and jaw assembly;

[0019] Figure 10 This is a schematic diagram of the bending state of the drive shaft in the end-interface system and jaw assembly;

[0020] Figure 11 This is a cross-sectional schematic diagram of the end interface system.

[0021] Figure 12 This is a schematic diagram of the interface cross-section of the end interface system;

[0022] Figure 13 This is a schematic diagram showing the connection between the power unit and the flexible interface component;

[0023] Figure 14 This is a cross-sectional schematic diagram of the power unit and the flexible interface assembly;

[0024] Figure 15 This is a disassembly diagram of the power unit;

[0025] Figure 16 This is a schematic diagram showing the bending direction of the first drive shaft;

[0026] Figure 17 This is a cross-sectional schematic diagram of the first drive shaft;

[0027] Figures 18A-18B This is a schematic diagram of the unfolded first drive shaft;

[0028] Figure 19 The intention of the partial structure cut off the first drive shaft;

[0029] Figure 20 This is a schematic diagram of the bending principle of the first drive shaft;

[0030] Figure 21 This is a schematic diagram of another structural form of the first drive shaft;

[0031] Figure 22 This is a schematic diagram showing another structural form of the first drive shaft;

[0032] Figure 23 This is a schematic diagram of another structural form of the first drive shaft;

[0033] Figure 24 This is a schematic diagram showing another structural form of the first drive shaft;

[0034] Figure 25 This is a schematic diagram of another embodiment of the end-interface system;

[0035] Figure 26 yes Figure 25 A cross-sectional schematic diagram of the end interface system shown;

[0036] Figure 27 yes Figure 25 The diagram shows a disassembly diagram of the end interface system.

[0037] Figures 28A-28B This is a schematic diagram of another embodiment of the end-interface system;

[0038] Figures 29A-29D This is a schematic diagram of the structure for matching the transmission interface and the drive connection shaft;

[0039] Figures 30A-30CThis is a schematic diagram of another structure for matching the transmission interface and the drive connection shaft;

[0040] Figure 31 This is a schematic diagram of another embodiment of the jaw assembly and end-face interface system;

[0041] Figures 32A-32B yes Figure 31 The diagram shows the structure of the jaw assembly and end-face interface system.

[0042] Figure 33 This is a disassembly diagram of another embodiment of the end-point interface system;

[0043] Figures 34A-34C This is a schematic diagram of another embodiment of the jaw assembly and end-face interface system;

[0044] Figure 35A yes Figure 34C The diagram shows a disassembly diagram of the end interface system.

[0045] Figure 35B yes Figure 34C The diagram shows the structure of the drive connection shaft in the end interface system.

[0046] Figure 36 This is a schematic diagram of the retracted state of the drive shaft in the end interface system;

[0047] Figure 37 This is a schematic diagram of the extended state of the drive shaft in the end interface system. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Option 1

[0050] This invention provides an end-to-end interface system, such as Figures 1-15As shown, the end interface system includes: a power unit 140, an instrument rod 13, an interface base 122, a drive connecting shaft 121, and a first transmission shaft 125. The interface base 122 is installed at the distal end of the instrument rod 13 and is provided with a fixed structure for mounting the surgical action mechanism. The first transmission shaft 125 is disposed in the instrument rod 13 and is movably connected to the interface base 122. The drive connecting shaft 121 is connected to the distal end of the first transmission shaft 125. The power unit 140 is connected to the proximal end of the first transmission shaft 125. The power unit 140 can drive the first transmission shaft 125 to move longitudinally and drive the drive connecting shaft 121 to extend or retract relative to the interface base 122.

[0051] The surgical actuation mechanism is mounted to the interface base 122 via a fixed connection structure. When the power unit 140 drives the first drive shaft 125, the extension or retraction of the distal drive connecting shaft 121 can be controlled via the instrument rod 13, the first drive shaft 125, and the interface base 122, thereby manipulating the surgical actuation mechanism. Using this end-interface system, the operator can operate the power unit 140 externally to control the surgical actuation mechanism inside the body to perform surgery.

[0052] The surgical actuation mechanism is detachable for easy replacement and can be controlled via the end-effector interface system. To facilitate installation of the surgical actuation mechanism onto the interface base 122, the fixing structure includes a snap-fit ​​portion 1221 and a positioning portion 1222. The surgical actuation mechanism is positioned with the interface base 122 via the positioning portion 1222 and locked in place via the snap-fit ​​portion 1221. The detachable connection between the surgical actuation mechanism and the interface base 122 facilitates replacement, ensuring surgical hygiene and safety. This end-effector interface system is reusable, contributing to cost savings. In one embodiment, as... Figure 6 As shown, the snap-fit ​​part 1221 includes a snap-fit ​​groove, and the positioning part 1222 includes a positioning wall.

[0053] There are many types of surgical actuation mechanisms. For example, the surgical actuation mechanism can be a jaw assembly 11. The jaw assembly 11 has an anti-disengagement block 1112 and a positioning surface 1113. The locking part 1221 can engage with the anti-disengagement block 1112 to prevent disengagement, and the positioning part 1222 can abut against the positioning surface 1113. Figures 1-5A As shown, the anti-disengagement block 1112 can be pushed into the locking groove from one side and rotated to achieve locking, facilitating the disassembly and assembly of the jaw assembly 11 or the replacement of different surgical action mechanisms; preferably, as Figures 5A-6As shown, the anti-disengagement block 1112 can be pushed into the locking groove in a direction perpendicular to the axial direction of the interface base 122 to achieve locking, which facilitates quick disassembly and replacement of different surgical action mechanisms and ensures the stable connection of the surgical action mechanism so that the end interface system can accurately control it. The surgical action mechanism is not limited to the jaw assembly 11; the surgical action mechanism can also be scissors, arc scissors, electrocautery forceps, or monopolar electric scissors, etc.

[0054] In one embodiment, the end interface system includes a second drive shaft 124 and a first drive seat 123. The first drive seat 123 is rotatably mounted on an interface base 122, and a drive connecting shaft 121 is longitudinally movable and mounted on the first drive seat 123. The first drive seat 123 is connected to the distal end of the second drive shaft 124, and a power unit 140 is connected to the proximal end of the second drive shaft 124. The power unit 140 can drive the second drive shaft 124 to rotate, and drive the first drive seat 123 and the drive connecting shaft 121 to rotate relative to the interface base 122. The first drive shaft 125 drives the drive connecting shaft 121 to extend or retract, which can realize a clutch function, improve the flexibility of controlling the surgical action mechanism, and help improve surgical efficiency. When the drive connecting shaft 121 extends and docks with the surgical action mechanism, the power unit 140 transmits torque through the second drive shaft 124, and then transmits the torque to the surgical action mechanism through the first drive seat 123 and the drive connecting shaft 121.

[0055] Taking the jaw assembly 11 as an example, the jaw assembly 11 has a jaw base 111 and a transmission interface 112. The transmission interface 112 can rotate relative to the jaw base 111. When the drive connecting shaft 121 extends out and is inserted into the transmission interface 112, the second transmission shaft 124 drives the drive connecting shaft 121 and the first transmission seat 123 to rotate, thereby driving the transmission interface 112 in the jaw assembly 11 to rotate, so as to drive the jaw assembly 11 to realize the opening and closing action. After the first transmission shaft 125 drives the drive connecting shaft 121 to retract, the drive connecting shaft 121 and the transmission interface 112 are separated, which makes it convenient to install the jaw assembly 11 onto the interface base 122 or to remove the jaw assembly 11 from the interface base 122.

[0056] The second drive shaft 124 is fixedly connected to the first drive seat 123. The drive connecting shaft 121 can move linearly relative to the first drive seat 123. The drive connecting shaft 121 and the first drive seat 123 rotate synchronously. Specifically, the drive connecting shaft 121 has an irregular shaft feature 1212, and the first drive seat 123 has an irregular hole feature 1231. The drive connecting shaft 121 and the first drive seat 123 are connected through the irregular shaft feature 1212 and the irregular hole feature 1231, and torque can be transmitted between them. When the power device 140 drives the second drive shaft 124 and the first drive seat 123 to rotate, it will drive the drive connecting shaft 121 to rotate together, thereby driving the transmission interface 112 in the jaw assembly 11 to rotate. In one embodiment, as shown... Figure 6 and Figure 7 As shown, the first transmission seat 123 is provided with an annular groove 1233, and the pin 204 is installed on the interface base 122 and arranged tangentially. The pin 204 is inserted tangentially into the annular groove 1233. The pin 204 can prevent the first transmission seat 123 from axial movement, and at the same time allow the first transmission seat 123 to rotate relative to the interface base 122.

[0057] The drive connecting shaft 121 can be connected to the transmission interface 112 to achieve synchronous rotation. For example... Figures 29A-30C As shown, the transmission interface 112 has a transmission irregular interface 1121 and a transmission guide surface 1122; the drive connecting shaft 121 has a transmission rotor 1211 and an irregular shaft guide surface feature 1213; due to the presence of the transmission guide surface 1122 and the irregular shaft guide surface feature 1213, the transmission rotor 1211 of the drive connecting shaft 121 can be smoothly inserted into the transmission irregular interface 1121 of the transmission interface 112, and the torque transmission is realized. Figures 29A-29D The cross-sections of the example transmission interface 1121 and transmission rotor 1211 are equilateral triangles. Figures 30A-30C The cross-section of the transmission interface 1121 and the transmission rotor 1211 in the example is "I" shaped. The cross-section of the transmission interface 1121 and the transmission rotor 1211 can also be other shapes, such as quadrilateral or pentagon.

[0058] The first drive shaft 125 and the drive connecting shaft 121 are fixedly connected. Preferably, the connection method can be laser welding, brazing, or cold pressing, or it can be glue bonding or resistance welding, etc. The second drive shaft 124 is nested between the first drive shaft 125, such as... Figures 6-9As shown, the first drive shaft 125 passes through the second drive shaft 124. The outer diameter of the second drive shaft 124 is larger than that of the first drive shaft 125, resulting in better transmission rigidity, improved reliability of torque transmission and structural strength, and better transmission of torque to the drive connecting shaft 121 via the first drive seat 123. An outer flexible sleeve 127 can be installed on the outside of the second drive shaft 124. Considering that the surface of the second drive shaft 124 will become uneven after bending, with small steps, the outer flexible sleeve 127 helps protect adjacent components in the second drive shaft 124, reduces surface friction between adjacent components, ensures smooth movement of moving parts, avoids jamming, and facilitates smooth rotation of the second drive shaft 124. An inner flexible sleeve 128 is also installed on the outer side of the first drive shaft 125. Considering that the surface of the first drive shaft 125 will become uneven and have small steps after bending, the inner flexible sleeve 128 helps to protect adjacent components in the first drive shaft 125, reduce surface friction between adjacent components, ensure the smooth movement of moving parts, avoid jamming, and facilitate the smooth rotation of the first drive shaft 125. The outer flexible sleeve 127 and the inner flexible sleeve 128 also have the function of insulation protection.

[0059] like Figures 7-8 and Figures 36-37 As shown, the first transmission base 123 has a longitudinal cavity 1232, and the drive connecting shaft 121 is installed in the longitudinal cavity 1232. A first elastic mechanism 126 is provided in the longitudinal cavity 1232. The first elastic mechanism 126 is connected to the drive connecting shaft 121 so that the drive connecting shaft 121 tends to extend relative to the interface base 122. The first elastic mechanism 126 pushes the drive connecting shaft 121 to reset and insert into the transmission interface 112. In one embodiment, the first elastic mechanism 126 can be a spring.

[0060] like Figure 1 and Figures 13-15 As shown, the power unit 140 is installed on the instrument box 14, which has an instrument box base 141; the interface base 122, the drive connecting shaft 121, the first transmission seat 123, the second transmission shaft 124 and the first transmission shaft 125 constitute the flexible interface assembly 12.

[0061] At the proximal end, the first drive shaft 125 extends beyond the second drive shaft 124, as in one embodiment, such as Figures 13-15As shown, the power unit 140 includes a power connecting shaft 142, a power connecting head 143, a rotating mechanism, a collar 145, and a button 147. The collar 145 is fixedly connected to the first transmission shaft 125, and the button 147 is connected to the collar 145. The button 147 can drive the collar 145 to move longitudinally. The power connecting shaft 142 is sleeved on the outside of the second transmission shaft 124 and fixedly connected to the second transmission shaft 124. The rotating mechanism is connected to the power connecting shaft 142 through the power connecting head 143 to drive the power connecting shaft 142 to rotate.

[0062] In one embodiment, the rotating mechanism includes a driven gear 144 and a driving gear 402. The driven gear 144 is fixedly mounted on the power connector 143. The drive shaft 401 is rotatably mounted on the instrument box base 141. The drive gear 402 is mounted on the drive shaft 401. The drive gear 402 can drive the driven gear 144 to rotate, and at the same time drive the second transmission shaft 124 to rotate and transmit torque. A collar 145 is fixedly mounted on the first transmission shaft 125. The button 147 and the collar 145 are limited along the axial direction. The button 147 can pull the first transmission shaft 125 to move. When the button 147 is pushed up, the drive connecting shaft 121 retracts. Torque can be transmitted between the drive connecting shaft 121 and the first transmission seat 123. When the driving gear 402 rotates, the second transmission shaft 124 and the first transmission seat 123 rotate, and at the same time drive the drive connecting shaft 121 to rotate.

[0063] Furthermore, the power connector 143 is longitudinally movably mounted on the power connecting shaft 142. The power connector 143 can slide relative to the power connecting shaft 142 along its axial direction. This allows the second driving shaft 124 to move along its axial direction when the interface base 122 wobbles or the second drive shaft 124 bends, without affecting the torque transmission between the power connector 143 and the power connecting shaft 142. Preferably, the power connecting shaft 142 can be a splined shaft, and correspondingly, the power connector 143 is a mating splined connector, transmitting mechanical torque through the spline. However, the power connecting shaft 142 and the power connector 143 are not limited to using splines; they can also use flat keys, semi-circular keys, or wedge keys, etc.

[0064] like Figures 14-15As shown, a ball bearing 148 is provided between the power connector 143 and the power connecting shaft 142; the power connector 143 is provided with a longitudinal groove 1421, and / or the power connecting shaft 142 is provided with a longitudinal groove 1421; the ball bearing 148 is disposed in the longitudinal groove 1421 to allow the power connector 143 to slide more smoothly relative to the power connecting shaft 142 along the axial direction, improving the smoothness of operation. The longitudinal groove 1421 can be a spline groove. Specifically, the second drive shaft 124 is fixedly connected to the power connecting shaft 142, and the spline groove of the power connecting shaft 142 contains the ball bearing 148, with the power connector 143 mounted on the outside of the ball bearing 148. The end cover 146 is fixedly mounted on the driven gear 144 to prevent the ball bearing 148 from falling off.

[0065] Option 2

[0066] Based on Solution 1, the inventors made improvements: the end interface system includes a support base 205 and a second drive shaft 124. The distal end of the second drive shaft 124 is connected to the interface base 122, and the power device 140 is connected to the proximal end of the second drive shaft 124. The power device 140 can drive the second drive shaft 124 to rotate, thereby causing the interface base 122 to rotate on the support base 205. Both the interface base 122 and the drive connecting shaft 121 can rotate independently relative to each other, allowing the interface base 122 and the drive connecting shaft 121 to control the surgical action mechanism separately, increasing the number of degrees of freedom and improving the flexibility of controlling the surgical action mechanism at the distal end. When the jaw assembly 11 is assembled onto the interface base 122, the interface base 122 and the drive connecting shaft 121 can respectively realize the rotation and opening / closing actions of the jaw assembly 11.

[0067] like Figures 25-27 As shown, the end interface system includes a second transmission seat 1230, which is mounted on and fixedly connected to the interface base 122. The distal end of the second transmission shaft 124 is connected to the interface base 122 via the second transmission seat 1230. The drive connecting shaft 121 is movably mounted within the second transmission seat 1230. In this embodiment, the drive connecting shaft 121 has no irregular shaft feature 1212, and the second transmission seat 1230 also has no irregular hole feature 1231. The drive connecting shaft 121 and the second transmission seat 1230 can move and rotate relative to each other. The interface base 122 and the second transmission seat 1230 can rotate synchronously relative to the support 205, and the interface base 122 and the support 205 can rotate freely relative to each other, allowing the second transmission shaft 124 and the first transmission shaft 125 to output torque independently.

[0068] Furthermore, the end interface system includes a steering snake mechanism disposed between the distal end of the instrument rod 13 and the interface base 122. Figures 25-27In the end interface system shown, the support base 205, the steering skeletal frame 201 and the skeletal frame base 202 are connected in sequence. The support base 205 and the steering skeletal frame 201 can rotate relative to each other, and the steering skeletal frame 201 and the skeletal frame base 202 can rotate relative to each other. Thus, driven by the wire rope 203, the support base 205 swings relative to the skeletal frame base 202. Figures 1-12 In the illustrated end-effector system, the steering serpentine mechanism includes a steering serpentine 201 and a serpentine base 202. The interface base 122, steering serpentine 201, and serpentine base 202 are sequentially connected. The interface base 122 and steering serpentine 201 can rotate relative to each other, as can the steering serpentine 201 and serpentine base 202. Driven by the steel cable 203, the interface base 122 swings relative to the serpentine base 202. The steering serpentine mechanism can be configured with multiple degrees of freedom in various directions to achieve large-angle, multi-directional bending, facilitating more convenient and flexible surgical procedures.

[0069] In one embodiment, the first drive shaft 125 includes a plurality of drive joints 1240, such as Figures 16-24 As shown, the transmission joint 1240 is provided with a transmission groove 1242 and a transmission protrusion 1241. Adjacent transmission joints 1240 are connected by nested transmission grooves 1242 and transmission protrusions 1241. Multiple transmission grooves 1242 can be arranged in a spiral shape, and multiple transmission protrusions 1241 can also be arranged in a corresponding spiral shape. The transmission protrusions 1241 are nested one-to-one within the transmission grooves 1242, ensuring that adjacent transmission joints 1240 can rotate flexibly and avoid disengagement. Figures 17-20 As shown, the transmission protrusion 1241 can be circular.

[0070] Furthermore, the outer diameter of the first drive shaft 125 is D, and there are an integer n nodes along its spiral path, with a height of h for one spiral rotation, where n ≥ 2. Both the drive protrusion 1241 and the drive groove 1242 are arc-shaped, with a gap between them. The minimum width of the drive groove 1242 along the spiral path is L, and the maximum width of the drive protrusion 1241 along the spiral path is S, satisfying L < S. The drive protrusion 1241 moves a distance k perpendicular to the spiral path, causing it to contact the minimum opening of the drive groove 1242 and preventing further movement. The minimum bending radius R of the first drive shaft 125 is approximately h / arctan(k / D). When unfolded, as... Figure 18B As shown, the line connecting adjacent transmission protrusions 1241 is a straight line, and the line connecting adjacent transmission grooves 1242 is also a straight line.

[0071] In other embodiments, such as Figures 21-22 As shown, the transmission protrusion 1241 is rectangular; or, as... Figures 23-24As shown, the transmission protrusion 1241 can be circular, and a rectangular portion 1243 is provided between the transmission protrusion 1241 and the transmission joint body. The width of the rectangular portion 1243 is smaller than the diameter of the circular transmission protrusion 1241.

[0072] The first drive shaft 125 can be flexibly bent in multiple directions (front, back, left, right), and can withstand thrust or tension, and can transmit torque.

[0073] In one embodiment, the first drive shaft 125 may be integrally spiral-cut from a hollow tube along the axial direction.

[0074] The second drive shaft 124 can be similar in structure to the first drive shaft 125, and can also be flexibly bent in multiple directions (front, back, left, right). It can withstand thrust or tension and transmit torque. The specific structure of the second drive shaft 124 will not be described in detail here.

[0075] By providing a first elastic mechanism 126 connected to the drive connecting shaft 121 in the longitudinal cavity of the second transmission seat 1230, the drive connecting shaft 121 can be made to tend to extend relative to the interface base 122; however, the first elastic mechanism 126 can also be replaced by an elastic mechanism arranged in other positions. For example Figure 28A and Figure 28B As shown, the end interface system includes a second elastic mechanism 1261 mounted on the instrument handle 13. The second elastic mechanism 1261 is connected to the first drive shaft 125 to give the drive connecting shaft 121 a tendency to extend relative to the interface base 122. Specifically, the second elastic mechanism 1261 is mounted near the proximal end of the instrument box 14 and is limited by a limiting pin 206. This eliminates the need for the first elastic mechanism 126, meaning that the elastic mechanism is not required in the second drive seat 1230. This shortens the length of the second drive seat 1230 and the interface base 122, facilitating more precise surgical operations. The second elastic mechanism 1261 can also be a spring.

[0076] Option 3

[0077] Based on the aforementioned solution, the invention has been further improved: the first drive shaft 125 includes a first conductive structure, the proximal end of which is electrically connected to the energy generator, and the distal end of which is electrically connected to the drive connection shaft 121, thereby increasing electrical functionality. This energy generator can be a single-pole electric shear energy generator, and the first conductive structure can be disposed on the first drive shaft 125 itself, meaning the first drive shaft 125 itself is conductive.

[0078] like Figures 31-33As shown, the rear end of the first drive shaft 125 is connected to the energy generator of the single-pole electric shears. The drive connecting shaft 121, the first drive shaft 125, and the transmission interface 112 are all made of conductive material, while the interface base 122, the first transmission seat 123, and the inner flexible sleeve 128 are all made of insulating material. The drive connecting shaft 121 ensures the positioning and locking of the jaw assembly 11, the transmission of torque, and the transmission of electrical energy from the energy device. Furthermore, the pre-pressure provided by the first elastic mechanism 126 or the second elastic mechanism 1261 ensures a reliable electrical connection between the drive connecting shaft 121 and the jaw assembly 11, and allows for the transmission of mechanical energy while transmitting electrical energy. Specifically, the drive connecting shaft 121 maintains a reliable electrical connection with the transmission interface 112 on the jaw assembly 11, and the transmission interface 112 transmits electrical energy to the electric shear blades. The jaw assembly 11 includes an insulating sleeve 113 to ensure the insulation of the jaw assembly 11.

[0079] The first conductive structure (not shown in the figure) can also be a wire arranged in the first drive shaft 125, in which case the first drive shaft 125 can be made of insulating material.

[0080] In another embodiment, a plurality of conductive pins 1214 are provided on the drive connecting shaft 121, and the first drive shaft 125 includes a plurality of second conductive structures that are electrically connected to the conductive pins 1214 respectively. The proximal end of the second conductive structure is electrically connected to an energy generator, thereby increasing the electrical functionality. The energy generator can be the energy generator of a bipolar electrocautery clamp, and the second conductive structure (not shown in the figure) can be a wire arranged within the first drive shaft 125.

[0081] like Figures 34A-35BAs shown in the figure, the rear end of the wire inside the first drive shaft 125 extends to the instrument box 14 and connects to the two electrical contacts of the energy generator of the bipolar electrocautery forceps. The front end of the wire corresponds one-to-one with the conductive needle 1214. Specifically, the two conductive needles 1214 on the drive connecting shaft 121 and the two conductive contacts 1123 on the transmission interface 112 are made of conductive material; the insulating part 1215 between the two conductive needles 1214 on the drive connecting shaft 121 is made of insulating material, and the substrate between the two conductive contacts 1123 on the transmission interface 112 is also made of insulating material; the two conductive contacts 1123 on the jaw assembly 11 maintain reliable electrical connection with the jaws of the bipolar electrocautery forceps, while ensuring reliable insulation between the jaws. The drive connecting shaft 121 and the first drive shaft 125 are fixedly connected in an insulated manner. The drive connecting shaft 121 can be manufactured by metal-plastic integrated injection molding. The interface base 122, the first transmission base 123, and the inner flexible sleeve 128 are all made of insulating material. The drive connecting shaft 121 can ensure the positioning and locking of the jaw assembly 11, the transmission of torque and the transmission of electrical energy, and the elastic extension and retraction pre-pressure provided by the first elastic mechanism 126 or the second elastic mechanism 1261 can ensure a reliable electrical connection between the drive connecting shaft 121 and the jaw assembly 11.

[0082] The inner flexible sleeve 128 is preferably made of materials with good insulation properties and good surface lubrication characteristics, such as PA, PI, PEEK, PTFE or FEP, which can ensure both insulation and good smoothness.

[0083] Option 4

[0084] This invention provides a surgical instrument, comprising: a surgical actuation mechanism and the aforementioned end-effector interface system, wherein the surgical actuation mechanism is mounted on an interface base 122. This surgical instrument possesses all the technical features and beneficial effects of the aforementioned end-effector interface system, which will not be elaborated further here. The surgical actuation mechanism may be a jaw assembly 11.

[0085] The above descriptions are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A terminal interface system, characterized in that, include: The device includes a power unit, an instrument rod, an interface base, a drive connecting shaft, and a first transmission shaft. The interface base is installed at the distal end of the instrument rod and is provided with a fixing structure for mounting the surgical action mechanism. The first drive shaft is disposed in the instrument rod and is movably connected to the interface base. The drive connecting shaft is connected to the distal end of the first drive shaft. The power device is connected to the proximal end of the first drive shaft. The power device can drive the first drive shaft to move longitudinally and drive the drive connecting shaft to extend or retract relative to the interface base. The end interface system includes a second drive shaft and a first drive seat. The first drive seat is rotatably mounted on the interface base, and the drive connecting shaft is longitudinally movable and mounted on the first drive seat. The first drive seat is connected to the distal end of the second drive shaft, and the power device is connected to the proximal end of the second drive shaft. The power device can drive the second drive shaft to rotate and drive the first drive seat and the drive connecting shaft to rotate relative to the interface base. Furthermore, the first drive shaft passes through the second drive shaft.

2. The terminal interface system according to claim 1, characterized in that, The proximal end of the first drive shaft extends to the outside of the second drive shaft; the power unit includes a power connection shaft, a power connection head, a rotating mechanism, a collar, and a button, the collar being fixed to the first drive shaft, the button being connected to the collar, and the button being able to drive the collar to move longitudinally; The power connection shaft is sleeved outside the second transmission shaft and fixedly connected to the second transmission shaft. The rotating mechanism is connected to the power connection shaft through the power connection head to drive the power connection shaft to rotate.

3. The terminal interface system according to claim 2, characterized in that, The power connector is longitudinally movable and mounted on the power connection shaft.

4. The terminal interface system according to claim 3, characterized in that, A ball bearing is provided between the power connector and the power connection shaft; the power connector is provided with a longitudinal groove, and / or the power connection shaft is provided with a longitudinal groove; the ball bearing is disposed in the longitudinal groove.

5. The terminal interface system according to claim 1, characterized in that, The first transmission base has a longitudinal cavity, and the drive connecting shaft is installed in the longitudinal cavity; a first elastic mechanism is provided in the longitudinal cavity, and the first elastic mechanism is connected to the drive connecting shaft so that the drive connecting shaft tends to extend relative to the interface base.

6. The terminal interface system according to claim 1, characterized in that, The second drive shaft is fitted with an outer flexible sleeve, and the first drive shaft is also fitted with an inner flexible sleeve.

7. The terminal interface system according to claim 1, characterized in that, The first drive shaft includes multiple drive segments, each drive segment having a drive groove and a drive protrusion. Adjacent drive segments are connected by nested drive grooves and drive protrusions.

8. The terminal interface system according to claim 7, characterized in that, The multiple transmission grooves are distributed in a spiral shape, and the multiple transmission protrusions are distributed in a spiral shape; the transmission protrusions are circular or rectangular.

9. The terminal interface system according to claim 1, characterized in that, The end-effector system includes a second elastic mechanism mounted on the instrument bar, the second elastic mechanism being connected to the first drive shaft to give the drive connection shaft a tendency to extend relative to the interface base.

10. The terminal interface system according to claim 1, characterized in that, The first drive shaft includes a first conductive structure, the proximal end of which is electrically connected to an energy generator, and the distal end of which is electrically connected to the drive connection shaft.

11. The terminal interface system according to claim 1, characterized in that, The drive shaft is provided with a plurality of conductive pins, and the first drive shaft includes a plurality of second conductive structures that are electrically connected to the conductive pins respectively, and the proximal end of the second conductive structure is electrically connected to the energy generator.

12. The terminal interface system according to claim 1, characterized in that, The fixing structure includes a snap-fit ​​part and a positioning part.

13. A surgical instrument, characterized in that, include: The surgical action mechanism and the end interface system according to any one of claims 1-12, wherein the surgical action mechanism is mounted on the interface base.

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