Surgical dissector and surgical robot comprising same

Abstract

The application provides a surgical dissector and a surgical robot comprising the same, the surgical dissector comprising an instrument transmission box and an instrument operation part, wherein the instrument transmission box is provided with a transmission structure and an extension part extending out of the instrument transmission box; the instrument operation part comprises a knife head seat and a knife head arranged on one end of the knife head seat, and the other end of the knife head seat is connected with the extension part through a bending assembly; the bending assembly is arranged with at least two traction parts at intervals in the circumferential direction, one end of the traction part is connected with the knife head seat, and the other end is in transmission connection with the transmission structure of the instrument transmission box along the extension part; the transmission structure can drive the selected traction part to be tensioned or relaxed, so that the bending assembly is bent along the tension direction of the traction part, so that the knife head can be bent, multi-dimensional and multi-directional bending adjustment of the knife head is realized, and good research and development effects are achieved for the orientation adjustment of minimally invasive surgical instruments in various surgical scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robotic surgical instruments, in particular to a surgical dissector and a surgical robot comprising the same. BACKGROUND

[0002] With the rapid development of minimally invasive surgical technology, and the deepening of the concept of evidence-based, individualized and humanistic, precise and minimally invasive technology has become one of the mainstream directions of current surgical development. Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. Compared with traditional surgery, minimally invasive surgery has the advantages of small trauma, light pain, and rapid recovery. However, minimally invasive surgery is limited by the size of the incision, the small field of view, and the small degree of freedom of operation, which increases the difficulty of surgical operation and prolongs the operation time, making the surgeon tired and prone to wrist tremor / shaking.

[0003] Taking laparoscopic hepatectomy as an example, due to the brittle texture of the liver, the rich blood supply, the complex internal anatomical structure and the many variations, the liver injury is difficult and risky with much bleeding, therefore, laparoscopic hepatectomy is a highly challenging minimally invasive surgery.

[0004] Robotic medical assistance technology can well solve these problems. Robotic assistance technology can provide a better field of view for the surgeon to operate, and minimally invasive surgical robots greatly increase the flexibility of surgical operation, allowing the surgeon to perform more delicate operations. A minimally invasive surgical robot generally consists of a surgeon console and a surgical arm system, wherein the surgical arm system generally consists of multiple instrument holding arms and a mirror holding arm, the instrument holding arms are used to hold surgical instruments and complete corresponding actions according to the surgeon's instructions, and the instrument holding arms are installed with instrument drive boxes.

[0005] The robot for laparoscopic hepatectomy performs liver resection by holding a surgical dissector, which is also called an electrotome pen and is widely used in surgical operations (related to clinical hepatobiliary surgery, such as pancreaticoduodenectomy, partial hepatectomy, splenectomy, cholecystectomy, partial pancreatectomy, and partial cholangiectomy), and is an electronic surgical instrument that replaces mechanical surgical knives for tissue cutting. The surgical dissector adapted to the robot for laparoscopic hepatectomy is generally an ultrasonic knife, but the existing ultrasonic knife is a hard rod type and cannot adjust the angle of the knife head by bending.

[0006] Therefore, the existing technology for laparoscopic hepatectomy has at least the following technical problems: the ultrasonic knife used by the robot for laparoscopic hepatectomy in the existing technology is a hard rod type, and the knife head cannot be bent to adjust, which limits the flexibility of the knife head operation. SUMMARY

[0007] The embodiment of the present application provides a surgical dissector and a surgical robot comprising the same, and solves the technical problem that the hard rod type ultrasonic knife used by the robot for laparoscopic liver resection cannot be flexibly adjusted.

[0008] To solve the above technical problem, the embodiment of the present application provides a multifunctional surgical dissector, comprising:

[0009] An instrument transmission box, which is provided with a transmission structure and an extension part extending from the instrument transmission box;

[0010] An instrument operation part, which comprises a knife head seat and a knife head arranged on one end of the knife head seat, the other end of the knife head seat is connected with the extension part through a bending assembly, at least two traction parts are arranged at intervals in the circumferential direction of the bending assembly, one end of the traction part is connected with the knife head seat, and the other end of the traction part is in transmission connection with the transmission structure of the instrument transmission box along the extension part;

[0011] Wherein, under the driving of external force, the transmission structure can drive the selected traction part to be tensioned or relaxed respectively, so that the bending assembly is bent along the tension direction of the traction part.

[0012] Further, the four traction parts are uniformly arranged in the circumferential direction of the flexible connecting piece.

[0013] Further, the bending assembly comprises a flexible connecting piece and at least two matching joints arranged at intervals in the axial direction of the flexible connecting piece, two ends of the flexible connecting piece are connected with the knife head seat and the extension part respectively, the matching joints are arranged around the flexible connecting piece in the circumferential direction of the flexible connecting piece, and each traction part is connected with the knife head seat after penetrating each matching joint in sequence.

[0014] Further, opposite sides of the two matching joints are respectively provided with two groups of connecting teeth, the two groups of connecting teeth are arranged at intervals in the circumferential direction of the matching joint, and the two matching joints are connected through the meshing of the two groups of connecting teeth.

[0015] Further, in the two meshing connecting teeth, one side end of any connecting tooth close to the flexible connecting piece is provided with a limiting baffle, and the normal projection of the meshing part of the two connecting teeth at least partially overlaps with the limiting baffle.

[0016] Further, the flexible connecting piece is provided with at least three matching joints at intervals in the axial direction, and the three matching joints are meshingly connected with each other through the connecting teeth arranged on each matching joint.

[0017] Further, axial projections of the connecting teeth on any two engaged mating joints are staggered with axial projections of the connecting teeth on adjacent engaged mating joints.

[0018] Further, two groups of the connecting teeth on any mating joint are symmetrically arranged about an axis of the flexible connecting member.

[0019] Further, the tool head is hollow and communicates with a suction pipe arranged in the tool head seat, and an end of the tool head is beveled to form a pointed cone shape.

[0020] In a second aspect, the embodiments of the present application further provide a surgical robot, comprising the multifunctional surgical dissector, and further comprising:

[0021] The device body is provided with a mechanical arm, an operating end of the mechanical arm is connected with the instrument transmission box, and the selected traction part is tensioned or relaxed by driving the transmission structure of the instrument transmission box.

[0022] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0023] (1) Since the curved assembly is arranged between the tool head seat and the extension part, when the traction part is tensioned by the transmission structure, the curved assembly is deformed and bent under the tensioning force of the traction part, thereby driving the tool head to synchronously bend, and thus, when the traction parts at different positions are tensioned by the transmission structure, the curved assembly is deformed in the corresponding tensioning direction, thereby facilitating the bending of the tool head at different angles, achieving multi-dimensional and multi-directional bending adjustment of the tool head, and having good research and development effect on the orientation adjustment of the minimally invasive surgical instrument in various surgical scenarios, and effectively solving the technical problem that the hard rod type ultrasonic knife used by the robot for laparoscopic liver resection cannot be bent and adjusted, thereby limiting the flexibility of the tool head operation.

[0024] (2) The transmission structure is further provided with gears engaged with each other, one of the gears is coaxially connected with the extension part, and the other gear is coaxially connected with the motor, when the motor drives the gear connected therewith to rotate, the gear engaged therewith drives the extension part to rotate, thereby realizing the circumferential rotation of the tool head, which can further improve the activity range of the tool head, in combination with the bending adjustment of the tool head, so that the tool head has two-dimensional angle adjustment, further improving the flexibility of the tool head, and enabling the surgical dissector to be adapted to different surgical scenarios.

[0025] (3) The bending assembly comprises a flexible connecting piece and at least two matching joints arranged axially along the flexible connecting piece, each of the traction parts is connected with the tool head seat after being sequentially threaded through each of the matching joints, so that the traction part is further constrained by the plurality of matching joints, when the traction part is tensioned, the position of each matching joint on the flexible connecting piece is pulled by the traction part, thereby facilitating the traction part to drive the stable bending of the flexible connecting piece.

[0026] (4) The matching joints are connected by the engagement of the connecting teeth, when the connecting teeth are engaged, a gap is formed between the adjacent two matching joints due to the protruding arrangement of the connecting teeth, thereby facilitating the traction part to guide the bending of the flexible connecting piece, and the engagement of the connecting teeth also facilitates the smooth transition and connection during the bending of the flexible connecting piece, reduces the abrupt feeling during the bending of the flexible support, and is beneficial to the precise action during the operation process.

[0027] (5) One end of any of the connecting teeth close to the flexible connecting piece is provided with a limiting baffle, the height of the limiting baffle is higher than that of the connecting teeth, when the connecting teeth located at the middle part are engaged with the connecting teeth located at the lowermost part, the limiting baffle overlaps with the engaged parts of the two connecting teeth, thereby blocking the movement of the connecting teeth due to the bending deformation of the flexible connecting piece during engagement, which is beneficial to ensure that the connecting teeth can only move in the engagement direction, and ensures the controllable bending.

[0028] (6) The number of the matching joints can be set to be multiple, so that the bending precision of the flexible connecting piece is more controllable, and the bending angle control of the tool head is more precise.

[0029] (7) The axial projection of the connecting teeth on any two engaged matching joints is staggered with the axial projection of the connecting teeth on the adjacent two engaged matching joints, thereby further improving the bending stability of the flexible connecting piece.

[0030] (8) Corresponding to the arrangement position of each traction part, an avoiding part is formed on the upper and lower sides of the outer end of each matching joint, the avoiding part is a chamfer surface compared with the concave in the plane of the matching joint, the avoiding part forms an avoiding space, and the bending angle of the matching joint is increased as much as possible.

[0031] (9) the cutter head is hollow inside and communicates with the suction pipe arranged in the cutter head seat, the end face of the upper end of the cutter head is configured as an inclined surface and forms a sharp cone, so that the stripping operation can be realized; the cutter head is made of conductive metal material, so that the cutter head can be used for electric cutting, electric coagulation, cutting and the like after being conductive through the electric wire; the cutter head communicates with the flexible connecting piece and the extension part through the suction pipe, so that the suction, flushing and the like can be realized based on the suction pipe, and thus the multifunctional surgical dissector can realize multiple surgical operations such as stripping, electric coagulation, cutting, suction and flushing at the same time, and the inconvenience of replacement between different function surgical instruments is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0033] Figure 1 It is a perspective view of the multifunctional surgical dissector in the embodiment of the present application.

[0034] Figure 2 It is a partial structural schematic view of the mounting base in the embodiment of the present application.

[0035] Figure 3 It is Figure 1 the enlarged view of A part in the figure.

[0036] Figure 4 It is Figure 3 the partial sectional view of the cutter head assembly.

[0037] Figure 5 It is a schematic view of the end face cooperating with the joint in the embodiment of the present application.

[0038] Figure 6 It is an exploded view of the bending assembly in the embodiment of the present application.

[0039] Figure 7 It is a structural schematic view of the surgical robot in the embodiment of the present application.

[0040] Explanation of reference signs:

[0041] 1, instrument transmission box; 2, extension part; 3, instrument operation part; 4, equipment main body; 5, mechanical arm;

[0042] 11, gear;

[0043] 30, bending assembly 30; 31, tool head seat; 32, matching joint; 33, traction part; 34, flexible connecting part 34; 35, tool head; 36, suction tube; 37, avoiding part;

[0044] 321, connecting tooth; 322, limiting baffle; 323, through hole; 324, around groove. DETAILED DESCRIPTION

[0045] The embodiment of the present application provides a surgical dissector and a surgical robot containing the same, and solves the technical problem that the ultrasonic knife used by the robot for laparoscopic liver resection is a hard rod type, the tool head cannot be bent and adjusted, and the operation flexibility of the tool head is limited.

[0046] The technical scheme in the embodiment of the present application is to solve the above technical problem, and the general idea is as follows:

[0047] The bending assembly is arranged between the tool head seat and the extension part where the tool head is located, when the traction part is tensioned by the transmission structure, the bending assembly is deformed by the tensioning force of the traction part, so that the tool head is synchronously deformed, and thus when the traction part at different positions is tensioned by the transmission structure, the bending assembly is deformed in the corresponding tension direction, so that the bending action of the tool head along different angles is realized, multi-dimensional and multi-directional bending adjustment of the tool head is realized, the direction adjustment of the minimally invasive surgical instrument in various surgical scenarios has good research and development effect, and the technical problem that the ultrasonic knife used by the robot for laparoscopic liver resection is a hard rod type, the tool head cannot be bent and adjusted, and the operation flexibility of the tool head is limited is solved.

[0048] In order to better understand the above technical scheme, the above technical scheme will be described in detail in combination with the drawings of the specification and the specific embodiments.

[0049] One or more embodiments of the present application provide a surgical dissector for assembling on a mechanical arm of a surgical robot for laparoscopic liver resection, of course, the surgical dissector and the surgical robot containing the surgical dissector can also be used for other applicable surgical types, which is not limited here.

[0050] As shown in the figure, one or more embodiments of the present application provide a multifunctional surgical dissector, which comprises: Figures 1 to 3

[0051] The instrument transmission box 1 is provided with a transmission structure and an extension part 2 extending from the instrument transmission box 1;

[0052] ​The instrument operation part 3 comprises a tool head seat 31 and a tool head 35 arranged on one end of the tool head seat 31, and the other end of the tool head seat 31 is connected with the extension part 2 through a bending assembly 30, and the bending assembly 30 is arranged with at least two traction parts 33 at a circumferential interval, one end of the traction part 33 is connected with the tool head seat 31, and the other end is connected with the transmission structure of the instrument transmission box 1 along the extension part 2;

[0053] Wherein, under the driving of external force, the transmission structure can drive the selected traction part 33 to be tensioned or relaxed respectively, so that the bending assembly 30 is bent along the tension direction of the traction part 33.

[0054] As can be seen from the above, the multifunctional surgical dissector provided by the present application is connected with the transmission structure and the traction part 33 on the instrument transmission box 1, and the bending assembly 30 is arranged between the tool head seat 31 where the tool head 35 is located and the extension part 2, when the transmission structure drives the traction part 33 to be tensioned, the bending assembly 30 is deformed and bent under the tensioning force of the traction part 33, so as to drive the tool head 35 to be bent synchronously, thereby, when the transmission structure controls the traction part 33 at different positions to be tensioned, the bending assembly 30 will be deformed in the corresponding tension direction, thereby facilitating the bending action of the tool head 35 along different angles, realizing the bending adjustment of the tool head 35 in multiple dimensions and multiple directions, and having good research and development effect on the direction adjustment of minimally invasive surgical instruments in various surgical scenes, and effectively solving the technical problem that the ultrasonic knife used by the robot for laparoscopic liver resection is a hard rod type, the tool head cannot be bent and adjusted, and the tool head operation flexibility is limited.

[0055] It should be noted that in each embodiment of the present application, Figure 1 is taken as the reference direction for description, Figure 1 In the above embodiment, the tool head 35 is located above the bending assembly 30, and the bending assembly 30 is located above the extension part 2.

[0056] In the above embodiment, the traction part 33 can be made of high-strength steel wire or high-strength engineering plastic wire, and preferably, the traction part 33 is made of rigid material to avoid the influence of elastic action on the tensioning accuracy of the traction part 33.

[0057] In some embodiments, the connection mode of the transmission structure and the traction part 33 can be a mature winding type connection, and the transmission structure is provided with a winding roller for winding the traction part 33, the traction part 33 is wound and tensioned by driving the winding roller to rotate forward, the traction part 33 is relaxed by reversing the winding roller, the angular velocity and total rotation length of the winding roller are adjusted to realize the precise control of the traction part 33, and thus the bending direction and angle of the bending assembly 30 are adjusted.

[0058] AsFigure 2 As shown, in some embodiments, a gear 11 is also arranged in the transmission structure, one gear 11 is coaxially connected with the extension 2, and the other gear 11 is coaxially fixedly connected with the output shaft of the motor. When the motor drives the gear 11 on it to rotate, the gear 11 engaged with it drives the extension 2 to rotate, thereby realizing the circumferential rotation of the tool bit 35. This setting can further improve the activity range of the tool bit 35. In addition, the bending adjustment of the tool bit 35 enables the tool bit 35 to have two-dimensional angle adjustment, further improves the flexibility of the tool bit 35, and enables the surgical dissector to adapt to different surgical scenes.

[0059] In some embodiments, the bending assembly 30 includes a flexible connecting piece 34, both ends of which are connected with the tool bit seat 31 and the extension 2, respectively. The flexible connecting piece 34 can adopt a plastic hose with high flexibility, which will be deformed and bent under force when one side is pulled. Of course, the flexible connecting piece 34 can also adopt a metal braided hose or other flexible pipe as long as it can be bent under force.

[0060] As shown in Figure 3 and Figure 5 The flexible connecting piece 34 is uniformly provided with four traction parts 33 around the circumference, and the four traction parts 33 are arranged around the flexible connecting piece 34. By driving one traction part 33 to be tensioned and the other three traction parts 33 to be relaxed, the flexible connecting piece 34 is bent in the tensioning direction of the tensioned traction part 33. In this embodiment, the positions of the traction parts 33 are only illustrative, and of course, the traction parts 33 can also be arranged in other quantities.

[0061] As shown in Figure 3 and Figure 4 In some embodiments, the bending assembly 30 further includes at least two matching joints 32 arranged axially along the flexible connecting piece 34, and the matching joints 32 are arranged around the circumference of the flexible connecting piece 34. Each traction part 33 is connected with the tool bit seat 31 after passing through each matching joint 32 in turn. This setting can further constrain the traction part 33 by the matching joints 32. When the traction part 33 is tensioned, the position of each matching joint 32 on the flexible connecting piece 34 will be pulled by the traction part 33, thereby facilitating the traction part 33 to stably bend the flexible connecting piece 34.

[0062] In the above embodiment, the opposite sides of the two cooperating joints 32 are respectively provided with two sets of connecting teeth 321, and the two sets of connecting teeth 321 are arranged along the circumference of the cooperating joint 32. The two cooperating joints 32 are connected by the two sets of connecting teeth 321. Here, the connecting teeth 321 protrude from the side end surface of the cooperating joint 32. When the connecting teeth 321 are engaged, a gap is formed between the two adjacent cooperating joints 32 due to the protruding arrangement of the connecting teeth 321, thereby facilitating the bending of the flexible connecting piece 34 guided by the traction part 33. Moreover, the engagement of the connecting teeth 321 also facilitates the smooth transition and connection of the flexible connecting piece 34 during bending, reduces the abrupt feeling of the flexible support during bending, and is beneficial to precise action during surgery.

[0063] In some embodiments, as shown in Figure 6 of the two engaging connecting teeth 321, the side end of any connecting tooth 321 close to the flexible connecting piece 34 is provided with a limiting baffle 322, and the normal projection of the engaging part of the two connecting teeth 321 overlaps at least part of the limiting baffle 322.

[0064] Specifically, as an example, Figure 6 the connecting tooth 321 on the lowermost cooperating joint 32 is provided with a limiting baffle 322 at one side end, and the height of the limiting baffle 322 is higher than that of the connecting tooth 321. When the connecting tooth 321 in the middle part is engaged with the connecting tooth 321 at the lowermost position, the limiting baffle 322 will overlap the engaging part of the two connecting teeth 321, thereby preventing the connecting tooth 321 from moving due to the bending deformation of the flexible connecting piece 34 during engagement, which is beneficial to ensure that the connecting tooth 321 can only move in the direction of engagement, and to ensure controllable bending.

[0065] As shown in Figure 3 In some embodiments, the flexible connecting piece 34 is provided with at least three cooperating joints 32 along the axial direction, and the three cooperating joints 32 are connected to each other in pairs by the connecting teeth 321 arranged on each cooperating joint 32. Specifically, the two ends of the middle cooperating joint 32 are provided with connecting teeth 321, and the middle cooperating joint 32 is connected to the uppermost cooperating joint 32 and the lowermost cooperating joint 32, respectively. It should be noted that the more the number of cooperating joints 32, the more controllable the bending accuracy of the flexible connecting piece 34, which makes the bending angle control of the tool head 35 more precise.

[0066] In the above embodiment, preferably, the axial projection of the connecting tooth 321 on any engaged two cooperating joints 32 is arranged alternately with the axial projection of the connecting tooth 321 on the adjacent engaged two cooperating joints 32.

[0067] For example, in the structure with three cooperating joints 32, the meshing positions of the two sets of connecting teeth 321 on the uppermost cooperating joint 32 and the middle cooperating joint 32 are the first meshing positions, the meshing positions of the two sets of connecting teeth 321 on the lowermost cooperating joint 32 and the middle cooperating joint 32 are the second meshing positions, and the axial projection of the first meshing positions coincides with the axial projection of the second meshing positions after the first meshing positions are rotated by 90°. Thus, the meshing portions of the corresponding four sets of connecting teeth 321 of the circumferential four equal parts of the flexible connecting member 34 are meshed, thereby further improving the bending stability of the flexible connecting member 34.

[0068] In some embodiments, the two sets of connecting teeth 321 on any of the cooperating joints 32 are symmetrically arranged about the axis of the flexible connecting member 34. This arrangement can maintain the bending stability of the flexible connecting member 34 and avoid the vibration caused by the uneven arrangement of the connecting teeth 321 during bending. Of course, in some embodiments, the connecting teeth 321 on one cooperating joint 32 can also be arranged in three, four, or five sets, as long as they are uniformly distributed along the circumference of the flexible connecting member 34.

[0069] Further, as shown in Figure 5 and Figure 6 When four traction parts 33 are provided, corresponding to the structure with three cooperating joints 32, the angles of the four traction parts 33 around the circular cross-section of the flexible connecting member 34 are 45°, 135°, 225°, and 315°, respectively, and the angle between the central axis of each traction part 33 and the meshing portion of the two sets of connecting teeth 321 is 45°. The meshing portion of each cooperating joint 32 is arranged one-to-one corresponding to each traction part 33, and as long as the lengths of the four traction parts 33 are adjusted accordingly, the bending deformation of the corresponding cooperating joints 32 can be achieved.

[0070] As an alternative embodiment, based on the description of the above embodiments, two non-adjacent traction parts 33 of the four traction parts 33 can be connected by one of the transmission structures around the rollers, that is, two transmission structures around the rollers are provided, the tensioning action of the two traction parts 33 is achieved by driving one of the transmission structures around the rollers, and the relaxation action of the other two traction parts 33 is achieved by driving the other transmission structure around the rollers. When the above structure is adopted, a winding groove 324 is provided on the uppermost cooperating joint 32, one traction part 33 passes through the through holes 323 on the coaxial cooperating joints 32, and then winds back to the transmission structure from the through hole 323 on the adjacent coaxial cooperating joint 32 through the winding groove 324. Thus, only two degrees of freedom need to be provided to achieve the bending action of the flexible connecting member 34, thereby reducing the structural complexity and operation difficulty.

[0071] In some embodiments, as shown in Figure 6As shown, corresponding to the location of each traction part 33, a clearance part 37 is formed on the upper and lower sides of the outer end of each mating joint 32. The clearance part 37 is concave inward compared to the plane of the mating joint 32 to form a tangential surface. This arrangement can utilize the clearance part 37 to form a clearance space, thereby maximizing the bending angle of the mating joint 32.

[0072] like Figure 4 As shown, in some embodiments, the blade holder 31 can be an insulating connecting sleeve. The blade 35 is hollow inside and communicates with the suction tube 36 disposed within the blade holder 31. The upper end face of the blade is constructed as a bevel and forms a pointed cone shape, thereby enabling the peeling operation. The blade 35 is made of a conductive metal material so that it can perform electrocautery, electrocoagulation, and cutting operations after being conductive by an electrical wire. The blade 35 is hollow and communicates with the flexible connector 34 and the extension 2 through the suction tube 36, thereby enabling suction and irrigation operations based on the suction tube 36. Therefore, the multifunctional surgical dissecter of this application can simultaneously perform multiple surgical operations such as peeling, electrocoagulation, cutting, suction, and irrigation, reducing the inconvenience of changing between different functional surgical instruments.

[0073] Based on the same inventive concept, this application also provides a surgical robot, such as Figure 7 As shown, the multifunctional surgical dissecter, including any of the preceding embodiments, further includes:

[0074] The main body of the device 4 is equipped with a robotic arm 5. The operating end of the robotic arm is connected to the instrument transmission box 1, and drives the selected traction part 33 to tighten or loosen through the transmission structure of the instrument transmission box 1. Here, the operation of driving the transmission structure of the instrument transmission box 1 to tighten or loosen the traction part 33 can be achieved by the operator manually operating the knob on the instrument transmission box 1, or it can be programmed and controlled by a PLC (Programmable Logic Controller) and a computer to control the action of the transmission structure.

[0075] It should be understood that although quantifiers such as "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit.

[0076] The orientation terms such as outer, middle, inner and the like mentioned or possibly mentioned in the present specification are defined relative to the configuration shown in the drawings, and are relative concepts, and thus can be changed accordingly depending on different positions, different use states. Therefore, these or other orientation terms should not be interpreted as limiting terms.

[0077] The above description is merely preferred embodiments of the present application, and is not intended to limit the present application in any form or in any substance. It should be noted that, for those skilled in the art, some improvements and supplements can be made without departing from the method of the present application, and these improvements and supplements should also be considered as the protection scope of the present application. For those skilled in the art, some slight changes, modifications and equivalent changes made by using the technical content disclosed above without departing from the spirit and scope of the present application are equivalent embodiments of the present application; at the same time, any equivalent changes, modifications and evolution of the above embodiments made according to the essential technology of the present application are still within the scope of the technical solutions of the present application.

Claims

1. A multi-functional surgical dissector, characterized by, The utility model relates to a surgical instrument drive box (1) is provided with drive structure and extension (2) of the drive box (1) on it, and the utility model relates to a surgical instrument operation part (3) including the cutter head seat (31) and the cutter head (35) of the cutter head seat (31) one end setting, the other end of cutter head seat (31) is connected with the extension (2) through the bending assembly (30), and the bending assembly (30) is arranged with at least two traction parts (33) along the circumference interval, one end of traction part (33) is connected with cutter head seat (31), and the other end is along the extension (2) and is drivenly connected with the drive structure of the drive box (1), wherein the drive structure can drive selected traction part (33) tension or relaxation respectively, to make the bending assembly (30) bend along the tension direction of traction part (33), to drive cutter head (35) synchronous bending action, the bending assembly (30) includes flexible connecting piece (34) and at least three cooperation joints (32) of the axial interval setting along flexible connecting piece (34), and the both ends of flexible connecting piece (34) are connected with cutter head seat (31) and extension (2) respectively, and cooperation joint (32) is arranged along the circumferential ring of flexible connecting piece (34), and each traction part (33) is connected with cutter head seat (31) after being sequentially arranged with each cooperation joint (32), the cutter head (35) is hollow, and is communicated with the suction pipe (36) in cutter head seat (31), and the end of cutter head (35) is inclined plane, forms sharp cone shape, to realize stripping operation, the cutter head seat (31) is insulated, cutter head (35) is made of conductive material, cutter head (35) can carry out electrocision, electrocoagulation, cutting operation after conducting, cutter head (35) is hollowly arranged, and can be communicated with the bending assembly (30) of cutter head (35), extension (2) through suction pipe (36), to realize suction, flushing operation based on suction pipe (36), the opposite side of any relative engagement two cooperation joints (32) is provided with two groups of connecting teeth (321) respectively, two groups of connecting teeth (321) are arranged along the circumferential interval of cooperation joint (32), and two cooperation joints (32) are connected through two groups of connecting teeth (321) engagement, in the engagement connection of two connecting teeth (321), the side end of any connecting tooth (321) near flexible connecting piece (34) is provided with limit baffle (322), and the normal projection of the engagement part of two connecting teeth (321) at least partially overlaps limit baffle (322), to block the displacement of connecting tooth (321) when engaging from the bending deformation of flexible connecting piece (34), guarantee that connecting tooth (321) can only act along the engagement direction, cutter head (35) can rotate along the circumference. Four traction parts (33) are evenly arranged along the circumference of flexible connecting piece (34). ​ ​ ​ ​ ​ ​ ​ ​ 2. The multi-functional surgical dissector according to claim 1, wherein, ​ 3. The multi-functional surgical dissector according to claim 1, wherein, The flexible connecting piece (34) is provided with at least three matching joints (32) at an axial interval along the same, and the matching joints (32) are meshingly connected to each other in pairs through connecting teeth (321) arranged on each matching joint (32).

4. The multi-functional surgical dissector according to claim 3, wherein, The axial projection of the connecting teeth (321) on any two meshingly connected matching joints (32) is staggered with the axial projection of the connecting teeth (321) on the adjacent meshingly connected matching joints (32).

5. The multi-functional surgical dissector of any of claims 3-4, wherein, The two groups of connecting teeth (321) on any matching joint (32) are symmetrically arranged about the axis of the flexible connecting piece (34).

6. A surgical robot characterized by, The multifunctional surgical dissector comprises the multifunctional surgical dissector according to any one of claims 1 to 5, and further comprises: A device body (4) is provided with a mechanical arm (5), and the operation end of the mechanical arm (5) is connected with the instrument transmission box (1) and drives the selected traction part (33) to be tensioned or relaxed through the transmission structure of the instrument transmission box (1).

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