Smoke-removing surgical instruments and surgical robots

Abstract

This invention relates to a smoke-removing surgical instrument and a surgical robot. The surgical robot includes a surgical instrument comprising an instrument rod, an instrument housing, an instrument end cap, and a smoke-removing electrode. The instrument housing and the instrument end cap are located at opposite ends of the instrument rod. The instrument rod has an electrode channel extending axially along the instrument rod. The smoke-removing electrode is fixedly or movably inserted through the electrode channel. The smoke-removing electrode has a connecting end and a smoke-removing end positioned opposite each other. The connecting end is inserted into the instrument housing or connected to an external power source, while the smoke-removing end is exposed in the electrode channel. The smoke-removing electrode is used to remove smoke during surgery. This achieves the goal of integrating the smoke-removing electrode into the surgical instrument, allowing the smoke-removing electrode to enter the patient's body through a surgical access channel with the instrument end cap, eliminating the need for additional surgical openings and reducing surgical trauma to the patient. Furthermore, it enables the surgical instrument and surgical robot to be applied to different surgical scenarios, thus exhibiting strong applicability.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument and surgical robot that can remove smoke. Background Technology

[0002] In recent years, with the application and development of robotics technology, especially computer technology, the role of minimally invasive surgical robots in clinical practice has received increasing attention. This is because minimally invasive surgical robots can reduce the physical exertion of surgeons during operations, and can also achieve precise surgery through remote control, thus offering advantages such as smaller wounds, less blood loss, fewer postoperative infections, and faster recovery for patients.

[0003] However, during surgical procedures using surgical robots, surgeons typically remotely control energy-based surgical instruments, powered in some way (such as radiofrequency, ultrasound, or laser) to perform surgical operations such as cutting or coagulating tissue. All these energy-based instruments generate aerosol smoke, which, as it accumulates during surgery, quickly obscures the surgeon's vision, slowing down the procedure and potentially increasing the risk of accidental injury to the patient due to poor visibility. To remove this smoke, current technologies primarily utilize suction. Suction involves using suction-equipped trocars, suction tubes, or surgical instruments, along with suction devices, to aspirate smoke from the abdominal cavity, achieving a clear surgical view. However, this technique increases the amount of carbon dioxide used during surgery, increasing the risk of complications caused by carbon dioxide. Furthermore, suction cannot be applied in non-pneumoperitoneal surgeries, limiting the application scenarios of surgical robots. Summary of the Invention

[0004] Therefore, it is necessary to address the problems of existing surgical robots that rely on suction principles for smoke removal, which necessitates increased carbon dioxide usage and limits their application scenarios. A smoke-removing surgical instrument and a surgical robot incorporating this instrument are needed. This smoke-removing surgical instrument utilizes ionization smoke removal technology, avoiding the aforementioned problems associated with suction-based smoke removal.

[0005] According to one aspect of this application, a smoke-removing surgical instrument is provided, comprising:

[0006] An instrument rod having an electrode channel extending along the axial direction of the instrument rod;

[0007] The instrument end is located at one end of the instrument rod and is used to perform surgical procedures.

[0008] A smoke-removing electrode, which is fixedly or movably inserted into the electrode channel of the instrument rod, has a connecting end and a smoke-removing end disposed opposite to each other, the smoke-removing end being used to remove smoke during the operation;

[0009] An instrument box is located at the opposite end of the instrument rod, and the connection end of the smoke removal electrode is connected inside the instrument box or to an external power source.

[0010] In one embodiment, the instrument box includes a drive unit that is tractively connected to the smoke removal electrode. The drive unit is used to drive the smoke removal end to automatically extend out of the instrument rod or retract into the instrument rod, and / or drive the smoke removal end to perform multi-degree-of-freedom oscillating motion when the smoke removal end extends out of the instrument rod.

[0011] In one embodiment, the surgical instrument includes a control unit communicatively connected to the drive unit. The control unit is configured to send control commands to the drive unit according to a control strategy. The drive unit is capable of controlling the smoke removal end to extend outside or retract inside the instrument rod based on the control commands, and / or controlling the smoke removal end to move closer to the point closest to the instrument end within a safe area based on the control commands.

[0012] In one embodiment, the control unit includes a signal input module, a judgment module, and a drive module. The judgment module is communicatively connected to the signal input module, and the drive module is communicatively connected to the judgment module. The signal input module is used to receive operation commands, and the control strategy is built into the judgment module. The judgment module is used to determine whether the smoke removal end is located within the safe area based on the operation command and the control strategy, and to generate the control command based on the determination result. The drive module is used to activate the drive unit according to the control command to drive the smoke removal end to move to the closest point at the end of the device when it is located within the safe area.

[0013] In one embodiment, the control unit further includes a locking module configured to set the smoke removal end to always be located within the safe area and to lock the position of the smoke removal end.

[0014] In one embodiment, the surgical instrument includes an electrode sheath fitted onto the instrument shaft. The electrode sheath has protective wings surrounding the instrument shaft. The smoke removal end is located within the projection area of ​​the protective wings on the surface of the instrument shaft. The protective wings have multiple smoke vents penetrating the protective wings. The protective wings are configured to retract or move towards the end of the instrument or flip and fit against the outer peripheral surface of the instrument shaft under the action of external force.

[0015] In one embodiment, the outer peripheral surface of the instrument rod is provided with a clearance groove surrounding the axis of the instrument rod. When the protective wing is flipped towards the end of the instrument under the action of external force and fits against the outer peripheral surface of the instrument rod, the protective wing is received in the clearance groove.

[0016] In one embodiment, the instrument box further includes a box body and a first control component, the first control component being movably disposed on the box body and connected to the smoke removal electrode, the first control component being used to control the smoke removal end of the smoke removal electrode to extend out of the instrument rod or retract into the instrument rod.

[0017] In one embodiment, the first control component includes a bracket, a first control element, and a control lever. The bracket is fixedly connected to the housing, and the control lever is rotatably connected to the bracket. The first control element is coupled to the smoke removal electrode via the control lever. The first control element can drive the control lever to rotate around an axis under the action of an external force, so that the control lever can drive the smoke removal end of the smoke removal electrode to extend outside the instrument rod or retract into the instrument rod.

[0018] In one embodiment, the first control component includes a first control member and a sliding ring. The sliding ring is disposed within the housing and movably sleeved on one end of the instrument rod. The smoke removal electrode passes through and is connected to the sliding ring. The first control member is movably disposed on the housing and connected to the sliding ring. The first control member can reciprocate relative to the housing so that the sliding ring can drive the smoke removal end of the smoke removal electrode to extend outside the instrument rod or retract inside the instrument rod.

[0019] In one embodiment, the instrument box further includes a retaining component that is partially movably inserted into the box body and movable relative to the box body to abut against or release the first control component.

[0020] In one embodiment, the first control component has an inclined surface that is abutted against by the holding component. When the holding component abuts against the inclined surface and the first control component moves relative to the housing, the first control component can drive the holding component to move away from or towards the housing, thereby controlling the movement speed of the smoke removal end of the smoke removal electrode extending out of or retracting into the instrument rod.

[0021] In one embodiment, the instrument box further includes a second control component and a transmission wire. The second control component is rotatably disposed on the box body. The transmission wire has a first end and a second end disposed opposite to each other. The first end is connected to the second control component, and the second end is coupled to the smoke removal electrode. The second control component can rotate about its own axis to control the transmission wire to drive the smoke removal end to perform multi-degree-of-freedom oscillating motion.

[0022] In one embodiment, the second control component includes:

[0023] The first drive shaft is partially inserted into the housing, and one end of the drive wire is retractably wound around the first drive shaft.

[0024] A knob is sleeved on one end of the first drive shaft that is exposed outside the box. The surface of the box near the knob has a plurality of limiting grooves arranged at intervals around the axis of the first drive shaft. A limiting hole is provided on the side of the knob near the box. The knob can drive the first drive shaft to rotate together around the axis of the first drive shaft under the action of external force.

[0025] The positioning element is partially confined in the limiting hole, and the positioning element is movable into one of the limiting grooves when the knob is rotated, so as to be partially confined in the limiting groove.

[0026] In one embodiment, the surgical instrument further includes a swing joint movably coupled to the instrument rod, a transmission wire connected to the swing joint, and a smoke removal end connected to the swing joint. The swing joint can rotate around two axes that are simultaneously perpendicular to the central axis of the instrument rod under the drive of the transmission wire.

[0027] In one embodiment, the instrument rod has a receiving groove communicating with the electrode channel, and the smoke-removing end of the smoke-removing electrode is received in the receiving groove; when the smoke-removing electrode is movably inserted through the electrode channel, the smoke-removing end can be exposed from the receiving groove to the outside of the instrument rod, and the receiving groove has a guide surface that is inclined relative to the central axis of the instrument rod, and the guide surface extends inclinedly from the opening edge of the receiving groove into the receiving groove to the bottom wall of the receiving groove.

[0028] In one embodiment, the instrument rod includes an instrument tube and a protective tube coaxially sleeved on the instrument tube, the instrument box has a connecting tube extending outwardly at an angle from the surface of the instrument box, the electrode channel passes through the protective tube, and a portion of the smoke removal electrode passes through the connecting tube and a portion passes through the electrode channel.

[0029] In one embodiment, the instrument rod further includes an electrode channel tube, through which at least a portion of the smoke-removing electrode passes and is located outside the instrument tube; one end of the electrode channel tube is connected to the electrode channel, and the other end of the electrode channel tube is connected to the instrument box.

[0030] In one embodiment, the instrument rod further includes a first seal and / or a second seal, the first seal being disposed at one end of the electrode channel and the second seal being disposed at the other end of the electrode channel, the smoke removal end passing through the first seal from the electrode channel toward the end of the instrument, and the connecting end passing through the second seal from the electrode channel toward the instrument box, the first seal and the second seal being used to seal the portion of the smoke removal electrode located within the electrode channel.

[0031] According to another aspect of this application, a surgical robot is provided, comprising:

[0032] A surgical execution platform having a robotic arm and surgical instruments as described above, the surgical instruments being detachably mounted on the robotic arm;

[0033] The surgical control platform is communicatively connected to the surgical execution platform, and is used to control the surgical instruments to perform corresponding surgical operations.

[0034] The aforementioned smoke-removing surgical instruments and surgical robots have the following technical effects:

[0035] 1. By incorporating a smoke-removing electrode into the surgical instrument, which has a connecting end and a smoke-removing end positioned opposite each other (the connecting end being connected to a power source), a potential difference is established between the smoke-removing electrode and the patient. This allows the smoke-removing end to emit an electron beam during surgery. The electrons in this beam adsorb nearby suspended aerosol particles, thus achieving smoke removal. Compared to traditional smoke removal techniques that rely on suction, this method reduces the amount of carbon dioxide gas used during surgery, lowering the risk of complications for the patient. It also allows the surgical instrument to be used in gasless surgery scenarios, increasing the versatility of surgical robots.

[0036] 2. By setting an electrode channel extending axially along the instrument rod in the surgical instrument, and by inserting a smoke-removing electrode through the electrode channel, the smoke-removing electrode is integrated and mounted in the surgical instrument. This allows the smoke-removing electrode to meet the procedures and characteristics of laparoscopic surgery performed by the surgical robot. During surgery, the smoke-removing electrode can enter the patient's body through a surgical access channel with the end of the surgical instrument, without the need for additional surgical openings, thus reducing surgical trauma to the patient.

[0037] 3. By fixing or movably inserting the smoke-removing electrode into the electrode channel, and by connecting the connection end of the smoke-removing electrode to the instrument box or to an external power source, the smoke-removing electrode can be configured in various ways within the surgical instrument. It can be fixedly integrated into the instrument rod, detachably installed within the instrument rod, or have its smoke-removing end extend beyond the instrument rod when smoke removal is required. This allows the surgical instrument and surgical robot to be applied to different surgical scenarios, resulting in strong applicability of the surgical instrument and surgical robot. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0039] Figure 1 A schematic diagram of a surgical robot performing surgery, provided as an embodiment of the present invention;

[0040] Figure 2 A schematic diagram illustrating the surgical instruments mounted on a robotic arm for performing surgery, as provided in an embodiment of the present invention;

[0041] Figure 3 A three-dimensional schematic diagram of a surgical instrument provided for an embodiment of the present invention (the smoke removal electrode is installed outside the instrument tube);

[0042] Figure 4 A cross-sectional view of a surgical instrument provided for an embodiment of the present invention (the smoke removal electrode is installed outside the instrument tube);

[0043] Figure 5 A three-dimensional schematic diagram of the instrument end provided for an embodiment of the present invention;

[0044] Figure 6 A schematic diagram of a smoke removal electrode provided for an embodiment of the present invention;

[0045] Figure 7 for Figure 4 Sectional view along line AA;

[0046] Figure 8 A diagram showing electrode channels on the instrument rod. Figure 1 ;

[0047] Figure 9 A diagram showing electrode channels on the instrument rod. Figure 2 ;

[0048] Figure 10 A cross-sectional view of a smoke removal electrode mounted on an instrument rod when it has three electrodes;

[0049] Figure 11 A cross-sectional view of a smoke removal electrode mounted on an instrument rod when it has four electrodes;

[0050] Figure 12 A schematic diagram of an instrument rod having a first seal, provided for an embodiment of the present invention;

[0051] Figure 13 A schematic diagram of an instrument rod having a second seal, provided for an embodiment of the present invention;

[0052] Figure 14 A perspective view of the first sealing element provided for an embodiment of the present invention;

[0053] Figure 15 A perspective view of the second seal provided for an embodiment of the present invention;

[0054] Figure 16 A front view of a surgical instrument provided according to an embodiment of the present invention (with a detachable smoke removal electrode);

[0055] Figure 17 A front view of a surgical instrument provided according to an embodiment of the present invention (the smoke removal electrode is detachable, and the smoke removal electrode is not installed);

[0056] Figure 18 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (the smoke removal electrode is installed inside the instrument tube);

[0057] Figure 19 for Figure 18 Enlarged view of region B in the middle;

[0058] Figure 20 A schematic diagram illustrating the sealing of the smoke-removing electrode provided by the present invention when it is installed inside the instrument tube;

[0059] Figure 21 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (a first embodiment in which the smoke removal electrode is axially movable and the smoke removal electrode is hidden inside the instrument tube);

[0060] Figure 22 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (except for a first embodiment in which the smoke electrode is axially movable and extends out of the instrument tube);

[0061] Figure 23 for Figure 21 Enlarged view of region C in the middle;

[0062] Figure 24 for Figure 22 Enlarged schematic diagram of region D in the middle;

[0063] Figure 25 for Figure 21 and Figure 22 Enlarged schematic diagram of region E in the middle;

[0064] Figure 26 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (a first embodiment in which the smoke removal electrode is axially movable and the surgical instrument has a retaining component);

[0065] Figure 27 for Figure 26 Enlarged schematic diagram of region F in the middle;

[0066] Figure 28 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (a first embodiment in which the smoke removal electrode is axially movable and the surgical instrument has an improved embodiment with a holding component);

[0067] Figure 29 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (a second embodiment in which the smoke removal electrode is axially movable);

[0068] Figure 30 for Figure 29 Enlarged schematic diagram of region G in the middle;

[0069] Figure 31 A three-dimensional schematic diagram of a surgical instrument provided for an embodiment of the present invention (a second embodiment in which the smoke removal electrode is axially movable);

[0070] Figure 32 A schematic diagram of the sealing of the smoke removal electrode in a surgical instrument (smoke removal electrode is axially movable) provided according to an embodiment of the present invention;

[0071] Figure 33 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (with an electrode sheath and the smoke-removing electrode hidden inside the instrument tube);

[0072] Figure 34 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (with electrode sheath and except for the smoke electrode extending out of the instrument tube);

[0073] Figure 35 A cross-sectional view of the electrode sheath provided for an embodiment of the present invention;

[0074] Figure 36 A perspective view of the electrode sheath provided for an embodiment of the present invention;

[0075] Figure 37 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (the smoke removal end of the smoke removal electrode can be tilted);

[0076] Figure 38 for Figure 37 Enlarged schematic diagram of region H in the middle;

[0077] Figure 39 A three-dimensional schematic diagram of a smoke-removing electrode in a surgical instrument provided according to an embodiment of the present invention, wherein the smoke-removing end is mounted on a swing joint;

[0078] Figure 40 A three-dimensional schematic diagram of a yaw joint provided for an embodiment of the present invention;

[0079] Figure 41 A cross-sectional view of a surgical instrument provided according to an embodiment of the present invention (the smoke removal electrode can move axially automatically and can tilt automatically);

[0080] Figure 42 A three-dimensional schematic diagram of the position parameters of the surgical instrument automatic control instrument end and the smoke removal electrode during axial movement and yaw motion, according to an embodiment of the present invention;

[0081] Figure 43 A front view of the position parameters of the instrument tip and the smoke removal electrode in a surgical instrument according to an embodiment of the present invention during axial movement and yaw motion;

[0082] Figure 44 This is a top view of the position parameters of the instrument tip and the smoke removal electrode in a surgical instrument provided according to an embodiment of the present invention during axial movement and oscillation.

[0083] Explanation of reference numerals in the attached figures:

[0084] 1. Surgical robot; 10. Surgical execution platform; 100. Robotic arm; 110. Body; 120. Power box; 130. Puncture device; 200. Surgical instrument; 201. Electrode channel; 202. Receiving slot; 203. Mounting slot; 204. Guide surface; 205. Clearance slot; 210. Instrument box; 211. Connecting tube; 210a. Box body; 212. Electrode socket; 213. Quick connector; 214. T-slot; 215. 1. Control assembly; 2151. Bracket; 2152. First control element; 2153. Control lever; 2154. First elastic element; 2155. Sliding ring; 2156. Pin; 2157. Protrusion; 2158. Second drive shaft; 216. Holding assembly; 2161. Push button switch; 2162. Push button lever; 2163. Return spring; 217. Second control assembly; 2171. First drive shaft; 2172. Knob; 2173. 2174. Positioning component; 2175. Second elastic component; 2176. Limiting hole; 2177. Transmission wire; 219. Guide wheel; 220. Instrument rod; 221. Instrument tube; 222. Protective tube; 223. First seal; 2231. Wrapping part; 2232. Lip; 224. Second seal; 225. Electrode channel tube; 226. Electrode cover plate; 227. Holding tube; 230. Instrument end; 231. Working part; 232. Wrist; 23 3. Base; 240. Smoke-removing electrode; 241. Smoke-removing end; 242. Connecting end; 243. Insulating outer tube; 245. Connector; 246. Cable; 270. Electrode sheath; 271. Mounting part; 272. Wing; 273. Release groove; 280. Swing joint; 281. Boss; 282. Electrode groove; 283. Drive wire hole; 300. Drive unit; 400. Main unit; 500. Neutral electrode; 60. Surgical control platform. Detailed Implementation

[0085] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0086] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "level," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the liquid level of the first feature is higher than that of the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the liquid level of the first feature is lower than that of the second feature.

[0090] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0091] One embodiment of the present invention provides a smoke-removing surgical instrument and a surgical robot. The surgical robot system includes surgical instruments, and the surgical robot enables surgeons to remotely control the instruments to perform specific surgical procedures. This allows for more intuitive control and higher precision in complex surgical operations, thereby improving surgical success rates and efficiency. Simultaneously, the surgical instruments also have a smoke-removing function to eliminate smoke generated during cutting or condensation operations, thus achieving a clear surgical field of vision.

[0092] The following description uses surgical instruments in a surgical robot as an example to illustrate the structure of the surgical robot and its included smoke-removing surgical instruments in this application. This embodiment is only used as an example and does not limit the technical scope of this application. It is understood that in other embodiments, the surgical instruments of this application are not limited to use in surgical robots, but can also be used in any other type of surgical equipment, which is not limited here.

[0093] The following combination Figures 1 to 44 This application describes preferred embodiments of the smoke-removing surgical instruments and surgical robots provided in this application.

[0094] like Figure 1 As shown, a surgical robot 1 includes a surgical execution platform 10 and a surgical control platform 20, wherein the surgical execution platform 10 is communicatively connected to the surgical control platform 20. Figure 2As shown, the surgical execution platform 10, as the slave end of the surgical robot 1, has a robotic arm 100, surgical instruments 200, a host 400, and a neutral electrode 500 set on the operating table. The neutral electrode 500 and the surgical instruments 200 are electrically connected to the host 400, and the surgical instruments 200 are detachably mounted on the robotic arm 100, so that the host 400, the surgical instruments 200, and the neutral electrode 500 together form a circuit. The surgical instruments 200 are used to perform surgical operations such as cutting or coagulation on the patient in place of the doctor by holding a scalpel or endoscope under the drive of the energy generated by the host 400, and are used to remove the smoke generated during the operation. The surgical control platform 20, as the master end of the surgical robot 1, has a control arm for the doctor to operate. The doctor issues control commands by holding the control arm and performing a series of actions to remotely control the surgical instruments 200 located at the slave end to perform surgical operations.

[0095] Please see Figure 2 and Figure 3 In some embodiments, the robotic arm 100 includes a body 110, a power unit 120, and a trocar 130. The trocar 130 is fixedly disposed at one end of the body 110 and has a trocar 130 channel. The power unit 120 is movably mounted on the body 110 and can slide back and forth relative to the body 110. The surgical instrument 200 includes an instrument box 210, an instrument rod 220, an instrument end 230, and a smoke-removing electrode 240. The instrument box 210 and the instrument end 230 are respectively connected to opposite ends of the instrument rod 220. The instrument box 210 is electrically connected to the host 400 and is snapped into the power unit 120. The instrument rod 220 passes through the trocar 130 and has an electrode channel 201 extending through the instrument rod 220 along its axial direction. The smoke-removing electrode 240 passes through the electrode channel 201 of the instrument rod 220. Depending on their shape, function, and working principle, the instrument tip 230 can be, but is not limited to, a duckbill head, a Maryland head, an electric hook, an electric shovel, an electric needle, a vascular closure device head, an ultrasonic scalpel head, or a scissor head, etc. Its main function is to provide the functional operations required for surgery. The length of the instrument rod 220 can be freely set so that the instrument tip 230 can pass through the trocar 130 channel to reach the position where surgical operations need to be performed. The power box 130 is used to provide power to the surgical instrument 200 and to the smoke removal electrode. The instrument box 210 is used to control the instrument tip 230 to achieve multi-degree-of-freedom movement under the power provided by the power box 120 to perform specific surgical operations. The smoke removal electrode 240 is used to remove smoke during the operation.

[0096] Specifically, such as Figure 5As shown, the instrument end 230 includes a working part 231, a wrist part 232, and a base 233. The base 233 is rotatably connected to the instrument rod 220 and can rotate about the central axis of the instrument rod 220. The wrist part 232 is rotatably connected to the base 233 and can rotate about an axis perpendicular to the central axis of the instrument rod 220. The working part 231 is rotatably connected to the wrist part 232 and can rotate about another axis perpendicular to both the rotation axis of the wrist part 232 and the central axis of the instrument rod 220.

[0097] In this way, the instrument end 230 can achieve multi-degree-of-freedom movements such as rotation, pitch, and yaw under the control of the instrument box 210, thereby enabling complex surgical operations.

[0098] like Figure 6 As shown, the smoke-removing electrode 240 is a long, rod-shaped structure with a smoke-removing end 241 and a connecting end 242 arranged opposite to each other. The smoke-removing end 241 is used to remove smoke during surgery, and the connecting end 242 is used to connect to the electrode socket 212 inside the instrument box 210 or to an external power source, thereby enabling the smoke-removing electrode 240 to be energized and operated. Specifically, the smoke-removing electrode 240 includes an insulating outer tube 243, an electrode core, a connector 245, a cable 246, and a plug. The electrode core 244 is inserted into the insulating outer tube 243, and the head portion of the electrode core 244 is exposed outside the insulating outer tube 243, forming the smoke-removing end 241 of the smoke-removing electrode 240; the connector 245 is connected to the tail of the electrode core 244, and the plug is connected to the connector 245 through the cable 246, forming the connecting end 242 of the smoke-removing electrode 240. When the smoke-removing electrode 240 is energized, the electrode core 244 emits an electron beam during the procedure. The electrons in the electron beam adsorb nearby aerosol particles, thus achieving a good smoke removal effect. It should be noted that, in addition to being a core-shaped structure, the head of the electrode core can also be a structure with a large area to increase the smoke removal area and improve the smoke removal efficiency.

[0099] Thus, compared with the traditional technology that uses the suction principle to remove smoke, the surgical instrument 200 provided in this application uses ion smoke removal technology, which reduces the amount of carbon dioxide gas used in the operation and reduces the possible complications of carbon dioxide gas to patients; and it can be used in gasless surgery scenarios.

[0100] In one embodiment, such as Figure 3 , Figure 4 and Figure 7As shown, the instrument rod 220 includes an instrument tube 221 and a protective tube 222 coaxially sleeved on the instrument tube 221. The electrode channel 201 can be completely or partially opened in the protective tube 222 and pass through the protective tube 222. The instrument box 210 has a connecting tube 211 extending outward from the surface of the box body 210a of the instrument box 210. The connecting tube 211 has an electrode socket 212. A portion of the smoke removal electrode 240 is fixedly inserted through the electrode channel 201 and partially inserted through the connecting tube 211. At the same time, the smoke removal end 241 of the smoke removal electrode 240 is exposed outside the protective tube 222, while the connecting end 242 is connected to the electrode socket 212 inside the connecting tube 211.

[0101] Thus, in the above embodiment, the smoke removal electrode 240 is independently disposed outside the instrument tube 221, which can reduce the possibility of interference with the internal structure of the instrument tube 221, and because the smoke removal electrode 240 is independently disposed outside the instrument tube 221, the smoke removal effect is better.

[0102] Preferably, in order to reduce the outer diameter of the instrument rod 220, thereby making the structure of the surgical instrument 200 more compact, it can be as follows: Figure 8 As shown, when the electrode channel 201 is opened inside the protective tube 222, it should be opened as close as possible to the instrument tube 221, or as shown in the diagram. Figure 9 As shown, a groove is made on the inner wall of the protective tube 222 and on the outer wall of the instrument tube 221. This allows part of the electrode channel 201 to be located on the protective tube 222 and the other part to be located on the instrument tube 221, which can further reduce the outer diameter of the instrument rod 220.

[0103] Better yet, to further improve the smoke removal effect, such as Figure 10 and Figure 11 As shown, multiple electrode channels 201 can be provided, and the multiple electrode channels 201 are arranged at intervals around the central axis of the instrument rod 220. The number of electrode channels 201 can be three, four or more, and there is no specific limitation.

[0104] Furthermore, in order to effectively seal the portion of the smoke removal electrode 240 that penetrates the electrode channel 201, and to prevent contaminants from polluting the electrode channel 201, thereby ensuring that the smoke removal electrode 240 does not leak during use, such as Figure 12 and Figure 13As shown, the surgical instrument 200 includes a first seal 223 and a second seal 224. The first seal 223 is disposed at one end of the electrode channel 201 near the instrument end 230 and is connected to the end of the protective tube 222 near the instrument end 230. The second seal 224 is disposed at one end of the electrode channel 201 near the instrument box 210 and is connected to the end of the protective tube 222 near the instrument box 210. When installing the smoke-removing electrode 240, the smoke-removing end 241 passes through the first seal 223 from the electrode channel 201 toward the instrument end 230, and the connecting end 242 passes through the second seal 224 from the electrode channel 201 toward the instrument box 210.

[0105] like Figure 12 and Figure 14 As shown, specifically regarding the structure of the first sealing member 223, the first sealing member 223 is a cylindrical structure. An installation hole extending axially along the first sealing member 223 is provided at one end near the instrument box 210. A through hole penetrating the bottom wall of the installation hole is provided in the bottom wall of the installation hole. The inner diameter of the installation hole is larger than the inner diameter of the through hole, and the inner diameter of the installation hole is equal to the outer diameter of the protective tube 222. The inner diameter of the through hole is equal to the outer diameter of the instrument tube 221. This results in the first sealing member 223 having a wrapping portion 2231 and a lip portion 2232. The wrapping portion 2231 is fitted onto the protective tube 222, while the lip portion 2232 is fitted onto the instrument tube 221. The lip portion 2232 has a hole through which the smoke-removing end 241 of the smoke-removing electrode 240 passes. The diameter of this hole is smaller than the outer diameter of the smoke-removing electrode 240, allowing the smoke-removing electrode 240 to be interference-fitted into the first sealing member 223, thereby achieving a sealing effect.

[0106] like Figure 13 and 15 As shown, the second sealing element 224 has an annular structure and a mounting hole that extends through it along its axial direction. The inner diameter of the mounting hole is equal to the outer diameter of the instrument tube 221. The second sealing element 224 is fitted onto the instrument tube 221. The second sealing element 224 also has a hole through which the connection end 242 of the smoke removal electrode 240 passes. The diameter of the hole is smaller than the outer diameter of the smoke removal electrode 240, thus achieving a sealing effect.

[0107] The connection between the first seal 223 and the second seal 224 and the protective tube 222 can be by adhesive bonding or integral molding with the protective tube 222 through a mold. In order to make the connection more reliable after molding, the connection surfaces of the first seal 223 and the second seal 224 will be roughened to increase their contact area.

[0108] It should be noted that the first seal 223 and the second seal 224 can be used together and are respectively set at the beginning and end of the electrode channel 201, or they can be used separately as needed, with only the first seal 223 or only the second seal 224 set, which is not limited here.

[0109] In another embodiment, such as Figure 16 and Figure 17 As shown, the smoke-removing electrode 240 is detachably installed in the surgical instrument 200. Unlike the previous embodiment, the instrument rod 220 also includes an electrode channel tube 225. A portion of the electrode channel tube 225 is disposed outside the instrument tube 221, and one end of the electrode channel tube 225 is connected to the protective tube 222, specifically inserted into the electrode channel 201 opened in the protective tube 222. The other end of the electrode channel tube 225 is connected to the instrument box 210, specifically inserted into the connecting tube 211 on the instrument box 210. The smoke-removing electrode 240 passes through the electrode channel tube 225, and a quick connector 213 is provided at one end of the electrode channel tube 225 located in the connecting tube 211 (i.e., the end of the retaining tube 225). The quick connector 213 can adopt various structural forms, not limited to Luer locking interface, threaded interface, or quick snap interface, etc. During installation, after inserting the smoke removal electrode 240 into the electrode channel tube 225, the connector 245 of the smoke removal electrode 240 is pluggably connected and fixed to the quick connector 213, so that the smoke removal electrode 240 can be quickly installed in the surgical instrument 200 and can also be quickly removed from the surgical instrument 200.

[0110] Thus, by making the smoke removal electrode 240 detachably installed in the surgical instrument 200, the smoke removal electrode 240 can be designed for reusable or disposable use, so as to facilitate the replacement of the smoke removal electrode 240, thereby facilitating the maintenance and upkeep of the surgical instrument 200 and the smoke removal electrode 240, and helping to extend the service life of the surgical instrument 200.

[0111] In yet another embodiment, the smoke removal electrode 240 is disposed inside the instrument tube 221, such as... Figure 18 , Figure 19 and Figure 20 As shown, the instrument lever 220 only includes the instrument tube 221, and does not have other components as shown. Figure 7The protective tube 222 shown has an electrode channel 201 formed along the axial direction of the instrument tube 221 within it. A receiving groove 202 communicating with the electrode channel 201 is formed on the outer circumferential surface of the instrument tube 221. A smoke-removing electrode 240 passes through the electrode channel 201. The connecting end 242 of the smoke-removing electrode 240 is connected to the electrode socket 212 inside the instrument box 210, and the smoke-removing end 241 of the smoke-removing electrode 240 is housed in the receiving groove 202. The electrode core 244 located at the smoke-removing end 241 is designed to protrude outwards and be flush with the outer circumferential surface of the instrument outer tube, making the smoke-removing end 241 close to the outside of the instrument tube 221, increasing the surface area of ​​the smoke-removing end 241, which is beneficial for improving the smoke removal effect.

[0112] Preferably, the instrument rod 220 also includes two electrode cover plates 226, each electrode cover plate 226 having a semi-circular plate structure, and the two electrode cover plates 226 are symmetrically designed about an axis extending radially along the instrument tube 221. Half of each receiving groove 202 is opened on the electrode cover plate 226 and penetrates the interior and exterior of the electrode cover plate 226. Correspondingly, the instrument tube 221 has an installation groove 203 for the electrode cover plate 226 to be snapped into. The electrode cover plate 226 is snapped into the installation groove 203, so that after the electrode cover plate 226 is installed on the instrument tube 221, the outer diameter of the instrument rod 220 remains consistent. This ensures that after the smoke removal electrode 240 is installed inside the instrument tube 221, the appearance of the instrument rod 220 remains aesthetically pleasing and not obtrusive. Furthermore, only the electrode core 244 of the smoke removal electrode 240 is exposed to the external environment, while the insulating outer tube 243 and other parts that do not need to be exposed are covered by the instrument tube 221 and the electrode cover plate 226, which can provide good protection for the smoke removal electrode 240.

[0113] When installing the electrode cover plate 226, first place the smoke-removing end 241 of the smoke-removing electrode 240 in the predetermined position. Then, snap one half of the electrode cover plate 226 into the mounting groove 203 of the instrument tube 221, and place the smoke-removing end 241 into the half-accepting groove 202 opened in the electrode cover plate 226. Finally, snap the other half of the electrode cover plate 226 into the mounting groove 203 of the instrument tube 221. After confirming that the installation is in place, press the two half of the electrode cover plate 226 together by laser welding, heat sealing, snap-fit, and glue connection to complete the installation of the electrode cover plate 226. In addition, when the smoke-removing electrode 240 is a disposable replaceable type, the electrode cover plate 226 can be detachably snapped into the mounting groove 203 of the instrument tube 221. After the operation is completed and the surgical instruments 200 are removed from the abdominal cavity, the electrode cover plate 226 can be removed to replace the smoke-removing electrode 240.

[0114] Thus, whether the smoke removal electrode 240 is placed outside or inside the instrument tube 221, it is still placed through the electrode channel 201 of the instrument rod 220, achieving the purpose of integrating the smoke removal electrode 240 into the surgical instrument 200. This ensures that the placement of the smoke removal electrode 240 meets the procedures and characteristics of the surgical robot 1 performing laparoscopic surgery on the patient. During surgery, the smoke removal electrode 240 can enter the patient's body through a surgical approach channel with the instrument end 230 of the surgical instrument 200, without the need for additional surgical openings, thus reducing surgical trauma to the patient.

[0115] As an improvement to the above embodiments, such as Figure 21 and Figure 22 As shown, the smoke-removing electrode 240 can also be designed to be movably mounted on the instrument rod 220 and to extend and retract along the axial direction of the instrument rod 220, allowing the smoke-removing end 241 to protrude from the receiving groove 202 outside the instrument rod 220 or retract into the instrument rod 220. This allows the smoke-removing end 241 to be fully exposed on the instrument rod 220 during surgical operations for better smoke removal; when not performing surgical operations, the smoke-removing end 241 is concealed within the instrument rod 220 to protect the electrode core 244, thereby extending the service life of the smoke-removing electrode 240. Taking the embodiment where the instrument rod 220 includes only the instrument tube 221 and not the protective tube 222 as an example, the instrument box 210 includes a first control component 215, which is movably disposed on the box body 210a of the instrument box 210 and connected to the smoke-removing electrode 240. Figure 23 and Figure 24 As shown, the first control component 215 is used to control the movement of the smoke removal end 241 to extend from the receiving groove 202 of the instrument rod 220 to the outside of the instrument rod 220 or to retract into the receiving groove 202 of the instrument rod 220.

[0116] In the first embodiment where the smoke removal electrode 240 is axially movable, please continue reading. Figure 21 and Figure 22 The first control component 215 includes a bracket 2151, a first control element 2152, and a control lever 2153. The bracket 2151 is disposed inside the box body 210a of the instrument box 210 and is fixedly installed on the inner wall of the box body 210a. The middle part of the control lever 2153 is rotatably connected to the bracket 2151. The first control element 2152 is movably inserted into the box body 210a, and one end of the first control element 2152 inserted into the box body 210a is rotatably connected to one end of the control lever 2153. The other end of the control lever 2153 is rotatably connected to the connector 245 of the smoke removal electrode 240. The end of the insulating outer tube 243 of the smoke removal electrode 240 away from the smoke removal end 241 is connected to the connector 245.

[0117] Thus, when the user pushes the first control element 2152 to one end exposed in the box 210a, the first control element 2152 can drive the control lever 2153 to rotate around an axis perpendicular to the plane of the paper in the figure under the action of external force, so that the control lever 2153 can drive the smoke removal electrode 240 to move along the axial direction of the instrument rod 220, thereby allowing the smoke removal end 241 to extend from the receiving groove 202 of the instrument rod 220 to the outside of the instrument rod 220 or retract into the receiving groove 202 of the instrument rod 220.

[0118] Alternatively, the first control component 215 may further include a first elastic element 2154, which may be an elastic element such as a spring. The first elastic element 2154 is sleeved on the first control component 2152, with one end fixedly connected to the bracket 2151. When the user pushes the first control component 2152 toward the instrument box 210, causing the smoke removal end 241 to extend outside the instrument rod 220, the first elastic element 2154 is configured to provide an elastic force that causes the smoke removal end 241 to retract back into the instrument rod 220 when it extends outside the instrument rod 220. This allows the smoke removal end 241 to automatically retract back into the instrument rod 220 under the elastic force generated by the first elastic element 2154 after it extends outside the instrument rod 220, and to achieve a reset state when the user releases the first control component 2152.

[0119] In this embodiment, such as Figure 25 As shown, the surgical instrument 200 includes a retaining tube 227. Unlike the aforementioned embodiment where the smoke-removing electrode 240 is located outside the instrument tube 221, the retaining tube 227 is located inside the instrument tube 221 near one end of the instrument box 210. The electrode rod of the smoke-removing electrode 240 passes through the retaining tube 227. The function of the retaining tube 227 here is to maintain a certain rigid limit when the electrode rod moves back and forth along the axial direction of the instrument rod 220, so that the electrode rod will not be deformed significantly due to the back and forth movement.

[0120] As an improvement to this implementation method, such as Figure 26 and Figure 27As shown, the instrument box 210 also includes a retaining assembly 216, which includes a push-button switch 2161 and a push-button lever 2162. One end of the push-button lever 2162 is inserted into the box body 210a of the instrument box 210 and can be threaded or L-shaped keyway connected to the box body 210a. The other end of the push-button lever 2162 is connected to the push-button switch 2161. The push-button switch 2161 can move the push-button lever 2162 toward the instrument box 210 under external pressure or clockwise rotation to abut against the connector 245 of the smoke removal electrode 240, thereby locking the smoke removal electrode. The position of the smoke electrode 240 along the axial direction of the instrument rod 220 prevents the smoke removal electrode 240 from moving along the axial direction of the instrument rod 220. This ensures that the smoke removal end 241 of the smoke removal electrode 240 is fixed in position when it extends out of the instrument tube 221 for smoke removal and will not accidentally retract into the instrument tube 221. Alternatively, the push-button switch 2161 can be pulled outward under external force to move the push-button rod 2162 away from the instrument box 210, thereby releasing the first control component 215 and allowing the first control component 215 to re-control the movement of the smoke removal electrode 240 along the axial direction of the instrument rod 220. Preferably, the holding component 216 may also include a return spring 2163 connected to the push-button rod 2162. The return spring 2163 is used to cause the push-button rod 2162 to undergo a recoverable deformation when it abuts against the first control component 215, thereby enabling the push-button rod 2162 to automatically move away from the box 210a and reset without manually pulling the push-button switch 2161.

[0121] As a further improvement to this implementation method, such as Figure 27 and 28 As shown, the connector 245 of the smoke removal electrode 240 has an inclined surface near the button lever 2162, which is used to be abutted by the button lever 2162 of the retaining assembly 216. Preferably, the end of the button lever 2162 near the connector 245 can also be designed as an inclined surface parallel to the inclined surface of the connector 245. This allows the button lever 2162 to contact the connector 245 in an inclined or point-contact manner when it abuts against the inclined surface of the connector 245. Simultaneously, when the first control member 2152 of the first control component 215 moves relative to the instrument box 210, the first control member 2152 can drive the holding component 216 to move slowly away from or towards the instrument box 210. This controls the movement speed of the smoke removal end 241 of the smoke removal electrode 240 extending out of or retracting into the instrument rod 220, ensuring that the smoke removal end 241 can slowly extend out of or retract into the instrument rod 220. This prevents the smoke removal end 241 of the smoke removal electrode 240 from suddenly extending out of the instrument rod 220, thus ensuring the safety of the surgical procedure.

[0122] In the second embodiment of the smoke removal electrode 240 designed to be axially movable, such as Figure 29 , Figure 30 and Figure 31 As shown, the structure of the first control component 215 differs from that in the previous embodiment. In this embodiment, the first control component 215 includes a first control element 2152 and a sliding ring 2155. The sliding ring 2155 is disposed inside the housing 210a and is coaxially sleeved on the end of the instrument tube 221 near the housing 210a via a pin 2156. A T-groove 214 is formed on the upper surface of the housing 210a. The first control element 2152 is movably disposed on the housing 210a and can move along the T-groove 214. The device moves back and forth, and the first control member 2152 extends into one end of the instrument box 210 and is connected to the outer periphery of the sliding ring 2155. Specifically, the outer periphery of the sliding ring 2155 has a protrusion 2157 surrounding the axis of the sliding ring 2155. The first control member 2152 extends into one end of the box body 210a and engages with the protrusion 2157, so that the instrument rod 220 can still rotate around the axis of the instrument rod 220 together with the sliding ring 2155, and the rotation of the instrument rod 220 will not be affected by the presence of the first control member 2152.

[0123] Thus, in this embodiment, by sliding the first control member 2152 back and forth in the T-slot 214 of the instrument box 210, the smoke removal electrode 240 can also be controlled to move back and forth along the axial direction of the instrument rod 220, thereby allowing manual control of the length of the smoke removal end 241 of the smoke removal electrode 240 extending out of the instrument tube 221.

[0124] Furthermore, in this embodiment, the first control component 215 also includes a first elastic element 2154. The first elastic element 2154 is coaxially disposed within the sliding ring 2155. The portion of the smoke removal electrode 240 passing through the sliding ring 2155 also passes through the first elastic element 2154. In this case, in addition to enabling the smoke removal end 241 to automatically retract into the instrument rod 220 under the action of the elastic force generated by the first elastic element 2154 when the user releases the first control component 2152, the first elastic element 2154 can also compensate for the possible change in the length rigidity of the electrode rod when the instrument tube 221 rotates, thereby ensuring the stable and reliable rotation of the instrument rod 220.

[0125] In the embodiment where the smoke removal end 241 of the smoke removal electrode 240 can extend beyond the instrument rod 220, other improvements are also possible, such as... Figure 32As shown, the receiving groove 202 has a guide surface 204 that is inclined relative to the central axis of the instrument rod 220. The guide surface 204 extends inclinedly from the opening edge of the receiving groove 202 into the receiving groove 202 to the bottom wall of the receiving groove 202, so that when the smoke removal end 241 of the smoke removal electrode 240 extends out of the receiving groove 202, it can slide out of the receiving groove 202 or retract into the receiving groove 202 along the inclined guide surface 204.

[0126] Thus, by providing an inclined guide surface 204 in the receiving groove 202, the smoke removal end 241 of the smoke removal electrode 240 can more easily slide out or retract from the receiving groove 202, reducing the risk of the smoke removal end 241 getting stuck.

[0127] Furthermore, in another improved embodiment, such as Figure 33 and Figure 34 As shown, the surgical instrument 200 also includes an electrode sheath 270 sleeved on the instrument rod 220. The function of the electrode sheath 270 is to allow the electrode sheath 270 to contact the human tissue before the smoke removal electrode 240 when the surgical instrument 200 enters the human abdominal cavity for surgery, thereby avoiding the safety risk caused by the smoke removal electrode 240 accidentally contacting the human tissue during the surgical operation.

[0128] Specifically, such as Figure 35 and Figure 36 As shown, the electrode sheath 270 includes a mounting portion 271 and a protective wing 272. The protective wing 272 preferably has an umbrella-shaped structure, extending obliquely from the end of the mounting portion 271 away from the instrument box 210 towards the instrument box 210. The outer diameter of the protective wing 272 gradually increases from the instrument end 230 towards the instrument box 210. Preferably, the thickness of the protective wing 272 is 0.3mm to 0.8mm, and the opening angle of the protective wing 272 is 40° to 80°. When the instrument rod 220 only includes the instrument tube 221 and does not have a protective tube 222, the mounting portion 271 is sleeved on the instrument tube 221, so that the smoke-removing end 241 of the smoke-removing electrode 240 is located in the projection area of ​​the protective wing 272 on the surface of the instrument tube 221. When the surgical instrument 200 enters the human body, the protective wing 272 contacts the human tissue before the smoke-removing end 241.

[0129] Meanwhile, the protective wing 272 has multiple smoke vents penetrating through it. Preferably, the diameter of the smoke vents is set to 200μm to 300μm, making the diameter of the smoke vents much larger than the average diameter of the smoke particles (0.15μm), and the number of smoke vents is set as large as possible. This allows smoke particles to easily reach the vicinity of the smoke removal end 241 through the smoke vents, thereby improving the safety of the electrode sheath 270 while also ensuring the smoke removal effect of the smoke removal electrode 240.

[0130] Preferably, the protective wing 272 can be made of an insulating, transparent elastic material, such as silicone, TPE or other types of polymer materials. The purpose of choosing the above materials is to enable the protective wing 272 to retract or move towards the instrument end 230 or flip and fit against the outer peripheral surface of the instrument tube 221 under the action of external force. At the same time, the protective wing 272 can undergo elastic deformation, so that the protective wing 272 can retract or flip when the surgical instrument 200 enters and exits the trocar 130 channel, and then return to its original shape when the entry and exit of the trocar channel is completed, so as not to affect the entry and exit of the surgical instrument 200 into and out of the trocar 130 channel or to protect human tissue.

[0131] More preferably, the mounting part 271 has a release groove 273 at the end near the instrument end 230. The release groove 273 surrounds the central axis of the instrument rod 220. Its function is to make it easier for the protective wings 272 to flip up when the surgical instrument 200 is withdrawn from the abdominal cavity or the trocar 130 channel.

[0132] For further information, please refer to [link / reference]. Figure 33 and Figure 34 An obstacle avoidance groove 205 is also provided on the outer wall of the instrument tube 221, which surrounds the axis of the instrument tube 221 in the circumferential direction. The length of the obstacle avoidance groove 205 is slightly greater than the length of the protective wing 272 in the axial direction of the instrument tube 221. When the protective wing 272 flips and fits against the outer circumferential surface of the instrument tube 221 under the action of external force, the protective wing 272 can be accommodated in the obstacle avoidance groove 205.

[0133] Thus, when the surgical instrument 200 enters or exits the puncture channel, the protective wings 272 will retract or move towards the end of the instrument 230 or flip over and be housed in the clearance groove 205, so that the outer diameter of the surgical instrument 200 will not increase drastically, thereby not affecting the entry or exit of the surgical instrument 200.

[0134] In an embodiment where the smoke-removing end 241 of the smoke-removing electrode 240 extends beyond the instrument rod 220, as a further improvement, the smoke-removing end 241 can oscillate left and right and up and down when extending beyond the instrument rod 220, thereby allowing the smoke-removing end 241 to get closer to areas with denser smoke, thus achieving a precise smoke removal effect. Figure 37 and Figure 38As shown, the instrument box 210, based on the first control component 215, can achieve this function by adding a second control component 217 and a transmission wire 218 inside the instrument box 210. Specifically, the second control component 217 is rotatably mounted on the box body 210a of the instrument box 210. There are two transmission wires 218, each of which is preferably wound around a guide wheel 219 installed inside the box body 210a. Each transmission wire 218 has a first end and a second end. The first end is connected to the second control component 217, and the second end is connected to the smoke removal electrode 240. The second control component 217 is used to control the transmission wire 218 to drive the smoke removal end 241 to perform a multi-degree-of-freedom oscillating motion when the instrument rod 220 is extended.

[0135] Specifically, the second control component 217 includes a first drive shaft 2171 and a knob 2172. The first drive shaft 2171 is partially inserted into the housing 210a. One end of the drive wire 218 is wound around the part of the first drive shaft 2171 inserted into the housing 210a in a retractable manner. The knob 2172 is sleeved on one end of the first drive shaft 2171 exposed in the housing 210a. The knob 2172 can drive the first drive shaft 2171 to rotate together with it around the axis of the first drive shaft 2171 under the action of external force, thereby realizing the function of winding and unwinding the drive wire 218, so as to achieve the purpose of controlling the smoke removal end 241 to perform multi-degree-of-freedom oscillation.

[0136] In order to ensure that the knob 2172 can be fixed relative to the housing 210a and not rotate arbitrarily when rotated to different angles, the second control component 217 also includes a positioning member 2173 and a second elastic member 2174. A plurality of limiting grooves are provided on the side surface of the housing 210a near the knob 2172, which are spaced apart around the axis of the first transmission shaft 2171. The limiting grooves can be arc-shaped grooves. A limiting hole 2175 is provided on the side of the knob 2172 near the housing 210a. The shape of the positioning member 2173 can be a sphere corresponding to the arc shape of the limiting groove. A part of the positioning member 2173 is limited in the limiting groove, and another part is limited in the limiting hole 2175. Preferably, a second elastic element 2174 is provided in the limiting hole 2175. When the positioning element 2173 is limited in the limiting groove and the limiting hole 2175, one end of the second elastic element 2174 abuts against the positioning element 2173. Under the reaction force of the positioning element 2173, the elastic element can generate elastic force and undergo recoverable deformation.

[0137] Thus, when the user rotates knob 2172, knob 2172, under the action of external force, can drive the first transmission shaft 2171 to rotate together around the axis of the first transmission shaft 2171, so that the positioning member 2173 can move around the axis of the first transmission shaft 2171 into a limiting groove. At this time, the limiting groove and the limiting hole 2175 are coaxially arranged, and the positioning member 2173 is fixedly limited in a limiting groove and a limiting hole 2175 under the action of the elastic force generated by the second elastic member 2174. This prevents knob 2172 from rotating arbitrarily, and thus keeps the smoke removal end 241 stationary at a certain swing angle when it swings, avoiding the possibility of the smoke removal end 241 swinging randomly and affecting the smoke removal effect.

[0138] It is worth noting that the second control component 217 can also be set separately. In this case, the smoke removal end 241 of the smoke removal electrode 240 cannot extend out of the receiving groove 202, but can only swing and remove smoke within the receiving groove 202. However, it is obvious that setting the first control component 215 and the second control component 217 at the same time allows the smoke removal electrode 240 to both extend out of the receiving groove 202 and swing and remove smoke, resulting in the best smoke removal effect.

[0139] In this embodiment, preferably, as Figure 39 and Figure 40 As shown, the surgical instrument 200 also includes a swing joint 280. The swing joint 280 is movably connected to the receiving groove 202 of the instrument rod 220 via a rotating boss 281. The swing joint 280 has electrode grooves 282 and transmission wire holes 218 through the swing joint 280 at opposite ends along the axial direction of the instrument rod 220. Each transmission wire 218 is correspondingly connected to a transmission wire 218 hole. The smoke removal end 241 of the smoke removal electrode 240 is engaged in the electrode groove 282. Thus, by connecting the transmission wire 218 and the smoke removal electrode 240 to the swing joint 280 simultaneously, the swing joint 280 can rotate up and down or left and right relative to the instrument rod 220 around two axes that are perpendicular to the central axis of the instrument rod 220 under the drive of the transmission wire 218, thereby driving the smoke removal end 241 to perform multi-degree-of-freedom swinging motion.

[0140] In addition to manually rotating the knob 2172 of the second control component 217 to drive the first transmission shaft 2171 to rotate, thereby controlling the sway of the smoke removal end 241 of the smoke removal electrode 240, the first transmission shaft 2171 can also be driven to rotate automatically to control the sway of the smoke removal end 241.

[0141] Specifically, such as Figure 41As shown, the instrument box 210 also includes a drive unit 300, which may be one or more motors. The drive unit 300 is connected to the first control element 2152 via the second drive shaft 2158 and to the knob 2172 via the first drive shaft 2171. Optionally, the first control element 2152 is... Figure 41 In the embodiment, a drive nut is used. The first control component 2152 is sleeved on the second drive shaft 2158 and threadedly connected to the second drive shaft 2158. The drive unit 300 is used to drive the second drive shaft 2158 to rotate around its own axis, so as to control the first control component 215 to move along the axial direction of the second drive shaft 2158. Since the first control component 2152 is connected to the smoke removal electrode 240 through the sliding ring 2155, it can control the smoke removal end 241 to automatically extend out of the instrument rod 220 or retract into the instrument rod 220. At the same time, the drive unit 300 can also drive the first drive shaft 2171 to rotate around its own axis when the smoke removal end 241 extends out of the instrument rod 220, so that the smoke removal end 241 can be driven to perform multi-degree-of-freedom oscillating motion through the control knob 2172 and the transmission wire 218.

[0142] To achieve more precise smoke removal, based on the above-mentioned automatic control method, the smoke removal end 241 can track the real-time position of the instrument end 230 and move closer to the instrument end 230 when it performs multi-degree-of-freedom movements such as pitching, yaw, or rotation, thereby achieving more precise smoke removal.

[0143] Specifically, the surgical instrument 200 also includes a control unit (not shown in the figure). The control unit is communicatively connected to the drive unit 300. The control unit has a preset control strategy. The control unit can send control commands to the drive unit 300 according to the control strategy, so that the drive unit 300 drives the first control component 215 to control the smoke removal end 241 to extend outside the instrument rod 220 or retract into the instrument rod 220 based on the control command, and / or drives the second control component 217 to control the smoke removal end to approach the point closest to the instrument end within a safe area and perform multi-degree-of-freedom oscillating motion.

[0144] In one embodiment, the control unit includes a signal input module, a judgment module, and a drive module. The drive module is communicatively connected to the judgment module. The signal input module is used to receive operation commands. The control strategy is built into the judgment module. The judgment module is used to determine whether the smoke removal end 241 is located within a safe area based on the operation commands and the control strategy, and to generate control commands based on the judgment results. The drive module is used to start the drive unit according to the control commands to drive the smoke removal end 241 to move to the point closest to the instrument end 230 when it is located within a safe area.

[0145] Specific combination Figure 42 , Figure 43 and Figure 44 As shown, its control principle is as follows:

[0146] First, the doctor inputs control parameters and generates operation instructions on the surgical control platform 20. The drive unit 300 drives the instrument end 230 to perform yaw and pitch movements according to the operation instructions, and controls the smoke removal end 241 of the smoke removal electrode 240 to extend out of the instrument rod 220 along the axis of the instrument rod 220 and perform multi-degree-of-freedom yaw movements.

[0147] Then, the control unit's judgment module detects the real-time coordinates of the device end 230 and the smoke removal end 241 based on the operation command, and determines whether the smoke removal end 241 is located within the safe area in conjunction with the control strategy.

[0148] Finally, the control unit's drive module generates a control command based on the judgment result of the judgment module, to activate the drive unit 300 to drive the smoke removal end 241 to quickly retreat into the safe area when it is not in the safe area, or to drive the smoke removal end 241 to move to the point closest to the instrument end 230 when it is in the safe area. The specific judgment method is as follows:

[0149] As shown in the figure, point a is the distal end of the working part 231 of the instrument end 230, point b is the proximal end of the working part 231 of the instrument end 230, point c is the distal end of the smoke removal electrode 240 (i.e., the smoke removal end 241), point d is the point of perpendicularity of the line connecting point c and points a and b, α1 is the yaw angle of the smoke removal end 241, α2 is the pitch angle of the smoke removal end 241, θ1 is the yaw angle of the working part 231, θ2 is the pitch angle of the working part 231, axis I is the rotation axis of the working part 231, axis II is the rotation axis of the wrist 232, L1 is the distance from point a to axis I, L2 is the distance between point B and axis I, L3 is the distance between axis I and axis II, and ΔL is the axial movement distance of the smoke removal end 241.

[0150] The real-time coordinates of points a, b, and c are a(x1,y1,z1), b(x2,y2,z2), and c(x3,y3,z3).

[0151] x1=L1cosθ1, y1=L1sinθ1, z1=L1sinθ2

[0152] x2=L2cosθ1, y2=L2sinθ1, z2=L2sinθ2

[0153] x3=△Lcosα1, y3=△Lsinα1, z3=△Lsinα2

[0154] Based on the coordinates above, if d falls on the extension line from point a to point b, then the nearest point falls on either point a or point b. Calculate and compare the straight-line distances |ac| and |bc|, and take the smaller value. This smaller value is the minimum value between the smoke removal end 241 and the working part 231 in this state. If d falls between the straight lines from point a to point b, then |cd| is the minimum value between the smoke removal end 241 and the working part 231 in this state.

[0155] When the smoke removal end 241 is within the safe area, the control program automatically determines the shortest distance based on the spatial position of the working part 231 and issues a control command to make the smoke removal end 241 move closer to the working part 231 along the shortest path.

[0156] When the smoke removal end 241 is not within the safe range, the smoke removal end 241 is first quickly moved to the safe area. Then, based on the spatial position of the working part 231, the control program automatically calculates the shortest path and issues a control command to make the smoke removal end 241 move closer to the working part 231 along the shortest path.

[0157] In addition, the control unit may also include a locking module, which is used to set the smoke removal end 241 to always be in the safe area. At this time, no matter where the working part 231 is located, the smoke removal end 241 is in the safe area and always maintains a safe distance from the working part 231. In this mode, the position of the smoke removal end 241 can also be locked. Users can also select this mode for control as needed.

[0158] It should be noted that the above-mentioned control methods for automatically controlling the axial movement of the smoke removal end 241 and automatically controlling the swaying of the smoke removal end 241 and its swaying toward the instrument end 230 can be used in combination or individually. It can be that the axial movement of the smoke removal end 241 is manually controlled and the swaying of the smoke removal end 241 and its swaying toward the instrument end 230 are automatically controlled, or the axial movement of the smoke removal end 241 is automatically controlled and the swaying of the smoke removal end 241 and its swaying toward the instrument end 230 are manually controlled, or both can be automatically controlled to extend and retract and sway, and move toward the instrument end 230. The specific method is not limited.

[0159] Furthermore, the embodiments described above, in which the smoke removal electrode 240 is movably inserted through the electrode channel 201 of the instrument rod 220, and in which the instrument rod 220 is fitted with an electrode sheath 270, are also applicable to the above-described automatic control embodiments, and there are no particular limitations here. Thus, the surgical instrument 200 provided in this application allows for diverse configurations of the smoke removal electrode 240 by fixing or movably inserting it into the electrode channel 201, and by connecting the connection end of the smoke removal electrode 240 to the instrument box 210 or to an external power source. The smoke removal electrode 240 can be fixedly integrated into the instrument rod 220 of the surgical instrument 200, or it can be detachably installed within the instrument rod 220. Alternatively, the smoke removal end 241 of the smoke removal electrode 240 can be manually or automatically controlled to extend outside the instrument rod 220 when smoke removal is required. This enables the surgical instrument 200 and surgical robot 1 to be applied to different surgical scenarios, resulting in strong applicability of the surgical instrument 200 and surgical robot 1.

[0160] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0161] The above-described embodiments are merely one implementation of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A surgical instrument capable of removing smoke, characterized in that, include: An instrument rod having an electrode channel extending along the axial direction of the instrument rod; The instrument end is located at one end of the instrument rod and is used to perform surgical procedures. A smoke-removing electrode, which is fixedly or movably inserted into the electrode channel of the instrument rod, has a connecting end and a smoke-removing end disposed opposite to each other, the smoke-removing end being used to remove smoke during the operation; An instrument box is located at the opposite end of the instrument rod, and the connection end of the smoke removal electrode is connected inside the instrument box or to an external power source. An electrode sheath is fitted onto the instrument rod. The electrode sheath has protective wings that surround the instrument rod. The smoke removal end is located within the projection area of ​​the protective wings on the surface of the instrument rod. The protective wings have multiple smoke vents penetrating the protective wings. The protective wings are configured to retract or move towards the end of the instrument or flip and fit against the outer circumference of the instrument rod under external force.

2. The surgical instrument according to claim 1, characterized in that, The instrument box includes a drive unit, which is tractively connected to the smoke removal electrode. The drive unit is used to drive the smoke removal end to automatically extend out of the instrument rod or retract into the instrument rod, and / or drive the smoke removal end to perform multi-degree-of-freedom oscillating motion when the smoke removal end extends out of the instrument rod.

3. The surgical instrument according to claim 2, characterized in that, The surgical instrument includes a control unit communicatively connected to the drive unit. The control unit is configured to send control commands to the drive unit according to a control strategy. The drive unit is capable of controlling the smoke removal end to extend outside the instrument rod or retract inside the instrument rod based on the control commands, and / or controlling the smoke removal end to move closer to the point closest to the instrument end within a safe area based on the control commands.

4. The surgical instrument according to claim 3, characterized in that, The control unit includes a signal input module, a judgment module, and a drive module. The judgment module is communicatively connected to the signal input module, and the drive module is communicatively connected to the judgment module. The signal input module is used to receive operation commands, and the control strategy is built into the judgment module. The judgment module is used to determine whether the smoke removal end is located within the safe area based on the operation command and the control strategy, and generates the control command based on the judgment result. The drive module is used to activate the drive unit according to the control command, so as to drive the smoke removal end to move to the closest point at the end of the device when it is located within the safe area.

5. The surgical instrument according to claim 4, characterized in that, The control unit further includes a locking module configured to ensure that the smoke removal end is always located within the safe area and to lock the position of the smoke removal end.

6. The surgical instrument according to claim 1, characterized in that, The outer circumferential surface of the instrument rod is provided with a clearance groove surrounding the axis of the instrument rod. When the protective wing is flipped towards the end of the instrument under the action of external force and fits against the outer circumferential surface of the instrument rod, the protective wing is received in the clearance groove.

7. The surgical instrument according to any one of claims 1-6, characterized in that, The instrument box also includes a box body and a first control component. The first control component is movably disposed on the box body and connected to the smoke removal electrode. The first control component is used to control the movement of the smoke removal end of the smoke removal electrode to extend out of the instrument rod or retract into the instrument rod.

8. The surgical instrument according to claim 7, characterized in that, The first control component includes a bracket, a first control element, and a control lever. The bracket is fixedly connected to the housing, and the control lever is rotatably connected to the bracket. The first control element is connected to the smoke removal electrode via the control lever. The first control element can drive the control lever to rotate around an axis under the action of an external force, so that the control lever can drive the smoke removal end of the smoke removal electrode to extend out of the instrument rod or retract into the instrument rod.

9. The surgical instrument according to claim 7, characterized in that, The first control component includes a first control element and a sliding ring. The sliding ring is disposed inside the housing and movably sleeved on one end of the instrument rod. The smoke removal electrode passes through and is connected to the sliding ring. The first control element is movably disposed on the housing and connected to the sliding ring. The first control element can reciprocate relative to the housing so that the sliding ring can drive the smoke removal end of the smoke removal electrode to extend outside the instrument rod or retract inside the instrument rod.

10. The surgical instrument according to claim 7, characterized in that, The instrument box also includes a retaining component, which is partially movably inserted into the box body and movable relative to the box body to abut against the first control component or release the first control component.

11. The surgical instrument according to claim 10, characterized in that, The first control component has an inclined surface that is abutted against by the holding component. When the holding component abuts against the inclined surface and the first control component moves relative to the housing, the first control component can drive the holding component to move away from or towards the housing, thereby controlling the movement speed of the smoke removal end of the smoke removal electrode extending out of or retracting into the instrument rod.

12. The surgical instrument according to claim 7, characterized in that, The instrument box also includes a second control component and a transmission wire. The second control component is rotatably mounted on the box body. The transmission wire has a first end and a second end that are disposed opposite to each other. The first end is connected to the second control component, and the second end is coupled to the smoke removal electrode. The second control component can rotate about its own axis to control the transmission wire to drive the smoke removal end to perform multi-degree-of-freedom oscillating motion.

13. The surgical instrument according to claim 12, characterized in that, The second control component includes: The first drive shaft is partially inserted into the housing, and one end of the drive wire is retractably wound around the first drive shaft. A knob is sleeved on one end of the first drive shaft that is exposed outside the box. The surface of the box near the knob has a plurality of limiting grooves arranged at intervals around the axis of the first drive shaft. A limiting hole is provided on the side of the knob near the box. The knob can drive the first drive shaft to rotate together around the axis of the first drive shaft under the action of external force. The positioning element is partially confined in the limiting hole, and the positioning element is movable into one of the limiting grooves when the knob is rotated, so as to be partially confined in the limiting groove.

14. The surgical instrument according to claim 12, characterized in that, The surgical instrument also includes a swing joint, which is movably mounted on the instrument rod. The transmission wire is connected to the swing joint, and the smoke removal end is connected to the swing joint. The swing joint can rotate around two axes that are simultaneously perpendicular to the central axis of the instrument rod under the drive of the transmission wire.

15. The surgical instrument according to any one of claims 1-6, characterized in that, The instrument rod has a receiving groove that connects to the electrode channel, and the smoke removal end of the smoke removal electrode is received in the receiving groove. When the smoke removal electrode is movably inserted through the electrode channel, the smoke removal end can be exposed from the receiving groove to the outside of the instrument rod. The receiving groove has a guide surface that is inclined relative to the central axis of the instrument rod. The guide surface extends inclinedly from the opening edge of the receiving groove into the receiving groove to the bottom wall of the receiving groove.

16. The surgical instrument according to claim 1, characterized in that, The instrument rod includes an instrument tube and a protective tube coaxially sleeved on the instrument tube. The instrument box has a connecting tube that extends outwardly from the surface of the instrument box. The electrode channel passes through the protective tube. Part of the smoke removal electrode passes through the connecting tube and part of it passes through the electrode channel.

17. The surgical instrument according to claim 16, characterized in that, The instrument rod also includes an electrode channel tube, through which at least a portion of the smoke-removing electrode passes and outside the instrument tube; one end of the electrode channel tube is connected to the electrode channel, and the other end of the electrode channel tube is connected to the instrument box.

18. The surgical instrument according to claim 1 or 16, characterized in that, The instrument rod further includes a first seal and / or a second seal. The first seal is located at one end of the electrode channel, and the second seal is located at the other end of the electrode channel. The smoke removal end passes through the first seal from the electrode channel toward the end of the instrument, and the connecting end passes through the second seal from the electrode channel toward the instrument box. The first seal and the second seal are used to seal the portion of the smoke removal electrode located within the electrode channel.

19. A surgical robot, characterized in that, include: A surgical execution platform having a robotic arm and a surgical instrument as described in any one of claims 1-18, the surgical instrument being detachably mounted on the robotic arm; The surgical control platform is communicatively connected to the surgical execution platform, and is used to control the surgical instruments to perform corresponding surgical operations.

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