A continuum surgical instrument

Abstract

This invention discloses a continuous surgical instrument, comprising an end-effector module, a continuous module, a rotation module, and a drive module. The end-effector module includes a joint connector, a rotating base, and surgical instruments. The continuous module includes a distal vertebra, a vertebral intervertebral disc, and a proximal vertebra. The drive module includes a drive base and, mounted on the drive base, an instrument opening / closing drive module, an end-effector rotation drive module, a continuous module bending drive module, and a rotation drive module. The instrument opening / closing drive module drives the opening and closing motion of the end-effector; the end-effector rotation drive module drives the rotation of the rotating base; the continuous module bending drive module drives the bending of the continuous module; and the rotation drive module drives the rotation of the rotating module. This continuous surgical instrument offers high flexibility in its end-effector, effectively increasing intraoperative operational flexibility and accessibility to the surgical space, and better meeting various surgical needs.

Description

Technical Field

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

[0002] Minimally invasive surgery, with its advantages of minimal trauma, low risk of infection, fewer complications, and faster postoperative recovery, has gradually become the mainstream development direction of surgery. Minimally invasive surgical robot systems, which combine robotic technology with minimally invasive surgical techniques, can significantly improve the shortcomings of traditional minimally invasive surgery. In a minimally invasive surgical robot system, multiple end effectors installed in the robotic arm system are the execution mechanisms of the entire robot system. During the surgery, these end effectors come into direct contact with the patient and are commonly referred to by surgeons as surgical instruments. Although surgical instruments account for a small percentage of the overall volume in a robotic surgical system, their performance directly affects the quality of the surgery and is one of the most important parts of the system. With the continuous development of medical technology, higher demands are placed on the system design and integration of minimally invasive surgical robots. Their minimally invasive surgical instruments should possess higher motion precision, greater operating force, sufficient operating space, and greater operational flexibility. Existing flexible minimally invasive surgical instruments still have insufficient operational flexibility and rigidity, and cannot adequately meet the diverse surgical needs. Summary of the Invention

[0003] The purpose of this invention is to propose a continuous surgical instrument. The continuous segment of the instrument adopts a multi-wire parallel drive, which enables the instrument to meet the operating space and flexibility required for minimally invasive surgery while having good bending strength and operating force. The overall diameter of the instrument is small, and the rigidity is increased by multi-wire parallel drive and the operating flexibility is increased by rotational degree of freedom, thus better meeting the needs of various minimally invasive surgeries.

[0004] To achieve the above-mentioned technical effects, the technical solution of the present invention is as follows:

[0005] This invention discloses a continuous surgical instrument, comprising: an end-effector module, the end-effector module including a joint connector, a rotating base, and a surgical instrument, the rotating base being rotatably connected to the joint connector, and the surgical instrument being openably and closably disposed at one end of the rotating base; a continuous module, the continuous module including a distal vertebra, a vertebral intervertebral disc, and a proximal vertebra, the vertebral intervertebral discs being multiple and sequentially arranged between the distal and proximal vertebrae, adjacent vertebral intervertebral discs being movable relative to each other, the distal vertebrae being connected to the joint connector; a rotating module, the rotating module being connected to the proximal vertebrae; and a driving module, the driving module including a drive... The system includes a base and an instrument opening / closing drive module, an end-device rotation drive module, a continuous bending drive module, and a rotation drive module mounted on the drive base. The instrument opening / closing drive module is connected to the surgical instrument via an instrument opening / closing drive wire to drive the surgical instrument to open and close. The end-device rotation drive module is connected to the rotating base via an end-device rotation drive wire to drive the rotating base to rotate. The continuous bending drive module drives the continuous module to bend via multiple continuous bending drive wires that pass through multiple vertebral intervertebral discs and are connected to the distal end of the vertebra. The rotation drive module is connected to the drive module via a rotation drive wire to drive the rotation module to rotate.

[0006] In some embodiments, the rotating base includes: a rotating base with a first support shaft on it, the surgical instrument being rotatably mounted on the first support shaft, the rotating base having a rotating shaft with a first groove along its circumference; and a rotating wrist inserted into the rotating base and locked by a first fixing pin; wherein: one end of the end-device rotation drive wire is wound around a spool of the end-device rotation drive module, and the other end passes through the rotating module and the continuum module, is embedded in the first groove, and after circling the rotating shaft once, passes through the continuum module and the rotating module again and is wound around another spool of the end-device rotation drive module.

[0007] In some specific embodiments, the rotating base further includes two fixed rope rods and two fixed rope pulleys. The fixed rope rods are spaced apart inside the joint connector and located on both sides of the rotating shaft. The fixed rope pulleys are sleeved on the fixed rope rods. The end effector's self-rotation drive wire is arranged around the rotating shaft, passing around one of the fixed rope pulleys, and then passing around the other fixed rope pulley after exiting the rotating shaft.

[0008] In some specific embodiments, the surgical instrument includes a first instrument and a second instrument, both of which are rotatably mounted on a first support shaft. Both the first and second instruments have arc-shaped grooves. The rotating base has two spaced-apart mounting portions, each with a guide groove extending circumferentially along the rotating base. The end-effector module further includes: a second support shaft passing through the arc-shaped grooves on the first and second instruments, with both ends respectively fitted into the two guide grooves; and a push-pull rod located inside the rotating wrist, with one end sleeved on the second support shaft. One end of the instrument opening / closing drive wire is connected to the instrument opening / closing drive module, and the other end passes through the rotating module and the continuum module and is connected to the push-pull rod.

[0009] In some more specific embodiments, the end effector module further includes an elastic element that is sleeved on the device opening and closing drive wire, with one end connected to the push-pull rod and the other end connected to the rotating wrist.

[0010] In some embodiments, in two adjacent vertebral spacers, one vertebral spacer has a protruding rotating portion and the other vertebral spacer has a recessed connecting portion. The protruding rotating portion engages with the recessed connecting portion. When the continuum module is bent, the protruding rotating portion can rotate relative to the recessed connecting portion.

[0011] In some embodiments, the intervertebral disc is further provided with a first wire-passing hole, a second wire-passing hole, and a third wire-passing hole. The first wire-passing hole is used to pass through the instrument opening and closing drive wire, the second wire-passing hole is used to pass through the end instrument rotation drive wire, and there are multiple third wire-passing holes for passing through the continuous body bending drive wire. The continuous body module also includes a reinforcing tube, which is fitted into the first wire-passing hole, and the two ends of the reinforcing tube are respectively connected to the distal end and the proximal end of the vertebra.

[0012] In some embodiments, the rotating module includes: a straight arm, one end of which is connected to the proximal end of the vertebra; a rotating straight tube, the other end of which is connected to the straight arm; a mounting bearing, which is sleeved on the rotating straight tube; and a bushing, which is connected to the end of the rotating straight tube opposite to the straight arm, and the bushing has a second groove extending axially thereon; wherein: one end of the rotating drive wire is wound around a spool of the rotating drive module, and the other end is embedded in the second groove and passes through the bushing once before exiting and winding around another spool of the rotating drive module.

[0013] In some embodiments, the drive base includes a base body and a base cover, the base body and the base cover defining a mounting cavity, and the instrument opening and closing drive module, the end-device rotation drive module, the continuous body bending drive module and the rotation drive module are all disposed in the mounting cavity; the drive module also includes a guide wheel assembly, the guide wheel assembly having multiple guide grooves, and respectively cooperating with the instrument opening and closing drive wire, the end-device rotation drive wire and the continuous body bending drive wire.

[0014] In some embodiments, the instrument opening and closing drive module includes a first drive motor, a first base, a first thread pulley, and a first bearing. The motor shaft of the first drive motor cooperates with the first base, and the first base is provided with a first thread pulley shaft. The first thread pulley and the first bearing are both sleeved on the first thread pulley shaft. The end-device rotation drive module includes a second drive motor, a second base, a second thread pulley, and a second bearing. The motor shaft of the second drive motor cooperates with the second base, and the second base is provided with a second thread pulley shaft. The second thread pulley and the second bearing are both sleeved on the second thread pulley shaft. The continuous bending drive module includes a third drive motor, a third base, a third thread pulley, and a third bearing. The motor shaft of the third drive motor cooperates with the third base, and the third base is provided with a third thread pulley shaft. The third thread pulley and the third bearing are both sleeved on the third thread pulley shaft. The rotation drive module includes a fourth drive motor, a fourth base, a fourth thread pulley, and a fourth bearing. The motor shaft of the fourth drive motor cooperates with the fourth base, and the fourth base is provided with a fourth thread pulley shaft. The fourth thread pulley and the fourth bearing are both sleeved on the fourth thread pulley shaft.

[0015] The beneficial effects of the continuous surgical instrument of the present invention are as follows: The instrument opening and closing drive module is connected to the surgical instrument via an instrument opening and closing drive wire to drive the surgical instrument to open and close, thereby enabling the surgical instrument to be directly manipulated. The end-device rotation drive module is connected to the rotating base via an end-device rotation drive wire to drive the rotating base to rotate, thereby enabling the surgical instrument to rotate relative to the continuous module. The continuous bending drive module drives the continuous module to bend via multiple continuous bending drive wires that pass through multiple vertebral intervertebral discs and are connected to the distal end of the vertebrae, thereby enabling the surgical instrument to bend relative to the rotating module through the bending motion of the continuous module. The rotation drive module is connected to the drive module via a rotation drive wire to drive the rotation of the rotating module, enabling the end-device module, the continuous module, and the rotating module to rotate relative to the drive module. Thus, the surgical instrument can open and close, rotate relative to the continuous module, bend relative to the rotating module, and rotate relative to the drive module, effectively increasing the flexibility, rigidity, and accessibility of the operating space during surgery, and better meeting various surgical needs.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the continuum surgical instrument according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the end-effector module of the continuous surgical instrument according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the continuum module of the continuum surgical instrument according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the vertebral intervertebral disc of the continuum module according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the rotating module of the continuous surgical instrument according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the cooperative structure of the rotating module and the driving module of the continuous surgical instrument according to an embodiment of the present invention;

[0023] Figure 7 yes Figure 6 A magnified diagram showing point A (circled).

[0024] Figure 8 This is a partial structural schematic diagram of the drive module of the continuum surgical instrument according to an embodiment of the present invention;

[0025] Figure 9 This is another partial structural schematic diagram of the drive module of the continuum surgical instrument according to an embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the structure of the continuous bending drive module according to an embodiment of the present invention.

[0027] Figure label:

[0028] 100. End-effector module; 101. First device; 102. Second device; 103. First support shaft; 104. Second support shaft; 105. Rotating base; 1051. Mounting part; 1052. Guide groove; 106. First fixing pin; 107. Push-pull rod; 108. Second fixing pin; 109. Elastic element; 110. Rotating wrist; 111. Rope fixing rod; 112. Rope fixing pulley; 113. Joint connector;

[0029] 200. Continuum module; 201. Distal vertebra; 202. Vertebral intervertebral disc; 2021. First threading hole; 2022. Second threading hole; 2023. Third threading hole; 2024. Protruding rotating part; 2025. Recessed connecting part; 203. Proximal vertebra; 204. Reinforcing tube; 205. Third fixing pin;

[0030] 300. Rotating module; 301. Straight arm; 302. Rotating straight tube; 303. Bearing; 304. Bushing;

[0031] 400. Drive module; 401. Instrument opening and closing drive wire; 402. End-effector rotation drive wire; 403. Continuous bending drive wire; 404. Rotation drive wire; 405. Instrument opening and closing drive module; 4051. First base; 4052. First reel; 4053. First bearing; 406. End-effector rotation drive module; 4061. Second base; 4062. Second reel; 4063. Second bearing; 407. Continuous bending drive module; 4071. Third base; 4072. Third reel; 4073. Third bearing; 408. Rotation drive module; 4081. Fourth base; 4082. Fourth reel; 4083. Fourth bearing; 409. Base cover; 410. Base body. Detailed Implementation

[0032] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0033] 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," "horizontal," "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 do not 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.

[0034] Furthermore, features specified as "first" or "second" may explicitly or implicitly include one or more of those features, used to distinguish and describe features, without any order or emphasis. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] The following is for reference. Figures 1-10 The specific structure of the continuum surgical instrument according to an embodiment of the present invention is described.

[0037] This invention discloses a continuous surgical instrument, such as... Figure 1 As shown, the continuous surgical instrument includes an end-effector module 100, a continuous module 200, a rotation module 300, and a drive module 400. Figure 2 As shown, the end-effector module 100 includes a joint connector 113, a rotating base, and surgical instruments. The rotating base is rotatably connected to the joint connector 113, and the surgical instruments are foldably disposed at one end of the rotating base. Figure 3 As shown, the continuum module 200 includes a distal vertebral end 201, a vertebral intervertebral disc 202, and a proximal vertebral end 203. Multiple vertebral intervertebral discs 202 are arranged sequentially between the distal vertebral end 201 and the proximal vertebral end 203. Adjacent vertebral intervertebral discs 202 are movable relative to each other. The distal vertebral end 201 is connected to the joint connector 113, and the rotation module 300 is connected to the proximal vertebral end 203. Figures 6-7 As shown, the drive module 400 includes a drive base and an instrument opening and closing drive module 405, an end-device rotation drive module 406, a continuous bending drive module 407, and a rotation drive module 408 disposed on the drive base. The instrument opening and closing drive module 405 is connected to the surgical instrument via an instrument opening and closing drive wire 401 to drive the surgical instrument to open and close. The end-device rotation drive module 406 is connected to the rotating base via an end-device rotation drive wire 402 to drive the rotating base to rotate. The continuous bending drive module 407 drives the continuous module 200 to bend via multiple continuous bending drive wires 403 that pass through multiple intervertebral discs 202 and are connected to the distal end 201 of the vertebra. The rotation drive module 408 is connected to the drive module 400 via a rotation drive wire 404 to drive the rotation module 300 to rotate.

[0038] Understandably, in actual operation, the instrument opening / closing drive module 405 is connected to the surgical instrument via the instrument opening / closing drive wire 401 to drive the surgical instrument to open and close, thus enabling the surgical instrument to be directly operated. The end-effector rotation drive module 406 is connected to the rotating base via the end-effector rotation drive wire 402 to drive the rotating base to rotate, thus enabling the surgical instrument to rotate relative to the continuous module 200. The continuous bending drive module 407 drives the continuous module 200 to bend via multiple continuous bending drive wires 403 that pass through multiple vertebral intervertebral discs 202 and are connected to the distal ends of the vertebrae 201. The bending motion of the continuum module 200 enables the surgical instrument to bend relative to the rotation module 300. The rotation drive module 408 is connected to the drive module 400 via the rotation drive wire 404 to drive the rotation module 300 to rotate. This allows the end instrument module 100, the continuum module 200, and the rotation module 300 to rotate relative to the drive module 400. As a result, the surgical instrument can open and close, rotate relative to the continuum module 200, bend relative to the rotation module 300, and rotate relative to the drive module 400, effectively increasing the flexibility of intraoperative operation and the accessibility of the operating space, and better meeting various surgical needs.

[0039] It should be further noted that the instrument opening / closing drive wire 401, the end-device rotation drive wire 402, the continuous bending drive wire 403, and the rotation drive wire 404 are made of titanium alloy. Titanium alloy is characterized by its light weight and high strength. The use of titanium alloy in these components ensures that the instrument opening / closing drive module 405 stably drives the opening and closing of the surgical instrument, the end-device rotation drive module 406 stably drives the rotation of the rotating base, the continuous bending drive module 407 stably drives the bending of the continuous module 200, and the rotation drive module 408 stably drives the rotation of the rotating module 300, thereby guaranteeing the reliability of the continuous surgical instrument. Of course, in other embodiments of the present invention, the material, cross-sectional shape, and cross-sectional dimensions of the instrument opening / closing drive wire 401, the end-device rotation drive wire 402, the continuous bending drive wire 403, and the rotation drive wire 404 can be adjusted according to actual needs.

[0040] Optionally, the distal vertebra 201 is sleeved with the joint connector 113 and locked by the second fixing pin 108. Of course, in other embodiments of the present invention, the connection between the distal vertebra 201 and the joint connector 113 can also be achieved by snap-fit, threaded connection, or other connection methods, and is not limited to the method of locking with the second fixing pin 108 after sleeved connection in this embodiment.

[0041] In some embodiments, such as Figure 2As shown, the rotating base includes a rotating base 105 and a rotating wrist 110. A first support shaft 103 is provided on the rotating base 105. The surgical instrument is rotatably mounted on the first support shaft 103. A rotating shaft is provided on the rotating base 105. A first groove along its circumference is provided on the rotating shaft. The rotating wrist 110 is inserted into the rotating base 105 and locked by a first fixing pin 106. One end of the end-device rotation drive wire 402 is wound around a reel of the end-device rotation drive module 406. The other end passes through the rotating module 300 and the continuous module 200, is embedded in the first groove, and after circling the rotating shaft once, passes through the continuous module 200 and the rotating module 300 again and is wound around another reel of the end-device rotation drive module 406. Understandably, during actual operation, the reel of the end-effector rotation drive module 406 rotates, driving the end-effector rotation drive wire 402 to move. Since the end-effector rotation drive wire 402 is embedded in the first groove and passes through after one revolution around the rotation axis, the rotation axis will rotate when the end-effector rotation drive wire 402 moves, thereby causing the rotation base 105 to rotate. Since the rotation wrist 110 is inserted into the rotation base 105 and locked by the first fixing pin 106, and the surgical instrument is rotatably mounted on the first support shaft 103, the entire surgical instrument can rotate relative to the continuum module 200 during the rotation of the rotation base 105.

[0042] In some specific embodiments, such as Figure 2 As shown, the rotating base also includes two fixed rope rods 111 and two fixed rope pulleys 112. The fixed rope rods 111 are spaced apart inside the joint connector 113 and located on both sides of the rotating shaft. The fixed rope pulleys 112 are sleeved on the fixed rope rods 111. The end-effector rotation drive wire 402 is arranged around the rotating shaft, passing around one fixed rope pulley 112, and then passing around the other fixed rope pulley 112 after exiting the rotating shaft. It can be understood that the fixed rope rods 111 and fixed rope pulleys 112 can guide the end-effector rotation drive wire 402 on the one hand, and ensure that the end-effector rotation drive wire 402 can drive the rotating base 105 to rotate during movement, thereby ensuring that the entire surgical instrument can rotate relative to the continuum module 200.

[0043] Of course, it should be noted that the number, position and arrangement of the rope fixing rods 111 and rope fixing pulleys 112 can be adjusted according to actual needs and are not limited to the above methods.

[0044] In some specific embodiments, the surgical instruments include a first instrument 101 and a second instrument 102, both of which are rotatably mounted on a first support shaft 103. Both the first instrument 101 and the second instrument 102 are provided with arc-shaped grooves. A rotating base 105 has two spaced-apart mounting portions 1051, each of which has a guide groove 1052 extending circumferentially along the rotating base 105. Furthermore, the end-effector module 100 also includes a second support shaft 104 and a push-pull rod 107. The second support shaft 104 passes through the arc-shaped grooves on the first instrument 101 and the second instrument 102, and its two ends are respectively fitted into the two guide grooves 1052. The push-pull rod 107 is located inside the rotating wrist 110, and one end of the push-pull rod 107 is sleeved on the second support shaft 104. One end of the instrument opening and closing drive wire 401 is connected to the instrument opening and closing drive module 405, and the other end passes through the rotating module 300 and the continuum module 200 and is connected to the push-pull rod 107. Understandably, in actual operation, when the reel of the instrument opening and closing drive module 405 rotates, the instrument opening and closing drive wire 401 can drive the push-pull rod 107 to move. During the movement, the push-pull rod 107 can drive the second support shaft 104 to slide in the arc groove, thereby causing the first instrument 101 and the second instrument 102 to move towards each other. The added guide groove 1052 can restrict the movement direction of the second support shaft 104 and prevent the second support shaft 104 from becoming skewed, which would cause the first instrument 101 and the second instrument 102 to be unable to move normally. Furthermore, both the first instrument 101 and the second instrument 102 are rotatably mounted on the first support shaft 103. Both the first instrument 101 and the second instrument 102 are provided with arc-shaped grooves. The second support shaft 104 passes through the arc-shaped grooves on the first instrument 101 and the second instrument 102. This allows the first instrument 101 and the second instrument 102 to be easily disassembled relative to the second support shaft 104 and the first support shaft 101. Thus, in actual use, the type of the first instrument 101 and the second instrument 102 can be changed according to the actual surgical requirements, thereby enabling the continuous surgical instrument of the present invention to meet the needs of various surgeries.

[0045] It should be noted that in this embodiment, the first instrument 101 and the second instrument 102 can constitute a complete clamp or a complete surgical scissors. The types of the first instrument 101 and the second instrument 102 can be adjusted according to the actual surgical needs. Here, the types of the first instrument 101 and the second instrument 102 are not strictly limited.

[0046] In some more specific embodiments, such as Figure 2As shown, the end effector module 100 also includes an elastic element 109. The elastic element 109 is sleeved on the instrument opening and closing drive wire 401, with one end connected to the push-pull rod 107 and the other end connected to the rotating wrist 110. It can be understood that by providing an elastic element 109, when the reel of the instrument opening and closing drive module 405 rotates in the opposite direction, the push-pull rod 107 can automatically reset under the action of the elastic element 109, thereby facilitating the reset of the first instrument 101 and the second instrument 102. It should be noted that the elastic element 109 in this embodiment can be a spring or other elastic elements. The type of elastic element 109 can be selected according to actual needs; no selection of the type of elastic element 109 is made here.

[0047] In some embodiments, such as Figures 3-4 As shown, in two adjacent intervertebral discs 202, one intervertebral disc 202 has a protruding rotating portion 2024, and the other intervertebral disc 202 has a recessed connecting portion 2025. The protruding rotating portion 2024 engages with the recessed connecting portion 2025. When the continuum module 200 bends, the protruding rotating portion 2024 can rotate relative to the recessed connecting portion 2025. It can be understood that the engagement of the protruding rotating portion 2024 and the recessed connecting portion 2025 enhances the rigidity of the entire continuum module 200 while ensuring that the two intervertebral discs 202 can rotate relative to each other, thereby facilitating the operation of surgical instruments.

[0048] It should be further noted that, in this embodiment, the structure of the intervertebral disc 202 can be one of the following three types: First, the intervertebral disc 202 has a protruding rotating portion 2024 and a recessed connecting portion 2025 at both ends; second, both ends of the intervertebral disc 202 have protruding rotating portions 2024; and third, both ends of the intervertebral disc 202 have recessed connecting portions 2025. The structure of the intervertebral disc 202 can be selected according to actual needs. Meanwhile, the structures of the multiple intervertebral discs 202 can be different. When the structures of the multiple intervertebral discs 202 are the same, they are of the first type described above. When the structures of the multiple intervertebral discs 202 are different, they are a combination of the first and second types, or a combination of the first and third types, or a combination of the first, second, and third types.

[0049] In some specific embodiments, such as Figure 4As shown, the vertebral intervertebral disc 202 is also provided with a first threading hole 2021, a second threading hole 2022, and a third threading hole 2023. The first threading hole 2021 is used for the instrument opening and closing drive wire 401 to pass through, the second threading hole 2022 is used for the end instrument rotation drive wire 402 to pass through, and there are multiple third threading holes 2023 used for the continuum bending drive wire 403 to pass through. The continuum module 200 also includes a reinforcing tube 204, which fits inside the first threading hole 2021, and both ends of the reinforcing tube 204 are connected to the distal end 201 and the proximal end 203 of the vertebra, respectively. It can be understood that the reinforcing tube 204 is mainly used to increase the rigidity, continuity, and rebound force of the continuum module 200, thereby improving the performance of the entire continuum surgical instrument. Multiple third threading holes 2023 are used for passing through the continuous bending drive wire 403. That is, the continuous module 200 is bent by multiple continuous bending drive wires 403, thereby increasing the rigidity, continuity and rebound force of the continuous module 200. In addition, the first threading hole 2021 and the second threading hole 2022 are for the instrument opening and closing drive wire 401 and the end instrument rotation drive wire 402 to pass through. This allows the instrument opening and closing drive wire 401 and the end instrument rotation drive wire 402 to be protected inside the continuous module 200, reducing the probability of damage to the instrument opening and closing drive wire 401 and the end instrument rotation drive wire 402, thereby extending the service life of the entire continuous surgical instrument.

[0050] In some embodiments, such as Figure 5 As shown, the rotating module 300 includes a straight arm 301, a rotating straight tube 302, a mounting bearing 303, and a bushing 304. One end of the straight arm 301 is connected to the proximal vertebra 203, and the rotating straight tube 302 is connected to the other end of the straight arm 301. The mounting bearing 303 is sleeved on the rotating straight tube 302. The bushing 304 is connected to the end of the rotating straight tube 302 opposite to the straight arm 301. The bushing 304 has a second groove extending along its axial direction. One end of the rotating drive wire 404 is wound around a reel of the rotating drive module 408, and the other end is embedded in the second groove, wraps around the bushing 304 once, and then exits and is wound around another reel of the rotating drive module 408. It can be understood that the straight arm 301 is used to support the proximal vertebra 203 of the continuum module 200, ensuring the strength of the connection between the continuum module 200 and the rotating module 300, thereby ensuring the operability of the continuum surgical instrument.

[0051] Optionally, one end of the straight arm 301 is connected to the proximal end of the vertebra 203 and locked by a third fixing pin 205. Of course, in other embodiments of the present invention, the connection between the straight arm 301 and the proximal end of the vertebra 203 can also be achieved by snap-fit, threaded connection, or other connection methods, and is not limited to the method of locking with a third fixing pin 205 after sleeve connection in this embodiment.

[0052] In some embodiments, such as Figure 6 and Figure 8 As shown, the drive base includes a base body 410 and a base cover 409. The base body 410 and the base cover 409 define an installation cavity. The instrument opening and closing drive module 405, the end-device rotation drive module 406, the continuous body bending drive module 407, and the rotation drive module 408 are all located in the installation cavity. The drive module 400 also includes a guide wheel assembly 411. The guide wheel assembly 411 has multiple guide grooves and respectively cooperates with the instrument opening and closing drive wire 401, the end-device rotation drive wire 402, and the continuous body bending drive wire 403. Understandably, the instrument opening / closing drive module 405, the end-device rotation drive module 406, the continuous bending drive module 407, and the rotation drive module 408 are all located within the mounting cavity. This allows them to be installed in a relatively sealed space, preventing external contaminants from entering. This ensures the stable rotation of the reels in these modules, and prevents contamination of the instrument opening / closing drive module 405, the end-device rotation drive module 406, the continuous bending drive module 407, and the rotation drive module 408. Furthermore, it prevents contamination of the instrument opening / closing drive wire 401, the end-device rotation drive wire 402, the continuous bending drive wire 403, and the rotation drive wire 404, ensuring the cleanliness of the continuous surgical instruments and guaranteeing surgical safety. At the same time, the added guide wheel assembly 411 can guide the opening and closing drive wire 401, the end device rotation drive wire 402, and the continuous bending drive wire 403, ensuring that the opening and closing drive wire 401, the end device rotation drive wire 402, and the continuous bending drive wire 403 can move stably.

[0053] In some specific embodiments, such as Figures 9-10As shown, the instrument opening and closing drive module 405 includes a first drive motor (not shown), a first base 4051, a first reel 4052, and a first bearing 4053. The motor shaft of the first drive motor cooperates with the first base 4051. The first base 4051 is provided with a first reel shaft, and the first reel 4052 and the first bearing 4053 are both sleeved on the first reel shaft. The end-effector rotation drive module 406 includes a second drive motor (not shown), a second base 4061, a second reel 4062, and a second bearing 4063. The motor shaft of the second drive motor cooperates with the second base 4061. The second base 4061 is provided with a second reel shaft, and the second reel 4062 and the second bearing 4063 are both sleeved on the second reel shaft. The continuous bending drive module 407 includes a third drive motor (not shown), a third base 4071, a third sheave 4072, and a third bearing 4073. The motor shaft of the third drive motor cooperates with the third base 4071. The third base 4071 is equipped with the third sheave shaft, and the third sheave 4072 and the third bearing 4073 are both sleeved on the third sheave shaft. The rotation drive module 408 includes a fourth drive motor (not shown), a fourth base 4081, a fourth sheave 4082, and a fourth bearing 4083. The motor shaft of the fourth drive motor cooperates with the fourth base 4081. The fourth base 4081 is equipped with the fourth sheave shaft, and the fourth sheave 4082 and the fourth bearing 4083 are both sleeved on the fourth sheave shaft. It can be understood that the first base 4051 is used to support the first drive motor, and the first bearing 4053 is used to restrict the position of the first sheave 4052 circumferentially to prevent the first sheave 4052 from axially moving. The second base 4061 supports the second drive motor, and the second bearing 4063 circumferentially restricts the position of the second reel 4062 to prevent axial movement of the second reel 4062. The third base 4071 supports the third drive motor, and the third bearing 4073 circumferentially restricts the position of the third reel 4072 to prevent axial movement of the third reel 4072. The fourth base 4081 supports the fourth drive motor, and the fourth bearing 4083 circumferentially restricts the position of the fourth reel 4082 to prevent axial movement of the fourth reel 4082.

[0054] It should be noted that, in the embodiments of the present invention, the types of the first drive motor, the second drive motor, the third drive motor and the fourth drive motor can be selected according to actual needs. In other embodiments of the present invention, the first drive motor, the second drive motor, the third drive motor and the fourth drive motor can also be replaced by other rotary drive components.

[0055] Example:

[0056] The following is for reference. Figures 1-10 This describes the specific structure of a continuum surgical instrument according to a specific embodiment of the present invention.

[0057] like Figure 1 and Figure 6 As shown, the continuous surgical instrument of this embodiment includes an end-effector module 100, a continuous module 200, a rotation module 300, and a drive module 400. The drive module 400 includes a drive base and, mounted on the drive base, an instrument opening / closing drive module 405, an end-effector rotation drive module 406, a continuous bending drive module 407, a rotation drive module 408, and a guide wheel assembly 411. The instrument opening / closing drive module 405 is connected to the surgical instrument via an instrument opening / closing drive wire 401 to drive the opening and closing of the surgical instrument. The end-effector rotation drive module 406 is connected to the rotation base via an end-effector rotation drive wire 402 to drive the rotation of the rotation base. The continuous bending drive module 407 drives the continuous module 200 to bend via multiple continuous bending drive wires 403 that pass through multiple vertebral intervertebral discs 202 and are connected to the distal ends 201 of the vertebrae. The rotation drive module 408 is connected to the drive module 400 via a rotation drive wire 404 to drive the rotation of the rotation module 300.

[0058] like Figure 2As shown, the end-effector module 100 includes a joint connector 113, a rotating base, surgical instruments, and an elastic element 109. The rotating base includes a rotating base 105, a rotating wrist 110, a fixed rope rod 111, and a fixed rope pulley 112. A first support shaft 103 is provided on the rotating base 105, and the surgical instruments are rotatably mounted on the first support shaft 103. A rotating shaft is provided on the rotating base 105, and a first groove along its circumference is provided on the rotating shaft. The rotating wrist 110 is inserted into the rotating base 105 and locked by a first fixing pin 106. One end of the end-effector rotation drive wire 402 is wound around a spool of the end-effector rotation drive module 406, and the other end passes through the rotating module 300, the continuum module 200, and one of the fixed rope pulleys 112, is embedded in the first groove, and surrounds the rotating shaft once and passes around another fixed rope pulley 112 before passing through the continuum module 200 and the rotating module 300 and winding around another spool of the end-effector rotation drive module 406. The surgical instruments include a first instrument 101 and a second instrument 102, both of which are rotatably mounted on a first support shaft 103. Both instruments have arc-shaped grooves. A rotating base 105 has two spaced-apart mounting portions 1051, each with a guide groove 1052 extending circumferentially along the base 105. Further, the end-effector module 100 includes a second support shaft 104 and a push-pull rod 107. The second support shaft 104 passes through the arc-shaped grooves on the first and second instruments 101 and its two ends are respectively fitted into the two guide grooves 1052. The push-pull rod 107 is located inside the rotating wrist 110, with one end sleeved on the second support shaft 104. One end of the instrument opening / closing drive wire 401 is connected to the instrument opening / closing drive module 405, and the other end passes through the rotating module 300 and the continuous module 200 and is connected to the push-pull rod 107. The elastic element 109 is sleeved on the instrument opening and closing drive wire 401, and one end is connected to the push-pull rod 107, and the other end is connected to the rotating wrist 110.

[0059] like Figures 3-4As shown, the continuum module 200 includes a distal vertebral end 201, a vertebral intervertebral disc 202, a proximal vertebral end 203, and a reinforcing tube 204. Multiple vertebral intervertebral discs 202 are arranged sequentially between the distal vertebral end 201 and the proximal vertebral end 203. Adjacent vertebral intervertebral discs 202 are movable relative to each other. The distal vertebral end 201 is connected to the joint connector 113 via a second fixing pin 108. The rotating module 300 is connected to the proximal vertebral end 203 via a third fixing pin 205. Of the two adjacent vertebral intervertebral discs 202, one disc has a protruding rotating portion 2024, and the other disc has a recessed connecting portion 2025. The protruding rotating portion 2024 engages with the recessed connecting portion 2025. When the continuum module 200 bends, the protruding rotating portion 2024 can rotate relative to the recessed connecting portion 2025. The intervertebral disc 202 is also provided with a first wire-passing hole 2021, a second wire-passing hole 2022 and a third wire-passing hole 2023. The first wire-passing hole 2021 is used to pass through the instrument opening and closing drive wire 401, the second wire-passing hole 2022 is used to pass through the end instrument rotation drive wire 402, and there are multiple third wire-passing holes 2023, which are used to pass through the continuous bending drive wire 403. The reinforcing tube 204 is fitted in the first wire-passing hole 2021, and the two ends of the reinforcing tube 204 are respectively connected to the distal end 201 and the proximal end 203 of the vertebra.

[0060] like Figure 5 As shown, the rotating module 300 includes a straight arm 301, a rotating straight tube 302, a mounting bearing 303, and a bushing 304. One end of the straight arm 301 is connected to the proximal end 203 of the vertebra, and the rotating straight tube 302 is connected to the other end of the straight arm 301. The mounting bearing 303 is sleeved on the rotating straight tube 302. The bushing 304 is connected to the end of the rotating straight tube 302 opposite to the straight arm 301. The bushing 304 is provided with a second groove extending along its axial direction. One end of the rotating drive wire 404 is wound around a reel of the rotating drive module 408, and the other end is embedded in the second groove and passes through the bushing 304 once before passing through and winding around another reel of the rotating drive module 408.

[0061] like Figures 6-10As shown, the drive base includes a base body 410 and a base cover 409. The base body 410 and the base cover 409 define a mounting cavity. The instrument opening and closing drive module 405, the end instrument rotation drive module 406, the continuous body bending drive module 407, and the rotation drive module 408 are all located in the mounting cavity. The guide wheel assembly 411 has multiple guide grooves, which respectively cooperate with the instrument opening and closing drive wire 401, the end instrument rotation drive wire 402, and the continuous body bending drive wire 403. The instrument opening and closing drive module 405 includes a first drive motor (not shown), a first base 4051, a first reel 4052, and a first bearing 4053. The motor shaft of the first drive motor cooperates with the first base 4051. The first base 4051 is provided with a first reel shaft, and the first reel 4052 and the first bearing 4053 are both sleeved on the first reel shaft. The end-effector rotation drive module 406 includes a second drive motor (not shown), a second base 4061, a second reel 4062, and a second bearing 4063. The motor shaft of the second drive motor cooperates with the second base 4061. The second base 4061 is provided with a second reel shaft, and the second reel 4062 and the second bearing 4063 are both sleeved on the second reel. The continuous bending drive module 407 includes a third drive motor (not shown), a third base 4071, a third sheave 4072, and a third bearing 4073. The motor shaft of the third drive motor is engaged with the third base 4071. The third base 4071 is provided with a third sheave shaft. The third sheave 4072 and the third bearing 4073 are both sleeved on the third sheave shaft. The rotation drive module 408 includes a fourth drive motor (not shown), a fourth base 4081, a fourth sheave 4082, and a fourth bearing 4083. The motor shaft of the fourth drive motor is engaged with the fourth base 4081. The fourth base 4081 is provided with a fourth sheave shaft. The fourth sheave 4082 and the fourth bearing 4083 are both sleeved on the fourth sheave shaft.

[0062] The advantages of the continuum surgical instrument in this embodiment are as follows:

[0063] First: The surgical instruments can open and close, rotate 200 degrees relative to the continuous module, bend 300 degrees relative to the rotating module, and rotate 400 degrees relative to the drive module, which effectively increases the flexibility of intraoperative operation and the accessibility of the operating space, and better meets the needs of various surgeries.

[0064] Second: The continuum module 200 adopts a multi-wire parallel drive method, which enables the continuum surgical instrument to meet the operating space and flexibility required for minimally invasive surgery while having good bending strength and operating force.

[0065] Third: The continuum module 200 includes a reinforcing tube 204, which can increase the stiffness, continuity and rebound force of the continuum module 200, thereby improving the performance of the entire continuum surgical instrument.

[0066] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. A continuum surgical instrument, comprising: The application relates to a surgical robot, which comprises the following parts: a terminal instrument module (100) comprising a joint connector (113), a rotating base rotatably connected to the joint connector (113), and a surgical instrument arranged at one end of the rotating base and capable of being opened and closed; a continuum module (200) comprising a vertebra distal end (201), a plurality of vertebra interval discs (202) arranged between the vertebra distal end (201) and a vertebra proximal end (203) in sequence, and the adjacent two vertebra interval discs (202) being capable of relative movement, the vertebra distal end (201) being connected to the joint connector (113) and sleeved with the joint connector (113) and locked by a second fixing pin (108); a rotating module (300) connected to the vertebra proximal end (203); a driving module (400) comprising a driving base, an instrument opening and closing driving module (405), a terminal instrument self-rotation driving module (406), a continuum bending driving module (407) and a rotating driving module (408) arranged on the driving base, the instrument opening and closing driving module (405) being in transmission connection with the surgical instrument through an instrument opening and closing driving wire (401) to drive the surgical instrument to open and close, the terminal instrument self-rotation driving module (406) being in transmission connection with the rotating base through a terminal instrument self-rotation driving wire (402) to drive the rotating base to self-rotate, the continuum bending driving module (407) driving the continuum module (200) to bend through a plurality of continuum bending driving wires (403) penetrating through the plurality of vertebra interval discs (202) and connected to the vertebra distal end (201), and the rotating driving module (408) being in transmission connection with the driving module (400) through a rotating driving wire (404) to drive the rotating module (300) to self-rotate; the rotating base comprising: a self-rotation base (105) provided with a first support shaft (103) on which the surgical instrument is rotatably arranged, a rotating shaft provided on the self-rotation base (105) and provided with a first linear groove along the circumference of the rotating shaft; a rotating wrist (110) inserted into the self-rotation base (105) and locked by a first fixing pin (106); wherein one end of the terminal instrument self-rotation driving wire (402) is wound around one wire wheel of the terminal instrument self-rotation driving module (406), the other end penetrates through the rotating module (300) and the continuum module (200), is embedded into the first linear groove and surrounds the rotating shaft for one circle, and then penetrates through the continuum module (200) and the rotating module (300) and is wound around another wire wheel of the terminal instrument self-rotation driving module (406).

2. The continuum surgical instrument of claim 1, wherein, The rotating base further comprises two fixed-rope rods (111) and two fixed-rope pulleys (112), the fixed-rope rods (111) are arranged in the joint connectors (113) and located on both sides of the rotating shaft, and the fixed-rope pulleys (112) are sleeved on the fixed-rope rods (111); wherein: the end instrument self-rotation driving wire (402) is arranged around the rotating shaft by passing through one of the fixed-rope pulleys (112), and then passes through the other fixed-rope pulley (112) after being wound out of the rotating shaft.

3. The continuum surgical instrument of claim 2, wherein, The surgical instrument comprises a first instrument (101) and a second instrument (102), the first instrument (101) and the second instrument (102) are rotatably arranged on the first support shaft (103), and the first instrument (101) and the second instrument (102) are provided with arc-shaped grooves; the self-rotation base (105) is provided with two spaced installation parts (1051), each installation part (1051) is provided with a guide groove (1052) extending along the circumference of the self-rotation base (105); the end instrument module (100) further comprises: A second support shaft (104) is arranged in the arc-shaped grooves on the first instrument (101) and the second instrument (102), and the two ends are respectively matched in the two guide grooves (1052); A push-pull rod (107) is arranged in the rotating wrist (110), and one end of the push-pull rod (107) is sleeved on the second support shaft (104); wherein: One end of the instrument opening and closing driving wire (401) is connected with the instrument opening and closing driving module (405), and the other end is connected with the push-pull rod (107) through the rotating module (300) and the continuum module (200).

4. The continuum surgical instrument of claim 3, wherein, The end instrument module (100) further comprises an elastic member (109), the elastic member (109) is sleeved on the instrument opening and closing driving wire (401), one end of the elastic member (109) is connected with the push-pull rod (107), and the other end of the elastic member (109) is connected with the rotating wrist (110).

5. The continuum surgical instrument of any of claims 1-4, wherein, Among the two adjacent intervertebral discs (202), one of the intervertebral discs (202) is provided with a convex rotating part (2024), and the other of the intervertebral discs (202) is provided with a concave connecting part (2025), the convex rotating part (2024) is matched in the concave connecting part (2025), and when the continuum module (200) is bent, the convex rotating part (2024) can rotate relative to the concave connecting part (2025).

6. The continuum surgical instrument of any of claims 1-4, wherein, The intervertebral disc (202) is further provided with a first wire hole (2021), a second wire hole (2022) and a third wire hole (2023), the first wire hole (2021) is used for passing through the instrument opening and closing driving wire (401), the second wire hole (2022) is used for passing through the end instrument self-rotation driving wire (402), and the third wire hole (2023) is used for passing through the continuum bending driving wire (403). The continuum module (200) further comprises a reinforcing tube (204) which is fitted in the first wire hole (2021), and two ends of the reinforcing tube (204) are connected with the vertebra distal end (201) and the vertebra proximal end (203) respectively.

7. The continuum surgical instrument of any of claims 1-4, wherein, The rotation module (300) comprises: a straight arm (301) which is connected at one end to the vertebra proximal end (203); a rotation straight tube (302) which is connected at the other end of the straight arm (301); a mounting bearing (303) which is sleeved on the rotation straight tube (302); a shaft sleeve (304) which is connected at the end of the rotation straight tube (302) away from the straight arm (301), and the shaft sleeve (304) is provided with a second wire slot extending along the axial direction thereof; wherein: one end of the rotation driving wire (404) is wound around one wire wheel of the rotation driving module (408), the other end is embedded in the second wire slot and passes out after winding around the shaft sleeve (304) for one turn, and is wound around the other wire wheel of the rotation driving module (408).

8. The continuum surgical instrument of any of claims 1-4, wherein, The driving base comprises a base body (410) and a base cover (409), and the base body (410) and the base cover (409) define a mounting cavity, and the instrument opening and closing driving module (405), the terminal instrument autorotation driving module (406), the continuum bending driving module (407) and the rotation driving module (408) are arranged in the mounting cavity; The driving module (400) further comprises a guide wheel set (411) which has a plurality of guide wire slots and cooperates with the instrument opening and closing driving wire (401), the terminal instrument autorotation driving wire (402) and the continuum bending driving wire (403) respectively.

9. The continuum surgical instrument of any of claims 1-4, wherein, The instrument opening and closing driving module (405) comprises a first driving motor, a first base (4051), a first wire wheel (4052) and a first bearing (4053), the motor shaft of the first driving motor cooperates with the first base (4051), the first base (4051) is provided with a first wire wheel shaft, and the first wire wheel (4052) and the first bearing (4053) are sleeved on the first wire wheel shaft; The terminal instrument autorotation driving module (406) comprises a second driving motor, a second base (4061), a second wire wheel (4062) and a second bearing (4063), the motor shaft of the second driving motor cooperates with the second base (4061), the second base (4061) is provided with a second wire wheel shaft, and the second wire wheel (4062) and the second bearing (4063) are sleeved on the second wire wheel shaft; The continuum bending drive module (407) comprises a third drive motor, a third base (4071), a third wire wheel (4072) and a third bearing (4073), the motor shaft of the third drive motor is matched with the third base (4071), the third base (4071) is provided with a third wire wheel shaft, and the third wire wheel (4072) and the third bearing (4073) are both sleeved on the third wire wheel shaft; The rotation drive module (408) comprises a fourth drive motor, a fourth base (4081), a fourth wire wheel (4082) and a fourth bearing (4083), the motor shaft of the fourth drive motor is matched with the fourth base (4081), the fourth base (4081) is provided with a fourth wire wheel shaft, and the fourth wire wheel (4082) and the fourth bearing (4083) are both sleeved on the fourth wire wheel shaft.

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