Surgical robots and surgical instruments

Abstract

The present invention discloses a surgical robot and surgical instrument, comprising a forceps head and a sleeve structure connected to the forceps head, wherein the sleeve structure comprises a pusher rod, a pusher drive tube, a base tube, a swing tube, and an outer tube, which are sequentially mounted from the inside to the outside; the pusher drive tube is connected to the pusher rod, and the pusher drive tube can rotate relative to the base tube and drive the pusher rod to move linearly, and the linear movement of the pusher rod pushes the jaw blades of the forceps head to move; the rotation of the base tube drives the forceps head to rotate; the swing tube can move linearly relative to the base tube and drive the forceps head to swing; the outer tube can move linearly relative to the base tube and push the forceps head to retract into the outer tube to close or expose the outer tube to open. When using this surgical robot and surgical instrument, each level of the sleeve has independent movement, and the structure is used to drive each function, resulting in a simple structure and small space occupation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and more particularly to a surgical robot and a surgical instrument. Background Art

[0002] Surgical instruments are widely used in clinical surgery. Surgical instruments, such as staplers and vascular closure devices, are common surgical instruments used to separate or close tissues.

[0003] Common surgical instruments typically consist of a forceps head and an instrument case. The case receives user input and, through a series of transmission components, drives the forceps head to perform the corresponding surgical operations, such as opening and closing the forceps, swinging, pushing the blade (firing), and rotating the forceps. However, achieving these various functions requires different drive and transmission structures, making the overall structure of the instrument complex and occupying a large space.

[0004] In summary, how to effectively solve the problem of complex driving structures corresponding to the realization of multiple functions of surgical instruments is a problem that currently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a surgical robot and a surgical instrument to effectively solve the problem of complex driving structures corresponding to the multiple functions of surgical instruments.

[0006] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A surgical instrument comprises a forceps head and a sleeve structure connected to the forceps head, the sleeve structure comprising a knife pusher rod, a knife pusher drive tube, a base tube, a swing tube and an outer tube which are sequentially mounted from the inside to the outside; the knife pusher drive tube is connected to the knife pusher rod, and the knife pusher drive tube can rotate relative to the base tube and drive the knife pusher rod to move linearly, and the linear movement of the knife pusher rod drives the jaw blade of the forceps head to move; the rotation of the base tube drives the forceps head to rotate; the swing tube can move linearly relative to the base tube and drive the forceps head to swing; the outer tube can move linearly relative to the base tube and drive the forceps head to retract into the outer tube to close or expose the outer tube to open.

[0008] Preferably, the above-mentioned surgical instrument also includes a swinging drive shaft arranged parallel to the swinging tube, the swinging drive shaft is connected to a swinging fork, the swinging drive shaft is used to receive torque input, and the rotation of the swinging drive shaft drives the swinging fork to move linearly, and the swinging fork is connected to the swinging tube to drive the swinging tube to move linearly.

[0009] Preferably, in the above surgical instrument, the swing fork and the swing tube are relatively stationary in the axial direction and are transmission-connected in the circumferential direction.

[0010] Preferably, the above-mentioned surgical instrument further includes a swing limiting component, a swing limiting ring groove is provided around the outer circumference of the swing tube, and a swing limiting through hole is correspondingly provided on the swing fork, and the contour of one end of the swing limiting component close to the swing limiting ring groove is an arc shape with a diameter corresponding to the inner diameter of the swing limiting ring groove; the swing limiting component is slidably installed in the swing limiting through hole, and when the swing limiting component slides to be inserted into the swing limiting ring groove, the swing tube and the swing fork are connected to move in a synchronous straight line; when the swing limiting component slides to exit the swing limiting ring groove, the swing tube and the swing fork are disengaged to release the synchronous straight line movement relationship.

[0011] Preferably, the above-mentioned surgical instrument also includes an opening and closing drive shaft arranged parallel to the outer tube, the opening and closing drive shaft is connected to an opening and closing fork, the opening and closing drive shaft is used to receive torque input, the rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly, and the opening and closing fork is connected to the outer tube to drive the outer tube to move linearly.

[0012] Preferably, in the above surgical instrument, the opening and closing fork and the outer tube are relatively stationary in the axial direction and are transmission-connected in the circumferential direction.

[0013] Preferably, the above-mentioned surgical instrument further includes an opening and closing limit component, an opening and closing limit ring groove is provided around the outer circumferential surface of the outer tube, and an opening and closing limit through hole is correspondingly provided on the opening and closing fork, and the contour of one end of the opening and closing limit component close to the opening and closing limit ring groove is an arc shape with a diameter corresponding to the inner diameter of the opening and closing limit ring groove; the opening and closing limit component is slidably installed in the opening and closing limit through hole, and when the opening and closing limit component slides to be inserted into the opening and closing limit ring groove, the outer tube and the opening and closing fork are connected to move in a synchronous straight line; when the opening and closing limit component slides to exit the opening and closing limit ring groove, the outer tube and the opening and closing fork are disengaged to release the synchronous straight line movement relationship.

[0014] Preferably, the above-mentioned surgical instrument also includes several levels of pusher transmission wheels and a pusher drive shaft arranged parallel to the pusher drive tube, one end of the pusher drive shaft is used to receive torque input, and the other end is coaxially fixedly connected to the first level of the pusher transmission wheel among the several levels of the pusher transmission wheels, and the last level of the pusher transmission wheel is coaxially fixedly connected to the pusher drive tube.

[0015] Preferably, the above-mentioned surgical instrument further includes several stages of self-rotating transmission wheels and a self-rotating drive shaft arranged parallel to the base tube, one end of the self-rotating drive shaft is used to receive torque input, and the other end is coaxially fixedly connected to the first stage of the self-rotating transmission wheels among the several stages of the self-rotating transmission wheels, and the base tube is nested in the last stage of the self-rotating driven wheel and rotates with the driven wheel.

[0016] Preferably, in the above surgical instrument, one or more sealing rings are respectively provided between the pusher rod and the base tube, between the pusher drive tube and the base tube, between the base tube and the swing tube, and between the swing tube and the outer tube.

[0017] Preferably, in the above surgical instrument, one or more of the following are respectively provided with sliding bearings between the knife push rod and the knife push driving tube, between the knife push driving tube and the base tube, and between the knife push rod and the base tube.

[0018] Preferably, in the above-mentioned surgical instrument, one or more of the outer surfaces of the adjacent sections of the pusher rod and the pusher drive tube, the outer surfaces of the adjacent sections of the pusher drive tube and the base tube, and the outer surfaces of the adjacent sections of the pusher rod and the base tube are provided with an annular groove, and the sliding bearing is a self-lubricating material bearing installed in the annular groove.

[0019] Preferably, in the above surgical instrument, the self-lubricating material bearing has a gap extending through the bearing in the axial direction.

[0020] A surgical instrument provided in an embodiment of the present invention includes a forceps head and a sleeve structure. The sleeve structure is connected to the forceps head and includes a pusher rod, a pusher drive tube, a base tube, a swing tube, and an outer tube, which are sequentially mounted from the inside out. The pusher drive tube is connected to the pusher rod, and the pusher drive tube can rotate relative to the base tube and drive the pusher rod to move linearly. The linear movement of the pusher rod drives the jaw blades of the forceps head to move. The rotation of the base tube drives the forceps head to rotate. The swing tube can move linearly relative to the base tube and drive the forceps head to swing. The outer tube can move linearly relative to the base tube and drive the forceps head to retract into the outer tube to close or expose the outer tube to open.

[0021] The surgical instrument provided by the present invention utilizes a sleeve-type structure to transmit the driving force from the instrument cartridge to the distal jaws, thereby driving the forceps to perform various movements: opening and closing, swinging, pushing (firing), and rotating. Furthermore, the pusher drive tube, swinging tube, and outer tube can all move independently relative to the base tube, meaning that each level of the sleeves can move independently. This structure, which drives each function, is simple and space-saving.

[0022] An embodiment of the present invention further provides a surgical robot, which includes any of the above-mentioned surgical instruments. Since the above-mentioned surgical instruments have the above-mentioned technical effects, the surgical robot including the surgical instruments should also have corresponding technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of a partial structure of a driving structure of a surgical instrument according to a specific embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the casing structure;

[0026] Figure 3 for Figure 1 Schematic diagram of the location and assembly of the swing drive assembly and the opening and closing drive assembly;

[0027] Figure 4 for Figure 1 Schematic diagram of the location and assembly of the central rotation drive assembly and the opening and closing drive assembly;

[0028] Figure 5 Schematic diagram of the connection structure between the opening and closing fork and the outer tube;

[0029] Figure 6 for Figure 5 Explosion diagram of

[0030] Figure 7 This is the assembly diagram of the push knife drive;

[0031] Figure 8 is a cross-sectional schematic diagram of the casing structure;

[0032] Figure 9 for Figure 8 A partial enlarged schematic diagram;

[0033] Figure 10 It is a partial schematic diagram of the cooperation between the pusher rod and the pusher drive tube.

[0034] The following are marked in the accompanying drawings:

[0035] Casing structure 1, pusher rod 101, pusher drive tube 102, base tube 103, swing tube 104, outer tube 105, sliding bearing 106, sliding bearing 107, sliding bearing 108, sliding bearing 109, sealing ring 110, sealing ring 111, sealing ring 112, sealing ring 113, annular groove 1021, gap 1091;

[0036] Bracket assembly 2, bottom plate 201, column 202, top plate 203, bearing pressure plate 204, middle plate 205, guide cover 206;

[0037] Pusher drive shaft assembly 3, drive capstan 301, pusher drive shaft 302, clamping ring 303, input gear 304, first pusher drive gear 305, second pusher drive gear 307;

[0038] Swing drive shaft assembly 4, driving winch 401, swing drive shaft 402, swing fork 403, swing limit component 404;

[0039] Self-rotating drive shaft assembly 5, driving capstan 501, self-rotating drive shaft 502, self-rotating drive wire wheel 503, driven wheel 504, clamping ring 505;

[0040] Opening and closing drive shaft assembly 6, driving capstan 601, opening and closing drive shaft 602, opening and closing fork 603, opening and closing limit component 604, opening and closing limit ring groove 1051, arc-shaped structure 6041, opening and closing limit through hole 6031. DETAILED DESCRIPTION

[0041] The embodiments of the present invention disclose a surgical instrument and a surgical robot to simplify and realize a multifunctional driving structure.

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] Surgical instruments usually include a forceps head, a sleeve structure and an instrument box. The sleeve structure is connected between the instrument box and the forceps head. The instrument box receives the input drive and drives the forceps head to move through the sleeve structure to meet the needs of the operation. Figure 1 As shown, the instrument case can specifically include a bracket assembly 2 to facilitate the installation of various components. The bracket assembly 2 comprises a base plate 201, a column 202, a top plate 203, a guide cover 206, and a middle plate 205. The various plates can be securely connected using screws or other means. The following primarily describes the drive structures required to achieve each function. For the configuration of the forceps head and other components, reference can be made to the configuration of conventional staplers and will not be further elaborated here.

[0044] In one specific embodiment, see Figure 1 and Figure 2 The surgical instrument provided by the present invention includes a forceps head and a sleeve structure 1.

[0045] The sleeve structure 1 is connected to the pliers head and comprises a pusher rod 101, a pusher drive tube 102, a base tube 103, a swing tube 104, and an outer tube 105, which are arranged in sequence from the inside out. Each layer of the sleeve can move relative to its adjacent layer. Specifically, the pusher drive tube 102 can rotate relative to the base tube 103, the swing tube 104 can move linearly relative to the base tube 103, and the outer tube 105 can move linearly relative to the base tube 103.

[0046] The pusher drive tube 102 is connected to the pusher rod 101, and the rotation of the pusher drive tube 102 drives the pusher rod 101 to move linearly. The linear movement of the pusher rod 101 pushes the jaw blades of the pliers head to move, specifically, to push the jaw blades of the pliers head forward and backward, that is, to push the jaw blades to fire or retract. The pusher drive tube 102 can be specifically connected to the pusher drive shaft assembly 3 and rotated under the drive of the pusher drive shaft assembly 3. The rotation of the base tube 103 drives the pliers head to rotate. The base tube 103 can be specifically connected to the rotation drive shaft assembly 5 to rotate under the drive of the rotation drive shaft assembly 5. The swing tube 104 can move linearly relative to the base tube 103 and drive the pliers head to swing. The swing tube 104 can be specifically connected to the swing drive shaft assembly 4 and linearly driven by the swing drive shaft assembly 4. The outer tube 105 can move linearly relative to the base tube 103 and push the clamp head to retract into the outer tube to close or expose the outer tube to open. The outer tube 105 can be connected to the opening and closing drive shaft assembly 6 and move linearly under the drive of the opening and closing drive shaft assembly 6.

[0047] The sleeve structure 1 can be specifically located in the center of the instrument box, and the push-blade drive shaft assembly 3, the swing drive shaft assembly 4, the opening and closing drive shaft assembly 6, and the rotation drive shaft assembly 5 are distributed around the sleeve structure 1 and can be installed in the corresponding holes on the bracket assembly 2 through the bearings on their shafts.

[0048] The surgical instrument provided by the present invention utilizes a sleeve-type structure to transmit the driving force from the instrument cartridge to the distal jaws, thereby driving the forceps to perform various movements: opening and closing, swinging, pushing (firing), and rotating. Furthermore, the pusher drive tube 102, swinging tube 104, and outer tube 105 can all move independently relative to the base tube 103, meaning that each level of the sleeves can move independently. This structure, which drives each function, is simple and space-saving.

[0049] In the above embodiment, for the swing drive shaft assembly 4, refer to Figure 3Specifically, the oscillating drive shaft 402 is arranged parallel to the oscillating tube 104. The oscillating drive shaft 402 is connected to a oscillating fork 403. The oscillating drive shaft 402 is used to receive torque input, and the rotation of the oscillating drive shaft 402 drives the oscillating fork 403 to move linearly. The oscillating fork 403 is connected to the oscillating tube 104 to drive the oscillating tube 104 to move linearly. The oscillating drive shaft 402 is parallel to the oscillating tube 104. The oscillating drive shaft 402 rotates when receiving torque manually input by the user or torque automatically input by the surgical robot's mechanical arm. The rotation of the oscillating drive shaft 402 acts on the oscillating fork 403, which converts the rotational motion of the oscillating drive shaft 402 into linear motion, thereby driving the oscillating tube 104 to move linearly accordingly. The oscillating drive shaft 402 and the oscillating fork 403 can be specifically connected by a threaded or sheave-type mating, and the screw pair converts the rotational motion of the oscillating drive shaft 402 into linear motion of the oscillating fork 403. The threaded structure converts the rotary motion into linear motion while having a self-locking function, thereby effectively ensuring the self-locking performance of the tissue forceps head after the corresponding action.

[0050] Furthermore, the swing fork 403 and the swing tube 104 are relatively stationary in the axial direction and are circumferentially connected in a transmission manner. Therefore, when the swing tube 104 rotates during its rotation, the swing tube 104 can rotate relative to the swing fork 403, while the swing fork 403 remains in place. When the swing drive shaft assembly is in operation, the swing fork 403 moves along the axis of the tool bar assembly, driving the swing tube 104 to move linearly accordingly, thereby driving the end clamp head to swing.

[0051] Specifically, the swing fork 403 and the swing tube 104 can be connected via a swing limiting component 404, and the swing drive shaft assembly 4 includes a drive capstan 401, a swing drive shaft 402, a swing fork 403, and a swing limiting component 404. One end of the swing fork 403 is connected to the swing drive shaft 402, and the connection portion can be a spiral transmission pair. The other end of the swing fork 403 is connected to the swing tube 104 via the swing limiting component 404. The swing drive shaft 402 can be specifically connected to the drive capstan 401. The drive capstan 401 is used to connect to the robotic arm of the surgical robot to receive rotational power. The external rotational power input from the drive capstan 401 is converted into linear motion through the spiral transmission pair, causing the swing fork 403 and the swing tube 104 connected thereto to move up and down relative to the axis of the stapler knife bar assembly, thereby driving the jaws at the end of the stapler to perform a yaw motion.

[0052] For details about the opening and closing drive shaft assembly 6, please refer to Figure 1 、 Figure 3 and Figure 4The surgical robot 105 includes an opening and closing drive shaft 602 disposed parallel to the outer tube 105. The opening and closing drive shaft 602 is connected to an opening and closing fork 603. The opening and closing drive shaft 602 is used to receive torque input. The rotation of the opening and closing drive shaft 602 drives the opening and closing fork 603 to move linearly. The opening and closing fork 603 is connected to the outer tube 105 to drive the outer tube 105 to move linearly. The opening and closing drive shaft 602 is parallel to the outer tube 105. When receiving torque manually input by the user or automatically input by the surgical robot arm, the opening and closing drive shaft 602 rotates. The rotation of the opening and closing drive shaft 602 acts on the opening and closing fork 603, which converts the rotational motion of the opening and closing drive shaft 602 into linear motion, thereby driving the outer tube 105 to move linearly accordingly. The opening and closing drive shaft 602 and the opening and closing fork 603 can be specifically connected by a threaded or sheave-type mating, with the screw pair converting the rotational motion of the opening and closing drive shaft 602 into linear motion of the opening and closing fork 603. The threaded structure converts the rotary motion into linear motion while having a self-locking function, thereby effectively ensuring the self-locking performance of the tissue forceps head after the corresponding action.

[0053] Furthermore, the opening and closing fork 603 and the outer tube 105 are relatively stationary in the axial direction and are circumferentially connected in a transmission manner. Therefore, when the outer tube 105 rotates during its rotation, the outer tube 105 can rotate relative to the opening and closing fork 603, while the opening and closing fork 603 remains in place. When the opening and closing drive shaft assembly is in operation, the opening and closing fork 603 moves along the axis of the arbor assembly, driving the outer tube 105 to move linearly accordingly, thereby driving the end clamp head to open and close.

[0054] Specifically, the opening and closing fork 603 and the outer tube 105 can be connected via an opening and closing stopper 604. Specifically, the opening and closing drive shaft assembly 6 includes a drive capstan 601, an opening and closing drive shaft 602, an opening and closing fork 603, and an opening and closing stopper 604. One end of the opening and closing fork 603 is connected to the opening and closing drive shaft 602, where this connection may be a helical transmission pair. The other end of the opening and closing fork 603 is connected to the outer tube 105 via the opening and closing stopper 604. External rotational power input from the drive capstan 601 is converted into linear motion via the helical transmission pair, causing the opening and closing fork 603 and the outer tube 105 connected thereto to move up and down relative to the axis of the stapler's knife bar assembly, thereby driving the jaws at the end of the stapler to open and close.

[0055] Based on the above embodiment, in order to maintain the independence of the opening and closing, rotation, and swinging motions, specifically, the opening and closing fork is connected to the outer tube via an opening and closing limit member, and the swinging fork is connected to the swinging tube via a swinging limit member. Furthermore, for the opening and closing drive, an opening and closing limit ring groove is defined around the outer circumference of the outer tube, and a corresponding opening and closing limit through hole is defined on the opening and closing fork. The end of the opening and closing limit member proximate the opening and closing limit ring groove has an arc-shaped profile with a diameter corresponding to the inner diameter of the opening and closing limit ring groove. The opening and closing limit member is slidably mounted within the opening and closing limit through hole. When the opening and closing limit member slides into the opening and closing limit ring groove, it connects the outer tube and the opening and closing fork for synchronized linear motion. When the opening and closing limit member slides out of the opening and closing limit ring groove, the outer tube and the opening and closing fork disengage and release the synchronized linear motion relationship.

[0056] For the swing drive, a swing limit ring groove is provided around the outer circumference of the swing tube, and a swing limit through hole is correspondingly provided on the swing fork. The contour of one end of the swing limit component close to the swing limit ring groove is an arc shape with a diameter corresponding to the inner diameter of the swing limit ring groove; the swing limit component is slidably installed in the swing limit through hole, and when the swing limit component slides to be inserted into the swing limit ring groove, the swing tube and the swing fork are connected to move in a synchronous straight line; when the swing limit component slides to exit the swing limit ring groove, the swing tube and the swing fork are disengaged to release the synchronous straight line movement relationship.

[0057] The connection between the above-mentioned opening and closing fork and the outer tube and the swinging fork and the swinging tube are the same. The following takes the connection between the opening and closing fork and the outer tube as an example for explanation. Figure 5 and Figure 6 The outer surface of the end of the outer tube 105 is provided with an opening and closing limiting ring groove 1051, and the end of the opening and closing limiting component 604 has an arc-shaped structure 6041 that matches the opening and closing limiting ring groove 1051. One end of the opening and closing fork 603 has a through hole 6032 to accommodate the outer tube 105, and its side wall is provided with an opening and closing limiting through hole 6031 to accommodate the opening and closing limiting component 604. The opening and closing limiting through hole 6031 can be a square slot. When in the Figure 5 In the assembled state shown, the outer tube 105 is inserted into the hole 6032 of the opening and closing fork 603, and the opening and closing limit member 604 is inserted along the opening and closing limit through hole 6031, with the arc-shaped structure 6041 on the outer tube 105 resting on the opening and closing limit ring groove 1051 on the outer tube 105. The above connection together forms a mortise and tenon structure to maintain the independence of the rotation and opening and closing movements. When the outer tube 105 rotates during the rotational movement, the outer tube 105 can rotate relative to the opening and closing fork 603, and the opening and closing fork 603 remains in place. When the opening and closing drive shaft assembly 6 is in operation, the opening and closing fork 603 moves along the axis of the knife rod assembly, which will drive the opening and closing limit member 604 inserted therein to move, and then drive the outer tube 105 to move accordingly, thereby driving the opening and closing movement of the end clamp head.

[0058] Furthermore, the opening and closing limit member 604 connects the opening and closing fork 603 and the outer tube 105, thereby separating the outer tube 105 from the linear drive components and facilitating installation and removal. Under normal operating conditions, the opening and closing limit member 604 is inserted into the opening and closing limit ring groove 1051, achieving normal transmission. However, in the event of an emergency, such as a surgical instrument jam, the opening and closing limit member 28 can be pulled out of the opening and closing limit ring groove 1051, releasing the synchronized linear motion relationship between the outer tube 105 and the opening and closing fork 603. The surgical instrument can then be removed by disassembling the outer tube 105, for example, to facilitate emergency removal.

[0059] In the above embodiment, the pusher drive specifically includes several stages of pusher drive wheels and a pusher drive shaft arranged parallel to the pusher drive tube. One end of the pusher drive shaft is used to receive torque input, and the other end is coaxially fixedly connected to the first stage of the pusher drive wheels among the several stages of pusher drive wheels. The last stage of the pusher drive wheel is coaxially fixedly connected to the pusher drive tube. For details, please refer to Figure 1 、 Figure 2 and Figure 7 The pusher drive shaft assembly 3 includes a drive capstan 301, a pusher drive shaft 302, an input gear 304, and a clamping ring 303. For example, taking the pusher drive wheel as an example, a bearing is fixed to the outer surface of the upper end of the pusher drive tube 102. The bearing is located in an annular groove surrounded by the top plate 203 and the double-hole bearing pressure plate. As a result, the pusher drive tube 102 is constrained from axial movement relative to the support assembly, and can only rotate relative to the support assembly about the axis of the base tube 103. The upper end of the pusher rod 101 is constrained from rotational movement by a guide rod 205 passing through it and fixed to the guide cover 206, so that the pusher rod 101 can only slide up and down along its own axis. The pusher rod 101 and the inner surface of the base tube 103 are adjacent to each other, and the pusher rod 101 and the pusher drive tube 102 form the pusher drive mechanism, and the pusher drive tube 102 can rotate relative to the base tube 103. The external rotary power drives the capstan 301 and then drives the push knife drive shaft 302 to rotate. The push knife drive shaft 302 drives the input gear 304 fixed thereon to rotate, and the input gear 304 drives the first push knife drive gear 305 meshing therewith and the second push knife drive gear 307 coaxially fixedly connected to the first push knife drive gear 305 to rotate, and finally transmits the rotary power to the push knife drive tube 102 to rotate the push knife drive tube 102. The spiral motion pair between the push knife rod 101 and the push knife drive tube 102 will drive the push knife rod 101 to move along the axis of the stapler knife rod assembly relative to the push knife drive tube 102 and the base tube 103, thereby driving the stapler jaw blade at its end to move forward and backward (not shown).

[0060] In the above embodiment, the self-rotating drive comprises several stages of self-rotating transmission wheels and a self-rotating drive shaft arranged parallel to the base tube. One end of the self-rotating drive shaft is used to receive torque input, and the other end is coaxially fixedly connected to the first stage of the self-rotating transmission wheels among the several stages of self-rotating transmission wheels. The base tube is embedded in the final stage of the self-rotating driven wheel and rotates with the driven wheel. Figure 1 、 Figure 2 and Figure 4 The self-rotating drive shaft assembly 5 includes a drive capstan 501, a self-rotating drive shaft 502, and a self-rotating drive pulley 503. For base pipe assembly, a driven pulley 504 is secured to the outer annular surface of the upper end of the base pipe 103 via a clamping ring 505. A bearing is secured to the outer surface of the driven pulley 504, located in an annular groove formed by the center plate 205 and the bearing pressure plate 204. As a result, the driven pulley 504 and base pipe 103 are constrained from axial movement relative to the support assembly, allowing only rotational movement relative to the support assembly around the axis of the base pipe 103.

[0061] Specifically, using a wire rope pulley as an example, the self-rotating drive pulley 503 and the driven pulley 504 are mounted at the same height. Both components have rope grooves on their outer surfaces for the wire connecting the two pulleys to be wound around. When the self-rotating drive shaft assembly 5 is driven by external power, the self-rotating drive pulley 503 rotates with it. The wire wound around the pulley pulls the driven pulley 301 in synchronous rotation, thereby driving the base tube 103 into rotation.

[0062] It should be noted that the driving winch for driving the swing, the driving winch for driving the opening and closing, and the driving winch for driving the rotation can be three separate parts to drive different movements respectively, or they can be the same part to jointly drive the above-mentioned movements as needed.

[0063] Based on the above embodiments, one or more sealing rings are respectively provided between the pusher rod and the base tube, between the pusher drive tube and the base tube, between the base tube and the swing tube, and between the swing tube and the outer tube. Figure 8To ensure smooth and stable movement of each drive mechanism, a certain gap must exist between the various layers of pipes. Such gaps would cause gas in the abdominal cavity to escape through these gaps. To seal these gaps, annular grooves are formed on the outer surfaces of each layer of sleeves, except for the opening and closing drive tube 105. Rings of elastomeric material are placed in these grooves as sealing rings to completely seal the gaps between the layers. Specifically, an annular groove is provided on the outer surface of the portion where the pusher rod 101 contacts the base tube 103 to accommodate a sealing ring 110, thereby closing the gap between the pusher rod 101 and the base tube 103 and further preventing gas from leaking from the threads between the pusher rod 101 and the pusher drive tube 102; an annular groove is provided on the outer surface of the portion where the pusher drive tube 102 connects with the base tube 103 to accommodate a sealing ring 111, thereby closing the gap between the pusher drive tube 102 and the base tube 103; an annular groove is provided on the outer surface of the portion where the base tube 103 contacts the swing tube 104 to accommodate a sealing ring 112, thereby closing the gap between the swing tube 104 and the base tube 103; an annular groove is provided on the outer surface of the portion where the swing tube 104 connects with the opening and closing drive tube 105 to accommodate a sealing ring 113, thereby closing the gap between the swing tube 104 and the opening and closing drive tube 105.

[0064] It's important to note that the cross-sectional diameter of each sealing ring should be slightly larger than the height of the ring groove in which it resides, meaning there's a certain amount of interference. In the assembled state, this interference allows the sealing ring to be squeezed across its entire cross-section, causing elastic deformation and thus tightly fitting the adjacent inner and outer walls. However, excessive interference can cause excessive squeezing of the sealing ring, generating unexpected friction on the inner and outer walls. Therefore, in the present invention, taking into account manufacturing tolerances, the recommended sealing ring interference range is preferably 0.05-0.15 mm.

[0065] Specifically, the sealing rings provided between the pusher rod and the base tube, between the pusher drive tube and the base tube, between the base tube and the swing tube, and between the swing tube and the outer tube are staggered in the axial direction, thereby improving the overall sealing effect.

[0066] On the basis of the above embodiments, one or more of the pusher rod and the pusher drive tube, between the pusher drive tube and the base tube, and between the pusher rod and the base tube are respectively provided with sliding bearings. Specifically, one or more of the outer surfaces of the adjacent sections of the pusher rod and the pusher drive tube, the outer surfaces of the adjacent sections of the pusher drive tube and the base tube, and the outer surfaces of the adjacent sections of the pusher rod and the base tube are provided with annular grooves, and the sliding bearings are self-lubricating material bearings installed in the annular grooves. The pusher drive tube has relative rotational motion relative to the base tube, the pusher rod has rotational motion and linear motion relative to the pusher drive tube, and the pusher rod has linear motion relative to the base tube. The above relative motion has a relatively high running speed. In order to improve the friction between the moving parts, annular grooves are provided on the outer surfaces of the adjacent sections of the above-mentioned sleeves at each level, and an annular self-lubricating material is installed in the annular grooves as sliding bearings. The self-lubricating material has an inner / outer surface with high finish and lower friction coefficient to further improve the friction generated between the moving layers. For details, please refer to Figure 8 and Figure 10 An annular groove is provided on the outer surface of the portion where the pusher rod 101 contacts the pusher drive tube 102 to accommodate a sliding bearing 106, thereby reducing the friction when the pusher rod 101 slides relative to the pusher drive tube 102; an annular groove is provided on the outer surface of the portion where the pusher drive tube 102 contacts the base tube 103 to accommodate sliding bearings 108 and 109, thereby reducing the friction when the pusher drive tube 102 slides relative to the base tube 103; an annular groove is provided on the outer surface of the portion where the pusher rod 101 connects to the base tube 103 to accommodate a sliding bearing 107, thereby reducing the friction when the pusher rod 101 slides relative to the base tube 103. Furthermore, the self-lubricating material bearing is in the form of an open annular ring, i.e., it has a gap 1091 extending therethrough in the axial direction. The self-lubricating material bearing can specifically be a thin-walled annular part, and the provision of the through-gap 1091 makes the self-lubricating material bearing a semi-open annular ring. During installation, the gap 1091 allows the self-lubricating material bearing to undergo a small elastic deformation and expand, increasing the inner diameter of the ring so that it can be inserted from one end of the pusher drive tube 102 until it is installed in the ring groove 1021. The sliding bearings 106 and 107 on the pusher rod 101 are also connected using the same structure and assembly method.

[0067] It should be noted that the surgical instrument provided in the present application is not limited to the anastomosis device in the above embodiment, and may also be other surgical instruments with jaw opening and closing functions as needed.

[0068] Based on the surgical instruments provided in the above embodiments, the present invention further provides a surgical robot, which includes any one of the surgical instruments in the above embodiments. Since the surgical robot uses the surgical instruments in the above embodiments, the beneficial effects of the surgical robot can be referred to the above embodiments.

[0069] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0070] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A surgical instrument comprising a forceps head, characterized in that: It also includes a sleeve structure connected to the pliers head, the sleeve structure includes a pusher rod, a pusher drive tube, a base tube, a swing tube and an outer tube which are sequentially installed from the inside to the outside; the pusher drive tube is connected to the pusher rod, and the pusher drive tube can rotate relative to the base tube and drive the pusher rod to move linearly, and the linear movement of the pusher rod drives the jaw blade of the pliers head to move; the rotation of the base tube drives the pliers head to rotate; the swing tube can move linearly relative to the base tube and drive the pliers head to swing; the outer tube can move linearly relative to the base tube and push the pliers head to retract into the outer tube to close or expose the outer tube to open.

2. The surgical instrument according to claim 1, wherein: It also includes a swing drive shaft arranged parallel to the swing tube, the swing drive shaft is connected to a swing fork, the swing drive shaft is used to receive torque input, and the rotation of the swing drive shaft drives the swing fork to move linearly, and the swing fork is connected to the swing tube to drive the swing tube to move linearly.

3. The surgical instrument according to claim 2, characterized in that The swing fork and the swing tube are relatively stationary in the axial direction and are transmission-connected in the circumferential direction.

4. The surgical instrument according to claim 3, characterized in that The cam is provided with a plurality of camming members, each of which is provided with a plurality of camming members, and the plurality of camming members are provided with a plurality of camming members. The plurality of camming members are provided with a plurality of camming members, and the plurality of camming members are provided with a plurality of camming members. The plurality of camming members are provided with a plurality of camming members, and the plurality of camming members are provided with a plurality of camming members.

5. The surgical instrument according to claim 1, wherein: It also includes an opening and closing drive shaft arranged parallel to the outer tube, the opening and closing drive shaft is connected to an opening and closing fork, the opening and closing drive shaft is used to receive torque input, the rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly, and the opening and closing fork is connected to the outer tube to drive the outer tube to move linearly.

6. The surgical instrument according to claim 5, characterized in that The opening and closing fork and the outer tube are relatively stationary in the axial direction and are transmission-connected in the circumferential direction.

7. The surgical instrument according to claim 6, characterized in that: The cam is provided with an opening and closing limit ring groove, and the opening and closing fork is provided with an opening and closing limit through hole. The end of the opening and closing limit member close to the opening and closing limit ring groove is in the shape of an arc with a diameter corresponding to the inner diameter of the opening and closing limit ring groove. The opening and closing limit member is slidably installed in the opening and closing limit through hole, and when the opening and closing limit member slides to be inserted into the opening and closing limit ring groove, the outer tube and the opening and closing fork are connected to move in a synchronous straight line. When the opening and closing limit member slides to exit the opening and closing limit ring groove, the outer tube and the opening and closing fork are disengaged to release the synchronous straight line movement relationship.

8. The surgical instrument according to claim 1, wherein: It also includes several levels of pusher transmission wheels and a pusher drive shaft arranged parallel to the pusher drive tube. One end of the pusher drive shaft is used to receive torque input, and the other end is coaxially fixedly connected to the first level of the pusher transmission wheels among the several levels of the pusher transmission wheels, and the last level of the pusher transmission wheel is coaxially fixedly connected to the pusher drive tube.

9. The surgical instrument according to claim 1, wherein: It also includes several stages of self-rotating transmission wheels and a self-rotating drive shaft arranged parallel to the base tube. One end of the self-rotating drive shaft is used to receive torque input, and the other end is coaxially fixedly connected to the first stage of the self-rotating transmission wheels among the several stages of the self-rotating transmission wheels. The base tube is nested in the last stage of the self-rotating driven wheel and rotates with the driven wheel.

10. The surgical instrument according to any one of claims 1 to 9, characterized in that: One or more sealing rings are respectively provided between the pusher rod and the base tube, between the pusher drive tube and the base tube, between the base tube and the swing tube, and between the swing tube and the outer tube.

11. The surgical instrument according to any one of claims 1 to 9, characterized in that: One or more of the following is respectively provided with a sliding bearing between the pusher rod and the pusher driving tube, between the pusher driving tube and the base tube, and between the pusher rod and the base tube.

12. The surgical instrument according to claim 11, wherein: One or more of the outer surfaces of the adjacent sections of the push knife rod and the push knife driving tube, the outer surfaces of the adjacent sections of the push knife driving tube and the base tube, and the outer surfaces of the adjacent sections of the push knife rod and the base tube are provided with an annular groove, and the sliding bearing is a self-lubricating material bearing installed in the annular groove.

13. The surgical instrument according to claim 12, wherein: The self-lubricating material bearing has a gap extending through the bearing in the axial direction.

14. A surgical robot comprising a master operating device and a slave operating device controlled by the master operating device, wherein the slave operating device comprises the surgical instrument according to any one of claims 1 to 13.

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