Surgical instruments and surgical robots

Abstract

The present application provides a surgical instrument and a surgical robot, wherein the surgical instrument includes an instrument shaft assembly, an actuator assembly, and an actuating mechanism, wherein the instrument shaft assembly has a longitudinal axis and an inner cavity defined along the longitudinal axis; the actuator assembly includes an end effector disposed at a distal end, the proximal end of the actuator assembly being connected to the distal end of the instrument shaft assembly; the actuating mechanism includes an actuating rod assembly, a flexible actuating transmission member, and an actuating drive assembly, wherein the actuating rod assembly is disposed within the inner cavity and is capable of translational movement along the longitudinal axis, the distal end of the actuating rod assembly is drivingly coupled to the end effector, the flexible actuating transmission member transmission-connects the actuating rod assembly to the actuating drive assembly, and the actuating drive assembly is capable of rotationally driving the flexible actuating transmission member to move, thereby driving the actuating rod assembly to translate, thereby actuating the end effector, and the rotation axis of the actuating drive assembly is parallel to the longitudinal axis. The surgical instrument of the present application has a compact structure, a small size, and a light weight.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, relates to a surgical instrument and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. With technological advancements, minimally invasive surgical techniques and robotic technology have matured and are being widely used. Robot-assisted minimally invasive surgery has become a trend in minimally invasive surgery and has been gradually applied in clinical practice.

[0003] Staplers are often used in minimally invasive surgical procedures. Staplers are surgical instruments used in medicine as an alternative to manual suturing. They typically consist of two corresponding actuators (typically a stapler assembly and an anvil assembly) positioned at the distal end of a slender shaft. When using a stapler, the anvil assembly and stapler assembly are first closed to clamp the tissue. Then, one or more actuator assemblies are advanced or pushed to eject the array of staples from the stapler assembly. The staples are then driven into the body tissue, suturing the tissue together, similar to a stapler. Staplers may also include a cutter for cutting the sutured tissue. Some staplers have actuators that can bend at a certain angle, allowing the actuator to effectively reach the surgical site to clamp, transect, and staple tissue, allowing surgeons to more efficiently cut and suture tissue in confined areas. Using a stapler and staples for suturing is more precise than traditional manual suturing, simplifies suturing steps, reduces suturing difficulty, is easy to operate, and suturing quickly, significantly reducing surgical time. It offers numerous advantages, including reduced intraoperative bleeding, shorter operative time, infection prevention, and faster postoperative functional recovery.

[0004] Most existing staplers are manually operated, and there are relatively few staplers used with surgical robots. During manual closing operations, the degree of closure and closure time of tissues are easily inconsistent, and the firing force during firing operations can vary greatly, reducing the quality of the surgery. Once an incorrect operation occurs, it is easy to cause surgical failure and waste of medical equipment, and in severe cases, even cause medical accidents.

[0005] Existing staplers are complex in structure, particularly their gear-driven design. This leads to a complex transmission mechanism, high costs, and large and heavy staplers. Directly using existing staplers in robot-assisted minimally invasive surgery can compress the robot's range of motion, failing to meet the surgical instrument's requirements for freedom, flexibility, and accuracy, thus impacting surgical quality. Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a surgical instrument and a surgical robot to solve the technical problems in the prior art that the stapler transmission mechanism is complex, large in size, heavy in weight, and not suitable for surgical robots.

[0007] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a surgical instrument, comprising: an instrument shaft assembly having a longitudinal axis and an inner cavity defined along the longitudinal axis;

[0008] an implementing assembly, comprising an end implement disposed at the distal end, the end implement comprising a stapler, the proximal end of the implementing assembly being connected to the distal end of the instrument shaft assembly; and

[0009] The actuating mechanism includes an actuating rod assembly, a flexible actuating transmission member and an actuating drive assembly. The actuating rod assembly is arranged on the instrument shaft assembly through the inner cavity and can move translationally along the longitudinal axis. The distal end of the actuating rod assembly is drivingly connected to the end actuator. The flexible actuating transmission member drives the actuating rod assembly to the actuating drive assembly. The actuating drive assembly can rotate and drive the flexible actuating transmission member to move, so as to drive the actuating rod assembly to move translationally, thereby actuating the end actuator, and the rotation axis of the actuating drive assembly is parallel to the longitudinal axis.

[0010] In one embodiment, the actuation mechanism further comprises a distal guide surface, which is provided on the instrument shaft assembly and faces the distal end of the inner cavity; the flexible actuation transmission member is fixedly connected to the proximal end of the actuation rod assembly, and the connection position is located between the actuation drive assembly and the distal guide surface along the pulling direction of the flexible actuation transmission member;

[0011] The flexible actuation transmission member includes a first portion of a cable and a second portion of a cable, wherein the first portion of the cable extends from the connection position toward the distal end of the instrument shaft assembly, passes around the distal guide surface, and then extends toward the proximal end of the instrument shaft assembly through the inner cavity to reach the actuation drive assembly, and the second portion of the cable extends from the connection position toward the proximal end of the instrument shaft assembly and passes through the inner cavity to reach the actuation drive assembly;

[0012] Rotating the actuation drive assembly can increase the tension in the first portion of the cable to translate the actuation rod assembly in a distal direction, or increase the tension in the second portion of the cable to translate the actuation rod assembly in a proximal direction.

[0013] In one embodiment, the actuating mechanism further includes a proximal guide surface, which is arranged toward the proximal end of the surgical instrument, and the proximal guide surface is arranged between the actuating drive assembly and the distal guide surface along the traction direction of the flexible actuating transmission member, and the first part cable and the second part cable of the flexible actuating transmission member are respectively wound around the proximal guide surface and extend to the actuating drive assembly.

[0014] In one embodiment, the actuating mechanism further includes a transition surface, which is arranged between the actuating drive assembly and the proximal guide surface along the traction direction of the flexible actuating transmission member, and the first portion cable and the second portion cable of the flexible actuating transmission member are respectively wound around at least one of the transition surfaces.

[0015] In one embodiment, the first portion of the cable of the flexible actuating transmission has a first length, and the second portion of the cable of the flexible actuating transmission has a second length;

[0016] The actuation mechanism also includes a distal pulley including the distal guide surface.

[0017] In one embodiment, the actuating drive assembly includes an actuating wheel, which is arranged on the proximal side of the instrument shaft assembly and can rotate around its own axis, and the rotation axis of the actuating wheel is parallel to the longitudinal axis; the first part cable and the second part cable of the flexible actuating transmission member are fixed and wound around the actuating wheel.

[0018] In one embodiment, the actuation drive assembly further includes an actuation input member, which is in transmission connection with the actuation wheel and is used to input rotational power.

[0019] In one embodiment, the actuating drive assembly further includes an operating member, which is in transmission connection with the actuating wheel, and operating the operating member can drive the actuating wheel to rotate.

[0020] In one embodiment, the actuating rod assembly includes an actuating rod and a connecting member fixedly connected to a proximal end of the actuating rod, and the flexible actuating transmission member is fixedly connected to the connecting member.

[0021] In one embodiment, the instrument shaft assembly includes a sleeve, which extends along the longitudinal axis, and the interior of the sleeve defines the inner cavity; a mounting hole is provided at the distal end of the sleeve, the actuator rod slides through the mounting hole, the connecting member is provided in the inner cavity, and the distal pulley is provided at the distal end of the sleeve and adjacent to the mounting hole.

[0022] In one embodiment, a cable guide hole is provided at the distal end of the sleeve, and the second portion of the cable of the flexible actuating transmission member extends through the cable guide hole.

[0023] In one embodiment, the surgical instrument includes a plurality of sets of the actuating mechanisms, and the plurality of sets of the actuating mechanisms are used to actuate the end effector to perform a plurality of actions.

[0024] In one embodiment, the execution assembly further includes a tool holder and a tube body, the proximal end of the tool holder is fixedly connected to the distal end of the sleeve, the end actuator is arranged at the distal end of the tool holder, and the tube body is sleeved on the outside of the tool holder; the multiple groups of the actuating mechanisms include a first actuating mechanism, the first actuating rod assembly of the first actuating mechanism is connected to the tube body, the translational movement of the first actuating rod assembly drives the translational movement of the tube body, and the tube body actuates the opening and closing action of the jaws of the end actuator.

[0025] In one embodiment, the execution assembly further includes a firing rod disposed inside the tube body; the multiple groups of the actuating mechanisms further include a second actuating mechanism, a second actuating rod assembly of the second actuating mechanism is connected to the firing rod, the translational movement of the second actuating rod assembly drives the translational movement of the firing rod, and the firing rod actuates the anastomosis action of the anastomosis device.

[0026] In one embodiment, the actuator assembly also includes a swing arm pull rod arranged inside the tube body; multiple groups of the actuator mechanisms also include a third actuator mechanism, the third actuator rod assembly of the third actuator mechanism is connected to the swing arm pull rod, the translational movement of the third actuator rod assembly drives the translational movement of the swing arm pull rod, and the swing arm pull rod actuates the joint swinging movement of the end actuator.

[0027] In one embodiment, the actuator assembly also includes two swing arms and two swing rods hinged at both ends of the two swing arms. The swing arm rods are connected to the swing arms. The translational movement of the swing arm rods drives the swing arms to rotate, driving the two swing rods to perform parallelogram movement, thereby actuating the joint swinging movement of the end actuator.

[0028] In one embodiment, the tool holder is detachably connected to the sleeve, and the first actuating rod assembly is detachably connected to the tube body.

[0029] In one embodiment, the surgical instrument further includes a rotational drive mechanism, which includes a rotational drive assembly and a flexible rotational transmission member, wherein the flexible rotational transmission member is transmission-connected to the proximal end of the instrument shaft assembly and the rotational drive assembly, and the rotational drive assembly is capable of rotationally driving the instrument shaft assembly to rotate around the longitudinal axis to drive the actuator assembly to rotate around its own axis; and the rotational axis of the rotational drive assembly is parallel to the longitudinal axis.

[0030] In one embodiment, the rotary drive assembly includes a driving wheel, which is arranged on the proximal side of the sleeve and can rotate around its own axis, and the rotation axis of the driving wheel is parallel to the longitudinal axis; one end of the flexible rotating transmission member is fixed and wound around the driving wheel, and the other end of the flexible rotating transmission member is fixed and wound around the sleeve.

[0031] In one embodiment, the surgical instrument further includes a mounting assembly, which is used to be connected to a surgical robot; the proximal end of the instrument shaft assembly can be rotatably connected to the center of the mounting assembly; the rotary drive assembly and multiple groups of the actuating drive assemblies are arranged on the mounting assembly and are evenly distributed around the instrument shaft assembly.

[0032] The present application also provides a surgical robot, which includes a slave operating device, a master operating device and a surgical instrument as described above; the slave operating device includes at least one robotic arm, and the surgical instrument is detachably mounted on the robotic arm; the master operating device is used to send control commands to the slave operating device according to the operator's operation, and the slave operating device is used to respond to the control command and control the robotic arm and the surgical instrument to perform corresponding operations.

[0033] The beneficial effects of the surgical instrument provided by this application are:

[0034] Compared with the prior art, the surgical instrument of the present application can be used in robot-assisted minimally invasive surgical operations. The rotational power is input by the actuating drive assembly, and the rotational motion of the actuating drive assembly is converted into the linear motion of the actuating rod assembly by adopting a flexible actuating transmission member, thereby simplifying the transmission structure of the actuating mechanism and reducing the volume of the actuating mechanism and the inner diameter of the instrument shaft assembly. At the same time, the rotation axis of the actuating drive assembly is parallel to the translational motion direction of the actuating rod assembly, making the structure of the actuating mechanism more compact, reducing the space occupied by the actuating mechanism, and effectively reducing the volume of the surgical instrument, reducing the weight, facilitating connection, ensuring the activity space of the surgical robot, and effectively solving the technical problems of the existing anastomosis device transmission mechanism being complex, large in volume, heavy in weight, and not suitable for surgical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A schematic diagram of the structure of a surgical instrument provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a partially exploded structure of a surgical instrument provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the three-dimensional structure of the installation assembly provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the exploded structure of the installation assembly provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of the three-dimensional structure of the instrument shaft assembly, actuating mechanism, rotary drive mechanism, and mounting assembly assembly provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the three-dimensional structure of the instrument shaft assembly, actuating mechanism, rotary drive mechanism, and mounting assembly assembly from another perspective provided in an embodiment of the present application;

[0042] Figure 7 A cross-sectional view of an assembly of a rotary drive mechanism, an instrument shaft assembly, and a mounting assembly provided in an embodiment of the present application;

[0043] Figure 8 A longitudinal partial planar cross-sectional view of an instrument shaft assembly provided in an embodiment of the present application;

[0044] Figure 9 A schematic diagram of the three-dimensional structure of the interior of the distal end of the instrument shaft assembly provided in an embodiment of the present application;

[0045] Figure 10 for Figure 8 A schematic diagram of the enlarged structure of the middle part B;

[0046] Figure 11 A transverse perspective cross-sectional view of an instrument shaft assembly provided in an embodiment of the present application;

[0047] Figure 12 for Figure 8 Schematic diagram of the enlarged structure of the middle C part;

[0048] Figure 13A partial cross-sectional view of an execution assembly provided in an embodiment of the present application;

[0049] Figure 14 A partial longitudinal planar cross-sectional view of an assembly of a first actuation mechanism and an instrument shaft assembly provided in an embodiment of the present application;

[0050] Figure 15 A schematic structural diagram of a first actuating mechanism, an instrument shaft assembly, and a mounting assembly assembly provided in an embodiment of the present application;

[0051] Figure 16 A schematic diagram of a transmission circuit of a first actuating mechanism provided in an embodiment of the present application;

[0052] Figure 17 A partial longitudinal planar cross-sectional view of an assembly of a second actuating mechanism and an instrument shaft assembly provided in an embodiment of the present application;

[0053] Figure 18 A schematic structural diagram of a second actuating mechanism, an instrument shaft assembly, and a mounting assembly provided in an embodiment of the present application;

[0054] Figure 19 A schematic diagram of a transmission circuit of a second actuating mechanism provided in an embodiment of the present application;

[0055] Figure 20 A partial longitudinal planar cross-sectional view of an assembly of a third actuating mechanism and an instrument shaft assembly provided in an embodiment of the present application;

[0056] Figure 21 A schematic structural diagram of a third actuating mechanism, an instrument shaft assembly, and a mounting assembly provided in an embodiment of the present application;

[0057] Figure 22 A schematic diagram of a transmission circuit of a third actuating mechanism provided in an embodiment of the present application;

[0058] Figure 23 A partial cross-sectional view of the proximal end of the actuator provided in an embodiment of the present application;

[0059] Figure 24 A schematic diagram of the three-dimensional structure of the proximal end of the actuator provided in an embodiment of the present application after the outer tube is removed;

[0060] Figure 25 A schematic diagram of the three-dimensional structure of the actuator provided in an embodiment of the present application, from another perspective of the proximal end after the outer tube is removed;

[0061] Figure 26 A partial cross-sectional view of the distal end of the actuator provided in an embodiment of the present application;

[0062] Figure 27 A schematic diagram of the three-dimensional structure of the distal end of the instrument shaft assembly provided in an embodiment of the present application;

[0063] Figure 28 for Figure 2 A schematic diagram of the enlarged structure of the middle part A;

[0064] Figure 29 A schematic diagram of the structure of a slave operating device provided in an embodiment of the present application;

[0065] Figure 30 A diagram showing the usage status of a slave operating device provided in an embodiment of the present application;

[0066] Figure 31 A schematic diagram of the structure of the main operating device provided in an embodiment of the present application.

[0067] Among them, the reference numerals in the figures are:

[0068] 1. Instrument shaft assembly;

[0069] 11. Casing;

[0070] 110, inner cavity; 111, cable guide hole; 112, cable limit hole; 113, connecting hook;

[0071] 12. Outer tube; 13. Sealing ring; 14. Driven pulley;

[0072] 2. Execution component;

[0073] 21. End effector;

[0074] 22. Tool holder; 221. Connecting bayonet;

[0075] 23. Pipe body; 231. Keyhole;

[0076] 24. Trigger rod; 241. Trigger square head;

[0077] 25. Swing arm pull rod; 251. Connecting short rod;

[0078] 26. Swing arm; 27. Swing lever;

[0079] 3. Actuating mechanism;

[0080] 31. Actuating rod assembly;

[0081] 311. Actuating rod; 312. Connecting member;

[0082] 3111, keyway; 3112, square hole; 3113, short rod slot;

[0083] 32. Flexible actuated transmission member;

[0084] 321, first part of the cable; 322, second part of the cable;

[0085] 33. Actuating drive assembly;

[0086] 331, actuating wheel; 332, actuating input member; 333, actuating shaft; 334, wire wheel pressure block; 335, operating member; 336, manual transfer shaft;

[0087] 34. Distal pulley; 35. Proximal pulley; 36. Transition pulley;

[0088] 3a. a first actuating mechanism;

[0089] 31a, first actuating rod assembly; 311a, first actuating rod; 312a, first connecting block;

[0090] 32a, clamping wire;

[0091] 331a, clamping wire wheel; 332a, clamping driving capstan; 333a, clamping main shaft; 334a, clamping wire wheel pressure block; 335a, clamping handle; 336a, clamping manual transfer shaft;

[0092] 34a, clamping the distal pulley; 35a, clamping the proximal pulley; 36a, clamping the transition pulley;

[0093] 37a, clamping key;

[0094] 3b, a second actuating mechanism;

[0095] 31b, second actuating rod assembly; 311b, second actuating rod; 312b, second connecting block;

[0096] 32b, firing wire;

[0097] 331b, firing wheel; 332b, firing drive capstan; 333b, firing spindle; 334b, firing wheel pressure block; 335b, firing handle; 336b, firing manual adapter shaft;

[0098] 34b, firing distal pulley; 35b, firing proximal pulley; 36b, firing transition pulley;

[0099] 3c, third actuating mechanism;

[0100] 31c, third actuating rod assembly; 311c, third actuating rod; 312c, third connecting block;

[0101] 32c, swing wire;

[0102] 331c, swinging wire wheel; 332c, swinging driving capstan; 333c, swinging main shaft; 334c, swinging wire wheel pressure block; 335c, swinging handle; 336c, swinging manual transfer shaft;

[0103] 34c, swing distal pulley; 35c, swing proximal pulley; 36c, swing transition pulley;

[0104] 4. Sealing tube;

[0105] 5. Rotation drive mechanism;

[0106] 51. Rotary drive assembly;

[0107] 511, driving wheel; 512, rotary drive winch; 513, rotating shaft; 514, driving wheel pressure block;

[0108] 52. Flexible rotating transmission parts;

[0109] 6. Install components;

[0110] 61, base; 611, sleeve mounting hole; 612, drive mounting hole;

[0111] 62. First support frame; 63. Second support frame; 64. Top plate; 65. Pulley seat;

[0112] 100. Surgical instrument; 200. Robotic arm; 300. Slave operating device; 400. Master operating device; 500. Main console; 600. Input device. DETAILED DESCRIPTION

[0113] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0114] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0115] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0117] The surgical instrument provided in the embodiments of the present application is now described.

[0118] In this application, "distal" and "proximal" are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal" refers to the end away from the operator during the operation, and "proximal" refers to the end close to the operator during the operation.

[0119] Referring now to the drawings, wherein like reference numerals refer to like parts throughout the several views.

[0120] Figure 1 An example of a surgical instrument 100 provided herein is shown. Figure 2 This is a partially exploded view showing the assembly structure of surgical instrument 100. Surgical instrument 100 includes an instrument shaft assembly 1, an actuator assembly 2, a sealing tube 4, and a mounting assembly 6. Mounting assembly 6 is used to connect to a surgical robot. Instrument shaft assembly 1 has a longitudinal axis, and the proximal end of instrument shaft assembly 1 is rotatably connected to the center of mounting assembly 6. Actuator assembly 2 also has a longitudinal axis, and the proximal end of actuator assembly 2 is detachably connected to the distal end of instrument shaft assembly 1. Actuator assembly 2 includes an end effector 21 disposed at the distal end, which includes a stapler. Sealing tube 4 is sleeved and connected to the outside of the connection between actuator assembly 2 and instrument shaft assembly 1, providing a sealing connection.

[0121] Figure 3 It is a three-dimensional structural diagram showing the internal structure of the installation component 6. Figure 4 : This is an exploded structural diagram showing the structure of the mounting assembly 6. The mounting assembly 6 includes a base 61, a first support frame 62, a second support frame 63, a top plate 64, and a pulley seat 65. The base 61 has a sleeve mounting hole 611 in the center and four drive mounting holes 612 in the four corners. The first support frame 62 and the second support frame 63 are fixed to the base 61 using screws. The top plate 64 is fixed to the top of the first support frame 62 and the second support frame 63 using screws, thereby supporting and fixing the top plate 64 above the base 61. The pulley seat 65 is also fixed to the top of the top plate 64 using screws.

[0122] Figure 5 FIG. 1 is a perspective view showing the internal structure of the proximal end of the surgical instrument 100 . Figure 6FIG1 is a perspective view showing the inner structure of the proximal end of the surgical instrument 100 from another perspective. The surgical instrument 100 further includes an actuating mechanism 3 and a rotation driving mechanism 5.

[0123] Among them, the actuating mechanism 3 includes a flexible actuating transmission member 32 and an actuating drive assembly 33. The flexible actuating transmission member 32 can be a cable, such as a steel wire rope; the actuating drive assembly 33 is arranged on the mounting assembly 6, located on the proximal side of the instrument shaft assembly 1, and the flexible actuating transmission member 32 is transmission-connected to the actuating drive assembly 33. The actuating drive assembly 33 can rotate and drive the flexible actuating transmission member 32 to move, and the rotation axis of the actuating drive assembly 33 is parallel to the longitudinal axis of the instrument shaft assembly 1.

[0124] The actuating drive assembly 33 includes an actuating wheel 331, which is arranged on the proximal side of the instrument shaft assembly 1 and can rotate around its own axis, and the rotation axis of the actuating wheel 331 is parallel to the longitudinal axis of the instrument shaft assembly 1; the flexible actuating transmission member 32 is fixed and wrapped around the actuating wheel 331.

[0125] The actuating drive assembly 33 also includes an actuating input member 332, which is in transmission connection with the actuating wheel 331. The actuating input member 332 can be connected to a power device, such as the robotic arm 200 of a surgical robot. The actuating input member 332 is used to input rotational power, and the input rotational power drives the actuating drive assembly 33 to rotate.

[0126] In a specific embodiment, the actuating input member 332 is a driving capstan, and the actuating drive assembly 33 further includes an actuating shaft 333 and a wire wheel pressure block 334. The driving capstan is fixedly connected to the actuating shaft 333. The actuating shaft 333 is arranged on the proximal side of the instrument shaft assembly 1 parallel to the longitudinal axis of the instrument shaft assembly 1, and the actuating shaft 333 can rotate around its own axis while the axial linear translation movement is restricted; the actuating wheel 331 is fixedly mounted on the actuating shaft 333 using the wire wheel pressure block 334, so that the rotation of the actuating shaft 333 can drive the actuating wheel 331 to rotate, and then drive the wire rope to move linearly.

[0127] The actuator drive assembly 33 also includes an operating member 335, which is in transmission connection with the actuator wheel 331. Operating the operating member 335 can drive the actuator wheel 331 to rotate. The operating member 335 can be used to manually operate the end effector 21, which facilitates continued operation of the end effector 21 in special circumstances such as power outages during surgery.

[0128] In a specific embodiment, the operating member 335 is a handle or knob structure, and the actuating drive assembly 33 also includes a manual adapter shaft 336. The operating member 335 is fixedly connected to the manual adapter shaft 336, and the manual adapter shaft 336 is fixedly connected to the actuating shaft 333, so that the rotational movement of the operating member 335 can be converted into the rotational movement of the actuating shaft 333.

[0129] Actuating mechanism 3 further includes a proximal pulley 35, disposed at the proximal end of instrument shaft assembly 1 and mounted on pulley seat 65. The outer circumferential surface of proximal pulley 35, facing the proximal end of surgical instrument 100, forms a proximal guide surface. The cable of flexible actuating transmission member 32 passes around the proximal guide surface of proximal pulley 35 before extending toward actuating drive assembly 33. The proximal guide surface of proximal pulley 35 changes the direction of traction motion of flexible actuating transmission member 32, redirecting the cable from motion along the longitudinal axis of instrument shaft assembly 1 to motion about the rotational axis of actuating drive assembly 33, thereby aligning the rotational axis of actuating drive assembly 33 with the linear translational motion direction of actuating rod assembly 31. Multiple proximal pulleys 35 may be provided.

[0130] The actuating mechanism 3 also includes a transition pulley 36, which is disposed on the proximal side of the instrument shaft assembly 1 and mounted on the first support frame 62 and the second support frame 63. The outer circumferential surface of the transition pulley 36 forms a transition surface, and the cable of the flexible actuating transmission member 32 passes around the transition surface on the transition pulley 36 before being pulled to the actuating drive assembly 33. It can be seen that the transition pulley 36 is disposed between the actuating drive assembly 33 and the proximal pulley 35 along the pulling direction of the flexible actuating transmission member 32. The transition surface of the transition pulley 36 gradually changes the pulling direction of the flexible actuating transmission member 32 between the actuating drive assembly 33 and the proximal pulley 35, preventing the flexible actuating transmission member 32 from sliding or even loosening on the actuating drive assembly 33 and the proximal guide surface due to excessive changes in the pulling direction, thereby ensuring stable and reliable transmission of the flexible actuating transmission member 32. The transition pulley 36 may include multiple transition pulleys.

[0131] Please continue reading Figure 6The rotary drive mechanism 5 includes a rotary drive assembly 51 and a flexible rotary transmission member 52; the flexible rotary transmission member 52 is in transmission connection with the proximal end of the instrument shaft assembly 1 and the rotary drive assembly 51, and the rotary drive assembly 51 can rotate and drive the instrument shaft assembly 1 around the longitudinal axis to drive the actuator 2 to rotate around its own axis; and the rotation axis of the rotary drive assembly 51 is parallel to the longitudinal axis of the instrument shaft assembly 1. The rotational power of the external robot can be input through the rotation drive component 51, and the flexible rotation transmission member 52 is used to drive the instrument shaft component 1 and the actuator component 2 to rotate on their own, thereby simplifying the transmission structure of the rotation drive mechanism 5 and reducing the volume of the rotation drive mechanism 5. Moreover, the flexible transmission structure is simple and reliable, easy to connect, and reduces costs. At the same time, the rotation axis of the rotation drive component 51 is parallel to the rotation axis of the instrument shaft component 1 and the actuator component 2, making the structure of the rotation drive mechanism 5 more compact, further reducing the space occupied by the rotation drive mechanism 5, and effectively reducing the volume of the surgical instrument 100, reducing the weight, ensuring the activity space of the surgical robot, and avoiding interference between multiple surgical instruments 100 when used at the same time, meeting the requirements of minimally invasive surgery for the freedom, flexibility and accuracy of surgical instruments, ensuring the quality of surgery, and strong practicality.

[0132] The rotary drive assembly 51 includes a driving wheel 511, which is arranged on the proximal side of the instrument shaft assembly 1 and can rotate around its own axis, and the rotation axis of the driving wheel 511 is parallel to the longitudinal axis of the instrument shaft assembly 1; one end of the flexible rotating transmission member 52 is fixed and wound around the driving wheel 511, and the other end of the flexible rotating transmission member 52 is fixed and wound around the instrument shaft assembly 1. When the driving wheel 511 is driven to rotate, the driving wheel 511 winds around and pulls one end of the flexible rotating transmission member 52, and the other end of the flexible rotating transmission member 52 synchronously pulls the instrument shaft assembly 1 to rotate; the flexible rotating transmission member 52 is fixedly connected to the driving wheel 511 and the instrument shaft assembly 1, is not prone to slippage, and the transmission is stable and reliable. It can achieve precise control of the rotation angle of the actuator 2 and ensure the quality of the surgery.

[0133] The rotary drive assembly 51 also includes a rotary drive capstan 512, a rotary shaft 513 and a driving wheel pressure block 514; the rotary drive capstan 512 is used to connect to the robotic arm 200 of the surgical robot, and is used to convert the power of the robotic arm 200 into the rotational motion of the rotary drive capstan 512; the rotary drive capstan 512 is fixedly connected to the rotary shaft 513, and the rotational motion of the rotary drive capstan 512 can be converted into the rotational motion of the rotary shaft 513; the driving wheel 511 and the driving wheel pressure block 514 are fixed on the rotary shaft 513 after being connected with screws, so that the rotational motion of the rotary shaft 513 can be converted into the rotational motion of the driving wheel 511, and the rotation directions of the two are consistent.

[0134] The flexible rotating transmission member 52 is a cable, such as a steel wire rope. The flexible rotating transmission member 52 comprises two cables, which have a higher load-bearing capacity and a stronger transmission capability. Thus, under the same transmission force requirements, the material and size requirements can be reduced, which is beneficial for reducing costs. The driving pulley 511 is a wire pulley with a wire groove on its outer circumference, preferably including upper and lower wire pulleys. The steel wire ropes of the two cables are fixedly wound around the two wire pulleys, forming a wire rope loop through the wire pulley transmission system. The two cables can respectively drive the instrument shaft assembly 1 in forward and reverse rotation.

[0135] In an embodiment of the present application, the surgical instrument 100 includes multiple sets of actuating mechanisms 3, which are used to actuate the end effector 21 to perform multiple actions, thereby enhancing the use function of the surgical instrument 100, making it more flexible to use and having a wider range of applications.

[0136] Among them, the rotary drive assembly 51 and multiple groups of actuating drive assemblies 33 are arranged on the mounting assembly 6 and are evenly distributed around the instrument shaft assembly 1; the mounting assembly 6 has a compact structure, which is conducive to reducing the volume and weight of the surgical instrument 100, and the force is evenly distributed, the service life is long, and the cost is reduced.

[0137] Figure 7The figure is a cross-sectional view showing the assembly structure of the rotary drive mechanism 5 and the instrument shaft assembly 1 on the mounting assembly 6. The instrument shaft assembly 1 includes a sleeve 11, which defines an inner cavity 110. The sleeve 11 and the inner cavity 110 extend along the longitudinal axis of the instrument shaft assembly 1. The instrument shaft assembly 1 also includes a driven wheel 14 and a driven wheel pressure block. The sleeve 11 is inserted from the bottom into the sleeve mounting hole 611 of the base 61. The lower surface of the lower bearing aligns with the stepped surface of the sleeve 11, the upper surface aligns with the stepped surface of the bearing opening of the base 61, and the lower surface of the upper bearing aligns with the stepped surface of the bearing opening of the base 61. The driven wheel 14 is inserted from the top into the exterior of the sleeve 11 until it aligns with the upper surface of the upper bearing. The driven wheel pressure block is fixed to the sleeve 11, thus completing the installation of the sleeve 11 and the driven wheel 14. The sleeve 11 can only rotate about its own axis, and linear translation along the axial direction of the sleeve 11 is restricted. The rotary drive capstan 512 is inserted into the bearing from the bottom and then into a drive mounting hole 612 of the base 61. The upper surface of the bearing fits the step surface of the base 61, and the lower surface fits the bearing positioning surface of the rotary drive capstan 512; the rotary shaft 513 is inserted into the top plate 64 from the bottom, and another bearing is inserted into the top plate 64 and the rotary shaft 513 from the top. A retaining spring is installed on the upper surface of the bearing, and the lower surface fits the step surface of the bearing hole of the top plate 64 and the step surface of the rotary shaft 513, thereby completing the installation of the rotary shaft 513 and the rotary drive capstan 512 in the mounting assembly 6; the rotary shaft 513 can rotate around its own axis, while the linear translational motion along the axis of the rotary shaft 513 is restricted. The driven wheel 14 is sleeved on the outside of the sleeve 11 and is fixed to the sleeve 11 using a driven wheel pressure block; a flexible rotating transmission member 52 is wound between the driving wheel 511 and the driven wheel 14, so that when the rotating capstan 512 rotates, the sleeve 11 can be driven to rotate, thereby realizing the self-rotation movement of the actuator 2.

[0138] In a specific embodiment, limiting grooves are provided on the periphery of the driving wheel 511 and the driven wheel 14 to limit the winding position of the cable, thereby preventing the cable from slipping axially on the driving wheel 511 and the driven wheel 14, and driving the execution component 2 to rotate more smoothly and with greater practicality.

[0139] Figure 81 is a partial cross-sectional view showing the internal structure of the instrument shaft assembly 1. The actuating mechanism 3 further includes an actuating rod assembly 31, which is disposed on the instrument shaft assembly 1 through the inner cavity 110 and is capable of translational movement along the longitudinal axis of the instrument shaft assembly 1. The distal end of the actuating rod assembly 31 is drivingly coupled to the end effector 21. A flexible actuating transmission member 32 connects the actuating rod assembly 31 to an actuating drive assembly 33. Movement of the flexible actuating transmission member 32 can drive the actuating rod assembly 31 to translate relative to the instrument shaft assembly 1 along the longitudinal axis, i.e., the translational movement direction of the actuating rod assembly 31 is parallel to the rotational axis of the actuating drive assembly 33. The translational movement of the actuating rod assembly 31 can actuate the end effector 21 to operate, thereby achieving operation of the surgical instrument 100.

[0140] The actuating rod assembly 31 includes an actuating rod 311 and a connecting piece 312 fixedly connected to the proximal end of the actuating rod 311. A mounting hole (not shown in the figure) is provided at the distal end of the sleeve 11. The actuating rod 311 is slidably passed through the mounting hole. The mounting hole can guide and limit the linear translational movement of the actuating rod 311. The translational movement of the actuating rod 311 is smoother and less prone to shaking, which is conducive to ensuring the quality of the operation; the connecting piece 312 is slidably provided in the inner cavity 110. The connecting piece 312 can be a connecting block to prevent the actuating rod 311 from falling out of the mounting hole; the rotation axis of the actuating drive assembly 33 is parallel to the translational movement direction of the actuating rod assembly 31.

[0141] The flexible actuating transmission member 32 includes a first cable portion 321 having a first length and a second cable portion 322 having a second length. One end of each of the first cable portion 321 and the second cable portion 322 is fixedly connected to the connector 312, thereby fixedly connecting the flexible actuating transmission member 32 to the proximal end of the actuating rod assembly 31. The first cable portion 321 and the second cable portion 322 of the flexible actuating transmission member 32 are fixedly connected to and wound around the actuating wheel 331.

[0142] In a specific embodiment, the actuating wheel 331 is a wire wheel with a wire groove on the outer circumference, preferably including two upper and lower wire wheels. The first part of the cable 321 and the second part of the cable 322 are respectively fixedly wound and connected to the two wire wheels, forming a wire rope loop through the wire wheel transmission system.

[0143] Figure 9is a perspective view showing the internal structure of the distal end of the instrument shaft assembly 1. The actuating mechanism 3 further includes a distal pulley 34, which is fixedly connected to the distal end of the cannula 11 or rotatably disposed thereat, adjacent to the mounting hole. The outer circumferential surface of the distal pulley 34, facing the distal end of the inner cavity 110, forms a distal guide surface. The cable of the flexible actuating transmission member 32 passes around the distal guide surface of the distal pulley 34 before extending toward the actuating drive assembly 33. The distal guide surface of the distal pulley 34 redirects the pulling direction of the first portion of the cable 321 of the flexible actuating transmission member 32, forming a cable loop that passes through the actuating drive assembly 33 and the distal pulley 34. The connector 312 is fixedly connected to one side of the cable loop of the flexible actuating transmission member 32, thereby providing a driving connection between the connector 312 and the actuating drive assembly 33.

[0144] In an embodiment not shown, the flexible actuating transmission member 32 may be directly fixedly connected to the proximal end of the actuating rod 311, with the first cable portion 321 and the second cable portion 322 separated by the connection point between the flexible actuating transmission member 32 and the actuating rod 311. The distal guide surface may also be a curved surface formed directly on the distal end of the cannula 11. The first cable portion 321 extends from the connection point toward the distal guide surface toward the distal end of the instrument shaft assembly 1, bypasses the distal guide surface, and then extends toward the actuating drive assembly 33 toward the proximal end of the instrument shaft assembly 1, ultimately connecting to the actuating drive assembly 33. The second cable portion 322 extends from the connection point toward the proximal end of the instrument shaft assembly 1 and through the inner cavity 110 to reach the actuating drive assembly 33.

[0145] Figure 10 1 is a partially enlarged view showing the internal structure of the instrument shaft assembly 1 . Figure 11 This is a transverse, perspective, cross-sectional view showing the internal structure of the instrument shaft. A cable guide hole 111 is provided at the proximal end of the cannula 11, through which the second portion of the cable 322 of the flexible actuating transmission member 32 extends. This cable guide hole 111 guides and limits the pulling direction of the flexible actuating transmission member 32, effectively preventing the cable from deviating from its linear motion direction and preventing entanglement and interference between multiple cables. This ensures stable and reliable use of the surgical instrument 100 and ensures high surgical quality.

[0146] The proximal end of the cannula 11 can be provided with multiple cable guide holes 111. The first and second cable sections 321, 322 of the flexible actuating transmission member 32 can each extend through a cable guide hole 111. This can separate the first and second cable sections 321, 322, further preventing entanglement and interference between the cables and deviation from the linear motion direction. Alternatively, a cable guide hole 111 can be provided on the connector 312. The first cable section 321 of the flexible actuating transmission member 32 can extend through the cable guide hole 111 on the connector 312.

[0147] Figure 12 This is another partially enlarged view showing the internal structure of the instrument shaft assembly 1. The distal end of the cannula 11 is provided with multiple cable retaining holes 112, symmetrically located on either side of the distal pulley 34 and corresponding to the position of the distal guide surface. When the first portion of the cable 321 of the flexible actuating transmission member 32 extends through the cable retaining holes 112, it bypasses the distal guide surface, preventing the cable from escaping from the distal guide surface and ensuring stable and reliable transmission of the flexible actuating transmission member 32.

[0148] Figure 13 An example of an actuator assembly 2 is shown. The actuator assembly 2 also includes a blade holder 22, a tubular body 23, a firing rod 24 and a swing arm pull rod 25 disposed within the tubular body 23. The end effector 21 is disposed at the distal end of the blade holder 22. The proximal end of the blade holder 22 is fixedly connected to the distal end of the cannula 11, thereby connecting the proximal end of the actuator assembly 2 to the distal end of the instrument shaft assembly 1. The tubular body 23 is sleeved onto the exterior of the blade holder 22 and is capable of translational movement along the longitudinal axis relative to the blade holder 22, actuating the jaws of the end effector 21 to open and close, thereby clamping blood vessels and other body tissue. The firing rod 24 is capable of translational movement along the longitudinal axis relative to the blade holder 22, actuating the stapler of the end effector 21 to engage the anastomosis action. The stapler pushes the blade to sever the blood vessel and simultaneously fires a suture staple to suture the severed blood vessel. The swing arm pull rod 25 can translate relative to the blade holder 22 along the longitudinal axis, actuating the joint swinging action of the end effector 21. The end effector 21 can bend to a certain angle, so that the end effector 21 can effectively reach the surgical site to clamp, cross-section, and anastomose tissues, etc., so that the doctor can complete the cutting and suturing of tissues in some narrow areas more efficiently.

[0149] In an embodiment of the present application, corresponding to the execution component 2, the surgical instrument 100 includes three sets of actuating mechanisms 3, which are respectively used to drive the tube body 23, the firing rod 24 and the swing arm pull rod 25 to move, thereby respectively actuating the jaw opening and closing action, the stapler anastomosis action and the joint swing action of the end actuator 21.

[0150] Figure 14is a cross-sectional view illustrating the assembly structure of the first actuating mechanism 3a and the instrument shaft assembly 1. The first actuating mechanism 3a includes a first actuating rod assembly 31a, a clamping wire 32a, and a clamping distal end pulley 34a. The first actuating rod assembly 31a includes a first actuating rod 311a and a first connecting block 312a. The first connecting block 312a is fixedly connected to the first actuating rod 311a. The first actuating rod assembly 31a is configured to connect to the tubular body 23. The first connecting block 312a is fixedly connected to the clamping wire 32a on one side, and the first part cable 321 of the clamping wire 32a extends from the first connecting block 312a to the distal end of the first actuating rod 311a, bypasses the distal guide surface on the clamping distal pulley 34a, turns back through the inner cavity 110 and extends toward the proximal end of the instrument shaft assembly 1, and the traction direction of the first part cable 321 of the clamping wire 32a is changed by the distal guide surface on the clamping distal pulley 34a; the second part cable 322 of the clamping wire 32a extends from the first connecting block 312a through the inner cavity 110 toward the proximal end of the instrument shaft assembly 1.

[0151] Changing the traction direction enables the clamping wire 32a to move linearly along the longitudinal axis of the instrument shaft assembly 1 in the inner cavity 110. When the clamping wire 32a moves linearly, it can drive the first connecting block 312a to move linearly toward the distal end or the proximal end of the inner cavity 110. The linear translation movement of the first connecting block 312a can drive the first actuating rod 311a to move linearly to perform a movement toward the distal end or a retraction action. The translation movement of the first actuating rod 311a drives the tube body 23 to move linearly, thereby actuating the end actuator 21 to perform the jaw opening and closing action.

[0152] Figure 15 3 is a front view showing the assembled structure of the first actuating mechanism 3a and the mounting assembly 6. The first actuating mechanism 3a further includes a clamping wire wheel 331a, a clamping drive capstan 332a, a clamping spindle 333a, a clamping wire wheel pressure block 334a, a clamping handle 335a, a clamping manual adapter shaft 336a, a clamping proximal pulley 35a, and a clamping transition pulley 36a.

[0153] Among them, the clamping drive capstan 332a is inserted into a driving mounting hole 612 of the base 61 after the bearing is inserted; the upper surface of the bearing fits with the step surface of the base 61, and the lower surface fits with the bearing mounting surface of the clamping drive capstan 332a; the clamping drive capstan 332a is fixedly connected to the clamping spindle 333a, the clamping spindle 333a is inserted into the top plate 64 from the bottom, and the bearing is inserted into the clamping spindle 333a and the top plate 64 from the top, the lower surface of the bearing fits with the step surface of the top plate 64, and the upper surface fits with the retaining spring installed on the clamping spindle 333a, thereby restricting the clamping spindle 333a and the clamping drive capstan 332a in the mounting assembly 6; the clamping spindle 333a can rotate around its own axis, but the linear translational motion along the axis of the clamping spindle 333a is restricted. The manual clamping adapter shaft 336a is screw-connected to the main clamping shaft 333a, and the clamping handle 335a is screw-connected to the manual clamping adapter shaft 336a. This allows the rotation of the clamping handle 335a to be converted into rotation of the main clamping shaft 333a. The wire wheel 331a is fixed to the main clamping shaft 333a using a wire wheel pressure block 334a. Rotation of the main clamping shaft 333a drives the rotation of the wire wheel 331a.

[0154] The first portion of the cable 321 of the clamping wire 32a extends through the inner cavity 110 to reach and be fixedly wound around one clamping wire wheel 331a. The second portion of the cable 322 extends through the inner cavity 110 to reach and be fixedly wound around the other clamping wire wheel 331a. A wire rope loop is formed through the wire wheel transmission system. The clamping wire 32a drives the first connecting block 312a and the clamping wire wheel 331a. The clamping wire wheel 331a rotates, pulling the clamping wire 32a. The distal clamping pulley 34a converts the rotational motion of the clamping wire wheel 331a into linear reciprocating motion of the clamping wire 32a, thereby retracting or releasing the clamping wire 32a.

[0155] The proximal clamping pulley 35a is mounted on the pulley seat 65. The cable of the clamping wire 32a passes around the proximal guide surface of the proximal clamping pulley 35a and then extends toward the clamping wire wheel 331a. The proximal guide surface of the proximal clamping pulley 35a can further change the pulling direction of the first cable portion 321 and the second cable portion 322 of the clamping wire 32a, so that the cables move from moving along the longitudinal axis of the instrument shaft assembly 1 to moving around the rotation axis of the clamping wire wheel 331a, thereby achieving parallelism between the rotation axis of the clamping wire wheel 331a and the linear translation direction of the first actuating rod assembly 31a.

[0156] Preferably, the proximal clamping pulley 35a and the distal clamping pulley 34a are substantially aligned along the longitudinal axis of the instrument shaft assembly 1, i.e., the proximal guide surface and the distal guide surface are substantially aligned along the longitudinal axis of the instrument shaft assembly 1, but face opposite directions. The proximal clamping pulley 35a may include multiple proximal clamping pulleys 35a, with the first cable portion 321 and the second cable portion 322 of the clamping wire 32a passing around the proximal guide surfaces of different proximal clamping pulleys 35a before extending toward the clamping wire wheel 331a to prevent interference between the cables.

[0157] The clamping transition pulley 36a is mounted on the first support frame 62 and the second support frame 63. The cable of the clamping wire 32a passes around the transition surface on the clamping transition pulley 36a and is then pulled to the clamping wire wheel 331a. The clamping transition pulley 36a may include multiple cables, wherein the first cable 321 and the second cable 322 of the clamping wire 32a pass around the transition surfaces of different clamping transition pulleys 36a and are then pulled to the clamping wire wheel 331a. Alternatively, the first cable 321 of the clamping wire 32a passes around the transition surfaces of multiple different clamping transition pulleys 36a and is then pulled to one clamping wire wheel 331a, while the second cable 322 passes around the transition surfaces of multiple different clamping transition pulleys 36a and is then pulled to another clamping wire wheel 331a.

[0158] Figure 16 is a simplified schematic diagram illustrating the transmission circuit of the first actuating mechanism 3a. The clamping wire 32a forms a cable loop, passing through a clamping wire wheel 331a, a distal clamping pulley 34a, a proximal clamping pulley 35a, and a transition clamping pulley 36a. The first connecting block 312a is fixedly connected to one side of the cable loop of the clamping wire 32a, thereby connecting the first connecting block 312a and the clamping wire wheel 331a. It can be seen that the connection point between the clamping wire 32a and the first actuating rod assembly 31a (i.e., the first connecting block 312a) is located along the longitudinal axis of the instrument shaft assembly 1 between the clamping wire wheel 331a and the distal guide surface (i.e., the distal clamping pulley 34a). The proximal clamping pulley 35a is positioned between the clamping wire wheel 331a and the distal clamping pulley 34a along the pulling direction of the clamping wire 32a.

[0159] The clamping wire wheel 331a is driven to rotate, pulling the clamping wire 32a to move translationally along the cable loop, that is, the rotation of the clamping wire wheel 331a can retract or release the clamping wire 32a cable, thereby driving the first connecting block 312a to move toward the proximal end or toward the distal end, thereby realizing the linear reciprocating translation motion of the first actuating rod assembly 31a.

[0160] Figure 172 is a cross-sectional view illustrating the assembly structure of the second actuating mechanism 3b and the instrument shaft assembly 1. The second actuating mechanism 3b includes a second actuating rod assembly 31b, a firing wire 32b, and a firing distal pulley 34b. The second actuating rod assembly 31b includes a second actuating rod 311b and a second connecting block 312b. The second connecting block 312b is fixedly connected to the second actuating rod 311b. The second actuating rod assembly 31b is configured to connect to the firing rod 24. The second connecting block 312b is fixedly connected to the firing wire 32b on one side, and the first part cable 321 of the firing wire 32b extends from the second connecting block 312b to the distal end of the second actuating rod 311b, bypasses the distal guide surface on the firing distal pulley 34b, and then turns back through the inner cavity 110 to extend toward the proximal end of the instrument shaft assembly 1, and the traction direction of the first part cable 321 of the firing wire 32b is changed by the distal guide surface on the firing distal pulley 34b; the second part cable 322 of the firing wire 32b extends from the second connecting block 312b through the inner cavity 110 toward the proximal end of the instrument shaft assembly 1.

[0161] Changing the traction direction enables the cable of the firing wire 32b to move linearly along the longitudinal axis of the instrument shaft assembly 1 in the inner cavity 110. When the firing wire 32b moves linearly, it can drive the second connecting block 312b to move linearly toward the distal end or toward the proximal end. The linear movement of the second connecting block 312b can drive the second actuating rod 311b to move linearly to perform a firing or retraction action. The translational movement of the second actuating rod assembly 31b drives the translational movement of the firing rod 24, thereby actuating the end actuator 21 to perform the anastomosis action of the anastomosis device.

[0162] Figure 18 3 is a front view showing the assembly structure of the second actuating mechanism 3b and the mounting assembly 6. The second actuating mechanism 3b includes a firing spool 331b, a firing drive capstan 332b, a firing spindle 333b, a firing spool pressure block 334b, a firing handle 335b, a firing manual transfer shaft 336b, a firing proximal pulley 35b, and a firing transition pulley 36b.

[0163] Among them, the firing drive capstan 332b is inserted into a bearing and then installed into a driving mounting hole 612 of the base 61; the upper surface of the bearing fits with the step surface of the base 61, and the lower surface fits with the bearing mounting surface of the firing drive capstan 332b; the firing drive capstan 332b is fixedly connected to the firing spindle 333b, the firing spindle 333b is inserted into the top plate 64 from the bottom, and the bearing is inserted into the firing spindle 333b and the top plate 64 from the top, the lower surface of the bearing fits with the step surface of the top plate 64, and the upper surface fits with the retaining spring installed on the firing spindle 333b, thereby restricting the firing spindle 333b and the firing drive capstan 332b in the mounting assembly 6; the firing spindle 333b can rotate around its own axis, but the linear translational motion along the axis of the firing spindle 333b is restricted. The firing manual adapter shaft 336b is fixedly connected to the firing spindle 333b using screws, and the firing handle 335b is fixedly connected to the firing manual adapter shaft 336b using screws, so that the rotation of the firing handle 335b is converted into the rotation of the firing spindle 333b. The firing spool 331b is fixedly mounted on the firing spindle 333b using a firing spool pressure block 334b, so that rotation of the firing spindle 333b drives the rotation of the firing spool 331b.

[0164] The first portion 321 of the firing wire 32b extends through the inner cavity 110 to reach and be fixedly wound around one firing wheel 331b. The second portion 322 of the firing wire 32b extends through the inner cavity 110 to reach and be fixedly wound around another firing wheel 331b. A wire rope loop is formed through the wire wheel transmission system. The firing wire 32b transmits the second connecting block 312b to the firing wheel 331b. The firing wheel 331b rotates, thereby pulling the firing wire 32b cable. The firing distal end pulley 34b converts the rotational motion of the firing wheel 331b into linear reciprocating motion of the firing wire 32b cable, thereby pulling or releasing the firing wire 32b into linear translational motion.

[0165] The proximal firing pulley 35b is mounted on the pulley seat 65. The cable of the firing wire 32b passes over the proximal guide surface of the proximal firing pulley 35b and then extends toward the firing wheel 331b. The proximal guide surface of the proximal firing pulley 35b can further change the pulling direction of the first cable portion 321 and the second cable portion 322 of the firing wire 32b, so that the cables are redirected from moving along the longitudinal axis of the instrument shaft assembly 1 to moving around the rotational axis of the firing wheel 331b, thereby achieving a direction parallel to the linear translational direction of the second actuating rod assembly 31b.

[0166] Preferably, the proximal firing pulley 35b and the distal firing pulley 34b are substantially aligned along the longitudinal axis of the instrument shaft assembly 1, i.e., the proximal guide surface and the distal guide surface are substantially aligned along the longitudinal axis of the instrument shaft assembly 1, but in opposite directions. The proximal firing pulley 35b may include multiple proximal firing pulleys 35b, with the first cable portion 321 and the second cable portion 322 of the firing wire 32b respectively passing around the proximal guide surfaces of different proximal firing pulleys 35b before extending toward the firing wire wheel 331b to prevent interference between the cables.

[0167] The firing transition pulley 36b is mounted on the first support frame 62 and the second support frame 63. The cable of the firing wire 32b passes around the transition surface on the firing transition pulley 36b and is then pulled to the firing wire wheel 331b. The firing transition pulley 36b may include multiple firing transition pulleys 36b. The first portion of the cable 321 and the second portion of the cable 322 of the firing wire 32b pass around the transition surfaces of different firing transition pulleys 36b and are then pulled to the firing wire wheel 331b. Alternatively, the first portion of the cable 321 of the firing wire 32b passes around the transition surfaces of multiple different firing transition pulleys 36b and is then pulled to one firing wire wheel 331b, while the second portion of the cable 322 passes around the transition surfaces of multiple different firing transition pulleys 36b and is then pulled to another firing wire wheel 331b.

[0168] Figure 19 is a simplified schematic diagram illustrating the transmission circuit of the second actuating mechanism 3b. The firing wire 32b forms a cable loop, passing through the firing wire wheel 331b, the firing distal pulley 34b, the firing proximal pulley 35b, and the firing transition pulley 36b. The second connecting block 312b is fixedly connected to one side of the firing wire 32b cable loop, thereby connecting the firing wire 32b to the second connecting block 312b and the firing wire wheel 331b. It can be seen that the connection point between the firing wire 32b and the second actuating rod assembly 31b (i.e., the second connecting block 312b) is located along the longitudinal axis of the instrument shaft assembly 1 between the firing wire wheel 331b and the distal guide surface (i.e., the firing distal pulley 34b). The firing proximal pulley 35b is disposed between the firing wire wheel 331b and the firing distal pulley 34b, along the pulling direction of the firing wire 32b.

[0169] The firing wire wheel 331b is driven to rotate, pulling the firing wire 32b to move translationally along the cable loop, that is, the rotation of the firing wire wheel 331b can retract or release the firing wire 32b cable, thereby driving the second connecting block 312b to move toward the proximal end or toward the distal end, thereby realizing the linear reciprocating translation motion of the second actuating rod assembly 31b.

[0170] Figure 20is a cross-sectional view showing the assembly structure of the third actuating mechanism 3c and the instrument shaft assembly 1. The third actuating mechanism 3c includes a third actuating rod assembly 31c, a swing wire 32c, and a swing distal pulley 34c. The third actuating rod assembly 31c includes a third actuating rod 311c and a third connecting block 312c. The third connecting block 312c is fixedly connected to the third actuating rod 311c. The third actuating rod assembly 31c is used to connect to the swing arm pull rod 25. The third connecting block 312c is fixedly connected to the swing wire 32c on one side, and the first part cable 321 of the swing wire 32c extends from the third connecting block 312c to the distal end of the third actuating rod 311c, bypasses the distal guide surface on the swing distal pulley 34c, and then turns back through the inner cavity 110 to extend toward the proximal end of the instrument shaft assembly 1, and the traction direction of the first part cable 321 of the swing wire 32c is changed by the distal guide surface on the swing distal pulley 34c; the second part cable 322 of the swing wire 32c extends from the third connecting block 312c through the inner cavity 110 toward the proximal end of the instrument shaft assembly 1.

[0171] Changing the traction direction enables the swing wire 32c cable to move linearly along the longitudinal axis of the instrument shaft assembly 1 in the inner cavity 110. When the swing wire 32c moves linearly, it drives the third connecting block 312c to move linearly toward the distal end or the proximal end of the inner cavity 110. The linear movement of the third connecting block 312c can drive the third actuating rod 311c to perform a linear movement toward the distal end or a retracting action. The translational movement of the third actuating rod assembly 31c drives the swing arm pull rod 25 to move linearly, thereby actuating the end actuator 21 to perform a joint swinging action.

[0172] Figure 21 3 is a front view showing the assembled structure of the third actuating mechanism 3c and the mounting assembly 6. The third actuating mechanism 3c further includes an oscillating wire wheel 331c, an oscillating driving capstan 332c, an oscillating main shaft 333c, an oscillating wire wheel pressure block 334c, an oscillating handle 335c, an oscillating manual adapter shaft 336c, an oscillating proximal pulley 35c, and an oscillating transition pulley 36c.

[0173] Among them, the swing drive capstan 332c is inserted into a driving mounting hole 612 of the base 61 after the bearing is inserted; the upper surface of the bearing fits with the step surface of the base 61, and the lower surface fits with the bearing mounting surface of the swing drive capstan 332c; the swing drive capstan 332c is fixedly connected to the swing main shaft 333c, the swing main shaft 333c is inserted into the top plate 64 from the bottom, and the bearing is inserted into the swing main shaft 333c and the top plate 64 from the top, the lower surface of the bearing fits with the step surface of the top plate 64, and the upper surface fits with the retaining spring installed on the swing main shaft 333c, thereby restricting the swing main shaft 333c and the swing drive capstan 332c in the mounting assembly 6; the swing main shaft 333c can rotate around its own axis, but the linear translational motion along the axis of the swing main shaft 333c is restricted. The swing manual adapter shaft 336c is screw-fastened to the swing main shaft 333c, and the swing handle 335c is screw-fastened to the swing manual adapter shaft 336c. This allows the rotation of the swing handle 335c to be converted into rotation of the swing main shaft 333c. The swinging filament wheel 331c is fixed to the swing main shaft 333c using a swing filament wheel pressure block 334c. Rotation of the swing main shaft 333c drives the rotation of the swinging filament wheel 331c.

[0174] The first portion 321 of the oscillating wire 32c extends through the inner cavity 110 to reach and be fixedly wound around one oscillating wire wheel 331c. The second portion 322 of the oscillating wire 32c extends through the inner cavity 110 to reach and be fixedly wound around another oscillating wire wheel 331c. A wire rope loop is formed through the wire wheel transmission system. The oscillating wire 32c drives and connects the third connecting block 312c and the oscillating wire wheel 331c. The oscillating wire wheel 331c rotates, pulling the oscillating wire 32c. The oscillating distal pulley 34c converts the rotational motion of the oscillating wire wheel 331c into linear reciprocating motion of the oscillating wire 32c, thereby pulling or releasing the linear translational motion of the oscillating wire 32c.

[0175] The proximal swing pulley 35c is mounted on the pulley seat 65. The cable of the swing wire 32c passes around the proximal guide surface of the proximal swing pulley 35c and then extends toward the swing wire wheel 331c. The proximal guide surface of the proximal swing pulley 35c can further change the pulling direction of the first cable portion 321 and the second cable portion 322 of the swing wire 32c, so that the cables move from moving along the longitudinal axis of the instrument shaft assembly 1 to moving around the rotation axis of the swing wire wheel 331c, thereby achieving parallelism between the rotation axis of the swing wire wheel 331c and the linear translation direction of the third actuating rod assembly 31c.

[0176] Preferably, the proximal swing pulley 35c and the distal swing pulley 34c are substantially aligned along the longitudinal axis of the instrument shaft assembly 1. Specifically, the proximal guide surface and the distal guide surface are substantially aligned along the longitudinal axis of the instrument shaft assembly 1, but face opposite directions. The proximal swing pulley 35c may include multiple proximal swing pulleys. The first portion 321 and the second portion 322 of the swing wire 32c each pass around the proximal guide surfaces of different proximal swing pulleys 35c before extending toward the swing wire wheel 331c to prevent interference between the wires.

[0177] The swing transition pulley 36c is mounted on the first support frame 62 and the second support frame 63. The cable of the swing wire 32c passes around the transition surface on the swing transition pulley 36c and is then pulled to the swing wire wheel 331c. The swing transition pulley 36c may include multiple cables. The first cable portion 321 and the second cable portion 322 of the swing wire 32c pass around the transition surfaces of different swing transition pulleys 36c and are then pulled to the swing wire wheel 331c. Alternatively, the first cable portion 321 of the swing wire 32c passes around the transition surfaces of multiple different swing transition pulleys 36c and is then pulled to one swing wire wheel 331c, while the second cable portion 322 passes around the transition surfaces of multiple different swing transition pulleys 36c and is then pulled to another swing wire wheel 331c.

[0178] Figure 22 is a simplified schematic diagram illustrating the transmission circuit of the third actuating mechanism 3c. The oscillating wire 32c forms a cable loop that passes through an oscillating wire wheel 331c, an oscillating distal pulley 34c, an oscillating proximal pulley 35c, and an oscillating transition pulley 36c. The third connecting block 312c is fixedly connected to one side of the cable loop of the oscillating wire 32c, thereby oscillating the wire 32c in a transmission connection between the third connecting block 312c and the oscillating wire wheel 331c. It can be seen that the connection point between the oscillating wire 32c and the third actuating rod assembly 31c (i.e., the third connecting block 312c) is located along the longitudinal axis of the instrument shaft assembly 1 between the oscillating wire wheel 331c and the distal guide surface (i.e., the oscillating distal pulley 34c). The oscillating proximal pulley 35c is positioned between the oscillating wire wheel 331c and the oscillating distal pulley 34c, along the pulling direction of the oscillating wire 32c.

[0179] The swing wire wheel 331c is driven to rotate, pulling the swing wire 32c to move translationally along the cable loop, that is, the rotation of the swing wire wheel 331c can retract or release the swing wire 32c cable, thereby driving the third connecting block 312c to move toward the proximal end or toward the distal end, thereby realizing the linear reciprocating translation motion of the third actuating rod assembly 31c.

[0180] exist Figure 15 、 Figure 16 、 Figure 18 、 Figure 19 、 Figure 21 and Figure 22In the figure, the solid straight line solid arrow and the dotted straight line solid arrow indicate the traction movement direction of the flexible actuating transmission member 32 (i.e., the clamping wire 32a, the firing wire 32b, and the swinging wire 32c), and the solid arc line solid arrow and the dotted arc line solid arrow indicate the rotation direction of the actuating drive assembly 33, which is also the rotation direction of the actuating wheel 331 (i.e., the clamping wire wheel 331a, the firing wire wheel 331b, and the swinging wire wheel 331c).

[0181] The actuating wheel 331 (clamping wire wheel 331a, firing wire wheel 331b, swinging wire wheel 331c) rotates toward the first direction (for example, the clockwise direction indicated by the solid arrow of the solid arc), which can pull and increase the tension in the first part of the cable 321, and the flexible actuating transmission member 32 (clamping wire 32a, firing wire 32b, swinging wire 32c) moves along the direction indicated by the solid arrow of the solid straight line, so that the first part of the cable 321 pulls and drives the actuating rod assembly 31 (first actuating rod assembly 31a, second actuating rod assembly 31b, third actuating rod assembly 31c) to move translationally in the distal direction.

[0182] The actuating wheel 331 (clamping wire wheel 331a, firing wire wheel 331b, swinging wire wheel 331c) rotates in a second direction opposite to the first direction (for example, the counterclockwise direction indicated by the solid arrow of the dotted arc), which can pull and increase the tension in the second part of the cable 322, and the flexible actuating transmission member 32 (clamping wire 32a, firing wire 32b, swinging wire 32c) moves in the direction indicated by the solid arrow of the dotted straight line, so that the second part of the cable 322 pulls and drives the actuating rod assembly 31 (first actuating rod assembly 31a, second actuating rod assembly 31b, third actuating rod assembly 31c) to move translationally in the proximal direction.

[0183] The surgical instrument 100 in the above embodiment can be used in robot-assisted minimally invasive surgery. The rotational power is input by the actuating drive assembly 33. By adopting the flexible actuating transmission member 32, the rotational motion of the actuating drive assembly 33 is converted into the linear motion of the actuating rod assembly 31, thereby simplifying the transmission structure of the actuating mechanism 3 and reducing the volume of the actuating mechanism 3 and the inner diameter of the instrument shaft assembly 1. At the same time, the rotation axis of the actuating drive assembly 33 is parallel to the translational motion direction of the actuating rod assembly 31, making the structure of the actuating mechanism 3 more compact and reducing the space occupied by the actuating mechanism 3. It can effectively reduce the volume and weight of the surgical instrument 100, reduce the connection convenience, ensure the activity space of the surgical robot, and avoid interference between multiple surgical instruments 100 when used simultaneously. It effectively solves the technical problems of the existing stapler transmission mechanism being complex, large in size, heavy in weight, and not suitable for surgical robots, meets the requirements of minimally invasive surgery for the freedom, flexibility and accuracy of surgical instruments, ensures the quality of surgery, is suitable for promotion and application, and has strong practicality.

[0184] Figure 23 It is a partial cross-sectional view showing the internal structure of the proximal end of the actuator 2. Figure 24 It is a three-dimensional view showing the proximal structure of the actuator 2 after the tube 23 is removed. Figure 25 This is a stereoscopic view from another perspective showing the proximal end structure of the actuator 2 after the tube 23 is removed. A connecting bayonet 221 is provided at the proximal end of the tool holder 22. A firing square 241 is provided at the proximal end of the firing rod 24. A connecting short rod 251 is provided at the proximal end of the swing arm pull rod 25. The actuator 2 also includes a swing arm 26 and two swing arm pull rods 27 hinged at the ends of the swing arm 26. One swing arm 26 is provided at the proximal end of the actuator 2, and the swing arm pull rod 25 is connected to the swing arm 26.

[0185] Figure 26 This is a partial cross-sectional view showing the internal structure of the distal end of actuator assembly 2. A further swing arm 26 is provided at the distal end of actuator assembly 2, to which the other ends of two swinging rods 27 are hinged, thereby forming a parallelogram structure with the swing arm 26. The translational motion of the swing arm rod 25 drives the rotational motion of the swing arm 26, which in turn drives the two swinging rods 27 to perform parallelogram motion, thereby actuating the joint swinging motion of the end actuator 21. The joint swinging motion of the end actuator 21 is achieved by driving the parallelogram motion of the two swinging rods 27 through the unilateral rigid linear motion of the third actuator rod assembly 31c. This parallelogram structure is simple and the motion is stable and reliable.

[0186] Figure 27 This is a three-dimensional view showing the distal end structure of the instrument shaft assembly 1. The instrument shaft assembly 1 also includes an outer tube 12 and a sealing ring 13. The outer tube 12 is sleeved onto the exterior of the sleeve 11, with the distal end of the sleeve 11 extending beyond the outer tube 12. The sealing ring 13 is sleeved around the distal periphery of the sleeve 11. A connecting hook 113 is also provided at the distal end of the sleeve 11. The first actuating mechanism 3a also includes a clamping key 37a, which is mounted on the distal end of the first actuating rod 311a. A square hole 3112 is also provided at the distal end of the second actuating rod 311b. A short rod retaining slot 3113 is provided at the distal end of the third actuating rod 311c.

[0187] The blade holder 22 is removably connected to the sleeve 11 via the connecting hook 113 and the connecting socket 221. The second actuating rod 311b is removably connected to the firing rod 24 via the firing square head 241 and the square head hole 3112. The third actuating rod 311c is removably connected to the swing arm pull rod 25 via the connecting short rod 251 and the short rod slot 3113.

[0188] Figure 28The diagram shows the detachable connection structure between the actuator assembly 2 and the instrument shaft assembly 1. A keyhole 231 is defined at the proximal end of the tubular body 23. A keyway 3111 is defined at the distal end of the first actuating rod 311a. A clamping key 37a is mounted to the distal end of the first actuating rod 311a through the keyway 3111, and the clamping key 37a is capable of engaging with the keyhole 231. The proximal end of the tubular body 23 is movably sleeved onto the distal end of the sleeve 11. The sleeve 11 and outer tube 12 are sealed by a sealing ring 13. The first actuating rod 311a is detachably connected to the tubular body 23 via the clamping key 37a. The outer diameter of the outer tube 12 is the same as that of the tubular body 23. A sealing tube 4 is sleeved onto the exterior of the connection between the outer tube 12 and the tubular body 23 to seal the gap between the outer tube 12 and the tubular body 23, thereby achieving a sealed, detachable connection between the actuator assembly 2 and the instrument shaft assembly 1. The actuator 2 can be detachably mounted on the instrument shaft assembly 1, making it easy to replace and repair the actuator 2, extending its service life and making it flexible and convenient to use. The sealing tube 4 can be a heat shrink tube, making it easy and quick to assemble.

[0189] Another embodiment of the present application further provides a surgical robot, comprising the surgical instrument 100 provided by any of the aforementioned embodiments. By employing the aforementioned surgical instrument 100, the surgical robot's active space can be effectively guaranteed, enabling the robot to move freely, thereby meeting the requirements of minimally invasive surgery for the degree of freedom, flexibility, and accuracy of the surgical instrument 100 and ensuring surgical quality. Furthermore, when multiple surgical instruments 100 are used, interference between them is less likely to occur, thereby increasing the scope of use of the surgical instruments 100.

[0190] The surgical robot of this embodiment includes a slave operating device 300 and a master operating device 400 .

[0191] Figure 29 An example of a slave operating device 300 is shown. Figure 30is a schematic diagram showing the use of a slave operating device 300. The slave operating device 300 is located on the patient's side and is used to perform surgical procedures. The slave operating device 300 includes a robotic arm 200 and an actuator disposed at the distal end of the robotic arm 200. The surgical instrument 100 is detachably connected to the actuator via a mounting assembly 6, and the actuator drives the surgical instrument 100 to move. The robotic arm 200 can also be connected to other surgical instruments used to perform surgical procedures, such as electrocautery, forceps, ultrasonic scalpels, shears, etc., or a camera or other surgical instrument for capturing images. Multiple surgical instruments can be connected to one actuator, and the distal ends of multiple surgical instruments enter the human body through a single incision. The slave operating device 300 can also be provided with multiple robotic arms 200, each connected to multiple surgical instruments, and the surgical instruments are inserted into the patient's body through different incisions. The robotic arm 200 is configured to be supported by a support via multiple arms. In other embodiments, the robotic arm 200 of the slave operating device 300 can also be mounted on a wall or ceiling.

[0192] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system portion typically includes a device with a video image acquisition function (e.g., an instrument with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument with an image acquisition function includes an optical device with one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on a video display device.

[0193] Figure 31 The figure shows an example of a master operating device 400. The master operating device 400 is located on the operator's side and is used to send control commands to the slave operating device 300 and display images acquired by the slave operating device 300 based on the operator's operations. The operator can use the master operating device 400 to observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system. By observing the three-dimensional images of the patient's body, the operator can control the slave operating device 300 to perform related operations (such as performing surgery or acquiring images of the patient's body) in an immersive way.

[0194] The main operating device 400 includes a main console 500 and an input device 600. The main console 500 includes a display device, armrests, a control signal processing system, and an observation device. The display device is used to display the images captured by the imaging system. The armrests are used to place the operator's arms and / or hands so that the operator can more comfortably operate the input device 600. The observation device is used to observe the images displayed on the display device. Depending on actual needs, the armrests can be omitted; or the observation device can be omitted, in which case direct observation is possible. The operator controls the slave operating device 300 by operating the input device 600. The control signal processing system of the main console 500 processes the input signals of the input device 600 and then issues control commands to the slave operating device 300. The slave operating device 300 responds to the control commands sent by the main console 500 and performs corresponding operations.

[0195] The master operating device 400 and the slave operating device 300 can be placed in the same operating room or in different rooms. The master operating device 400 and the slave operating device 300 can even be far away from each other. For example, the master operating device 400 and the slave operating device 300 are located in different cities. The master operating device 400 and the slave operating device 300 can transmit data via wired or wireless means. For example, the master operating device 400 and the slave operating device 300 are located in the same operating room, and data is transmitted between the two via wired means. For another example, the master operating device 400 and the slave operating device 300 are located in different cities, and long-distance data transmission is performed between the two via 5G wireless signals.

[0196] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A surgical instrument, characterized in that: include: an instrument shaft assembly having a longitudinal axis and a lumen defined along the longitudinal axis; an actuator assembly, comprising an end actuator disposed at the distal end, the end actuator comprising a stapler, the proximal end of the actuator assembly being connected to the distal end of the instrument shaft assembly; as well as an actuating mechanism comprising an actuating rod assembly, a flexible actuating transmission member, and an actuating drive assembly, wherein the actuating rod assembly is disposed on the instrument shaft assembly through the inner cavity and is capable of translational movement along the longitudinal axis, the distal end of the actuating rod assembly is drivingly coupled to the end effector, the flexible actuating transmission member drivingly connects the actuating rod assembly and the actuating drive assembly, the actuating drive assembly being capable of rotationally driving the flexible actuating transmission member to move, thereby driving the actuating rod assembly to translate, thereby actuating the end effector, and the rotation axis of the actuating drive assembly is parallel to the longitudinal axis; The actuation mechanism further includes a distal guide surface disposed on the instrument shaft assembly and facing the distal end of the lumen; The actuating mechanism further includes a proximal guide surface, which is arranged toward the proximal end of the surgical instrument and is arranged between the actuating drive assembly and the distal guide surface along the traction direction of the flexible actuating transmission member.

2. The surgical instrument according to claim 1, wherein: The flexible actuating transmission member is fixedly connected to the proximal end of the actuating rod assembly, and the connection position is located between the actuating drive assembly and the distal guide surface along the pulling direction of the flexible actuating transmission member; The flexible actuation transmission member includes a first portion of a cable and a second portion of a cable, wherein the first portion of the cable extends from the connection position toward the distal end of the instrument shaft assembly, passes around the distal guide surface, and then extends toward the proximal end of the instrument shaft assembly through the inner cavity to reach the actuation drive assembly, and the second portion of the cable extends from the connection position toward the proximal end of the instrument shaft assembly and passes through the inner cavity to reach the actuation drive assembly; Rotating the actuation drive assembly can increase the tension in the first portion of the cable to translate the actuation rod assembly in a distal direction, or increase the tension in the second portion of the cable to translate the actuation rod assembly in a proximal direction.

3. The surgical instrument according to claim 2, wherein: The first portion of the cable and the second portion of the cable of the flexible actuation transmission member are respectively wound around the proximal guide surface and extend to the actuation drive assembly.

4. The surgical instrument according to claim 3, wherein: The actuating mechanism also includes a transition surface, which is arranged between the actuating drive assembly and the proximal guide surface along the traction direction of the flexible actuating transmission member, and the first part cable and the second part cable of the flexible actuating transmission member are respectively wound around at least one of the transition surfaces.

5. The surgical instrument according to claim 2, wherein: The first portion of the cable of the flexible actuating transmission member has a first length, and the second portion of the cable of the flexible actuating transmission member has a second length; The actuation mechanism also includes a distal pulley including the distal guide surface.

6. The surgical instrument according to claim 5, wherein: The actuation drive assembly includes an actuation wheel, which is disposed on a proximal side of the instrument shaft assembly and is capable of rotating around its own axis, and the rotation axis of the actuation wheel is parallel to the longitudinal axis; The first portion of the cable and the second portion of the cable of the flexible actuating transmission member are fixed and wound around the actuating wheel.

7. The surgical instrument according to claim 6, wherein: The actuating drive assembly further includes an actuating input member, which is in transmission connection with the actuating wheel and is used for inputting rotational power.

8. The surgical instrument according to claim 6, wherein: The actuating drive assembly further includes an operating member, which is in transmission connection with the actuating wheel. Operating the operating member can drive the actuating wheel to rotate.

9. The surgical instrument according to claim 5, wherein: The actuating rod assembly includes an actuating rod and a connecting piece fixedly connected to the proximal end of the actuating rod, and the flexible actuating transmission member is fixedly connected to the connecting piece.

10. The surgical instrument according to claim 9, wherein: The instrument shaft assembly includes a sleeve, which extends along the longitudinal axis, and the interior of the sleeve defines the inner cavity; a mounting hole is provided at the distal end of the sleeve, the actuating rod slides through the mounting hole, the connecting member is provided in the inner cavity, and the distal pulley is provided at the distal end of the sleeve and adjacent to the mounting hole.

11. The surgical instrument according to claim 10, wherein: A cable guide hole is provided at the distal end of the sleeve, and the second portion of the cable of the flexible actuating transmission member extends through the cable guide hole.

12. The surgical instrument according to claim 10, wherein: The surgical instrument includes multiple sets of the actuating mechanisms, which are used to actuate the end effector to perform multiple actions.

13. The surgical instrument according to claim 12, wherein: The execution assembly also includes a tool holder and a tube body, the proximal end of the tool holder is fixedly connected to the distal end of the sleeve, the end actuator is arranged at the distal end of the tool holder, and the tube body is sleeved on the outside of the tool holder; the multiple groups of actuating mechanisms include a first actuating mechanism, the first actuating rod assembly of the first actuating mechanism is connected to the tube body, the translational movement of the first actuating rod assembly drives the translational movement of the tube body, and the tube body actuates the opening and closing action of the jaws of the end actuator.

14. The surgical instrument according to claim 13, wherein: The execution component also includes a firing rod arranged inside the tube body; the multiple groups of actuating mechanisms also include a second actuating mechanism, the second actuating rod assembly of the second actuating mechanism is connected to the firing rod, the translational movement of the second actuating rod assembly drives the translational movement of the firing rod, and the firing rod actuates the anastomosis action of the anastomosis device.

15. The surgical instrument according to claim 13, wherein: The actuator assembly also includes a swing arm pull rod arranged inside the tube body; the multiple groups of actuating mechanisms also include a third actuating mechanism, the third actuating rod assembly of the third actuating mechanism is connected to the swing arm pull rod, the translational movement of the third actuating rod assembly drives the translational movement of the swing arm pull rod, and the swing arm pull rod actuates the joint swinging movement of the end actuator.

16. The surgical instrument according to claim 15, wherein: The actuator assembly also includes two swing arms and two swing rods hinged at both ends of the two swing arms. The swing arm rods are connected to the swing arms. The translational movement of the swing arm rods drives the swing arms to rotate, driving the two swing rods to perform parallelogram movement, thereby actuating the joint swinging movement of the end actuator.

17. The surgical instrument according to claim 13, wherein: The tool holder is detachably connected to the sleeve, and the first actuating rod assembly is detachably connected to the tube body.

18. The surgical instrument according to any one of claims 1 to 17, characterized in that: The surgical instrument further includes a rotational drive mechanism, which includes a rotational drive assembly and a flexible rotational transmission member, wherein the flexible rotational transmission member is in transmission connection with the proximal end of the instrument shaft assembly and the rotational drive assembly, and the rotational drive assembly is capable of rotationally driving the instrument shaft assembly to rotate about the longitudinal axis, thereby driving the actuator to rotate about its own axis; And the rotation axis of the rotary drive assembly is parallel to the longitudinal axis.

19. The surgical instrument according to claim 18, wherein The instrument shaft assembly includes a sleeve, which extends along the longitudinal axis, and the interior of the sleeve defines the inner cavity; the rotary drive assembly includes a driving wheel, which is arranged on the proximal side of the sleeve and can rotate around its own axis, and the rotation axis of the driving wheel is parallel to the longitudinal axis; one end of the flexible rotating transmission member is fixed and wound around the driving wheel, and the other end of the flexible rotating transmission member is fixed and wound around the sleeve.

20. The surgical instrument according to claim 18, wherein The surgical instrument also includes a mounting assembly, which is used to connect to a surgical robot; the proximal end of the instrument shaft assembly can be rotatably connected to the center of the mounting assembly; the rotary drive assembly and multiple groups of the actuating drive assemblies are arranged on the mounting assembly and are evenly distributed around the instrument shaft assembly.

21. A surgical robot, characterized in that: The surgical robot comprises a slave operating device, a master operating device and a surgical instrument according to any one of claims 1 to 20; The slave operating device includes at least one robotic arm, and the surgical instrument can be detachably mounted on the robotic arm; the master operating device is used to send control commands to the slave operating device according to the operator's operation, and the slave operating device is used to respond to the control commands and control the robotic arm and the surgical instrument to perform corresponding operations.

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