Surgical robot, surgical instrument and forceps self-rotation drive system thereof

Abstract

The embodiments of the present application disclose a surgical robot, a surgical instrument, and a forceps head self-rotation drive system thereof, comprising a self-rotation tube for driving the forceps head of the surgical instrument to rotate, a base tube, and a self-rotation drive shaft, wherein the self-rotation tube is fixedly connected to the base tube, the self-rotation drive shaft is arranged parallel to the base tube, one end of the self-rotation drive shaft is used to receive torque input, and the other end is connected to the base tube through a self-rotation transmission assembly to drive the base tube to rotate, and the rotation of the base tube drives the self-rotation tube to rotate, thereby driving the forceps head to rotate. When the surgical robot, surgical instrument, and forceps head self-rotation drive system are applied, since the base tube and the self-rotation drive tube are arranged in parallel, the axis of the base tube is the axis of the surgical instrument shank assembly. Through the above arrangement, the axis of the self-rotation drive shaft is arranged parallel to the axis of the shank assembly, which reduces the positional accuracy requirements, that is, reduces the positional accuracy requirements for the self-rotation drive shaft, the base tube, and the transmission end face, and the layout of each component is more flexible to meet the different installation requirements of the surgical instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and more particularly to a surgical robot, a surgical instrument, and a forceps self-rotation drive system thereof. Background Art

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

[0003] A surgical instrument typically consists of a forceps head and an instrument case. The case receives user input and, through a series of transmission components, drives the forceps head to perform the corresponding surgical operation. The forceps head's rotation is often driven by helical gears. However, the drive and output axes of these instruments are arranged in an orthogonal arrangement, significantly limiting the positional relationship between the surgical instrument's shank assembly and the drive disc, and requiring high precision in installation.

[0004] In summary, how to effectively solve the problem of the limited layout position of the self-rotation drive structure of the forceps head of the surgical instrument is a problem that currently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a surgical robot, a surgical instrument and a forceps self-rotation drive system thereof, so as to effectively solve the problem that the layout position of the surgical instrument forceps self-rotation drive structure is relatively limited.

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

[0007] A self-rotation drive system for a surgical instrument's forceps head includes a rotation tube for driving the forceps head of the surgical instrument to rotate, and also includes a base tube and a self-rotation drive shaft. The rotation tube is fixedly connected to the base tube, and the self-rotation drive shaft is arranged parallel to the base tube. One end of the self-rotation drive shaft is used to receive torque input, and the other end is connected to the base tube through a self-rotation transmission assembly to drive the base tube to rotate. The rotation of the base tube drives the rotation tube to rotate, thereby driving the forceps head to rotate.

[0008] Preferably, in the above-mentioned pliers head self-rotation drive system, the self-rotation transmission assembly includes a driving wheel and a driven wheel driven by the driving wheel, the driving wheel is fixedly connected to the self-rotation drive shaft, the driven wheel is sleeved on the outer wall of one end of the base pipe so that the base pipe rotates with the driven wheel, and the axial movement of the driven wheel is restricted so that the base pipe remains stationary in the axial direction.

[0009] Preferably, in the above-mentioned forceps head self-rotation drive system, the driven wheel is rotatably connected to an instrument box through a bearing, and the instrument box limits the axial movement of the bearing, and an axial end fastener is provided detachably connected to the driven wheel, and the driven wheel has a step surface extending radially, and the axial ends of the bearing are respectively against the step surface and the axial end fastener.

[0010] Preferably, in the above-mentioned pliers head self-rotation drive system, a thread is provided on the outer wall of the driven wheel, and the shaft end fastener is a locking nut which is sleeved and locked on the outside of one end of the driven wheel.

[0011] Preferably, the above-mentioned clamp head self-rotation drive system also includes a radial limiting component, a mounting groove is opened on the outer circumferential surface of the base tube, and the mounting groove extends to the end face of the base tube close to the self-rotation tube, the radial limiting component closes the notch of the mounting groove to limit the radial position, the end of the self-rotation tube is axially limited in the mounting groove, and the outer circumferential surface of the self-rotation tube has at least one limiting plane, and the inner wall surface of the mounting groove has an abutment surface that cooperates with the limiting plane to limit the circumferential position of the self-rotation tube.

[0012] Preferably, in the above-mentioned pliers head rotation drive system, one of the inner wall surface of the mounting groove and the outer peripheral surface of the rotation tube has a radially extending boss, and the other has an axial limiting recess that cooperates with the boss to axially limit the rotation tube.

[0013] Preferably, in the above-mentioned clamp head rotation drive system, the limiting plane is arranged on the outer peripheral surface of the boss, and the abutting surface is correspondingly arranged on the inner wall surface of the axial limiting recess.

[0014] Preferably, the above-mentioned pliers head rotation drive system includes two limiting planes and two abutment surfaces, the two limiting planes are arranged in parallel at the opposite ends of the boss; the two abutment surfaces are arranged in parallel at the opposite ends of the axial limiting recess.

[0015] Preferably, in the above-mentioned forceps head self-rotation drive system, the radial limiting component serves as the outer tube of the anastomosis device, and the outer tube is sleeved outside the base tube and the self-rotation tube and covers the notch of the installation slot.

[0016] Preferably, in the above-mentioned pliers self-rotation drive system, a driving winch is provided connected to the self-rotation drive shaft, and the driving winch is used to be connected to the robot arm.

[0017] Preferably, in the above-mentioned pliers head self-rotation drive system, the driving winch is fixedly connected to the self-rotation drive shaft through a coupling, and the coupling includes a split coupling body and an adapter shaft fixing block, and the adapter shaft fixing block is detachably fixedly connected to the coupling body and fixes one of the self-rotation driving winch and the self-rotation driving shaft, and the other of the driving winch and the self-rotation driving shaft is fixedly connected to the coupling body.

[0018] An embodiment of the present invention provides a rotation drive system for a surgical instrument's forceps head, comprising a rotation tube, a base tube, and a rotation drive shaft. The rotation tube is used to drive the rotation of the surgical instrument's forceps head. The base tube is fixedly connected to the rotation tube, and the rotation drive shaft is disposed parallel to the base tube. One end of the rotation drive shaft is configured to receive torque input, and the other end is connected to the base tube via a rotation transmission assembly to drive the base tube's rotation.

[0019] In the forceps head self-rotation drive system provided by the embodiment of the present invention, the base tube and the self-rotation drive tube are arranged in parallel, and the axis of the base tube is the axis of the surgical instrument's knife bar assembly. Through the above arrangement, the drive shaft axis and the knife bar assembly axis are arranged in parallel, which reduces the position accuracy requirement compared to the orthogonal layout, that is, the position accuracy requirement for the self-rotation drive shaft, the base tube and the transmission end face is reduced, and the layout of each component is more flexible to meet the different installation requirements of surgical instruments.

[0020] The embodiments of the present invention also provide the following technical solutions:

[0021] A surgical instrument, comprising a forceps head, and further comprising:

[0022] A drive disk connected to the robotic arm of the surgical robot and receiving and converting the power of the robotic arm into a rotational driving force;

[0023] A self-rotating tube, the self-rotating tube is used to drive the pliers head to rotate;

[0024] a base pipe, the base pipe being fixedly connected to the rotation pipe;

[0025] a self-rotating drive shaft, the self-rotating drive shaft being arranged parallel to the base pipe and configured to receive a torque input;

[0026] The rotation transmission assembly is connected to the rotation drive shaft and the base pipe respectively to transmit the rotational motion of the rotation drive shaft to the base pipe. The rotation of the base pipe drives the rotation pipe to rotate, thereby driving the tongs to rotate.

[0027] Preferably, the above surgical instrument further comprises an outer tube which is sleeved outside the base tube and slides along the base tube, and the outer tube is connected to the forceps head to push the jaws of the forceps head to open and close.

[0028] Preferably, in the above-mentioned surgical instrument, an opening and closing drive shaft is arranged parallel to the outer tube, and an opening and closing fork is arranged connected to the opening and closing drive shaft, the opening and closing drive shaft is used to receive torque input, and the rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly, and the opening and closing fork is connected to the outer tube to drive the outer tube to move linearly.

[0029] Preferably, the above-mentioned surgical instrument further includes an opening and closing limit component, an opening and closing limit ring groove is provided around the outer circumferential surface of the outer tube, and an opening and closing limit through hole is correspondingly provided on the opening and closing fork, and the contour of one end of the opening and closing limit component close to the opening and closing limit ring groove is an arc shape with a diameter corresponding to the inner diameter of the opening and closing limit ring groove; the opening and closing limit component is slidably installed in the opening and closing limit through hole, and when the opening and closing limit component slides to be inserted into the opening and closing limit ring groove, the outer tube and the opening and closing fork are connected to move in a synchronous straight line; when the opening and closing limit component slides to exit the opening and closing limit ring groove, the outer tube and the opening and closing fork are disengaged to release the synchronous straight line movement relationship.

[0030] Preferably, in the above-mentioned surgical instrument, the connecting tube assembly further comprises a swing tube which is sleeved outside the base tube and slides along the base tube, the swing tube is connected to the forceps head to drive the forceps head to swing, and the outer tube is located outside the swing drive tube.

[0031] Preferably, in the above-mentioned surgical instrument, the instrument end is connected to a swing drive shaft in a rotation parallel to the swing tube, and a swing fork is provided in connection with the swing drive shaft. The swing drive shaft is used to receive torque input, and the rotation of the swing drive shaft drives the swing fork to move linearly, and the swing fork is connected to the swing tube to drive the swing tube to move linearly.

[0032] Preferably, the above-mentioned surgical instrument further includes a swing limiting component, a swing limiting ring groove is provided around the outer circumference of the swing tube, and a swing limiting through hole is correspondingly provided on the swing fork, and the contour of one end of the swing limiting component close to the swing limiting ring groove is an arc shape with a diameter corresponding to the inner diameter of the swing limiting ring groove; the swing limiting component is slidably installed in the swing limiting through hole, and when the swing limiting component slides to be inserted into the swing limiting ring groove, the swing tube and the swing fork are connected to move in a synchronous straight line; when the swing limiting component slides to exit the swing limiting ring groove, the swing tube and the swing fork are disengaged to release the synchronous straight line movement relationship.

[0033] When the surgical instrument provided by the embodiment of the present invention is used and the rotation of the forceps head needs to be controlled during surgery, the robotic arm of the surgical robot acts on the drive disk, the drive disk receives and converts the power of the robotic arm into a rotational driving force, the rotation drive shaft receives the rotational driving force of the drive disk and transmits it to the base tube, thereby rotating the base tube, which in turn drives the forceps head to rotate through the rotation tube. Since the base tube and the rotation drive tube are arranged in parallel, the axis of the base tube is the axis of the surgical instrument's arbor assembly. Through the above arrangement, the axis of the rotation drive shaft and the axis of the arbor assembly are arranged in parallel, which reduces the positional accuracy requirements compared to the orthogonal layout method, that is, reduces the positional accuracy requirements for the rotation drive shaft, the base tube, and the transmission end face, and the layout of each component is more flexible to meet the different installation requirements of the surgical instrument.

[0034] An embodiment of the present invention further provides a surgical robot, which includes any of the above-mentioned surgical instruments. Since the above-mentioned surgical instruments have the above-mentioned technical effects, the surgical robot including the surgical instruments should also have corresponding technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0036] Figure 1 Schematic diagram of the overall structure of the surgical instrument;

[0037] Figure 2 This is a schematic structural diagram of a clamp head self-rotation drive system according to a specific embodiment of the present invention;

[0038] Figure 3 for Figure 2 An exploded diagram of the instrument box portion;

[0039] Figure 4 A schematic cross-sectional view of the base pipe assembly;

[0040] Figure 5 It is a schematic diagram of the transmission structure in the instrument box;

[0041] Figure 6 This is an exploded diagram of the assembly of the base tube and the rotation tube;

[0042] Figure 7 for Figure 6 A partial enlarged schematic diagram;

[0043] Figure 8 for Figure 7 The corresponding assembly status diagram;

[0044] Figure 9 This is an exploded diagram of the assembly of the self-rotating drive shaft and the drive winch;

[0045] Figure 10 The location and assembly diagram of each drive component;

[0046] Figure 11 This is a schematic diagram of the assembly of the base tube and the swing tube;

[0047] Figure 12 for Figure 11 Explosion diagram of

[0048] Figure 13 This is a schematic diagram of the assembly of the outer tube and the clamp head;

[0049] Figure 14 Schematic diagram of the connection structure between the opening and closing fork and the outer tube;

[0050] Figure 15 for Figure 14 Explosion diagram.

[0051] The following are marked in the accompanying drawings:

[0052] Instrument box 100, forceps head 200, cannula 300;

[0053] Bearing 301, bearing 302, base tube 303, swing drive tube 304, outer tube 305, rotation tube 306, locking nut 307, swing drive plate 308;

[0054] Driving winch 201, bearing 202, self-rotating driving shaft 203, self-rotating transmission assembly 204, driving wheel 2041, driven wheel 2042, forward rotation steel wire 20411, reverse rotation steel wire 20421, bearing 205, coupling 206, coupling body 2061, adapter shaft fixing block 2062;

[0055] Mounting groove 3031 , abutting surface 3032 , axial limiting recess 3033 , limiting plane 3061 , boss 3062 ;

[0056] Bottom plate 101, columns 102, top plate 103, middle plate 104, gland 105;

[0057] Opening and closing drive assembly 40, driving capstan 401, opening and closing drive shaft 402, opening and closing fork 403, opening and closing limit component 404;

[0058] The swing drive assembly 50 drives the winch 501 , the swing drive shaft 502 , the swing fork 503 , and the swing limiting component 504 . DETAILED DESCRIPTION

[0059] The embodiment of the present invention discloses a surgical robot, a surgical instrument and a forceps head self-rotation drive system thereof, so as to reduce the position accuracy requirement of the forceps head self-rotation drive structure of the surgical instrument.

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] like Figure 1 As shown, the surgical instrument includes a forceps head 200, a cannula 300, and an instrument case 100. The cannula 300 is connected between the instrument case 100 and the forceps head 200. The instrument case 100 receives a driving input, which drives the forceps head 200 through the cannula 300 to meet surgical needs. The following mainly describes the structure that drives the rotation of the forceps head 200. As for the corresponding drive structures for the opening and closing movement, swinging movement, and movement of the blade of the forceps head 200, reference can be made to the existing art and will not be repeated here.

[0062] See also Figure 2 In a specific embodiment, the forceps self-rotation drive system of the surgical instrument provided by the present invention includes a self-rotation tube 306, a base tube 303 and a self-rotation drive shaft 203.

[0063] The rotating tube 306 is used to drive the forceps head 200 of the surgical instrument to rotate. The rotating tube 306 and the forceps head 200 at its rear end can be regarded as a rigid connection. When the rotating tube 306 rotates, the forceps head 200 will rotate together.

[0064] The base tube 303 is fixedly connected to the rotation tube 306. Base tube 303 is a fundamental component of the casing 300. Specifically, base tube 303 can only rotate about its own axis, and does not move linearly along that axis. The rotation drive shaft 203 is arranged parallel to base tube 303. One end of the rotation drive shaft 203 receives torque input, while the other end connects to base tube 303 via the rotation transmission assembly 204 to drive base tube 303 rotation. The rotation of base tube 303 in turn drives the connected rotation tube 306, thereby rotating the pliers head 200.

[0065] Using the forceps head self-rotation drive system provided in an embodiment of the present invention, the base tube 303 is arranged parallel to the self-rotation drive tube 203, and the axis of the base tube 303 is the axis of the surgical instrument's knife bar assembly. Through the above arrangement, the axis of the self-rotation drive shaft 203 is arranged parallel to the axis of the knife bar assembly, which reduces the position accuracy requirement compared to the orthogonal layout, that is, the position accuracy requirement for the self-rotation drive shaft, base tube and transmission end face is reduced, and the layout of each component is more flexible to meet the different installation requirements of surgical instruments.

[0066] Specifically, the self-rotating transmission assembly 204 includes a driving wheel 2041 and a driven wheel 2042 driven by the driving wheel 2041. The driving wheel 2041 is fixedly connected to the self-rotating drive shaft 203. The driven wheel 2042 is sleeved on the outer wall of one end of the base tube 303 so that the base tube 303 rotates with the driven wheel 2042. The axial movement of the driven wheel 2042 is limited so that the base tube 303 remains stationary in the axial direction. Figure 1 、 Figure 3 、 Figure 4 and Figure 5 As shown, the driving wheel 2041 is fixedly connected to the rotation drive shaft 203, and can be specifically coaxially fixed to the rotation drive shaft 203 by clamping. The driven wheel 2042 is sleeved on the outer wall of one end of the base tube 303. The axial movement of the driven wheel 2042 is limited, and thus it can only rotate but not move axially. Therefore, the base tube 303 fixedly connected thereto can also only rotate but not move axially. That is, the axial movement of the base tube 303 relative to the instrument box 100 is constrained, thereby ensuring the reliability of the rotation of the base tube 303 to drive the forceps head 200 to rotate.

[0067] The driving wheel 2041 and the driven wheel 2042 can be connected by a belt or wire rope, or the driving wheel 2041 and the driven wheel 2042 can be meshing gears. Specifically, the driving wheel 2041 and the driven wheel 2042 are mounted at the same height, and the outer surfaces of both parts have rope groove features. The ends of the forward-rotating steel wire 20411 and the reverse-rotating steel wire 20421 are respectively fixed to the driving wheel 2041 and the driven wheel 2042 and wound in the rope grooves on their surfaces. When the driving wheel 2041 is driven to rotate by external power, the steel wire wound around it will pull the driven wheel 2042 to rotate. By using different wheel diameters on the driving wheel 2041 and the driven wheel 2042, different mechanical speed ratios can be flexibly matched to match the input and output requirements, thereby improving the versatility of the driving power source.

[0068] The driven wheel 2042 can be specifically mounted by being rotatably connected to the instrument box 100 via a bearing 302, with the instrument box 100 limiting axial movement of the bearing 302. An axle-end fastener is detachably connected to the driven wheel 2042. The driven wheel 2042 has a radially extending stepped surface, with the axial ends of the bearing 302 respectively abutting against the stepped surface and the axle-end fastener. The provision of the bearing 302, on the one hand, reduces friction between the driven wheel 2042 and the instrument box 100 during rotation, and on the other hand, cooperates with the instrument box 100 and the driven wheel 2042 to achieve axial position limiting, resulting in a compact nested distribution structure and a small space occupation.

[0069] The shaft end fastener can specifically be a locking nut 307, and the outer wall of the driven wheel 2042 is provided with a thread, and the locking nut 307 is sleeved and locked on the outside of one end of the driven wheel 2042. Specifically, the bearing 302 is located at the lower end of the driven wheel 2042, and the outer surface of the lower tail end of the driven wheel 2042 is provided with an external thread, which is threadedly connected with the thread on the inner surface of the locking nut 307, thereby constraining the axial movement of the bearing 302 relative to the driven wheel 2042. Furthermore, the bearing 302 is accommodated in the annular groove provided on the instrument box 100, so that the axial movement of the bearing 302 relative to the instrument box 100 is also constrained. The driven wheel 2042 is mounted on the upper end of the base tube 303 and fixed to the base tube 303, which can further effectively constrain the axial movement of the base tube 303 relative to the instrument box 100.

[0070] The connection between the base tube 303 and the self-rotating tube 306 can be specifically made in the following manner. Figures 6 to 8The forceps head rotation drive system also includes a radial limiting component. A mounting groove 3031 is defined on the outer circumference of the base tube 303, and the mounting groove 3031 extends to the end surface of the base tube 303 near the rotation tube 306. The radial limiting component closes the notch of the mounting groove 3031 to radially limit the rotation tube 306. The end of the rotation tube 306 is axially limited within the mounting groove 3031. The outer circumference of the rotation tube 306 has at least one limiting flat surface 3061, and the inner wall of the mounting groove 3031 has an abutment surface 3032 that cooperates with the limiting flat surface 3061 to circumferentially limit the rotation tube. Specifically, the radial limiting component serves as the outer tube 305 of the anastomosis device. The outer tube 305 is sleeved over the base tube 303 and the rotation tube 306 and covers the notch of the mounting groove 3031. Specifically, the surgical instrument's outer tube 305 serves as a radially limiting component. The outer tube 305 is mounted on the outside of the base tube 303. Specifically, the outer tube 305 can slide linearly relative to the base tube 303 and drive the forceps heads to open and close. The cooperation between the limiting plane 3061 and the abutment surface 3032 restricts relative rotation between the base tube 303 and the self-rotating tube 306. Specifically, rotation of the base tube 303 drives rotation of the self-rotating tube 306. Simultaneously, the outer tube 305 covers the notch of the mounting slot 3031, thereby limiting the radial position of the self-rotating tube 306 and the base tube 303, preventing them from deviating due to radial slippage. As needed, the outer tube 305 can also be replaced with a separate limiting tube or limiting plate for radial limiting.

[0071] In order to limit the axial movement of the base tube 303 and the rotation tube 306, one of the inner wall surface of the mounting groove 3031 and the outer peripheral surface of the rotation tube 306 has a radially extending boss 3062, and the other has an axial limiting recess 3033 that cooperates with the boss 3062 to limit the axial position of the rotation tube 306. Figures 6 to 8 In the example, an axial limiting recess 3033 is provided on the inner wall of the mounting groove 3031, and a boss 3062 is provided on the rotation tube 306. The positions of the two can be interchanged as needed. The boss 3062 and the axial limiting recess 3033 restrict the axial movement of the rotation tube 306 and the base tube 303, thereby achieving relative fixation between the two. Specifically, the limiting plane 3061 is provided on the outer circumference of the boss 3062, and the abutment surface 3032 is correspondingly provided on the inner wall of the axial limiting recess 3033. This results in a simpler and more compact structure and facilitates assembly.

[0072] The above-mentioned fixed connection method fully takes into account the connection interfaces of common hand-held laparoscopic staplers and other hand instruments. There is no need to change the structure of the forceps head. It is only necessary to modify the matching features such as the boss and the limit plane at the end of the rotating tube accordingly to complete the adaptation. It has good versatility and low cost.

[0073] Specifically, it includes two limiting planes 3061 and two abutment surfaces 3032. The two limiting planes 3061 are parallel to opposite ends of the boss 3062, and the two abutment surfaces 3032 are parallel to opposite ends of the axial limiting recess 3033. In other words, the rotation of the base tube 303 and the rotating tube 306 is limited from their opposite ends, which makes the limiting effect more reliable.

[0074] Based on the above embodiments, please refer to Figure 3 Connected to the rotation drive shaft 203 is a drive capstan 201, which is used to connect to the robotic arm to input rotational motion from an external motor, etc., into the instrument box 100. One end of the rotation drive shaft 203 is connected to the drive capstan 201. When the surgical robot's robotic arm is connected to the drive capstan 201, the drive capstan 201 rotates, which in turn drives the rotation drive shaft 203. The specific structure of the drive capstan 201 can be configured accordingly based on the connection end structure of the surgical robot's robotic arm and is not specifically limited here.

[0075] Further, see Figure 9The driving capstan 201 is fixedly connected to the self-rotating drive shaft 203 via a coupling 206. The coupling 206 includes a split coupling body 2061 and an adapter shaft fixing block 2062. The adapter shaft fixing block 2062 is detachably fixedly connected to the coupling body 2061 and fixes one of the driving capstan 201 and the self-rotating drive shaft 203. The other of the driving capstan 201 and the self-rotating drive shaft 203 is fixedly connected to the coupling body 2061. Specifically, the coupling body 2061 is fixedly connected to the driving capstan 201. Specifically, the coupling body 2061 has a connecting shaft, and the driving capstan 201 has a connecting hole. The connecting shaft is inserted into the connecting hole and fixed. Specifically, the fixed connection can be achieved by bonding with an adhesive or by using an interference fit. The coupling body 2061 has a first mounting hole 20611 on its end surface facing the rotating drive shaft 203. The adapter shaft fixing block 2062 has a second mounting hole 20621 that mates with the first mounting hole 20611. Together, the first and second mounting holes 20611 form a space for accommodating the rotating drive shaft 203. During assembly, the end of the rotating drive shaft 203 is inserted into the first mounting hole 20611, and the adapter shaft fixing block 2062 is then securely connected to the coupling body 2061, thereby securing the rotating drive shaft 203. Specifically, the adapter shaft fixing block 2062 and coupling body 2061 can be connected via setscrews. The above-mentioned disconnection design of the self-rotating drive shaft 203 and the driving winch 201 can facilitate the zero-position adjustment of the subsequent transmission system, that is, by disassembling the adapter shaft fixing block 2062 from the coupling body 2061, the self-rotating drive shaft 203 or the driving winch 201 can be rotated separately. After it is adjusted to the appropriate position, the adapter shaft fixing block 2062 is fixedly connected to the coupling body 2061. In this embodiment, the fixed connection between the driving winch 201 and the coupling body 2061 is used as an example for explanation. If necessary, the self-rotating drive shaft 203 can also be fixedly connected to the coupling body 2061. The connection between the self-rotating drive shaft 203 and the driving winch 201 is not limited to the above-mentioned coupling 206 structure, and can also be connected by other fixed connection methods.

[0076] In the above embodiments, in order to facilitate the installation of various components, the interior of the instrument box 100 can specifically adopt a bracket structure, such as Figure 3 and Figure 4As shown, it includes a base plate 101, a column 102, a top plate 103, a middle plate 104 and a pressure cover 105. The base plate 101 is provided with through holes for the various pipe fittings to pass through. The two ends of the column 102 are fixedly connected to the base plate 101 and the top plate 103 respectively, such as by screws. As needed, the bearing 302 is accommodated in the annular groove surrounded by the middle plate 104 and the pressure cover 105, so that the axial movement of the bearing 302 relative to the bracket is also constrained. A bearing 205 can be arranged between the self-rotating drive shaft 203 and the top plate 103. When a drive winch 201 is provided, the drive winch 201 can be installed on the base plate 101. A bearing 202 can be arranged between the base plate 101 and the drive winch 201.

[0077] Embodiments of the present invention also provide a surgical instrument. In one specific embodiment, the surgical instrument includes a forceps head, a drive disc, a rotation tube, a base tube, a rotation drive shaft, and a rotation transmission assembly. The drive disc is connected to the robotic arm of the surgical robot and receives and converts the power from the robotic arm into a rotational driving force; the rotation tube is used to drive the forceps head to rotate; the base tube is fixedly connected to the rotation tube; the rotation drive shaft is disposed parallel to the base tube and connected to the drive disc to receive the rotational driving force; and the rotation transmission assembly is connected to the rotation drive shaft via the base tube to transmit the rotational motion of the rotation drive shaft to the base tube. The rotation of the base tube drives the rotation tube to rotate, thereby driving the forceps head to rotate. The rotation drive shaft is connected to the drive disc and transmits the rotational driving force to the base tube via the rotation transmission assembly. The base tube rotates accordingly, driving the rotation tube to rotate, thereby driving the forceps head to rotate. The specific configuration of the rotation tube, base tube, rotation drive shaft, and rotation transmission assembly can be found in the relevant description of the embodiment of the forceps head swing drive system described above and will not be repeated here.

[0078] When the surgical instrument provided by the present invention is used and the forceps head needs to be controlled to rotate during surgery, the surgical robot's mechanical arm acts on the drive disk. The drive disk receives and converts the mechanical arm's power into a rotational driving force. The rotation drive shaft receives the rotational driving force of the drive disk and transmits it to the base tube, thereby rotating the base tube, which in turn drives the forceps head to rotate via the rotation tube. Because the base tube and the rotation drive tube are arranged in parallel, the axis of the base tube is the axis of the surgical instrument's arbor assembly. Through the above arrangement, the axis of the drive shaft is arranged parallel to the axis of the arbor assembly. Compared with an orthogonal layout, the position accuracy requirements are reduced, that is, the position accuracy requirements for the rotation drive shaft, base tube, and transmission end face are reduced. The layout of each component is more flexible to meet the different installation requirements of the surgical instrument.

[0079] The forceps head may need to open and close and swing during surgery. The following describes the opening and closing drive assembly and the swinging drive assembly respectively.

[0080] In one specific embodiment, see Figure 1 and Figure 10The surgical instrument further includes an outer tube 305 that is sleeved on the outside of the base tube 303 and slides along the base tube 303. The outer tube 305 is connected to the forceps head 200 to push the jaws of the forceps head 200 to open and close. The nested structure is adopted, and the tubes can move relative to each other to achieve different functions. The structure is simple and compact.

[0081] Specifically, the opening and closing drive assembly 40 for driving the movement of the outer tube 305 includes an opening and closing drive shaft 402 arranged parallel to the outer tube 305 and an opening and closing fork 403 connected to the opening and closing drive shaft 402. The opening and closing drive shaft 402 is used to receive torque input, and the rotation of the opening and closing drive shaft 402 drives the opening and closing fork 403 to move linearly. The opening and closing fork 403 is connected to the outer tube 305 to drive the linear movement of the outer tube 305. The opening and closing drive shaft 402 is parallel to the outer tube 305. When the opening and closing drive shaft 402 receives torque manually input by the user or torque automatically input by the surgical robot arm, the opening and closing drive shaft 402 rotates. The rotation of the opening and closing drive shaft 402 acts on the opening and closing fork 403, which converts the rotational motion of the opening and closing drive shaft 402 into linear motion, thereby driving the outer tube 403 to move linearly accordingly. The opening and closing drive shaft 402 and the opening and closing fork 403 can be specifically engaged by a threaded or sheave-type engagement, with the screw pair converting the rotational motion of the opening and closing drive shaft 402 into linear motion of the opening and closing fork 403. The threaded structure converts the rotational motion into linear motion while also providing a self-locking function, thereby effectively ensuring the self-locking performance of the pliers head after the corresponding movement.

[0082] The opening and closing fork 403 and the outer tube 305 can be connected via an opening and closing stopper 404. The opening and closing drive shaft 402 can be connected to a drive capstan 401. The drive capstan 401 is used to connect to the robot arm to receive and convert the arm's power into rotational drive force. Specifically, the opening and closing drive assembly 40 includes a drive capstan 401, an opening and closing drive shaft 402, an opening and closing fork 403, and an opening and closing stopper 404. One end of the opening and closing fork 403 is connected to the opening and closing drive shaft 402, where this connection may be a helical transmission pair. The other end of the opening and closing fork 403 is connected to the outer tube 305 via the opening and closing stopper 404. The external rotational force input from the drive capstan 401 is converted into linear motion by the helical transmission pair, causing the opening and closing fork 403 and the outer tube 305 connected thereto to move up and down relative to the axis of the stapler's knife bar assembly, thereby driving the jaws at the end of the stapler to open and close.

[0083] Based on the above examples, please refer to Figure 9The swing drive includes a swing tube 304 that is sleeved on the outside of the base tube 303 and slides along the base tube 303. The swing tube 304 is connected to the clamp head to drive the clamp head 200 to swing. The outer tube 305 is located outside the swing tube 304. In other words, a multi-layer nested structure is adopted, and each layer of tubes can move relative to the adjacent tubes. By driving each layer of tubes, independent power is transmitted to realize the various functions of the anastomosis device.

[0084] Specifically, the swing drive assembly 50 for driving the swing tube 304 includes a swing drive shaft 502 arranged parallel to the swing tube 304 and a swing fork 503 connected to the swing drive shaft 502. The swing drive shaft 502 is used to receive torque input, and the rotation of the swing drive shaft 502 drives the swing fork 503 to move linearly. The swing fork 503 is connected to the swing tube 304 to drive the swing tube 304 to move linearly. The swing drive shaft 502 is parallel to the swing tube 304. When receiving torque manually input by the user or automatically input by the surgical robot's mechanical arm, the swing drive shaft 502 rotates. The rotation of the swing drive shaft 502 acts on the swing fork 503, which converts the rotational motion of the swing drive shaft 502 into linear motion, thereby driving the corresponding linear motion of the swing tube 304. The swing drive shaft 502 and the swing fork 503 can be connected by a threaded or sheave-type mating mechanism, with the screw pair converting the rotational motion of the swing drive shaft 502 into linear motion of the swing fork 503. Through the thread structure, the rotary motion is converted into linear motion while having a self-locking function, thereby effectively ensuring the self-locking performance of the pliers head after the corresponding action.

[0085] The swing fork 503 and the swing tube 504 can be connected specifically via a swing stop component 504. The swing drive shaft 502 can be connected specifically to a drive capstan 501. The drive capstan 501 is used to connect to the robot arm to receive and convert the arm's power into rotational drive force. The swing drive assembly 50 then includes a drive capstan 501, a swing drive shaft 502, a swing fork 503, and a swing stop component 504. One end of the swing fork 503 is connected to the swing drive shaft 502, and this connection can be a helical transmission pair. The other end of the swing fork 503 is connected to the swing tube 304 via a swing stop component 504. This connection method refers to the assembly relationship between the opening and closing fork 403 and the outer tube 305. The swing drive shaft 502 can be specifically connected to a drive capstan 501, which is used to connect to the robotic arm of the surgical robot to receive rotational power. The external rotational power input from the drive capstan 501 is then converted into linear motion through a spiral transmission pair, causing the swing fork 503 and the swing tube 304 connected thereto to move up and down relative to the axis of the stapler knife bar assembly, thereby driving the jaws at the end of the stapler to perform yaw motion. It should be noted that the drive capstan 501 for driving swing, the drive capstan 401 for driving opening and closing, and the drive capstan 201 for driving rotation can be three separate components to separately drive different motions, or they can be the same component to jointly drive the aforementioned motions as needed.

[0086] In summary, the base tube 303, the swing tube 304, and the outer tube 305 are nested in layers, with the base tube 303 located in the innermost layer, the swing tube 304 located in the middle layer, and the outer tube 305 located in the outermost layer. The inner and outer walls of each tube are smooth surfaces, so each sleeve can rotate or slide axially relative to its adjacent sleeve layer to help the outer tube 305 and the swing tube 304 independently realize their driving action on the anastomosis jaws. Specifically, in the above embodiments, the outer tube 305 moves axially relative to the base tube 303 to realize the opening and closing action of the jaws 200, and the swing tube 304 needs to move axially relative to the base tube 303 to realize the swinging action of the clamp head 200. The rotational movement of the swing tube 304 relative to the base tube 303 and the rotational movement of the outer tube 305 relative to the base tube 303 are both constrained. As Figure 4 As shown, the knife bar assembly of the surgical instrument specifically includes a driven wheel 2042, a bearing 302, a locking nut 307, a bearing 301, a base tube 303, a swing tube 304, and an outer tube 305. The bearing 301 is fixed to the base plate 101. A sleeve comprising the base tube 303, the swing tube 304, and the outer tube 305 passes through the base plate 101, with the outer wall of the outer tube 305 contacting the inner wall of the bearing 301. The bearings 302 and 301 work together to maintain the position of the knife bar assembly relative to the bracket and the stability of its rotational motion.

[0087] See also Figure 11and Figure 12 The swing tube 304 is connected to a swing drive plate 308, which is connected to the jaws to drive the jaws to swing. A long slot 3031 is provided on the outer wall of the base tube 303 to accommodate the swing drive plate 308, which can slide axially within the slot 3031. A protrusion 3081 is provided on the end of the swing drive plate 308 near the swing tube 304. The protrusion 3081 is accommodated in a retaining groove 3041 on the end of the swing drive plate 304 near the swing drive rod 309. The protrusion 3081 can be square in shape, and the retaining groove 3041 is correspondingly square. Through the above structure and connection, the rotational movement of the swing tube 304 relative to the base tube 303 is constrained by the swing drive plate 308. Therefore, when the swing tube 304 is in operation, it slides axially relative to the base tube 303, pushing or pulling the swing drive plate 308, thereby driving a mechanism (not shown) at the lower end to complete the swinging movement of the jaws. When the base tube 303 is driven to rotate, the rotational power is transmitted to the swing tube 304 through the swing drive plate 308, causing the swing tube 304 to rotate synchronously.

[0088] See also Figure 13 Since the outer tube 305 is fixed relative to the clamp head 200 in the circumferential direction, specifically, the outer tube 305 is connected to one end of the clamp head 200 by riveting to restrict the relative rotational movement of the outer tube 305 and the clamp head 200 in the axial direction, when the clamp head 200 rotates with the base tube, the outer tube 305 will also rotate simultaneously.

[0089] On the basis of the above embodiment, in order to maintain the independence of opening and closing, rotation and swinging movements, specifically, the opening and closing fork 403 and the outer tube 305 are connected by an opening and closing limit component 404, and the swing fork 503 and the swing tube 304 are connected by a swing limit component 504.

[0090] An opening and closing limit ring groove 3051 is provided around the outer circumferential surface of the outer tube 305, and an opening and closing limit through hole 4031 is correspondingly provided on the opening and closing fork 403. The contour of one end of the opening and closing limit component 404 close to the opening and closing limit ring groove 3051 is an arc shape with a diameter corresponding to the inner diameter of the opening and closing limit ring groove 3051; the opening and closing limit component 404 is slidably installed in the opening and closing limit through hole 4031, and when the opening and closing limit component 404 slides to be inserted into the opening and closing limit ring groove 3051, the outer tube 305 and the opening and closing fork 403 are connected to move in a synchronous straight line; when the opening and closing limit component 404 slides to exit the opening and closing limit ring groove 4031, the outer tube 305 and the opening and closing fork 403 are disengaged and the synchronous straight line movement relationship is released.

[0091] A swing limiting ring groove is provided around the outer circumference of the swing tube, and a swing limiting through hole is correspondingly provided on the swing fork. The contour of one end of the swing limiting component close to the swing limiting ring groove is in the shape of an arc with a diameter corresponding to the inner diameter of the swing limiting ring groove; the swing limiting component is slidably installed in the swing limiting through hole, and when the swing limiting component slides to be inserted into the swing limiting ring groove, the swing tube and the swing fork are connected to move in a synchronous straight line; when the swing limiting component slides to exit the swing limiting ring groove, the swing tube and the swing fork are disengaged to release the synchronous straight line movement relationship.

[0092] The connection method between the above-mentioned opening and closing fork and the outer tube is the same as the connection method between the swinging fork and the swinging tube. The following is an example of the connection method between the opening and closing fork and the outer tube. Figure 14 and Figure 15 The outer surface of the end of the outer tube 305 is provided with an opening and closing limiting ring groove 3051, and the end of the opening and closing limiting component 404 has an arc-shaped feature 4041 that matches the opening and closing limiting ring groove 3051. One end of the opening and closing fork 403 has a through hole 4032 to accommodate the outer tube 305, and its side wall is provided with an opening and closing limiting through hole 4031 to accommodate the opening and closing limiting component 404. The opening and closing limiting through hole 4031 can be a square slot. When in the Figure 14 In the assembled state shown, the outer tube 305 is inserted into the hole 4032 of the opening and closing fork 403, and the opening and closing limit member 404 is inserted along the opening and closing limit through hole 4031, with the arc-shaped feature 4041 on the outer tube 305 resting against the opening and closing limit ring groove 3051 on the outer tube 305. The above connection together forms a mortise and tenon structure to maintain the independence of the rotation and opening and closing movements. When the outer tube 305 rotates during the rotational movement, the outer tube 305 can rotate relative to the opening and closing fork 403, while the opening and closing fork 403 remains in place. When the opening and closing drive assembly is operating, the opening and closing fork 403 moves along the axis of the knife bar assembly, which will drive the opening and closing limit member 404 inserted therein to move, and in turn drive the outer tube 305 to move accordingly, thereby driving the opening and closing movement of the end clamp head.

[0093] Furthermore, the opening and closing limit member 404 connects the opening and closing fork 403 and the outer tube 305, thereby separating the outer tube 305 from the linear drive component, facilitating installation and removal. Under normal operating conditions, the opening and closing limit member 404 is inserted into the opening and closing limit ring groove 3051, achieving normal transmission. In an emergency, such as when the surgical instrument becomes stuck, the opening and closing limit member 404 can be pulled out of the opening and closing limit ring groove 3051, releasing the synchronized linear motion relationship between the outer tube 305 and the opening and closing fork 403. The surgical instrument can then be removed by disassembling the outer tube 305, for example, to facilitate emergency removal.

[0094] It should be noted that the surgical instrument provided in this application is not limited to the stapler, and may also be other surgical instruments with jaw opening and closing functions as needed.

[0095] Based on the surgical instruments provided in the above embodiments, the present invention further provides a surgical robot, which includes any one of the surgical instruments in the above embodiments. Since the surgical robot uses the surgical instruments in the above embodiments, the beneficial effects of the surgical robot can be referred to the above embodiments.

[0096] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0097] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A surgical instrument forceps head rotation drive system, comprising a rotation tube for driving the surgical instrument forceps head to rotate, characterized in that: The clamp further comprises a base pipe and a self-rotating drive shaft, wherein the self-rotating pipe is fixedly connected to the base pipe, the self-rotating drive shaft is arranged parallel to the base pipe, one end of the self-rotating drive shaft is used to receive torque input, and the other end is connected to the base pipe via a self-rotating transmission assembly to drive the base pipe to rotate. The rotation of the base pipe drives the self-rotating pipe to rotate, thereby driving the clamp head to rotate. The cam is provided with a plurality of support members, each of which is provided with a plurality of support members, and the plurality of support members are provided with support members. The plurality of support members are provided with support members, and the plurality of support members are provided with support members.

2. The forceps self-rotation drive system of a surgical instrument according to claim 1, characterized in that: The self-rotating transmission assembly includes a driving wheel and a driven wheel driven by the driving wheel, the driving wheel is fixedly connected to the self-rotating drive shaft, the driven wheel is sleeved on the outer wall of one end of the base pipe so that the base pipe rotates with the driven wheel, and the axial movement of the driven wheel is restricted so that the base pipe remains stationary in the axial direction.

3. The forceps self-rotation drive system of a surgical instrument according to claim 2, characterized in that: The driven wheel is rotatably connected to an instrument box through a bearing, and the instrument box limits the axial movement of the bearing. An axial end fastener is detachably connected to the driven wheel. The driven wheel has a step surface extending radially, and the axial ends of the bearing are respectively against the step surface and the axial end fastener.

4. The forceps self-rotation drive system of a surgical instrument according to claim 3, characterized in that: The outer wall of the driven wheel is provided with a thread, and the shaft end fastener is a locking nut which is sleeved and locked on the outside of one end of the driven wheel.

5. The forceps self-rotation drive system for a surgical instrument according to any one of claims 1 to 4, characterized in that: One of the inner wall surface of the mounting groove and the outer peripheral surface of the rotation tube has a radially extending boss, and the other has an axially limiting recess that cooperates with the boss to axially limit the rotation tube.

6. The forceps self-rotation drive system of a surgical instrument according to claim 5, characterized in that: The limiting plane is arranged on the outer peripheral surface of the boss, and the abutting surface is correspondingly arranged on the inner wall surface of the axial limiting recess.

7. The forceps self-rotation drive system of a surgical instrument according to claim 6, characterized in that: It comprises two limiting planes and two abutting surfaces, wherein the two limiting planes are arranged in parallel at opposite ends of the boss; and the two abutting surfaces are arranged in parallel at opposite ends of the axial limiting recess.

8. The forceps self-rotation drive system of a surgical instrument according to any one of claims 1 to 4, characterized in that: The radial limiting component serves as an outer tube of the anastomosis device. The outer tube is sleeved outside the base tube and the self-rotating tube and covers the notch of the installation groove.

9. The forceps self-rotation drive system for a surgical instrument according to any one of claims 1 to 4, characterized in that: A driving winch is connected to the self-rotating drive shaft and is used to be connected to a robot arm.

10. The forceps self-rotation drive system of a surgical instrument according to claim 9, characterized in that: The driving winch is fixedly connected to the self-rotating drive shaft through a coupling. The coupling includes a split coupling body and an adapter shaft fixing block. The adapter shaft fixing block is detachably fixedly connected to the coupling body and fixes one of the self-rotating driving winch and the self-rotating drive shaft. The other of the driving winch and the self-rotating drive shaft is fixedly connected to the coupling body.

11. A surgical instrument comprising a forceps head, characterized in that: Also includes: A drive disk connected to the robotic arm of the surgical robot and receiving and converting the power of the robotic arm into a rotational driving force; A rotating tube, which is used to drive the pliers head to rotate; a base pipe, the base pipe being fixedly connected to the rotation pipe; An outer tube is sleeved on the outside of the base tube and slides along the base tube, and the outer tube is connected to the pliers head to push the jaws of the pliers head to open and close; a self-rotating drive shaft, the self-rotating drive shaft being arranged parallel to the base pipe and connected to the drive disc to receive a rotational driving force; a self-rotation transmission assembly connected to the self-rotation drive shaft and the base pipe, respectively, to transmit the rotational motion of the self-rotation drive shaft to the base pipe, so that the rotation of the base pipe drives the self-rotation pipe to rotate, thereby driving the tongs head to rotate; an opening and closing fork, the opening and closing fork being connected to the outer tube to drive the outer tube to move linearly; An opening and closing limit component is provided with an opening and closing limit ring groove around the outer circumference of the outer tube, and an opening and closing limit through hole is correspondingly provided on the opening and closing fork, and the contour of one end of the opening and closing limit component close to the opening and closing limit ring groove is an arc shape with a diameter corresponding to the inner diameter of the opening and closing limit ring groove; the opening and closing limit component is slidably installed in the opening and closing limit through hole, and when the opening and closing limit component slides to be inserted into the opening and closing limit ring groove, the outer tube and the opening and closing fork are connected to move in a synchronous straight line; when the opening and closing limit component slides to exit the opening and closing limit ring groove, the outer tube and the opening and closing fork are disengaged to release the synchronous straight line movement relationship.

12. The surgical instrument according to claim 11, wherein: An opening and closing drive shaft is provided parallel to the outer tube, the opening and closing fork is connected to the opening and closing drive shaft, the opening and closing drive shaft is used to receive torque input, and the rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly.

13. The surgical instrument according to any one of claims 11 to 12, characterized in that: It also includes a swing tube that is sleeved on the outside of the base tube and slides along the base tube. The swing tube is connected to the clamp head to drive the clamp head to swing. The outer tube is located outside the swing drive tube.

14. The surgical instrument according to claim 13, characterized in that A swing drive shaft is provided parallel to the swing tube, and a swing fork is provided connected to the swing drive shaft. The swing drive shaft is used to receive torque input, and the rotation of the swing drive shaft drives the swing fork to move linearly. The swing fork is connected to the swing tube to drive the swing tube to move linearly.

15. The surgical instrument according to claim 14, characterized in that The cam is provided with a plurality of camming members, each of which is provided with a plurality of camming members, and the plurality of camming members are provided with a plurality of camming members. The plurality of camming members are provided with a plurality of camming members, and the plurality of camming members are provided with a plurality of camming members. The plurality of camming members are provided with a plurality of camming members, and the plurality of camming members are provided with a plurality of camming members.

16. A surgical robot comprising a master operating device and a slave operating device controlled by the master operating device, wherein the slave operating device comprises the surgical instrument according to any one of claims 11 to 15.

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