Surgical robot, surgical instrument and jaw opening and closing drive system thereof

Abstract

The application discloses a surgical robot, a surgical instrument and a jaw opening and closing driving system thereof, which comprises an outer tube installed on a clamp head of the surgical instrument, and further comprises an opening and closing driving shaft arranged in parallel with the outer tube and an opening and closing shift fork in transmission connection with the opening and closing driving shaft, the opening and closing driving shaft is used for receiving torque input, rotation of the opening and closing driving shaft drives linear movement of the opening and closing shift fork, the opening and closing shift fork is connected with the outer tube to drive linear movement of the outer tube, when the outer tube moves, the clamp head is retracted into the outer tube to be closed or exposed from the outer tube to be opened. The surgical robot, the surgical instrument and the jaw opening and closing driving system thereof provided by the application can realize automatic input of rotary driving force through a mechanical arm of the robot, and the automation degree and operation precision are improved. Meanwhile, the opening and closing driving shaft is arranged in parallel with the outer tube, the position is less limited, the layout of components is facilitated, and the space occupation is small.

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 jaw opening and closing 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] Common surgical instruments generally include a forceps head and an instrument box. The instrument box is used to receive user operations and drive the movement of the forceps head through a series of transmission components to complete the corresponding surgical operation. The opening of the jaws is mostly controlled by a handle on the instrument box. The user holds the handle to drive the transmission rod connected to the handle to move linearly, which in turn drives the jaw push tube to move, causing the jaws to open or close. However, using a handle to drive the opening and closing of the jaws requires manual operation, which has low operating precision and a complex transmission structure.

[0004] In summary, how to effectively solve the problem that the opening and closing of the jaws of surgical instruments is limited to manual drive 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 jaw opening and closing drive system thereof, so as to effectively solve the problem that the opening and closing of the jaws of the surgical instrument are limited to manual drive.

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

[0007] A jaw opening and closing drive system for a surgical instrument includes an outer tube mounted on a forceps head of the surgical instrument, an opening and closing drive shaft arranged parallel to the outer tube, and an opening and closing fork transmission-connected to the opening and closing drive shaft, wherein 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, and when the outer tube moves, it pushes the forceps head to close or open.

[0008] Preferably, the above-mentioned jaw opening and closing drive system further includes an opening and closing limit component, an opening and closing limit groove is provided on the outer tube, and an opening and closing limit through hole is correspondingly provided on the opening and closing fork, 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 groove, the outer tube and the opening and closing fork are connected to move in a synchronous linear manner; when the opening and closing limit component slides to exit the opening and closing limit groove, the outer tube and the opening and closing fork are disengaged to release the synchronous linear movement relationship.

[0009] Preferably, in the above-mentioned jaw opening and closing drive system, the opening and closing limit groove is an annular groove arranged around the outer circumferential surface of the outer tube, and the contour of one end of the opening and closing limit component close to the opening and closing limit groove is an arc shape with a diameter corresponding to the inner diameter of the annular groove.

[0010] Preferably, in the above-mentioned jaw opening and closing drive system, the opening and closing drive shaft is threadably engaged with the opening and closing fork.

[0011] Preferably, the jaw opening and closing drive system further comprises a guide shaft arranged parallel to the opening and closing drive shaft, and the opening and closing fork moves linearly along the guide shaft.

[0012] Preferably, in the above-mentioned jaw opening and closing drive system, an opening and closing drive capstan is provided connected to the opening and closing drive shaft, and the opening and closing drive capstan is used to be connected to the robot arm.

[0013] Preferably, in the above-mentioned jaw opening and closing drive system, the opening and closing drive capstan is fixedly connected to the opening and closing drive shaft through a coupling, and the coupling includes a split coupling body and a transfer shaft fixing block, and the transfer shaft fixing block is detachably fixedly connected to the coupling body and fixes one of the opening and closing drive capstan and the opening and closing drive shaft, and the other of the opening and closing drive capstan and the opening and closing drive shaft is fixedly connected to the coupling body.

[0014] Preferably, the above-mentioned jaw opening and closing drive system further includes a manual drive component, and the manual drive component includes a knob, and the knob is connected to the opening and closing drive shaft through an opening and closing transmission component to drive the opening and closing drive shaft to rotate.

[0015] Preferably, in the above-mentioned jaw opening and closing drive system, the opening and closing transmission assembly includes several stages of pulley assemblies connected in sequence, and the driving pulley of the first stage pulley assembly is coaxially fixedly connected to the knob, and the driven pulley of the last stage pulley assembly is coaxially fixedly connected to the opening and closing drive shaft.

[0016] Preferably, in the above-mentioned jaw opening and closing drive system, the opening and closing transmission assembly includes several stages of wire wheel assemblies connected in sequence, and the driving wheel of the first stage wire wheel assembly is coaxially fixedly connected to the knob, and the driven wheel of the last stage wire wheel assembly is coaxially fixedly connected to the opening and closing drive shaft.

[0017] Preferably, in the above-mentioned jaw opening and closing drive system, the opening and closing drive assembly includes several stages of gears meshing with each other in sequence, and the first stage of the gear is coaxially fixedly connected to the knob, and the last stage of the gear is coaxially fixedly connected to the opening and closing drive shaft.

[0018] The jaw opening and closing driving system of the surgical instrument provided by the present application comprises an outer tube, an opening and closing driving shaft and an opening and closing fork. The outer tube is installed on the jaw head of the surgical instrument. When the outer tube moves, the jaw head is retracted into the outer tube to close or exposed from the outer tube to open. The opening and closing driving shaft is arranged in parallel with the outer tube and is used for receiving torque input. The opening and closing fork is connected with the opening and closing driving shaft and the outer tube respectively and is used for converting the rotation of the opening and closing driving shaft into linear movement and driving the outer tube to move linearly.

[0019] When the jaw head needs to be closed or opened during the operation process, the jaw opening and closing driving system provided by the embodiment of the present application drives the opening and closing driving shaft to rotate. The rotation of the opening and closing driving shaft drives the opening and closing fork to move linearly. The opening and closing fork drives the outer tube to move linearly. The outer tube drives the jaw head to move to open or close. On the one hand, the opening and closing driving shaft can be used for receiving manual torque input and can also receive automatic torque input through the connection of the mechanical arm of the surgical robot. The control mode is more diversified. The automatic control improves the operation precision. On the other hand, the opening and closing driving shaft is arranged in parallel with the outer tube. The position is less limited. The layout of each component is facilitated. The space occupation is small.

[0020] The embodiment of the present application also provides the following technical solutions:

[0021] A surgical instrument comprises a jaw head and further comprises:

[0022] A driving disc is connected with a mechanical arm of a robot and receives the power of the mechanical arm to convert into a rotary driving force;

[0023] A transmission assembly comprises an outer tube installed on the jaw head, an opening and closing driving shaft arranged in parallel with the outer tube and an opening and closing fork connected with the opening and closing driving shaft. The opening and closing driving shaft is coaxially fixedly connected with the driving disc. The rotation of the opening and closing driving shaft drives the opening and closing fork to move linearly. The opening and closing fork is connected with the outer tube to drive the outer tube to move linearly. When the outer tube moves, the jaw head is retracted into the outer tube to close or exposed from the outer tube to open.

[0024] Preferably, in the above surgical instrument, the transmission assembly further comprises a base tube. One end of the base tube is coaxially fixedly connected with the driving disc. The other end of the base tube is connected with the jaw head to drive the jaw head to rotate. The outer tube is sleeved outside the base tube and slides along the base tube.

[0025] Preferably, in the above surgical instrument, the transmission assembly further comprises a swing driving tube. The swing driving tube is sleeved outside the base tube and slides along the base tube. The outer tube is located outside the swing driving tube. The swing driving tube is connected with the jaw head to drive the jaw head to swing.

[0026] When the surgical instrument provided by the embodiment of the present invention is used and the closing or opening of the forceps is controlled during surgery, the robot's mechanical arm drives the drive disk to rotate, which in turn drives the opening and closing drive shaft to rotate. The rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly, which in turn drives the outer tube to move linearly, and the outer tube pushes the forceps to open or close. On the one hand, the automatic input of the rotational driving force is achieved through the robot's mechanical arm, thereby improving the degree of automation and operational accuracy. On the other hand, the opening and closing drive shaft is arranged parallel to the outer tube, which has less position restrictions, facilitates the layout of various components, and takes up less space.

[0027] 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

[0028] 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.

[0029] Figure 1 A schematic diagram of the overall structure of a surgical instrument provided by an embodiment of the present invention;

[0030] Figure 2-1 This is a schematic structural diagram of a jaw opening and closing drive system according to a specific embodiment of the present invention;

[0031] Figure 2-2 for Figure 1 Schematic cross-section diagram of ;

[0032] Figure 3-1 This is a schematic diagram of the connection position between the outer tube and the clamp head;

[0033] Figure 3-2 for Figure 3-1 A top view of

[0034] Figure 3-3 for Figure 3-1 Schematic diagram of the explosion structure;

[0035] Figure 4 A schematic diagram of the structure of the connection between the opening and closing drive shaft and the opening and closing fork;

[0036] Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure;

[0037] Figure 6This is an exploded schematic diagram of the installation structure of the opening and closing drive shaft;

[0038] Figure 7 for Figure 6 Corresponding cross-sectional structural diagram of the assembly state;

[0039] Figure 8-1 It is a structural schematic diagram of the opening and closing shift fork and the outer tube in a matching state;

[0040] Figure 8-2 for Figure 8-1 Schematic diagram of the explosion structure;

[0041] Figure 8-3 It is a structural schematic diagram of another matching state of the opening and closing shift fork and the outer tube;

[0042] Figure 9-1 This is an exploded diagram of the manual drive assembly;

[0043] Figure 9-2 This is a schematic diagram of the assembly structure of the manual drive component;

[0044] Figure 10 Schematic diagram of the structure of the second opening and closing transmission assembly;

[0045] Figure 11 Schematic diagram of the structure of the third opening and closing transmission assembly;

[0046] Figure 12 Schematic diagram of the second type of coordination structure between the opening and closing drive shaft and the opening and closing fork;

[0047] Figure 13-1 This is an exploded schematic diagram of the bracket in the instrument box;

[0048] Figure 13-2 Schematic diagram of the assembly structure of the bracket;

[0049] Figure 14 This is an exploded diagram of the base pipe installation;

[0050] Figure 15 Schematic diagram of the assembly structure of the base tube;

[0051] Figure 16 for Figure 15 Schematic diagram of the cross-section structure.

[0052] The following are marked in the accompanying drawings:

[0053] Forceps head 100, cannula 200, instrument box 300;

[0054] Outer tube 21, opening and closing limiting groove 2101, opening and closing drive shaft 22, opening and closing fork 23, opening and closing limiting through hole 231, guide shaft 24, linear bearing 25, opening and closing drive capstan 26, connecting hole 261, coupling 27, coupling body 271, connecting shaft 2711, second mounting hole 2712, adapter shaft fixing block 272, second mounting hole 2721, opening and closing limiting component 28;

[0055] Manual drive assembly 29, knob 291, opening and closing transmission assembly 292, first opening and closing gear shaft 2921, nut 2922, first opening and closing small gear 2923, second opening and closing small gear 2924, first opening and closing large gear 2925, second opening and closing large gear 2926, second opening and closing gear shaft 2927, third opening and closing gear shaft 2928, opening and closing wheel seat 2929; first large pulley 29211, first small pulley 29212, first belt 29213, second large pulley 29214, second small pulley 29215, second belt 29216; first large wire wheel 29221, first small wire wheel 29222, first wire rope 29223, second large wire wheel 29224, second small wire wheel 29225, second wire rope 29226;

[0056] Base tube 210, spindle nut 211, bearing 212, bearing gland 213, spindle jacket 214, spindle driven wheel 215, swing drive tube 216;

[0057] Nail magazine base 110, nail anvil 120, jaw push tube 130, connecting piece 140, leather cover pressure ring 150, swinging rotating base 160, pin 170, knife holder 180;

[0058] Guide cover 310 , bottom plate 320 , columns 330 , top plate 340 , middle plate 350 . DETAILED DESCRIPTION

[0059] The embodiment of the present invention discloses a surgical robot, a surgical instrument and a jaw opening and closing drive system thereof, so as to realize manual driving and robot arm driving of jaw opening and closing.

[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 1As shown, it includes a jaw 100, a sleeve 200 and an instrument box 300. The sleeve 200 is connected between the instrument box 300 and the jaw 100, and the instrument box 300 receives input drive to drive the jaw 100 to move through the sleeve 200 to meet the needs of surgery. The embodiment of the present application mainly describes the structure of driving the jaw 100 to open and close, and the corresponding driving structure of the self-rotation movement, swing, and movement of the knife head of the jaw 100 can refer to the prior art, which will not be described here.

[0062] In one specific embodiment, referring to Figure 2-1 and Figure 2-2 , the jaw opening and closing drive system of the surgical instrument provided by the embodiment of the present application includes an outer tube 21, an opening and closing drive shaft 22, and an opening and closing yoke 23.

[0063] The outer tube 21 is installed on the jaw 100 of the surgical instrument, and when the outer tube 21 moves, the jaw 100 is retracted into the outer tube 21 to close or exposed from the outer tube 21 to open. That is, the linear movement of the outer tube 21 drives the jaw 100 to close or open. Specifically, as shown in Figure 3-1 、 3-2 and 3-3, the jaw 100 includes a cartridge seat 110 and an anvil 120, the cartridge seat 110 has a guide groove, and the anvil 120 has protruding cylinders on both sides to be inserted into the guide groove. The cartridge seat 110 is connected with a jaw pushing tube 130, the jaw pushing tube 130 is connected with the outer tube 21, the linear movement of the outer tube 21 drives the linear movement of the jaw pushing tube 130, thereby driving the anvil 120 to rotate to realize the closing or opening of the jaw. At the same time, after the jaw pushing tube 130 drives the anvil 120 to rotate and close, the further linear movement of the jaw pushing tube 130 drives the anvil 120 to move linearly. The outer tube 21 and the jaw pushing tube 130 are connected through a connecting piece 140, the connecting piece 140 has protruding shafts at both ends, and the outer tube 21 and the jaw pushing tube 130 have holes matched with the protruding shafts of the connecting piece 140. The end of the outer tube 21 close to the jaw pushing tube 130 is fixedly connected with a sheath compression ring 150, and the end of the jaw pushing tube 130 close to the outer tube 21 is also fixedly connected with a sheath compression ring 150, and a joint position protection sheath is installed between the two sheath compression rings 150. When the outer tube 21 moves linearly along the axial direction, the connecting piece 140 moves linearly, and the linear movement of the connecting piece 140 drives the linear movement of the jaw pushing tube 130. The outer tube 21 and the jaw pushing tube 130 can also be provided with a swing rotating seat 160, the cartridge seat 110 is connected with the swing rotating seat 160 through a pin shaft 170, the swing rotating seat 160 is connected with a knife holder 180, the knife holder 180 is connected with a base tube 210, and the base tube 210 only rotates without moving on the axial line, so that the cartridge seat 110 moves linearly relative to the axial line.

[0064] The opening and closing drive shaft 22 is arranged parallel to the outer tube 21 and is used to receive torque input. The opening and closing fork 23 is connected to the opening and closing drive shaft 22 and the outer tube 21 respectively, and is used to convert the rotation of the opening and closing drive shaft 22 into linear motion, thereby driving the linear motion of the outer tube 21. The opening and closing drive shaft 22 is parallel to the outer tube 21. The opening and closing drive shaft 22 rotates when receiving torque manually input by the user or automatically input by the surgical robot's mechanical arm. The rotation of the opening and closing drive shaft 22 acts on the opening and closing fork 23, which converts the rotational motion of the opening and closing drive shaft 22 into linear motion, thereby driving the corresponding linear motion of the outer tube 21.

[0065] During the linear movement of the outer tube, the components inside the outer tube can remain stationary, that is, the linear movement of the outer tube does not drive the components inside it to move linearly accordingly.

[0066] By using the jaw opening and closing drive system provided by the present invention, when it is necessary to control the forceps head 100 to close or open during surgery, the opening and closing drive shaft 22 is driven to rotate. The rotation of the opening and closing drive shaft 22 drives the opening and closing fork 23 to move linearly, and the opening and closing fork 23 in turn drives the outer tube 21 to move linearly, and the outer tube 21 pushes the forceps head 10 to move to open or close. On the one hand, the opening and closing drive shaft 22 can be used to receive manually input torque, and can also receive automatically input torque by connecting to the robotic arm of the surgical robot, etc., making the control mode more diverse and the automatic control improving the operation accuracy. On the other hand, the opening and closing drive shaft 22 is arranged parallel to the outer tube 21, which has less position restrictions, facilitates the layout of various components, and takes up less space.

[0067] For details, please refer to Figure 4 and Figure 5 The opening and closing drive shaft 22 is threadedly engaged with the opening and closing fork 23. Specifically, the opening and closing drive shaft 22 can be a screw, which is a rotational motion driving component, while the opening and closing fork 23 is a linear motion driving component. It has a threaded hole that forms a helical pair with the screw, converting the screw's rotational motion into linear motion of the opening and closing fork 23, thereby driving the linear motion of the outer tube 21. The threaded structure not only converts rotational motion into linear motion, but also provides a self-locking function, effectively ensuring self-locking performance after tissue clamping.

[0068] In order to better guide the movement of the opening and closing fork 23, as Figure 4 and Figure 5As shown, it also includes a guide shaft 24 arranged parallel to the opening and closing drive shaft 22, and the opening and closing fork 23 moves linearly along the guide shaft 24. Specifically, a guide through hole is provided on the opening and closing fork 23, and the guide shaft 24 is inserted into the guide through hole. The provision of the guide shaft 24 can not only limit the linear motion direction of the opening and closing fork 23, but also limit the rotation of the opening and closing fork 23. This ensures the accuracy and rigidity of the linear motion of the opening and closing fork 23 after the rotational motion is converted into linear motion. In order to reduce the friction between the opening and closing fork 23 and the guide shaft 24, specifically, the guide shaft 24 and the opening and closing fork 23 can be connected by a linear bearing 25, and the linear bearing 25 and the guide shaft 24 form a guide rail pair. As needed, the linear guide structure can specifically use a single linear bearing in combination with a single optical axis, a single linear guide rail, multiple linear bearings in combination with a single optical axis, multiple linear guide rails, and a linear bearing in combination with a linear guide rail, etc. In addition, as needed, the rotation of the opening and closing fork can be limited by other anti-rotation limiting structures so that it can only move linearly along the axis of the opening and closing drive shaft 22 when the opening and closing drive shaft 22 rotates.

[0069] The opening and closing drive shaft 22 is used to receive torque input. In order to facilitate its connection with the surgical robot arm, an opening and closing drive capstan 26 is connected to the opening and closing drive shaft 22. The opening and closing drive capstan 26 is used to connect with the robot arm. Figure 4 and Figure 5 As shown, one end of the opening and closing drive shaft 22 is connected to the opening and closing drive capstan 26. After the robotic arm of the surgical robot is connected to the opening and closing drive capstan 26, the opening and closing drive capstan 26 is driven to rotate, thereby driving the opening and closing drive shaft 22 to rotate. The specific structure of the opening and closing drive capstan 26 can be configured accordingly according to the connection end structure of the robotic arm of the surgical robot and is not specifically limited here.

[0070] The connection between the opening and closing drive shaft 22 and the opening and closing drive capstan 26 can be fixedly connected by a coupling 27. The coupling 27 includes a split coupling body 271 and an adapter shaft fixing block 272. The adapter shaft fixing block 272 is detachably fixedly connected to the coupling body 271 and fixes one of the opening and closing drive capstan 26 and the opening and closing drive shaft 22. The other of the opening and closing drive capstan 26 and the opening and closing drive shaft 22 is fixedly connected to the coupling body 271. Please refer to Figure 6 and Figure 7The coupling body 271 is fixedly connected to the opening and closing drive capstan 26. Specifically, the coupling body 271 has a connecting shaft 2711, and the opening and closing drive capstan 26 has a connecting hole 261. The connecting shaft 2711 is inserted into the connecting hole and fixed. Specifically, the connection can be fixed by bonding with an adhesive or by using an interference fit. A first mounting hole 2712 is provided on the end surface of the coupling body 271 facing the opening and closing drive shaft 22, and a second mounting hole 2721 is provided on the adapter shaft fixing block 272 to match the aforementioned first mounting hole 2712. The first mounting hole 2712 and the second mounting hole 2721 form a storage space for the opening and closing drive shaft 22. During assembly, the end of the opening and closing drive shaft 22 is inserted into the first mounting hole 2712, and then the adapter shaft fixing block 272 is fixedly connected to the coupling body 271, thereby holding the opening and closing drive shaft 22 tightly. Specifically, the adapter shaft fixing block 272 and the coupling body 271 can be connected by a set screw. A bearing 273 can be provided between the opening and closing drive capstan 26 and the base plate 320. The above-mentioned disconnection design of the opening and closing drive shaft 22 and the opening and closing drive capstan 26 can facilitate the zero-position adjustment of the subsequent transmission system, that is, by disassembling the adapter shaft fixing block 272 from the coupling body 271, the opening and closing drive shaft 22 or the opening and closing drive capstan 26 can be rotated separately. When it is adjusted to a suitable position, the adapter shaft fixing block 272 can be fixedly connected to the coupling body 271. In this embodiment, the fixed connection between the opening and closing drive capstan 26 and the coupling body 271 is used as an example for explanation. As needed, the opening and closing drive shaft 22 can also be fixedly connected to the coupling body 271. The connection between the opening and closing drive shaft 22 and the opening and closing drive capstan 26 is not limited to the above-mentioned coupling structure, and can also be connected by other fixed connection methods.

[0071] The above embodiment describes in detail the power input portion of the rotational motion, and the opening and closing drive shaft 22 and the opening and closing fork 23 can be specifically threaded. In another embodiment, please refer to Figure 12 The opening and closing drive shaft 22 and the opening and closing fork 23 cooperate through a sheave structure to achieve conversion between rotational motion and linear motion. Specifically, the opening and closing drive shaft 22 is a sheave shaft, and the opening and closing fork 23 and the sheave shaft form a sheave pair. Through the rotation of the sheave shaft, the opening and closing fork 23 can achieve linear motion along the sheave shaft. For other components of the power input section, such as the guide shaft and the opening and closing drive capstan, reference can be made to the relevant arrangements in the above-mentioned embodiments and will not be repeated here.

[0072] In the above embodiments, the connection between the opening and closing fork 23 and the outer tube 21 is specifically configured as follows. Figure 2-1 、 Figure 2-2 and Figure 8-1 、 Figure 8-2 、 Figure 8-3The jaw opening and closing drive system also includes an opening and closing limit member 28. An opening and closing limit slot 2101 is defined on the outer tube 21, and an opening and closing limit through hole 231 is correspondingly defined on the opening and closing fork 23. The opening and closing limit member 28 is slidably mounted within the opening and closing limit through hole 231. When the opening and closing limit member 28 slides into the opening and closing limit slot 2101, it connects the outer tube 21 and the opening and closing fork 23 for synchronous linear movement. When the opening and closing limit member 28 slides out of the opening and closing limit slot 2101, the outer tube 21 and the opening and closing fork 23 are released from their synchronous linear movement relationship. The opening and closing limit member 28 can be a sheet-like structure, which takes up little space. The shape of the opening and closing limit through hole 231 is configured to correspond to the shape of the opening and closing limit member 28, thereby limiting and guiding the sliding of the opening and closing limit member 28. The shape of the opening and closing limit slot 2101 can be configured to correspond to the shape of the insertion end of the opening and closing limit member 28. The opening and closing limit member 28 connects the opening and closing fork 23 and the outer tube 21, separating the outer tube 21 from the linear drive components and facilitating installation and removal. Under normal operating conditions, the opening and closing limit member 28 is inserted into the opening and closing limit slot 2101, achieving normal transmission. In an emergency, such as when the surgical instrument becomes stuck, the opening and closing limit member 28 can be pulled out of the opening and closing limit slot 2101, releasing the synchronized linear motion relationship between the outer tube 21 and the opening and closing fork 23. The surgical instrument can then be removed by disassembling the outer tube 21, for example, to facilitate emergency removal.

[0073] Furthermore, the opening and closing limit groove 2101 is an annular groove arranged around the outer circumference of the outer tube 21, and the end of the opening and closing limit member 28 close to the opening and closing limit groove 2101 is in the shape of an arc with a diameter corresponding to the inner diameter of the annular groove. The outer surface of the end of the outer tube 305 is provided with an annular groove, and the end of the opening and closing limit member 28 has an arc-shaped feature 281 that matches the annular groove. When the positions of the opening and closing limit member 28, the opening and closing fork 23, and the outer tube 21 are as shown in FIG. Figure 8-3 As shown, the opening and closing fork 23 and the outer tube 21 cannot move axially relative to each other, but can rotate relative to each other; when the positions of the opening and closing limit member 28, the opening and closing fork 23, and the outer tube 21 are as shown Figure 8-1 In the position shown, the opening and closing fork 23 and the outer tube 21 can move relative to the axis, and can also rotate relative to each other. Specifically, one end of the opening and closing fork 23 has a through hole 232 to accommodate the outer tube 21, and the side wall of the opening and closing fork 23 is provided with an opening and closing limit hole 231 to accommodate the opening and closing limit component 28. The opening and closing limit hole 231 can be a square slot. Figure 8-1In the assembled state shown, the outer tube 21 is inserted into the hole 232 of the opening and closing fork 23, and the opening and closing limit member 28 is inserted along the opening and closing limit through hole 231, with the arc-shaped feature 281 on the outer tube 21 resting against the opening and closing limit groove 2101 on the outer tube 21. The above connection together forms a mortise and tenon structure, the significance of which is to maintain the independence of the rotation and opening and closing movements. That is, when the outer tube 21 rotates during the rotational movement, the outer tube 21 can rotate relative to the opening and closing fork 23, while the opening and closing fork 23 remains in place; when the opening and closing drive assembly is operating, the opening and closing fork 23 moves up and down along the axis of the knife bar assembly, which will drive the opening and closing limit member 28 inserted therein to move, and further drive the outer tube 21 up and down through the combined annular groove, thereby driving the opening and closing movement of the end jaws.

[0074] To facilitate manual operation, such as Figure 2-1 and Figure 9-1 、 Figure 9-2 As shown, the jaw opening and closing drive system also includes a manual drive component 29, which includes a knob 291. The knob 291 is connected to the opening and closing drive shaft 22 through an opening and closing transmission component 292 to drive the opening and closing drive shaft 22 to rotate. Specifically, the knob 291 can be rotatably mounted on the instrument box 300. The user rotates the knob 291, and the rotation of the knob 291 drives the opening and closing transmission component 291 to move, thereby driving the opening and closing drive shaft 22 to rotate, thereby realizing manual power input. In summary, the jaw opening and closing drive system provided by the present application can be driven manually or by a robotic arm, and the working mode is more diverse.

[0075] The structure of the opening and closing transmission component 292 can be in the form of gear transmission, belt transmission or wire rope transmission. Figure 9-1 、 Figure 9-2 The opening and closing drive assembly 292 includes several gears meshing in sequence, and the first gear is coaxially fixedly connected to the knob 291, and the last gear is coaxially fixedly connected to the opening and closing drive shaft 22. By using several gear transmissions, the knob can be turned less than one turn to achieve clamping motion, and the gear transmission has high precision. Specifically, Figure 9-1 、 Figure 9-2 In the figure, the opening and closing transmission assembly 292 includes a first opening and closing gear shaft 2921, a nut 2922, a first opening and closing small gear 2923, a second opening and closing small gear 2924, a first opening and closing large gear 2925, a second opening and closing large gear 2925, a second opening and closing gear shaft 2927, a third opening and closing gear shaft 2928, and an opening and closing wheel seat 2929.

[0076] The manual drive assembly 29 can be installed on the instrument box 300 as a whole. Specifically, the instrument box 300 includes a guide cover 310, and the manual drive assembly 29 is installed on the guide cover 310, that is, the opening and closing wheel seat 2929, the first opening and closing large gear 2925, the second opening and closing large gear 2926, the knob 291, the first opening and closing gear shaft 2921, the second opening and closing gear shaft 2927, and the first opening and closing small gear 2923 are all installed thereon.

[0077] The opening and closing wheel seat 2929 is a fixed seat for the first opening and closing gear shaft 2921 and the second opening and closing gear shaft 2927, used to define the axial position of the two shafts. It is fixedly connected to the guide cover 310 using screws. The first opening and closing gear 2925, nut 2922, and knob 291 are installed on the first opening and closing gear shaft 2921, wherein the knob 291 is fixed to the first opening and closing gear shaft 2921 via a set screw. The first opening and closing gear shaft 2921 is specifically provided with a flat position for installing the first opening and closing gear 2925 and limiting the rotation of the first opening and closing gear 2925 relative to the first opening and closing gear shaft 2921. The nut 2922 cooperates with the thread on the first opening and closing gear shaft 2921 to define the axial position of the first opening and closing gear 2925.

[0078] The second large gear 2926, the first small gear 2923, and the nut 2922 are mounted on the second gear shaft 2927. Specifically, the second gear shaft 2927 has a flat portion for mounting the second large gear 2926 and the first small gear 2923 and limiting their rotation relative to the second gear shaft 2927. The nut 2922 is threadedly engaged with the second gear shaft 2927 to limit the axial movement of the second large gear 2926 and the first small gear 2923. The first large gear 2925 meshes with the first small gear 2923, and the second large gear 2926 meshes with the second small gear 2924.

[0079] One end of the opening and closing drive shaft 22 is fixedly connected to the third opening and closing gear shaft 2928. Specifically, the opening and closing gear shaft 2928 is processed with an inner groove hole at one end close to the opening and closing drive shaft 22 for connecting with the nut 2922, and the other end is processed with a flat position for connecting with the second opening and closing pinion 2924, and is provided with an external thread to cooperate with the nut 2922 to axially fix the second opening and closing pinion 2924.

[0080] When the knob 291 rotates, it is transmitted through the first opening and closing large gear 2925, the first opening and closing small gear 2923, the second opening and closing gear shaft 2927, the second opening and closing large gear 2926, the second opening and closing small gear 2924, and the third opening and closing gear shaft 2928, and converted into rotation of the opening and closing drive shaft 22, which is converted into linear motion of the opening and closing fork 23 through the opening and closing fork 23, and further converted into linear movement of the outer tube 21.

[0081] The above embodiment illustrates that the opening and closing transmission assembly adopts the form of gears. In another embodiment, the opening and closing transmission assembly 292 includes a plurality of pulley assemblies connected in sequence, and the driving pulley of the first pulley assembly is coaxially fixedly connected to the knob, and the driven pulley of the last pulley assembly is coaxially fixedly connected to the opening and closing drive shaft. By adopting a plurality of pulley transmission stages, the clamping motion can be achieved by setting the transmission ratio so that the knob can be turned less than one turn, and the structure of the belt transmission is simple. Figure 10 As shown, the knob 291 is specifically coaxially fixedly connected to the first large pulley 29211, the first large pulley 29211 is connected to the first small pulley 29212 through the first belt 29213, the first small pulley 29212 is coaxially fixedly connected to the second large pulley 29214, and the second large pulley 29214 is connected to the second small pulley 29215 through the second belt 29216, that is, the first large pulley 29211 is the active pulley of the first stage pulley assembly. The second small pulley 29215 is the driven pulley of the second-stage pulley assembly. The knob 291 rotates to drive the first large pulley 29211 to rotate, the first large pulley 29211 drives the first small pulley 29212 to rotate, the first small pulley 29212 drives the second large pulley 29214 to rotate synchronously, the second large pulley 29214 drives the second small pulley 29215 to rotate, and the second small pulley 29215 drives the opening and closing drive shaft 22 to rotate.

[0082] In another embodiment, the opening and closing transmission assembly is driven by a wire rope wheel assembly. Specifically, the opening and closing transmission assembly includes several stages of wire wheel assemblies connected in sequence, and the driving wheel of the first stage wire wheel assembly is coaxially fixedly connected to the knob, and the driven wire wheel of the last stage wire wheel assembly is coaxially fixedly connected to the opening and closing drive shaft. By using several stages of wire wheel assemblies for transmission, the clamping movement can be achieved by turning the knob less than one turn through the setting of the transmission ratio, and the transmission structure is simple. Specifically, Figure 11As shown, the knob 291 is specifically coaxially fixedly connected to the first large wire wheel 29221, the first large wire wheel 29221 is connected to the first small wire wheel 29222 through the first wire rope 29223, the first small wire wheel 29222 is coaxially fixedly connected to the second large wire wheel 29224, and the second large wire wheel 29224 is connected to the second small wire wheel 29225 through the second wire rope 29226, that is, the first large wire wheel 29221 is the main component of the first-stage wire wheel assembly. The second small wire wheel 29225 is the driven wheel of the second-stage wire wheel assembly. The knob 291 rotates to drive the first large wire wheel 29221 to rotate, the first large wire wheel 29221 drives the first small wire wheel 29222 to rotate, the first small wire wheel 29222 drives the second large wire wheel 29224 to rotate synchronously, the second large wire wheel 29224 drives the second small wire wheel 29225 to rotate, and the second small wire wheel 29225 drives the opening and closing drive shaft 22 to rotate.

[0083] In the above embodiments, in order to facilitate the installation of various components, the interior of the instrument box 300 can specifically adopt a bracket structure, such as Figure 13-1 、 Figure 13-2 and Figure 2-1 、 Figure 2-2 and Figure 6 As shown, the structure includes a base plate 320, columns 330, a top plate 340, and a middle plate 350. The base plate 320 is provided with through-holes for various pipe fittings to pass through, such as through-holes for outer tubes. The ends of the columns 330 are fixedly connected to the base plate 320 and the top plate 340, respectively, such as by screws. As needed, a bearing 20 can be provided between the opening and closing drive shaft 22 and the top plate 340, and a nut 2922 can be attached to the opening and closing drive shaft 22 to connect with the third gear shaft in the above-described embodiment. If an opening and closing drive capstan 26 is provided, the opening and closing drive capstan 26 can be mounted on the base plate 320. The guide cover in the above-described embodiment can be fixed to the top plate 340 by screws or the like. If a guide shaft 24 is provided, the ends of the guide shaft 24 can be fixedly connected to the middle plate 350 and the base plate 320 by screws or the like.

[0084] The present invention also provides a surgical instrument, which in a specific embodiment includes a forceps head, a drive disc and a transmission assembly. The specific structure of the forceps head can refer to the relevant description in the above-mentioned embodiment of the jaw opening and closing drive system, and will not be repeated here. The drive disc is connected to the mechanical arm of a robot and receives and converts the power of the mechanical arm into a rotational driving force. The drive disc is driven to rotate by the mechanical arm of the robot. The specific connection relationship between the mechanical arm and the drive disc can adopt a conventional setting to achieve rotational drive. The transmission assembly includes an outer tube installed on the forceps head, an opening and closing drive shaft arranged parallel to the outer tube, and an opening and closing fork connected to the opening and closing drive shaft. The opening and closing drive shaft is coaxially fixedly connected to the drive disc. The rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly. The opening and closing fork is connected to the outer tube to drive the outer tube to move linearly. When the outer tube moves, the forceps head retracts into the outer tube to close or exposes the outer tube to open. The specific setting of the transmission assembly can refer to the relevant description in the above-mentioned embodiment of the jaw opening and closing drive system, and will not be repeated here.

[0085] When the surgical instrument provided by the present invention is used and the forceps head needs to be controlled to close or open during surgery, the robot's mechanical arm drives the drive disk to rotate, which in turn drives the opening and closing drive shaft to rotate. The rotation of the opening and closing drive shaft drives the opening and closing fork to move linearly, which in turn drives the outer tube to move linearly, and the outer tube pushes the forceps head to open or close. On the one hand, the robot's mechanical arm enables the automatic input of rotational driving force, thereby improving the degree of automation and operational accuracy. On the other hand, the opening and closing drive shaft is arranged parallel to the outer tube, which has fewer position restrictions, facilitates the layout of various components, and takes up less space.

[0086] Specifically, the transmission assembly also includes a base tube, one end of which is coaxially fixedly connected to a drive disc and the other end is connected to the pliers head to drive its rotation. An outer tube is sleeved over the base tube and slides along the base tube. The drive disc connected to the base tube can be the same component as the drive disc connected to the opening and closing drive shaft, or it can be configured as a separate component, i.e., a drive disc is provided for each base tube and the opening and closing drive shaft to achieve independent drive. The rotation of the pliers head is driven by the rotation of the base tube. The base tube serves as a basic support and is specifically fixed relative to the instrument box along the axis of the base tube. The outer tube is sleeved over the base tube and slides along the base tube. The overlapping structure saves space. The outer tube and the base tube can move relative to each other, thereby achieving independent rotation and opening and closing movements.

[0087] The connection between the base tube and the instrument box, such as Figure 14 、 Figure 15 and Figure 16As shown, the spindle 215 is fixed by a spindle nut 211, a bearing 212, a bearing cover 213, a spindle sleeve 214, and a spindle driven wheel 215. The bearing 212 is installed in the bearing groove of the middle plate 350 and is axially limited by the bearing cover 213. The spindle driven wheel 215 passes through the bearing 212, and its bearing step contacts the end surface of the bearing 212 facing the spindle driven wheel 215. The end of the spindle driven wheel 215 is locked with the spindle nut 211, thereby fixing the spindle driven wheel 215 and the inner ring of the bearing 212 as a whole. The spindle sleeve 214 is pre-installed on the spindle driven wheel 215 using screws. The base tube 210 is inserted into the spindle driven wheel 215, and the step surface of the base tube 210 is in contact with the bottom surface of the spindle driven wheel 215. The spindle sleeve 214 is then tightened to lock the base tube 210. The main shaft driven wheel 215 is in transmission connection with the main shaft driving wheel. The rotational driving force is transmitted to the main shaft driven wheel 215 via the main shaft driving wheel and drives the base pipe 210 to rotate, thereby driving the clamp head to rotate.

[0088] Furthermore, the transmission assembly includes a swing drive tube that is sleeved over the base tube and slides along the base tube. The outer tube is located outside the swing drive tube and is connected to the forceps head to drive the forceps head to swing. Specifically, the sleeve connecting the forceps head and the instrument case includes the outer tube, the swing drive tube, and the base tube, which are sequentially sleeved from the outside to the inside. The swing drive tube drives the forceps head to swing through its linear motion. The outer tube, the swing drive tube, and the base tube are nested along their axis, saving space. Furthermore, the outer tube, the swing drive tube, and the base tube are capable of relative motion, thereby achieving independent rotation, swing, and opening and closing movements.

[0089] Specifically, such as Figure 14 、 Figure 15 and Figure 16 As shown, the outer surface of the base tube 210 cooperates with the inner surface of the swing drive tube 216, and the outer surface of the swing drive tube 216 cooperates with the inner surface of the outer tube 21, so that the three parts have only two movements: moving along the axis and rotating along the axis.

[0090] It should be noted that the surgical instrument provided in this application is not limited to anastomosis devices and vascular closure devices, and may also be other surgical instruments with jaw opening and closing functions as needed.

[0091] 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.

[0092] 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.

[0093] 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 jaw opening and closing drive system for a surgical instrument, comprising an outer tube mounted on a jaw head of the surgical instrument, characterized in that: The pliers further include an opening and closing drive shaft arranged parallel to the outer tube and an opening and closing fork drivingly connected to the opening and closing drive shaft, wherein 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, and when the outer tube moves, the pliers head is pushed to close or open; It also includes an opening and closing limit component, an opening and closing limit groove is provided on the outer tube, and an opening and closing limit through hole is correspondingly provided on the opening and closing fork, 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 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 groove, the outer tube and the opening and closing fork are disengaged to release the synchronous straight line movement relationship.

2. The jaw opening and closing drive system of a surgical instrument according to claim 1, characterized in that: The opening and closing limiting groove is an annular groove arranged around the outer circumference of the outer tube, and the end of the opening and closing limiting component close to the opening and closing limiting groove has an arc shape with a diameter corresponding to the inner diameter of the annular groove.

3. The jaw opening and closing drive system of a surgical instrument according to claim 1, characterized in that: The opening and closing drive shaft is threadably matched with the opening and closing shift fork.

4. The jaw opening and closing drive system of a surgical instrument according to claim 1, characterized in that: It also includes a guide shaft arranged parallel to the opening and closing drive shaft, and the opening and closing fork moves linearly along the guide shaft.

5. The jaw opening and closing drive system of a surgical instrument according to claim 1, characterized in that: An opening and closing drive winch is connected to the opening and closing drive shaft, and the opening and closing drive winch is used to be connected to the robot arm.

6. The jaw opening and closing drive system of a surgical instrument according to claim 5, characterized in that: The opening and closing drive winch is fixedly connected to the opening and closing drive shaft through a coupling. The coupling includes a split coupling body and a transfer shaft fixing block. The transfer shaft fixing block is detachably fixedly connected to the coupling body and fixes one of the opening and closing drive winch and the opening and closing drive shaft. The other of the opening and closing drive winch and the opening and closing drive shaft is fixedly connected to the coupling body.

7. The jaw opening and closing drive system of a surgical instrument according to any one of claims 1 to 6, characterized in that: It also includes a manual drive component, which includes a knob. The knob is connected to the opening and closing drive shaft through an opening and closing transmission component to drive the opening and closing drive shaft to rotate.

8. The jaw opening and closing drive system of a surgical instrument according to claim 7, characterized in that: The opening and closing transmission assembly includes several stages of pulley assemblies connected in sequence, and the driving pulley of the first stage pulley assembly is coaxially fixedly connected to the knob, and the driven pulley of the last stage pulley assembly is coaxially fixedly connected to the opening and closing drive shaft.

9. The jaw opening and closing drive system of a surgical instrument according to claim 7, characterized in that: The opening and closing transmission assembly includes several stages of wire wheel assemblies connected in sequence, and the driving wheel of the first stage wire wheel assembly is coaxially fixedly connected to the knob, and the driven wheel of the last stage wire wheel assembly is coaxially fixedly connected to the opening and closing drive shaft.

10. The jaw opening and closing drive system of a surgical instrument according to claim 7, characterized in that: The opening and closing drive assembly includes a plurality of gears meshing with each other in sequence, wherein the first gear is coaxially fixedly connected to the knob, and the last gear is coaxially fixedly connected to the opening and closing drive shaft.

11. A surgical instrument comprising a forceps head, characterized in that: Also includes: A drive disk connected to a robotic arm of a robot and receiving and converting power from the robotic arm into a rotational drive force; A transmission assembly includes an outer tube mounted on the pliers head, an opening and closing drive shaft arranged parallel to the outer tube, and an opening and closing fork connected to the opening and closing drive shaft, wherein the opening and closing drive shaft is coaxially fixedly connected to the drive disc, 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, and when the outer tube moves, the pliers head retracts into the outer tube to close or exposes the outer tube to open; The transmission assembly also includes a base tube, one end of which is coaxially fixedly connected to the drive disc, and the other end is connected to the clamp head to drive the clamp head to rotate, and the outer tube is sleeved outside the base tube and slides along the base tube.

12. The surgical instrument according to claim 11, wherein: The transmission assembly also includes a swing drive tube, which is sleeved outside the base tube and slides along the base tube. The outer tube is located outside the swing drive tube. The swing drive tube is connected to the clamp head to drive the clamp head to swing.

13. 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 12.

Images