Surgical instruments and surgical robots

Abstract

The present specification provides a surgical instrument and a surgical robot. The surgical instrument comprises a rotation tube extending in a longitudinal direction and having a first end and a second end, the first end being configured to mount an end instrument, the second end being configured to be coupled to a driving device, an instrument mounting groove being arranged inside the rotation tube close to the first end, the instrument mounting groove extending along a circumferential direction of the rotation tube, the end instrument being provided with a lateral flange, the lateral flange being limited in the instrument mounting groove, the surgical instrument further comprising a firing rod and a driving rod at least partially accommodated in the rotation tube, the firing rod and the driving rod being configured to be driven to move by the driving device to trigger the end instrument, the firing rod being configured to be coaxially arranged with the rotation tube, the driving rod being at least partially accommodated between the rotation tube and the firing rod, the driving rod being configured to rotate around the firing rod when the rotation tube is driven to rotate by the driving device, the end instrument being configured to rotate with the rotation tube. The surgical instrument can have better mechanical stability.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of medical devices, and in particular to a surgical instrument and a surgical robot using the same. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside a human body cavity using a laparoscope, a thoracoscope and other modern medical devices and related equipment. Compared with traditional surgical procedures, minimally invasive surgery has the advantages of less trauma, less pain and faster recovery.

[0003] With the advancement of technology, minimally invasive surgical robot technology has gradually matured and is widely used. A minimally invasive surgical robot generally includes a master operating console and a slave operating device. The master operating console is used to send control commands to the slave operating device according to the operation of a doctor to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master operating console and perform corresponding surgical operations.

[0004] The slave operating device is connected with a surgical instrument that can be detached from the slave operating device. The surgical instrument includes a driving device and an end instrument for performing surgery, and a long shaft assembly for connecting the end instrument and the driving device. The driving device is used to connect the surgical instrument to the slave operating device and receive driving force from the slave operating device to drive the end instrument to move.

[0005] It can be seen that higher requirements are put forward for the mechanical stability of the end instrument. SUMMARY

[0006] The embodiments of the present specification are committed to providing a surgical instrument with better mechanical properties and a surgical robot.

[0007] The present specification provides a surgical instrument, which includes a driving device, a self-rotating tube and an end instrument; the self-rotating tube extends in the longitudinal direction and has a first end and a second end, wherein the first end is used to install the end instrument; the second end is used to couple to the driving device; the self-rotating tube can receive the rotational force provided by the driving device, and an instrument mounting groove is provided in the interior of the self-rotating tube near the first end, and the instrument mounting groove extends along the circumference of the self-rotating tube; the end instrument is provided with a lateral flange, and the lateral flange is limited in the instrument mounting groove; the end instrument also has a blade, an anvil and The nail seat; the surgical instrument also includes: a firing rod and a driving rod at least partially accommodated in the rotating tube, the firing rod can push the blade of the end instrument along the longitudinal direction, and the driving rod can be driven by the driving device to move along the longitudinal direction to trigger the nail anvil of the end instrument to open or close relative to the nail seat; the firing rod tends to be coaxially arranged with the rotating tube, and the driving rod is at least partially accommodated between the rotating tube and the firing rod. When the rotating tube is driven to rotate by the rotational force of the driving device, the driving rod rotates around the firing rod, and the end instrument rotates together with the rotating tube.

[0008] An embodiment of the present specification provides an operating device, comprising at least one robotic arm, wherein the robotic arm comprises multiple joints and an actuator, wherein the multiple joints are linked to achieve multiple degrees of freedom of movement of the actuator, and the surgical instrument is detachably mounted on the actuator.

[0009] The embodiment of this specification provides a surgical robot, including a main operating console and the slave operating device, wherein the slave operating device performs surgical operations on a human body according to instructions from the main operating console.

[0010] The surgical instrument provided in the embodiments of this specification achieves longitudinal positioning of the rotating tube by providing an instrument mounting groove on the rotating tube that cooperates with the lateral flange of the end instrument. Furthermore, by providing a drive rod that can rotate around the firing rod along with the rotating tube, the surgical instrument has excellent instrument stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Shown is a three-dimensional schematic diagram of the main operating console provided in the embodiment of this specification;

[0012] Figure 2 Shown is a three-dimensional schematic diagram of a usage scenario of a slave operating device provided in an embodiment of this specification;

[0013] Figure 3 Shown is a three-dimensional schematic diagram of a surgical instrument provided in an embodiment of this specification;

[0014] Figure 4 Shown is an exploded schematic diagram of the end device provided in an embodiment of this specification;

[0015] Figure 5 Shown is a schematic diagram of the internal three-dimensional structure of a driving device provided in an embodiment of this specification;

[0016] Figure 6 Shown is a schematic diagram of the internal three-dimensional structure of a driving device provided in an embodiment of this specification;

[0017] Figure 7 FIG2 is a partially exploded perspective view of a base plate and a self-rotating tube of a driving device provided in an embodiment of this specification;

[0018] Figure 8 The figure shows a three-dimensional schematic diagram of the internal structure of the first end of the self-rotating tube of the long axis assembly provided in an embodiment of this specification;

[0019] Figure 9 FIG2 is a schematic cross-sectional view of a driving device provided in an embodiment of the present disclosure along the axis X of the long axis assembly;

[0020] Figure 10 Shown is a partially exploded perspective view of a firing rod assembly provided in an embodiment of this specification;

[0021] Figure 11 Shown is a schematic cross-sectional view of the driving device provided in an embodiment of the present specification along the axis X of the long axis assembly.

[0022] Master operation console 100 Slave operation device 200 Robotic arm 210

[0023] Actuating device 220 Surgical instrument 300 Driving device 310

[0024] Long axis assembly 320 End instrument 321 Rotating tube 323

[0025] Drive rod assembly 325 Drive rod 327 Instrument first end 329

[0026] Instrument second end 331 end effector 333 lateral flange 335

[0027] Swing hook 337 Housing 339 Top plate 341

[0028] Base plate 343 Support frame 345 First end 347

[0029] Second end 349 Instrument mounting slot 351 Drive rod stopper 322

[0030] Connecting portion 324 Flange limiting member 357 Elastic member 359

[0031] Operating portion 361 First surface 363 Second surface 365

[0032] Transverse flange 367 Connecting hook 369 Firing rod limiting member 371

[0033] Firing rod driving member 373 Firing rod 375 First segment 377

[0034] Second segment 379 Limiting member mounting portion 381 Limiting member extension portion 383

[0035] Third segment 385 Firing rod connecting member 387 Gear portion 389

[0036] Driving member extension portion 391 Clamping head 393 Self-rotating tube driving unit 395

[0037] Driving wheel 397 397 Driving shaft 399 First driven wheel 401

[0038] Second driven wheel 403 Driven shaft 405 Driven wheel 407

[0039] Driving rod driving unit 415 Fork 417 Annular groove 413

[0040] Fork body 421 Fork cover plate 423 Driving shaft assembly 419

[0041] Guide shaft 427 Base 429 Guide shaft assembly 425

[0042] Center hole 433 Driving shaft through hole 435 Guide seat 431

[0043] Self-rotating tube bearing 326 Guide hole 437 DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present specification will be described clearly and completely in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only part of the embodiments, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0045] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0046] It should be noted that the naming method of "first", "second", etc. used in this article for component naming is only used to distinguish the names and does not limit the specific quantity.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] In some embodiments, a minimally invasive surgical robot generally includes a slave operating device and a master operating console. Figure 1 Shown is a main operating console 100 according to one embodiment of the present specification. Figure 2 The slave operating device 200 of one embodiment of the present specification is shown. The surgeon can perform relevant control operations on the slave operating device 200 on the main operating console 100, and the slave operating device 200 performs surgical operations on the human body according to the input instructions of the main operating console 100. The main operating console 100 and the slave operating device 200 can be placed in the same operating room, or in different rooms, or even the main operating console 100 and the slave operating device 200 can be far apart. For example, the main operating console 100 and the slave operating device 200 are located in different cities. The main operating console 100 and the slave operating device 200 can transmit data by wire or by wireless. For example, the main operating console 100 and the slave operating device 200 are located in the same operating room, and data is transmitted between the two by wire. For another example, the main operating console 100 and the slave operating device 200 are located in different cities, and long-distance data transmission is performed between the two via 5G wireless signals.

[0049] The slave operating device 200 includes a robotic arm 210 and an actuator 220 disposed at the distal end of the robotic arm 210. The surgical instrument 300 used to perform a surgical operation is connected to the actuator 220, and the actuator 220 drives the surgical instrument 300 to move through multiple actuators inside it. In some embodiments, multiple surgical instruments 300 can be connected to one actuator 220, and the distal ends of multiple surgical instruments 300 enter the human body through one incision, thereby reducing the number of surgical incisions and making postoperative recovery faster. Of course, in some embodiments, the slave operating device 200 can also have multiple robotic arms, and multiple surgical instruments 300 can also be installed on different robotic arms, and the end instruments 321 of different surgical instruments 300 can enter the human body through different incisions.

[0050] In some embodiments, see Figure 3 and Figure 4 The surgical instrument 300 may include a drive unit 310, a long shaft assembly 320, and an end instrument 321. The long shaft assembly 320 may include a self-rotating tube 323 extending in the longitudinal direction, a firing rod assembly 325 at least partially housed within the self-rotating tube 323, and a drive rod 327. In some embodiments, the drive unit 310 may be coupled to the actuator 220. The multiple drive units within the drive unit 310 may drive the end instrument 321 via the long shaft assembly 320.

[0051] The end instrument 321 extends along the longitudinal direction and may have a first end 329 and a second end 331. The first end 329 may be provided with an end effector 333. The end effector 333 may be a device that performs electrocautery, cutting, clamping, or imaging functions. The second end 331 may be provided with a connection portion 324 between the end instrument 321 and the rotating tube 323.

[0052] Specifically, the connection portion 324 of the end instrument 321 includes a lateral flange 335. The lateral flange 335 can protrude from the end instrument 321 in a direction perpendicular to the longitudinal direction. The lateral flange 335 can be used to cooperate with the rotation tube 323 to at least limit the position between the end instrument 321 and the rotation tube 323 along the longitudinal direction.

[0053] A swing mechanism is provided between the connecting portion 324 and the end effector 333, allowing the connecting portion 324 to swing relative to the end effector 333. The connecting portion 324 includes a swing hook 337 that triggers the swing mechanism. Specifically, when the swing hook 337 is pulled along the longitudinal direction, the swing mechanism within the end effector 321 is activated, causing the end effector 333 to rotate relative to the connecting portion 324. This allows the posture and angle of the end effector 333 to be adjusted.

[0054] The interior of the end instrument 321 may be provided with a knife bar, which may be connected to a blade. When the knife bar is moved along the longitudinal direction toward the first end 329 of the instrument, the blade may be pushed to perform a cutting function.

[0055] Please also refer to Figure 3 and Figure 5 In some embodiments, the housing 339 of the drive device 310 can provide stable support for the internal structure. Specifically, the housing 339 of the drive device 310 can mainly include a top plate 341, a bottom plate 343, a support frame 345, and a shell (not shown) connected to the top plate 341 and the bottom plate 343. The support frame 345 is fixedly connected to the top plate 341 and the bottom plate 343.

[0056] In some embodiments, please refer to Figure 3 and Figure 7 The rotation tube 323 has a first end 347 and a second end 349 along the longitudinal direction. The first end 347 can be mounted with the end instrument 321, and the second end 349 is coupled to the driving device 310. The rotation tube 323 can have an axis X and rotate around the axis X under the drive of the driving device 310. Specifically, the rotation tube 323 can be mounted on the base plate 343 through a rotation tube bearing 326. The rotation tube 323 is limited relative to the base plate 343 along the longitudinal direction of the rotation tube 323 and allows the rotation tube 323 to rotate circumferentially.

[0057] Please also refer to Figure 3 、 Figure 4 and Figure 8 An instrument mounting slot 351 is provided within the self-rotating tube 323 near the first end 347. The instrument mounting slot 351 is used to positionally limit the end instrument 321. Specifically, the instrument mounting slot 351 extends along the circumference of the self-rotating tube 323. After the lateral flange 335 of the end instrument 321 enters the instrument mounting slot 351, the self-rotating tube 323 and the end instrument 321 are positionally limited along the longitudinal direction.

[0058] In some embodiments, the self-rotating tube 323 is equipped with a flange stopper 357. The flange stopper 357 restrains the lateral flange 335 of the end instrument 321 within the instrument mounting slot 351. Thus, the flange stopper 357 prevents the lateral flange 335 of the end instrument 321 from sliding out of one end of the instrument mounting slot 351, thereby somewhat hindering the end instrument 321 from detaching from the self-rotating tube 323. In some embodiments, glue can be provided in the instrument mounting slot 351 to adhere the lateral flange 335 of the end instrument 321 to the instrument mounting slot 351, thereby securely mounting the end instrument 321 on the self-rotating tube 323.

[0059] In some embodiments, a resilient member 359 is installed between the flange limiting member 357 and the rotation tube 323, and the resilient member 359 applies an elastic force to the flange limiting member 357 along the longitudinal direction. In this way, the lateral flange 335 pushes the flange limiting member 357 to move along the longitudinal direction, and overcomes the elastic force applied by the resilient member 359 to the flange limiting member 357. In the case of the lateral flange 335 sliding into the instrument installation slot 351, the resilient member 359 pushes the flange limiting member 357 to reset. At this time, the flange limiting member 357 can stop the lateral flange 335 from sliding out of the end of the instrument installation slot 351.

[0060] The rotation tube 323 is provided with a guide structure corresponding to the flange limiting member 357, which can guide the flange limiting member 357 along the longitudinal direction. The flange limiting member 357 has an operating portion 361 exposed outside the rotation tube 323. In some embodiments, in the case of needing to disassemble the terminal instrument 321 from the rotation tube 323, the operating portion 361 can be manually pushed to avoid the lateral flange 335 of the terminal instrument 321, so that the lateral flange 335 of the terminal instrument 321 can slide out of the instrument installation slot 351, thereby realizing the separation of the terminal instrument 321 from the rotation tube 323.

[0061] Please refer to Figure 3 and Figure 9 In some embodiments, the end of the driving rod 327 away from the first end 347 is formed with a first surface 363 facing the first end 347 and a second surface 365 facing away from the first end 347.

[0062] The driving device 310 can apply a force to the first surface 363 and / or the second surface 365 to move the driving rod 327 along the longitudinal direction. Specifically, in the case that the driving device 310 applies a force to the first surface 363 of the driving rod 327, the driving rod 327 can move away from the first end 347 along the longitudinal direction. In the case that the driving device 310 applies a force to the second surface 365 of the driving rod 327, the driving rod 327 can move towards the first end 347 along the longitudinal direction. In this way, stable driving of the driving rod 327 along the longitudinal direction can be realized. In this way, the driving rod 327 can further drive the corresponding functions of the terminal instrument 321.

[0063] In some embodiments, the driving rod 327 can be limited in the circumferential direction of the rotation tube 323. Specifically, the rotation tube 323 can be driven by the driving device 310 to rotate relative to the axis X of the rotation tube 323, so as to drive the end instrument 321 to rotate, and thus adjust the position and angle of the end effector 333, so as to facilitate the operation. The driving rod 327 can be limited in the circumferential direction of the rotation tube 323. That is, when the rotation tube 323 rotates relative to the axis X thereof, the driving rod 327 rotates around the axis X of the rotation tube 323.

[0064] Thus, when the rotation tube 323 rotates, the driving rod 327 can rotate around the axis X of the rotation tube 323. The relative position of the driving rod 327 in the rotation tube 323 can be stably maintained, and the stability of the surgical instrument 300 is improved.

[0065] In some embodiments, the end of the driving rod 327 away from the first end 347 is provided with a transverse flange 367 deviating from the longitudinal direction. The transverse flange 367 has the first surface 363 and the second surface 365.

[0066] The extension direction of the transverse flange 367 can deviate from the longitudinal direction of the rotation tube 323. That is, the extension direction of the transverse flange 367 can form an acute angle or a right angle with the longitudinal direction of the long shaft assembly 320. Thus, the transverse flange 367 has two surfaces, one of which is the first surface 363 which faces the first end 347 of the long shaft assembly 320 as a whole, and the other of which is the second surface 365 which faces away from the first end 347 of the long shaft assembly 320 as a whole.

[0067] By forming the transverse flange 367 on the driving rod 327, and forming the first surface 363 and the second surface 365 on the transverse flange 367, the driving rod 327 can be driven to move along the longitudinal direction of the long shaft assembly 320 in structure.

[0068] In some embodiments, the transverse flange 367 can be integrally formed with the driving rod 327. Thus, the combination between the two is better. Of course, in some embodiments, the transverse flange 367 and the driving rod 327 can also be independent elements, and are connected by a suitable connection method.

[0069] In some embodiments, the first surface 363 and the second surface 365 of the driving rod 327 can be subjected to forces at the same time. At this time, under the action of the resultant force of the forces on the first surface 363 and the second surface 365, the driving rod 327 moves along the longitudinal direction of the rotation tube 323.

[0070] In some embodiments, the portion of the driving rod 327 extending into the self-rotating tube 323 is limited in the circumferential direction relative to the self-rotating tube 323, but is allowed to move in the longitudinal direction relative to the self-rotating tube 323. Specifically, a driving rod limiting member 322 having a plurality of through holes is arranged in the self-rotating tube 323. The driving rod limiting member 322 is provided with a through hole corresponding to the driving rod 327. The driving rod 327 passes through the through hole. The driving rod limiting member 322 is fixedly connected to the self-rotating tube 323. When the self-rotating tube 323 is driven to rotate, the driving rod limiting member 322 rotates together with the self-rotating tube 323. At this time, the driving rod limiting member 323 drives the driving rod 327 to move through the through hole.

[0071] Please refer to Figure 4 , Figure 8 and Figure 9 In some embodiments, the end of the driving rod 327 close to the first end 347 has a connecting hook 369. The driving rod 327 can be connected to the swing hook 337 of the end instrument 321 through the connecting hook 369. When the driving device 310 drives the driving rod 327 to move in the longitudinal direction, the driving rod 327 can drive the swing mechanism of the end instrument 321 through the swing hook 337, so as to drive the end effector 333 to rotate relative to the connecting part 324.

[0072] In the present embodiment, when the end instrument 321 is installed to the long shaft assembly 320, the end instrument 321 is first moved in the longitudinal direction relative to the self-rotating tube 323. At this time, the connecting hook 369 of the driving rod 327 is separated from the swing hook 337 of the end instrument 321, and the driving rod 327 cannot drive the swing hook 337 to move when it is driven to move. After the lateral flange 335 is limited in the instrument installation slot 351, the connecting hook 369 of the driving rod 327 is engaged with the swing hook 337 of the end instrument 321. At this time, the driving rod 327 can drive the swing hook 337 to move when it is driven to move, so as to drive the swing mechanism of the end instrument 321.

[0073] In some embodiments, when the end instrument 321 is installed to the long shaft assembly 320, the engagement between the connecting hook 369 of the driving rod 327 and the swing hook 337 of the end instrument 321 can limit the circumferential position of the end instrument 321 relative to the self-rotating tube 323. Further, after the lateral flange 335 of the end instrument 321 enters the instrument installation slot 351, the connecting hook 369 of the driving rod 327 is engaged with the swing hook 337 of the end instrument 321, so that the end instrument 321 cannot further rotate relative to the self-rotating tube 323 in the circumferential direction. In addition, the flange limiting member 357 stops the lateral flange 335, so as to limit the circumferential relative position of the end instrument 321 relative to the self-rotating tube 323.

[0074] Please refer toFigure 3 、 Figure 10 and Figure 11 In some embodiments, the firing rod assembly 325 may include a firing rod stopper 371 , a firing rod driver 373 , and a firing rod 375 .

[0075] The firing rod stopper 371 extends along the longitudinal direction and is fixedly connected to the housing 339 of the driving device 310. Specifically, for example, the firing rod stopper 371 can be fixedly connected to the top plate 341 of the driving device 310, so that the firing rod stopper 371 does not move relative to the top plate 341.

[0076] The firing rod 375 can be sleeved on the firing rod limiter 371 and circumferentially limited relative to the firing rod limiter 371. The firing rod 375 has a hollow section that accommodates at least a portion of the firing rod limiter 371, and the firing rod limiter 371 and the firing rod 375 can be relatively displaced in the longitudinal direction of the rotation tube 323. The firing rod limiter 371 limits the firing rod 375 from rotating in the circumferential direction. Specifically, for example, a guide flange extending along the longitudinal direction can be provided on the firing rod limiter 371, and a corresponding guide groove extending along the longitudinal direction can be provided on the firing rod 375. The guide flange is accommodated in the guide groove, thereby limiting the relative circumferential position of the firing rod limiter 371 and the firing rod 375, while allowing relative movement between the two along the longitudinal direction.

[0077] In some embodiments, when the rotating tube 323 is driven to rotate by the driving device 310 , the driving rod 327 rotates around the firing rod 375 .

[0078] The firing rod 375 can be located at the center of the rotation tube 323. Specifically, for example, the center line of the firing rod 375 tends to coincide with the center line of the rotation tube 323. Specifically, the firing rod 375 and the rotation tube 323 can tend to be coaxially arranged. The driving rod 327 is located between the firing rod 375 and the rotation tube 323. When the rotation tube 323 is driven to rotate, the rotation tube 323 can rotate along the circumference of the firing rod 375. The driving rod 327 can rotate around the firing rod 375. The rotation of the rotation tube 323 relative to the firing rod 375 can be understood as the rotation of the rotation tube 323. The rotation of the driving rod 327 around the firing rod 375 can be understood as the revolution of the driving rod 327 relative to the firing rod 375.

[0079] The firing rod driver 373 can drive the firing rod 375 to move along the longitudinal direction relative to the firing rod stopper 371. The firing rod driver 373 can be rotatably connected to the top plate 341 of the drive device 310. Thus, the firing rod driver 373 can rotate relative to the firing rod stopper 371. The firing rod driver 373 contacts the firing rod 375, so that when the firing rod driver 373 is driven to rotate, the firing rod 375 can be driven to move along the longitudinal direction. Specifically, for example, the outer surface of the firing rod 375 can have a plurality of annular stopper grooves. The firing rod driver 373 can be a gear with an axis extending perpendicular to the longitudinal direction. The teeth of the gear can extend into the annular stopper grooves of the firing rod 375. Thus, when the firing rod driver 373 rotates, the firing rod 375 can be driven to move along the longitudinal direction relative to the firing rod stopper 371.

[0080] In this embodiment, a firing rod stopper 371 is provided, which is fixed to the housing 339 of the drive device 310, so that the firing rod stopper 371 can achieve circumferential limitation and longitudinal guidance of the firing rod 375. The firing rod driver 373 can be mounted on the drive device 310, and the firing rod 375 can move longitudinally relative to the rotating tube 323, thereby directly triggering the end effector 321. Specifically, in some embodiments, the longitudinal movement of the firing rod 375 relative to the rotating tube 323 can push the blade of the end effector 321 to achieve a cutting function.

[0081] In some embodiments, the distance that the firing rod 375 can move along the longitudinal direction is less than the length of the firing rod stopper 371 along the longitudinal direction. The length of the firing rod stopper 371 along the longitudinal direction may be g, and the distance that the firing rod 375 can move along the longitudinal direction when driven by the firing rod driver 373 may be G. It is necessary to maintain G < g to prevent the firing rod 375 from disengaging from the firing rod stopper 371 and losing the circumferential restraint on the firing rod 375.

[0082] In some embodiments, the firing rod 375 includes a first section 377 in the shape of a hollow cylinder and a second section 379 connected to the first section 377 ; wherein the first section 377 accommodates at least a portion of the firing rod stopper 371 .

[0083] The firing rod 375 may include a first section 377 and a second section 379. The first section 377 has a hollow portion. Specifically, the first section 377 may be entirely hollow, so that the first section 377 can accommodate the firing rod stopper 371. This prevents the first section 377 of the firing rod 375 from rotating relative to the circumferential direction. This ensures that when the firing rod driver 373 rotates and drives the firing rod 375, the firing rod 375 as a whole can move relative to the stopper of the drive rod 327.

[0084] The first section 377 and the second section 379 can be fixedly connected. The connection can be made according to the materials of the first section 377 and the second section 379. Specifically, for example, the first section 377 and the second section 379 can be connected by welding, bonding, riveting, or interference fit.

[0085] In some embodiments, the firing rod stopper 371 includes a stopper mounting portion 381 fixedly connected to the housing 339 of the drive device 310, and a stopper extension portion 383 housed within the housing 339 of the drive device 310 and extending into the first section 377. The stopper mounting portion 381 and the stopper extension portion 383 are fixedly connected. Of course, in some embodiments, the firing rod stopper 371 may include only the stopper extension portion 383, which is directly fixedly connected to the housing 339 of the drive device 310. Specifically, for example, depending on the material used, the stopper extension portion 383 may be connected using welding, adhesive bonding, a snap-fit ​​structure, or other methods. Alternatively, an opening may be provided in the housing 339 of the drive device 310, and the stopper extension portion 383 may be fixedly connected to the housing 339 of the drive device 310 by interference fit with the opening.

[0086] The position-limiting member extension portion 383 limits the firing rod 375 in a circumferential direction and allows the firing rod 375 to move relative to the position-limiting member extension portion 383 along the longitudinal direction.

[0087] In some embodiments, the internal cross-section of the first section 377 perpendicular to the longitudinal direction is non-circular, and the outer shape of the limiter extension 383 matches the shape of the internal cross-section. In this way, it is difficult for the first section 377 and the limiter of the drive rod 327 to rotate relative to the circumference around the longitudinal direction. The first section 377 is hollow, and the cross-section of the inner surface of the first section 377 perpendicular to the longitudinal direction is the internal cross-section. The shape of the internal cross-section can be an irregular shape. For example, the internal cross-section can be a singular shape. Of course, the shape of the internal cross-section can also be regular, but non-circular. For example, the shape of the internal cross-section can also be a polygon. Specifically, for example, a triangle, a square, a pentagon, etc.

[0088] The outer shape of the limiter extension 383 matches the shape of the internal cross-section. It can be that after the limiter extension 383 extends into the interior of the first section 377, it can contact the inner surface of the first section 377. Therefore, the limiter extension 383 can limit the circumferential rotation of the first section 377 of the central tube by contacting the inner surface of the first section 377. Specifically, for example, the cross-sectional shape of the outer surface of the limiter extension 383 is perpendicular to the longitudinal direction and is similar to the internal cross-sectional shape of the first section 377. Alternatively, the cross-sectional shape of the limiter extension 383 and the shape of the internal cross-section of the first section 377 may be different or similar, but as long as the limiter extension 383 and the first section 377 are adapted in shape to achieve circumferential limitation of the two, it will be sufficient.

[0089] In some embodiments, the firing rod 375 may further include a third section 385 rotatably connected to the second section 379. This ensures that the firing rod stopper 371 does not restrict the circumferential rotation of the third section 385. This allows the third section 385 to rotate circumferentially along with the rotation tube 323. This allows the end effector 321 to rotate along with the rotation tube 323 to adjust its posture angle without affecting the firing rod 375's ability to trigger the end effector 321.

[0090] Specifically, in some embodiments, the firing rod 375 can be used to trigger the cutting function of the end instrument 321. Thus, when the rotating tube 323 rotates, the end instrument 321 can rotate along with the rotating tube 323. Furthermore, the third section 385 can be connected to the end instrument 321 and rotate together with the end instrument 321, and the third section 385 and the second section 379 can rotate relative to each other. In this way, the rotation of the rotating tube 323 does not affect the coordination between the firing rod 375 and the firing rod stop 371, nor does it affect the coordination between the firing rod 375 and the firing rod driver 373.

[0091] In some embodiments, the second section 379 and the third section 385 are rotationally connected by the firing rod connecting member 387. Specifically, the firing rod connecting member 387 can be rotationally connected with both the second section 379 and the third section 385. Of course, the firing rod connecting member 387 can be rotationally connected with only one of the second section 379 or the third section 385. Specifically, for example, the firing rod connecting member 387 can be hollow cylindrical in shape, and two annular flanges can be provided inside the firing rod connecting member 387. The locations where the second section 379 and the third section 385 are fitted with the firing rod connecting member 387 can be provided with annular grooves. In this way, the annular flanges are respectively inserted into the annular grooves of the second section 379 and the third section 385, so as to realize the connection of the firing rod limiting member 371 with the second section 379 and the third section 385. The annular flanges can slide along the annular grooves, so as to realize the relative rotation between the second section 379 and the third section 385. Of course, other embodiments can also be used to realize the rotational connection of the second section 379 and the third section 385, for example, an annular flange can be provided inside the second section 379 at the location where the second section 379 and the third section 385 are connected, and an annular groove can be provided on the third section 385. In this way, the second section 379 and the third section 385 are limited and connected by the annular flange and the annular groove, so as to define the relative position of the second section 379 and the third section 385 along the longitudinal direction, but allow the relative circumferential rotation between the second section 379 and the third section 385. Those skilled in the art can also make other changes under the technical spirit of the embodiments of the present application, as long as the functions and effects realized are the same as or similar to the embodiments provided in the present application, and should be covered within the protection scope of the present application.

[0092] In some embodiments, the firing rod connecting member 387 can semi-encircle the annular grooves of the second section 379 and the third section 385. A wedge 388 can be provided between the firing rod connecting member 387 and the self-rotating tube 323. The wedge 388 can abut against the firing rod connecting member 387, so as to avoid the disengagement of the firing rod connecting member 387 from the abutment with the second section 379 and the third section 385. Those skilled in the art can also make other changes under the technical spirit of the embodiments of the present application, as long as the functions and effects realized are the same as or similar to the embodiments provided in the present application, and should be covered within the protection scope of the present application.

[0093] In some embodiments, the firing rod driver 373 is generally cylindrical and extends along the longitudinal direction, with the firing rod 375 at least partially housed within the firing rod driver 373. In some embodiments, the firing rod driver 373 is sleeved within the first section 377 of the firing rod 375. The firing rod driver 373 and the firing rod 375 are provided with a matching motion conversion structure. This motion conversion structure can convert the rotation of the firing rod driver 373 into movement of the firing rod 375 along the longitudinal direction of the rotation tube 323. Specifically, for example, the motion conversion structure can be implemented by providing a threaded structure between the firing rod driver 373 and the firing rod 375. Alternatively, the motion conversion structure can be implemented by providing a cam on the surface of the firing rod driver 373 facing the firing rod 375, and a cam groove on the outer surface of the firing rod 375.

[0094] In some embodiments, a gear portion 389 is provided at the end of the firing rod driver 373 distal from the first end 347, so that the firing rod driver 373 is driven to rotate via the gear portion 389. Specifically, for example, the firing rod driver 373 may include a gear portion 389 and a driver extension 391. The gear portion 389 can be driven to rotate the firing rod driver 373. The driver extension 391 is integrally sleeved onto the outer surface of the firing rod 375. Furthermore, the length of the firing rod driver 373 limits the longitudinal displacement of the firing rod 375 relative to the longitudinal axis assembly 320. That is, without disengaging the firing rod driver 373, the maximum longitudinal displacement of the firing rod 375 relative to the longitudinal axis assembly 320 tends to approach the length of the firing rod driver 373.

[0095] The firing rod assembly 325 can be driven to displace along the longitudinal direction of the long shaft assembly 320, so as to trigger the end instrument 321 to perform a corresponding function. Specifically, for example, the firing rod assembly 325 can be used to trigger the cutting function of the end instrument 321.

[0096] In some embodiments, a portion of the firing rod 375 extends from the rotation tube 323. After the connection portion 324 of the end instrument 321 is mated with the rotation tube 323, the firing rod 375 can be inserted into the connection portion 324 of the end instrument 321. The firing rod 375 can be connected to the knife bar of the end instrument 321. Specifically, the end of the firing rod 375 extending from the rotation tube 323 can be flat and have a clamping joint 393 formed by a diameter change. When the connection portion 324 of the end instrument 321 is connected to the rotation tube 323, when the lateral flange 335 reaches the second slot section 355 from the first slot section 353, the clamping joint 393 of the firing rod 375 can pass through the receiving hole of the knife bar of the end instrument 321. The shape of the opening of the receiving hole can match the shape of the clamping joint 393. The inside of the receiving hole of the knife bar is formed with a diameter change. As a result, when the end instrument 321 rotates relative to the end instrument 321, the lateral flange 335 can slide along the second slot 355, and the clamping joint 393 rotates within the receiving hole, thereby being clamped within the receiving hole. This connects the firing rod 375 to the knife bar. When the firing rod 375 is driven along the longitudinal direction, it can also move the knife bar, thereby triggering the cutting function of the end instrument 321.

[0097] In some embodiments, the driving device 310 may have multiple driving units, each of which may be configured to perform a corresponding driving function.

[0098] Please also refer to Figure 3 and Figure 6 In some embodiments, the driving device 310 is provided with a rotating tube driving unit 395 for driving the rotating tube 323 to rotate. The rotating tube driving unit 395 includes a driving shaft 399 on which a driving wheel 397 is mounted, a driven shaft 405 on which a first driven wheel 401 and a second driven wheel 403 are mounted, and a driven wheel 407 fixedly connected to the rotating tube 323. A first transmission member is provided between the driving wheel 397 and the first driven wheel 401, and a second transmission member is provided between the second driven wheel 403 and the driven wheel 407.

[0099] The axes of the driving shaft 399 and the driven shaft 405 tend to be arranged in parallel, and further, the axes of the two tend to be parallel to the axis of the rotation tube 323. The driving shaft 399 can rotate under the drive of the actuator of the actuator device 220. Since a first transmission member is provided between the driving wheel 397 and the first driven wheel 401, when the driving shaft 399 rotates, it can drive the first driven wheel 401 through the driving wheel 397 and the first transmission member. The first driven wheel 401 can drive the driven shaft 405 and the second driven wheel 403 to rotate, and then drive the driven wheel 407 to rotate through the second transmission member between the second driven wheel 403 and the driven wheel 407. The driven wheel 407 is fixedly connected to the rotation tube 323 of the long axis assembly, so that the rotation tube 323 is driven to rotate.

[0100] The first transmission member and the second transmission member can have a certain degree of flexibility and can be wound around the driving wheel 397 and the first driven wheel 401, as well as the second driven wheel 403 and the driven wheel 407. The material of the transmission member can be steel wire, belt, etc., which is not specifically limited here.

[0101] Please also refer to Figure 3 and Figure 9 In some embodiments, the drive device 310 may include an annular groove 413 extending along the circumference of the rotation tube 323. The transverse flange 367 of the drive rod 327 is at least partially received within the annular groove 413, enabling the drive device 310 to drive the drive rod 327 along the longitudinal direction. Specifically, a drive unit 415 of the drive device 310 may be provided with an annular groove 413 for at least partially receiving the transverse flange 367. In this manner, the groove wall of the annular groove 413 can apply a force to the second surface 365 of the transverse flange 367, causing the drive rod 327 to move along the longitudinal direction of the rotation tube 323 toward the first end 347. Alternatively, the groove wall of the annular groove 413 can apply a force to the first surface 363 of the transverse flange 367, causing the drive rod 327 to move along the longitudinal direction of the rotation tube 323 toward the second end 349.

[0102] The portion of the transverse flange 367 protruding from the drive rod 327 can partially extend into the annular groove 413. Of course, the portion of the transverse flange 367 protruding from the drive rod 327 can also be completely accommodated in the annular groove 413.

[0103] In some embodiments, the drive device 310 can drive the rotating tube 323 to rotate circumferentially, causing the transverse flange 367 of the drive rod 327 to move along the annular groove 413. The annular groove 413 provides space for the transverse flange 367 to move along the circumference of the rotating tube 323. This arrangement ensures that each function is independent of each other with minimal interference, ensuring stable functional implementation. That is, when the drive device 310 drives the rotating tube 323 to rotate, the drive rod 327 can rotate along with it without affecting its position along the longitudinal direction of the long axis assembly 320. Furthermore, the drive device 310 can simultaneously drive the rotating tube 323 to rotate while also moving the drive rod 327 along the longitudinal direction of the rotating tube 323. This can improve the efficiency of the operation of multiple surgical instruments 300 and reduce surgical time to a certain extent.

[0104] In some embodiments, the drive unit provided with the annular groove 413 can be designated as a drive rod drive unit 415. The drive rod drive unit 415 can include a shift fork 417 provided with the annular groove 413, and a drive shaft assembly 419 rotatably coupled to the shift fork 417. Driven by the drive shaft assembly 419, the shift fork 417 can move axially along the drive shaft assembly 419, thereby driving the drive rod 327 to move along the longitudinal direction.

[0105] The shift fork 417 has a drive shaft through hole 435, and is sleeved on the drive shaft assembly 419 through the drive shaft through hole 435, and a transmission structure is provided between the drive shaft assembly 419. The transmission structure can convert the rotation of the drive shaft assembly 419 into the linear motion of the shift fork 417. Specifically, the transmission structure can adopt a threaded structure. Of course, the transmission structure can also be set as a structure in which a cam and a cam groove cooperate. That is, a cam groove is provided on the drive shaft assembly 419, and a cam that can slide along the cam groove is provided on the shift fork 417. In this way, the transmission structure can convert the rotation of the drive shaft assembly 419 into the linear motion of the shift fork 417 through the cooperation of the cam and the cam groove.

[0106] The shift fork 417 is positioned at the center of the annular groove 413 and has a center hole 433. The center hole 433 of the shift fork 417 is mounted on the firing rod driver 373. The shift fork 417 and the firing rod driver 373 are movable relative to each other along the longitudinal direction of the rotation tube 323. The firing rod driver 373 is restrained on the top plate 341 of the drive device 310. Thus, the shift fork 417 is mounted on both the drive shaft assembly 419 and the firing rod driver 373. When the drive shaft assembly 419 drives the shift fork 417 to move, the firing rod driver 373 blocks the shift fork 417 from rotating relative to the drive shaft assembly 419. Of course, the drive rod 327 can also prevent the shift fork 417 from rotating relative to the drive shaft assembly 419.

[0107] The shift fork 417 includes a shift fork body 421 and a shift fork cover plate 423. The shift fork body 421 is formed with an annular groove, with a center hole 433 located at the center of the annular groove. The two may have similar centerlines. The shift fork cover plate 423 mates with the shift fork body 421 to form an annular groove 413. In this manner, the shift fork 417 can be mounted on the firing rod driver 373. Furthermore, the diameter of the center hole 433 in the shift fork body 421 is larger than the outer diameter of the firing rod driver 373. This creates an annular space between the shift fork body 421 and the firing rod driver 373. Furthermore, the drive rod 327 can extend from this annular space into the annular groove 413, with the transverse flange 367 at least partially contained within the annular groove 413. Furthermore, when the rotation tube 323 rotates, the drive rod 327 can move along the annular space, rotating along with the rotation tube 323.

[0108] The fork cover plate 423 and the fork body 421 can be fixedly connected. Specifically, screws, rivets, or snap-fit ​​structures can be used to achieve positional limits for the two. Of course, glue can also be used to bond the two.

[0109] When the transverse flange 367 of the drive rod 327 is at least partially received in the annular groove 413, the second surface 365 can contact the bottom surface of the annular groove, and the first surface 363 can contact the surface of the shift fork cover 423 facing the bottom surface of the annular groove. This allows the drive rod 327 and the shift fork 417 to be positioned longitudinally along the rotation tube 323. Furthermore, when the shift fork 417 is driven to move longitudinally along the rotation tube 323, it can also move the drive rod 327. This allows the drive rod 327 to operate to trigger the end effector 321.

[0110] In some embodiments, the axial direction of the drive shaft assembly 419 is parallel to the longitudinal direction. Since the shift fork 417 is mounted on the drive shaft assembly 419, when the drive shaft assembly 419 drives the shift fork 417 to move, the shift fork 417 moves along the drive shaft assembly 419. Since the drive shaft assembly 419 is parallel to the longitudinal direction of the long shaft assembly 320, the shift fork 417 drives the drive rod 327 to move along the longitudinal direction of the long shaft assembly 320.

[0111] In some embodiments, in order to enable the shift fork 417 to move more stably along the longitudinal direction of the rotation tube 323 , a guide shaft assembly 425 may be further provided in the driving device 310 .

[0112] A guide hole 437 is provided between the center hole 433 of the fork body 421 and the drive shaft through hole 435. The guide hole 437 may be a through hole that passes through the fork body 421.

[0113] The guide shaft assembly 425 may include a guide shaft 427 and a base 429. The guide shaft 427 passes through the guide hole 437 and is loosely fitted with the guide hole 437. The guide shaft 427 is fixedly connected to the top plate 341. The end of the guide shaft 427 away from the top plate 341 is connected to the base 429. In this way, the guide shaft 427 is confined between the top plate 341 and the base 429. When the shift fork 417 is driven to move along the longitudinal direction of the rotation tube 323, the fit between the guide hole 437 and the guide shaft 427 allows the shift fork 417 to move along the guide shaft 427. Furthermore, the axial direction of the guide shaft 427 is parallel to the longitudinal direction of the long shaft assembly 320. In this way, the guide shaft 427 guides the shift fork 417, allowing the shift fork 417 to be displaced more stably along the longitudinal direction of the rotation tube 323.

[0114] The base 429 can be fixedly connected to the bottom plate 343 so that the base 429 can support the guide shaft 427 more stably.

[0115] To stabilize the positional relationship between the shift fork 417 and the guide shaft 427 and reduce relative tilt or wobbling between the shift fork body 421 and the guide shaft 427, a guide seat 431 may be mounted on the guide shaft 427, allowing the two to slide relative to each other. The guide seat 431 is fixedly connected to the shift fork body 421. The guide seat 431 may be hollow and cylindrical in shape. By mounting the guide seat 431 on the guide shaft 427 and fixing it to the shift fork body 421, the contact area between the shift fork body 421 and the guide shaft 427 is increased to a certain extent. This ensures greater stability when the shift fork 417 moves relative to the guide shaft 427, reducing any relative tilt or wobbling between the two. Furthermore, in some embodiments, to reduce friction between the guide shaft 427, the shift fork body 421, and the guide seat 431, a linear bearing may be provided between the shift fork body 421, the guide seat 431, and the guide shaft 427. Of course, the linear bearing may not be provided, and the fork body 421 and / or the guide seat 431 may be made of a material with a relatively smooth surface.

[0116] The components and materials used in the various embodiments disclosed in this specification all comply with medical standards or regulations.

[0117] The various embodiments of this specification are described in a progressive manner, and the same parts are not repeated. Those skilled in the art will appreciate that any possible combination of the various embodiments of this specification is within the scope of this specification.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized in that: The surgical instrument comprises a driving device, a self-rotating tube and an end instrument; the self-rotating tube extends in a longitudinal direction and has a first end and a second end, wherein the first end is used to mount the end instrument; the second end is used to couple to the driving device; The self-rotating tube is capable of receiving the rotational force provided by the driving device. An instrument mounting groove is provided in the interior of the self-rotating tube near the first end, and the instrument mounting groove extends along the circumference of the self-rotating tube; the end instrument is provided with a lateral flange, and the lateral flange is confined in the instrument mounting groove; the end instrument also has a blade, a nail anvil and a nail seat; The surgical instrument further includes: a firing rod and a driving rod at least partially housed within the rotating tube, the firing rod being capable of pushing the blade of the end instrument along the longitudinal direction, the driving rod being capable of being driven by the driving device to move along the longitudinal direction to trigger the anvil of the end instrument to open or close relative to the nail seat; the firing rod being arranged coaxially with the rotating tube, the driving rod being at least partially housed between the rotating tube and the firing rod, and when the rotating tube is driven to rotate by the rotational force of the driving device, the driving rod rotates around the firing rod, and the end instrument rotates along with the rotating tube; an end portion of the driving rod away from the first end is provided with a transverse flange deviating from the longitudinal direction; the transverse flange having a first surface facing the first end and a second surface facing away from the first end; the driving device having an annular groove extending along the circumference of the rotating tube, the transverse flange of the driving rod being at least partially housed within the annular groove, so that the driving device can drive the driving rod to move along the longitudinal direction through the annular groove.

2. The surgical instrument according to claim 1, wherein: The driving rod is limited in the circumferential direction relative to the rotating tube.

3. The surgical instrument according to claim 1, wherein: The driving device can drive the rotating tube to rotate along the circumferential direction, so that the transverse flange of the driving rod moves along the annular groove, thereby realizing the rotation of the driving rod around the firing rod.

4. The surgical instrument according to claim 3, characterized in that The driving device includes a driving rod driving unit, and the driving rod driving unit includes a shift fork provided with the annular groove, and a driving shaft assembly rotatably connected to the shift fork; the shift fork can move along the axial direction of the drive shaft assembly under the drive of the drive shaft assembly to drive the driving rod to move along the longitudinal direction.

5. The surgical instrument according to claim 4, characterized in that: The driving device further includes a guide shaft for guiding the shift fork; the shift fork is provided with a guide hole located between the annular groove and the drive shaft assembly; the guide shaft passes through the guide hole and is in clearance fit with the guide hole.

6. The surgical instrument according to claim 5, characterized in that The driving device further includes a guide seat which is sleeved on the guide shaft and fixedly connected to the shift fork.

7. The surgical instrument according to claim 1, wherein: The driving device also includes a self-rotating tube driving unit, which includes a driving shaft equipped with a driving wheel, a passive shaft equipped with a first passive wheel and a second passive wheel, and a driven wheel fixedly connected to the self-rotating tube, a first transmission member is provided between the driving wheel and the first passive wheel, and a second transmission member is provided between the second passive wheel and the driven wheel.

8. The surgical instrument according to claim 1, wherein: The driving device is fixedly connected to a firing rod limiter extending along the longitudinal direction, and a firing rod driving member capable of driving the firing rod to move along the longitudinal direction relative to the firing rod limiter. The firing rod is sleeved on the firing rod limiter and is circumferentially limited relative to the firing rod limiter.

9. The surgical instrument according to claim 8, characterized in that The distance that the firing rod can slide along the longitudinal direction is less than the length of the firing rod limiting component along the longitudinal direction.

10. The surgical instrument according to claim 8, characterized in that The firing rod includes a first section with a hollow interior and a second section connected to the first section; wherein the first section accommodates at least a portion of the firing rod limiting member.

11. The surgical instrument according to claim 10, characterized in that: The firing rod limiting member includes a limiting member mounting portion fixedly connected to the housing of the driving device, and an extending portion accommodated in the housing of the driving device and extending into the first section.

12. The surgical instrument according to claim 10, characterized in that The firing rod further includes a third section rotatably connected to the second section.

13. The surgical instrument according to claim 8, characterized in that The firing rod driving member is cylindrical in shape as a whole and extends along the longitudinal direction. The firing rod is at least partially accommodated in the firing rod driving member.

14. The surgical instrument according to claim 13, characterized in that The firing rod driving member and the firing rod are provided with a matching motion conversion structure, and the motion conversion structure can convert the rotation of the firing rod driving member into the movement of the firing rod along the longitudinal direction.

15. The surgical instrument according to claim 1, wherein: The end instrument includes a connecting portion on which the lateral flange is provided and an end actuator, a swing mechanism is provided between the connecting portion and the end actuator for enabling relative rotation between the connecting portion and the end actuator, the connecting portion has a swing hook for triggering the swing mechanism, and the end of the driving rod close to the first end has a connecting hook that can cooperate with the swing hook.

16. The surgical instrument according to claim 1, wherein: The self-rotating tube is equipped with a flange limiting member, and the flange limiting member limits the lateral flange of the end instrument to the instrument installation groove.

17. The surgical instrument according to claim 16, characterized in that An elastic member is installed between the flange limiting member and the self-rotating tube, and the elastic member applies an elastic force along the longitudinal direction to the flange limiting member.

18. A surgical robot, characterized in that: The invention comprises a main operation console and a slave operation device, wherein the slave operation device performs a surgical operation on a human body according to the instruction of the main operation console, and the slave operation device is detachably mounted with a surgical instrument according to any one of claims 1 to 17.

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