Surgical instruments, operating equipment and surgical robots

Abstract

This specification provides a surgical instrument. The surgical instrument includes a drive device and a tubular member. The tubular member extends longitudinally and has a first end and a second end. The first end is used to mount an end instrument, and the second end is used to couple to the drive device. The surgical instrument also includes a first drive rod extending from the drive device into the tubular member. The first drive rod is driven by the drive device to move along the longitudinal direction to trigger the end instrument. The first drive rod includes a first section and a second section. The tubular member is mounted with a detachable first fastener, which is used to connect the first and second sections of the first drive rod. This improves the safety of the surgical instrument.

Description

Technical Field

[0001] The present specification relates to the field of medical instruments, and in particular to a surgical instrument that can be used as a slave operating device and a surgical robot having the slave operating device. Background Art

[0002] Minimally invasive surgery is a surgical procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. These robots typically consist of a master control console and slave devices. The master console sends commands to the slave devices based on the surgeon's actions, controlling the slave devices. The slave devices respond to these commands and perform the corresponding surgical procedures.

[0004] A surgical instrument that is detachable from the slave operating device is connected to the slave operating device. The surgical instrument includes a drive device and an end effector for performing surgery, and a long shaft for connecting the end effector and the drive device. The drive 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 effector to move. The drive device is connected to the end effector through a cable, and the drive device manipulates the movement of the end effector through the cable.

[0005] In some cases, when a minimally invasive surgical robot is performing surgery on a patient, if the doctor operates improperly, the end effector may operate on an inaccurate part. The end effector needs to be released safely and quickly, otherwise it may pose a risk to the patient. Summary of the Invention

[0006] The embodiments of this specification are dedicated to providing a surgical instrument with higher safety.

[0007] An embodiment of the present specification provides a surgical instrument, which includes a drive device and a tube; the tube extends along a longitudinal direction and has a first end and a second end, the first end is used to install an end instrument, and the second end is used to couple to the drive device; the surgical instrument also includes a first drive rod extending from the drive device into the tube, the first drive rod is driven by the drive device to move along the longitudinal direction to trigger the end instrument, the first drive rod includes a first section and a second section, and the tube is installed with a detachable first fastener, the fastener is used to connect the first section and the second section of the first drive rod.

[0008] An embodiment of the present specification provides a surgical instrument, which includes an end instrument for performing surgery, a drive device and a self-rotating tube; the self-rotating tube extends in a longitudinal direction and has a first end and a second end, the first end is used to install the end instrument, and the second end is used to couple to the drive device, the surgical instrument also includes a first drive rod, a second drive rod and a firing rod partially housed in the self-rotating tube, the drive device provides a rotational driving force, the self-rotating tube receives the driving force of the drive device and provides the self-rotating power to the end instrument, the first drive rod and the second drive rod surround the firing rod, the end instrument has a blade, the firing rod is used to trigger the blade movement of the end instrument, the first drive rod and the second drive rod are used to provide the end instrument with rotational or moving power, the first drive rod and / or the second drive rod include a first section and a second section, the self-rotating tube is installed with a detachable first fastener, the fastener is used to connect the first section and the second section of the first drive rod and / or the second drive rod.

[0009] An embodiment of the present specification provides an operating device, comprising at least one robotic arm, wherein the robotic arm includes multiple joints and an actuator, wherein the multiple joints are linked to achieve multiple degrees of freedom of movement of the actuator, and the actuator is detachably mounted with the surgical instrument provided by the aforementioned embodiment.

[0010] An embodiment of the present specification provides a surgical robot, comprising a main operating console and a slave operating device provided in the aforementioned embodiment, wherein the slave operating device performs surgical operations on a human body according to instructions from the main operating console.

[0011] The surgical instrument provided in the embodiments of this specification divides the drive rod into a first section and a second section. A fastener is detachably provided on the rotation tube, and the first section and the second section are connected by the fastener. When the fastener is not removed, the fastener can connect the first section and the second section into a whole. When the fastener is removed, the first section and the second section are separated. In this way, the second section is no longer constrained by the drive device and is in a free state. This allows the end instrument to be in a free state, facilitating the rapid release of the end instrument and improving the safety of the medical instrument during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Shown is a three-dimensional schematic diagram of the main operating console provided in the embodiment of this specification;

[0013] 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;

[0014] Figure 3 Shown is a three-dimensional schematic diagram of a surgical instrument provided in an embodiment of this specification;

[0015] Figure 4 Shown is an exploded schematic diagram of the top plate, bottom plate, and support frame of the driving device provided in an embodiment of this specification;

[0016] Figure 5 FIG2 is a schematic diagram of the internal three-dimensional structure of the driving device provided in the embodiment of this specification;

[0017] Figure 6 The figure shows an exploded schematic diagram of the installation structure of the self-rotating tube, the base plate and the driven wheel provided in the embodiment of this specification;

[0018] Figure 7 Shown is a partially exploded perspective view of a long shaft assembly provided in an embodiment of this specification;

[0019] Figure 8 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 9 Shown is a three-dimensional exploded schematic diagram of some components in the driving device provided in an embodiment of this specification;

[0021] Figure 10 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;

[0022] Figure 11 Shown Figure 8 A schematic cross-sectional view of the drive device along line YY is provided;

[0023] Figure 12 Shown is a partial perspective view of a long shaft assembly provided by an embodiment of this specification, with a first fastener and a second fastener installed;

[0024] Figure 13 Shown Figure 12 An exploded view of the partial perspective view shown; wherein the rotating tube is partially cut away to reveal the internal structure;

[0025] Figure 14 Shown Figure 12 The partial stereogram shown is a schematic cross-sectional view along the axial direction of the long axis component;

[0026] Figure 15 shown Figure 14 The cross-sectional schematic diagram shown is a cross-sectional schematic diagram along the straight line ZZ;

[0027] Figure 16 The figure shows a three-dimensional schematic diagram of the installation state of a driving rod and a release member provided in an embodiment of this specification;

[0028] Figure 17 The figure shows a schematic front view of a body limiting member provided in an embodiment of this specification;

[0029] Figure 18 Shown Figure 17 A schematic side view of the body limiter is shown;

[0030] Figure 19 Shown is a schematic front view of a first component cap provided in an embodiment of this specification;

[0031] Figure 20 Shown Figure 19 a schematic bottom view of the first assembly cap;

[0032] Figure 21 FIG2 is a partially exploded perspective view of a firing rod provided in an embodiment of the present specification;

[0033] Figure 22 Shown is a three-dimensional structural diagram of the internal structure of the driving device provided in the embodiment of this specification.

[0034] Master operation console 100 Slave operation device 200 Robotic arm 210

[0035] Actuating device 220 Surgical instrument 300 Driving device 310

[0036] Long shaft assembly 320 first end 351 end instrument 321

[0037] Second end 353 End 357 End effector 340

[0038] First driving rod 355 First flange 363 First surface 359

[0039] Second surface 361 Groove wall 369 First annular groove 365

[0040] First driving unit 367 First center hole 377a First shift fork 371

[0041] First drive shaft assembly 373 First connecting assembly 376 First center hole 377b

[0042] First driving shaft 374 through hole 382 First connecting shaft 378

[0043] First driving member 380 Bearing 386 Through hole 384

[0044] First fork cover 385 First annular groove 387 Housing 381

[0045] First fork body 383 nut 388 bottom surface 389

[0046] Surface 391 Axis fixing member 394 First connecting member body 390

[0047] Shaft fixing member 392 Second driving rod 393 Bearing 396

[0048] Third surface 397 Second flange 401 End 395

[0049] Fourth surface 399 Second drive unit 405 Second annular groove 403

[0050] Second shift fork 409 Second drive shaft assembly 411 Groove wall 407

[0051] Second center hole 415b Second fork body 417 Second center hole 415a

[0052] Second annular groove 421 bottom surface 423 second fork cover plate 419

[0053] Rotating tube 427 Driving rod stopper 430 Surface 425

[0054] Second through hole 433 Firing rod assembly 435 First through hole 431

[0055] Second section 439 driving wheel 475 first section 437

[0056] Rotating tube drive shaft assembly 473 Top plate 481 Rotating tube drive unit 471

[0057] Transmission member 479 Second connecting shaft 416 Driven wheel 477

[0058] Support frame 485 Second connecting component 414 Bottom plate 483

[0059] Second drive shaft 412 through hole 420 through hole 422

[0060] Second driving member 418 Nut 426 Second connecting member body 428

[0061] Bearing 424 Shaft fixing member 432 Through hole 436

[0062] Shaft fixing member 429 Bearing 440 Driven wheel body 442

[0063] Bearing 438 Firing rod limiter 446 Firing rod driver 448

[0064] Rotating tube fixing member 444 Gear portion 452 Driving member extension portion 454

[0065] Firing rod 450 Bearing 456 Bearing 458

[0066] Outer tube connector 460 Guide shaft assembly 462 First guide hole 464

[0067] First guide shaft 468 Base 472 First guide seat 474

[0068] Second guide shaft 476 Second guide hole 478 Second guide seat 480

[0069] Third through hole 482 First fastener 502 First section 504

[0070] Section 2 506 Second Fastener 508 Section 3 510

[0071] Fourth section 512 Body connection portion 514 Second section groove 522

[0072] First fastener body 518 First groove 520 First notch 528

[0073] First stop wall 524 Second stop wall 526 Body limiter 534

[0074] Second notch 530 First window 532 Limiting portion 540

[0075] Strip hole 536 Limiting member body 538 Snap bolt 546

[0076] Bolt head 547 Bolt post 549 Snap hole 544

[0077] First component cap 542 brim portion 543 third section 803

[0078] Firing rod connecting piece 834 Limiting piece mounting portion 830 Limiting piece extension portion 832

[0079] Drive gear shaft 840 Firing rod drive gear 836 Firing drive unit 838

[0080] Third drive shaft gear 846 First transition gear 842 Third drive shaft assembly 844

[0081] Third driving member 852 Third connecting assembly 848 Third driving shaft 850

[0082] Axis fixing member 858 Third connecting member body 854 Axis fixing member 856

[0083] Second transition gear 864 Third drive shaft gear shaft 860 Manual drive unit 862

[0084] First manual shaft 870 First manual wheel assembly 866 First knob 868

[0085] First manual gear 872 wedge 835 DETAILED DESCRIPTION

[0086] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this invention.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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 2The 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.

[0091] 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 300 of different surgical instruments 300 can enter the human body through different incisions.

[0092] In some embodiments, see Figure 3 The surgical instrument 300 may include a drive device 310, a long shaft assembly 320, and an end instrument 321. The long shaft assembly 320 may include a self-rotating tube 427 extending in a longitudinal direction, a firing rod assembly 435 at least partially housed within the self-rotating tube 427, and a drive rod. The long shaft assembly 320 has a first end 351 and a second end 353 along the longitudinal direction. The end instrument 321 may be mounted on the first end 351 of the long shaft assembly 320, and the second end 353 of the long shaft assembly 320 is coupled to the drive device 310.

[0093] The end instrument 321 may include a wrist and / or an end effector 340. The end effector 340 may be an instrument that performs functions such as burning, shearing, cutting, clamping, or imaging, and a blade or the like may be provided in the clamp. The drive device 310 may be coupled to the actuator 220. The multiple drive units within the drive device 310 may manipulate the wrist and / or the end effector 340 through the long shaft assembly 320. In some other embodiments, the first end 351 of the long shaft assembly 320 may be connected only to the wrist, and actions such as pressing or lifting tissue may be performed through the movement of the wrist. In some embodiments, the end instrument 321 may have at least a first mode. In the first mode, the end instrument 321 may rotate and swing. In some embodiments, the end instrument 321 may also have a second mode. In the second mode, the end instrument 321 may move.

[0094] Please also refer to Figure 3 and Figure 4 In some embodiments, the housing 381 of the driving device 310 can provide stable support for the internal structure. Specifically, the housing 381 of the driving device 310 can mainly include a top plate 481, a bottom plate 483, a support frame 485, and a shell connected to the top plate 481 and the bottom plate 483 ( Figure 4 Not shown, as Figure 3 The support frame 485 is fixedly connected to the top plate 481 and the bottom plate 483.

[0095] Please also refer to Figure 5 In some embodiments, the self-rotating tube 427 extends along the longitudinal direction to form the first end 351 and the second end 353. The self-rotating tube 427 is hollow as a whole to form a hollow tube.

[0096] In some embodiments, the drive device 310 can provide a rotational driving force to the rotation tube 427. Thus, the rotation tube 427 can rotate under the action of the rotational driving force. Specifically, the drive device 310 can be provided with a rotation tube drive unit 471 for driving the rotation tube 427 to rotate. The rotation tube drive unit 471 can include: a rotation tube drive shaft assembly 473, a driving wheel 475 sleeved on the rotation tube drive shaft assembly 473, a driven wheel 477 fixedly connected to the rotation tube 427, and a transmission member 479 wrapped around the driving wheel 475 and the driven wheel 477.

[0097] The rotating tube drive shaft assembly 473 can rotate under the drive of the actuator of the actuator device 220. Since the driving wheel 475 is fixedly connected to the rotating tube drive shaft assembly 473, the driving wheel 475 can rotate along with the rotating tube drive shaft assembly 473. The rotation of the driving wheel 475 drives the transmission member 479, which in turn drives the driven wheel 477 to rotate. The driven wheel 477 is fixedly connected to the rotating tube 427, so the driven wheel 477 can drive the rotating tube 427 to rotate together. This enables the rotating tube drive unit 471 to drive the rotating tube 427 to rotate.

[0098] Please also refer to Figure 6 The driven wheel 477 may include a driven wheel body 442 and a rotation tube fixing member 444. The driven wheel body 442 may be sleeved on the rotation tube 427, and the rotation tube fixing member 444 may be fixedly connected to the driven wheel body 442 to secure the driven wheel 477 to the rotation tube 427. Furthermore, the rotation tube fixing member 444 may be fixedly connected to the driven wheel body 442 by screws or rivets.

[0099] The transmission member 479 has a certain degree of flexibility and can be wound around the driving wheel 475 and the driven wheel 477. The material of the transmission member 479 can be a steel wire, a belt, etc. No specific limitation is given here.

[0100] See also Figures 7 to 9 In some embodiments, a first driving rod 355 for driving the end instrument 321 is provided in the long shaft assembly 320 ; a first surface 359 facing the first end 351 and a second surface 361 facing away from the first end 351 are formed at an end 357 of the first driving rod 355 away from the first end 351 .

[0101] The driving device 310 is coupled to the second end 353 of the long shaft assembly 320. The driving device 310 can apply a force to the first surface 359 and / or the second surface 361 to move the first driving rod 355 along the longitudinal direction.

[0102] Specifically, when the drive device 310 applies a force to the first surface 359 of the first drive rod 355, the first drive rod 355 can move away from the first end 351 along the longitudinal direction. When the drive device 310 applies a force to the second surface 361 of the first drive rod 355, the first drive rod 355 can move closer to the first end 351 along the longitudinal direction. In this way, the first drive rod 355 can be stably driven to move along the longitudinal direction. In this way, the first drive rod 355 can further drive the corresponding functions of the end device 321. Specifically, for example, the movement of the first drive rod 355 along the longitudinal direction can trigger the end device to perform the first mode of movement.

[0103] In some embodiments, the first drive rod 355 can be circumferentially limited relative to the rotating tube 427. Specifically, the rotating tube 427 can be driven by the drive device 310 to rotate relative to the axis X of the rotating tube 427. This can drive the end instrument 321 to rotate, thereby adjusting the position and angle of the end effector 340 to facilitate the surgical procedure. The first drive rod 355 can be circumferentially limited relative to the rotating tube 427. That is, when the rotating tube 427 rotates relative to its axis X, the first drive rod 355 will rotate along with it around the axis X of the rotating tube 427.

[0104] Thus, when the rotating tube 427 rotates, the first driving rod 355 can rotate along with it around the axis X of the rotating tube 427. The relative position of the first driving rod 355 in the rotating tube 427 can be stably maintained, thereby improving the stability of the surgical instrument 300.

[0105] In some embodiments, the end portion 357 of the first driving rod 355 away from the first end 351 is provided with a first flange 363 deviating from the longitudinal direction. The first flange 363 has the first surface 359 and the second surface 361 .

[0106] The extension direction of the first flange 363 can deviate from the longitudinal direction of the rotation tube 427. This allows the extension direction of the first flange 363 to form an acute angle or a right angle with the longitudinal direction of the rotation tube 427. Thus, the first flange 363 has two surfaces: one surface generally facing the first end 351 of the rotation tube 427, namely the first surface 359; and the other surface generally facing away from the first end 351 of the rotation tube 427, namely the second surface 361.

[0107] By forming the first flange 363 on the first driving rod 355 and forming the first surface 359 and the second surface 361 on the first flange 363, it is structurally convenient to drive the first driving rod 355 to move along the longitudinal direction of the rotation tube 427.

[0108] In some embodiments, the first flange 363 can be integrally formed with the first drive rod 355. This allows for a better connection between the two. Of course, in some embodiments, the first flange 363 and the first drive rod 355 can also be independent components connected by an appropriate connection method.

[0109] In some embodiments, the end 357 of the first driving rod 355 away from the first end 351 may be provided with a groove (not shown in the figure). In this way, the surface of the groove side wall facing the first end 351 can serve as the first surface 359, and the surface of the groove side wall facing away from the first end 351 can serve as the second surface 361. Alternatively, the end surface of the first driving rod 355 away from the first end 351 can serve as the second surface 361. Of course, those skilled in the art can make other changes based on the inspiration of the embodiments of this specification, but as long as the functions and effects achieved are the same or similar to the functions and effects disclosed in multiple embodiments of the specification, they should all be covered within the scope of protection of the claims of this case.

[0110] In some embodiments, the driving device 310 may have a first annular groove 365 extending along the circumference of the rotating tube 427. The first flange 363 of the first driving rod 355 is at least partially received in the first annular groove 365, so that the driving device 310 can drive the first driving rod 355 to move along the longitudinal direction.

[0111] A driving unit 367 of the driving device 310 can be provided with a first annular groove 365 for at least partially accommodating the first flange 363. In this manner, a force can be applied to the second surface 361 of the first flange 363 via the groove wall 369 of the first annular groove 365, causing the first driving rod 355 to move along the longitudinal direction of the rotating tube 427 toward the first end 351. Alternatively, a force can be applied to the first surface 359 of the first flange 363 via the groove wall 369 of the first annular groove 365, causing the first driving rod 355 to move along the longitudinal direction of the rotating tube 427 toward the second end 353.

[0112] The portion of the first flange 363 protruding from the first driving rod 355 can partially extend into the first annular groove 365. Of course, the portion of the first flange 363 protruding from the first driving rod 355 can also be completely received in the first annular groove 365.

[0113] In some embodiments, the drive device 310 can drive the rotating tube 427 to rotate circumferentially, causing the first flange 363 of the first drive rod 355 to move along the first annular groove 365. The first annular groove 365 provides space for the first flange 363 to move along the circumference of the rotating tube 427. This arrangement ensures that each function is independent of each other and minimizes interference, ensuring stable functional implementation. That is, when the drive device 310 drives the rotating tube 427 to rotate, the first drive rod 355 can rotate along with it without affecting its position along the longitudinal direction of the rotating tube 427. Furthermore, the drive device 310 can simultaneously drive the first drive rod 355 to move along the longitudinal direction of the rotating tube 427 while driving the rotating tube 427 to rotate. This can improve the efficiency of the operation of multiple surgical instruments 300 and reduce surgical time to a certain extent.

[0114] In some embodiments, for ease of description, among the multiple drive units included in the drive device 310, the drive unit 367 provided with the first annular groove 365 is referred to as the first drive unit 367. The first drive unit 367 may include: a first shift fork 371 provided with the first annular groove 365, and a first drive shaft assembly 373 rotatably coupled to the first shift fork 371. Driven by the first drive shaft assembly 373, the first shift fork 371 can move axially along the first drive shaft assembly 373, thereby driving the first drive rod 355 to move along the longitudinal direction.

[0115] The first shift fork 371 is sleeved on the first drive shaft assembly 373, and a first transmission structure is provided between the first drive shaft assembly 373. The first transmission structure can convert the rotation of the first drive shaft assembly 373 into the linear motion of the first shift fork 371. Specifically, the first transmission structure can adopt a threaded structure. Of course, the first transmission structure can also be set as a structure in which a cam cooperates with a cam groove. That is, a cam groove is provided on the first drive shaft assembly 373, and a cam that can slide along the cam groove is provided on the first shift fork 371. In this way, the first transmission structure can convert the rotation of the first drive shaft assembly 373 into the linear motion of the first shift fork 371 through the cooperation of the cam and the cam groove.

[0116] The first shift fork 371 is provided with a first center hole 377a corresponding to the center of the first annular groove 365. The first center hole 377a of the first shift fork 371 is mounted on the firing rod driver 448. The first shift fork 371 and the firing rod driver 448 are movable relative to each other along the longitudinal direction of the long shaft assembly 320. The firing rod driver 448 is restrained by the top plate 481 of the drive device 310. Thus, the first shift fork 371 is mounted on both the first drive shaft assembly 373 and the firing rod driver 448. When the first drive shaft assembly 373 drives the first shift fork 371 to move, the firing rod driver 448 blocks the first shift fork 371 from rotating relative to the first drive shaft assembly 373. Of course, the first drive rod 355 can also prevent the first shift fork 371 from rotating relative to the first drive shaft assembly 373.

[0117] The first shift fork 371 includes a first shift fork body 383 and a first shift fork cover plate 385. The first shift fork body 383 is formed with a first annular groove 387, and a first center hole 377a is located at the center of the first annular groove 387. The first and second annular grooves 387 may have similar centerlines. The first shift fork cover plate 385 mates with the first shift fork body 383 to form a first annular groove 365. The first shift fork cover plate 385 has a first center hole 377b at its center. This allows the first shift fork 371 to be mounted on the firing rod driver 448. Furthermore, the diameter of the first center hole 377b in the first shift fork cover plate 385 is larger than the outer diameter of the firing rod driver 448. This creates an annular space between the first shift fork cover plate 385 and the firing rod driver 448. Furthermore, the first driving rod 355 can extend from this annular space into the first annular groove 365, so that the first flange 363 is at least partially received within the first annular groove 365. Furthermore, when the rotating tube 427 rotates, the first driving rod 355 can move along the annular space, so that the first driving rod 355 rotates together with the rotating tube 427 .

[0118] The first shift fork cover 385 and the first shift fork body 383 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.

[0119] When the first flange 363 of the first drive rod 355 is at least partially received in the first annular groove 365, the second surface 361 can contact the bottom surface 389 of the first annular groove 387, and the first surface 359 can contact the surface 391 of the first fork cover 385 facing the bottom surface 389 of the first annular groove 387. This allows the first drive rod 355 and the first fork 371 to be positioned longitudinally along the rotation tube 427. Furthermore, when the first fork 371 is driven to move longitudinally along the rotation tube 427, it can also move the first drive rod 355. This allows the first drive rod 355 to operate to trigger the end effector 321.

[0120] In some embodiments, the axial direction of the first drive shaft assembly 373 is parallel to the longitudinal direction. Since the first shift fork 371 is sleeved on the first drive shaft assembly 373, when the first drive shaft assembly 373 drives the first shift fork 371 to move, the first shift fork 371 moves along the first drive shaft assembly 373. Since the first drive shaft assembly 373 is parallel to the longitudinal direction of the rotation tube 427, the first shift fork 371 drives the first drive rod 355 to move along the longitudinal direction of the rotation tube 427.

[0121] The first drive shaft assembly 373 is mounted on the drive device 310 . Specifically, the first drive shaft assembly 373 may mainly include a first drive shaft 374 , a first connecting assembly 376 , a first connecting shaft 378 and a first driving member 380 .

[0122] The first drive shaft 374 passes through the through hole 382 of the first fork body 383, so that the first fork 371 is sleeved on the first drive shaft assembly 373. The top plate 481 is provided with a through hole 384 corresponding to the first drive shaft 374, and the first drive shaft 374 is mounted to the through hole 384 through a bearing 386. In this way, the first drive shaft 374 can rotate relative to the top plate 481. The portion of the first drive shaft 374 extending out of the through hole 384 is connected to a nut 388. The portion of the first drive shaft 374 that contacts the bearing 386 is provided with a step surface. Furthermore, through the cooperation of the step surface, the bearing 386 and the nut 388, the position of the first drive shaft 374 relative to the top plate 481 is limited, and the first drive shaft 374 is allowed to rotate relative to the top plate 481.

[0123] The first connecting assembly 376 may include a first connecting member body 390, a shaft fixing member 392, and a shaft fixing member 394. The first connecting assembly 376 may be used to connect the first drive shaft 374 and the first connecting shaft 378. Specifically, the shaft fixing member 392 may securely connect the first drive shaft 374 to the first connecting member body 390. The shaft fixing member 394 may securely connect the first connecting shaft 378 to the first connecting member body 390. The aforementioned secure connection method may include, but is not limited to, screws or rivets. In this manner, the first drive shaft 374 and the first connecting shaft 378 are securely connected.

[0124] The first connecting shaft 378 can be mounted in the through hole 398 of the bottom plate 483 via a bearing 396. This allows the first connecting shaft 378 to rotate relative to the bottom plate 483, thereby enabling the first drive shaft assembly 373 to rotate relative to the top plate 481 and the bottom plate 383. This also defines the position of the first drive shaft assembly 373 along the longitudinal direction of the rotation tube 427.

[0125] The first driving member 380 is fixedly connected to the first connecting shaft 378. The first driving member 380 can be used to receive power input from the actuator of the actuating device 220. Thus, the first driving shaft assembly 373 is driven to rotate.

[0126] In some embodiments, the first surface 359 and the second surface 361 of the first driving rod 355 may be simultaneously subjected to forces exerted by the first fork 371. In this case, under the combined force of the forces exerted on the first surface 359 and the second surface 361, the first driving rod 355 moves along the longitudinal direction of the rotation tube 427.

[0127] Please also refer to Figure 7 、 Figure 8 and Figure 10 In some embodiments, a second driving rod 393 for driving the end instrument 321 is disposed in the self-rotating tube 427 ; an end 395 of the second driving rod 393 away from the first end 351 is formed with a third surface 397 facing the first end 351 and a fourth surface 399 facing away from the first end 351 .

[0128] The driving device 310 can apply force to the third surface 397 and / or the fourth surface 399 to move the second driving rod 393 along the longitudinal direction.

[0129] Specifically, when the drive device 310 applies a force to the third surface 397 of the second drive rod 393, the second drive rod 393 can move away from the first end 351 along the longitudinal direction. When the drive device 310 applies a force to the fourth surface 399 of the second drive rod 393, the second drive rod 393 can move closer to the first end 351 along the longitudinal direction. In this way, the second drive rod 393 can be stably driven to move along the longitudinal direction. In this way, the second drive rod 393 can further trigger the corresponding function of the end instrument 321. Specifically, for example, the second drive rod 393 can move along the longitudinal direction, triggering the end instrument 321 to perform the second mode of movement.

[0130] In some embodiments, the second drive rod 393 is circumferentially limited relative to the rotating tube 427. Specifically, the rotating tube 427 can be driven by the drive device 310 to rotate relative to the axis of the rotating tube 427, thereby causing the end instrument 321 to swing, thereby adjusting the position and angle of the end instrument 321 to facilitate the surgical procedure. The second drive rod 393 can be circumferentially limited relative to the rotating tube 427. That is, when the rotating tube 427 rotates relative to its axis X, the second drive rod 393 will rotate along with it around the axis X of the rotating tube 427.

[0131] In this way, when the rotating tube 427 rotates, the second driving rod 393 can rotate along with it around the axis of the rotating tube 427. The relative position of the second driving rod 393 in the rotating tube 427 can be stably maintained, thereby improving the stability of the surgical instrument 300.

[0132] In some embodiments, the end portion 395 of the second driving rod 393 away from the first end 351 is provided with a second flange 401 deviating from the longitudinal direction; the second flange 401 has the third surface 397 and the fourth surface 399 .

[0133] The extension direction of the second flange 401 can deviate from the longitudinal direction of the rotating tube 427. This allows the extension direction of the second flange 401 to form an acute angle or a right angle with the longitudinal direction of the rotating tube 427. Thus, the second flange 401 has two surfaces: one surface generally facing the first end 351 of the rotating tube 427, namely the third surface 397; and the other surface generally facing away from the first end 351 of the rotating tube 427, namely the fourth surface 399.

[0134] By forming the second flange 401 on the second driving rod 393 and forming the third surface 397 and the fourth surface 399 on the second flange 401, it is structurally convenient to drive the second driving rod 393 to move along the longitudinal direction of the rotation tube 427.

[0135] In some embodiments, the second flange 401 can be integrally formed with the second drive rod 393. This allows for a better integration between the two. Of course, in some embodiments, the second flange 401 and the second drive rod 393 can also be independent components connected by an appropriate connection method.

[0136] In some embodiments, the end 395 of the second drive rod 393 away from the first end 351 may be provided with a groove (not shown). Thus, the surface of the groove sidewall facing the first end 351 may serve as the third surface 397, and the end surface of the second drive rod 393 away from the first end 351 may serve as the fourth surface 399. Of course, those skilled in the art may make other modifications based on the embodiments of this specification. However, as long as the functions and effects achieved are the same or similar to those disclosed in the various embodiments of this specification, they shall be covered by the scope of protection of the present claims.

[0137] In some embodiments, the driving device 310 has a second annular groove 403 extending along the circumference of the rotating tube 427, and the second flange 401 of the second driving rod 393 is at least partially accommodated in the second annular groove 403, so that the driving device 310 can drive the second driving rod 393 to move along the longitudinal direction.

[0138] Each of the multiple drive units included in the drive device 310 can be configured to perform a corresponding drive function. Specifically, one drive unit 504 of the drive device 310 can be provided with a second annular groove 403 for at least partially accommodating the second flange 401. In this manner, a force can be applied to the fourth surface 399 of the second flange 401 via the groove wall 407 of the second annular groove 403, causing the second drive rod 393 to move along the longitudinal direction of the rotation tube 427 toward the first end 351. Alternatively, a force can be applied to the third surface 397 of the second flange 401 via the groove wall 407 of the second annular groove 403, causing the second drive rod 393 to move along the longitudinal direction of the rotation tube 427 toward the second end 353.

[0139] The portion of the second flange 401 protruding from the second driving rod 393 can partially extend into the second annular groove 403. Of course, the portion of the second flange 401 protruding from the second driving rod 393 can also be completely accommodated in the second annular groove 403.

[0140] In some embodiments, the drive device 310 can drive the rotating tube 427 to rotate circumferentially, causing the second flange 401 of the second drive rod 393 to move along the second annular groove 403. In some embodiments, the drive device 310 can drive the rotating tube 427 to rotate circumferentially, causing the second flange 401 of the second drive rod 393 to move along the second annular groove 403. The second annular groove 403 provides space for the second flange 401 to move along the circumference of the rotating tube 427. This arrangement ensures that each function is independent of each other and minimizes interference, ensuring stable functional implementation. That is, when the drive device 310 drives the rotating tube 427 to rotate, the second drive rod 393 can rotate along with it without affecting its position along the longitudinal direction of the rotating tube 427. Furthermore, the drive device 310 can simultaneously drive the second drive rod 393 to move along the longitudinal direction of the rotating tube 427 while driving the rotating tube 427 to rotate. In this way, the execution efficiency of multiple surgical instruments 300 can be improved, and the operation time can be reduced to a certain extent.

[0141] In some embodiments, the driving device 310 includes a second driving unit 405, the second driving unit 405 includes a second fork 409 provided with a second annular groove 403, and a second driving shaft assembly 411 rotatably connected to the second fork 409; the second fork 409 can be driven by the second driving shaft assembly 411 to move along the axial direction of the second driving shaft assembly 411 to drive the second driving rod 393 to move along the longitudinal direction.

[0142] The second shift fork 409 is sleeved on the second drive shaft assembly 411, and a second transmission structure 413 is provided between the second drive shaft assembly 411. The second transmission structure 413 can convert the rotation of the second drive shaft assembly 411 into the linear motion of the second shift fork 409. Specifically, the second transmission structure 413 can be a threaded structure. Of course, the second transmission structure 409 can also be set as a structure in which a cam cooperates with a cam groove. That is, a cam groove is provided on the second drive shaft assembly 411, and a cam that can slide along the cam groove is provided on the second shift fork 409. In this way, the second transmission structure 413 can convert the rotation of the second drive shaft assembly 411 into the linear motion of the second shift fork 409 through the cooperation of the cam and the cam groove.

[0143] The second shift fork 409 corresponds to the center of the second annular groove 403 and is provided with a second center hole 415a. The second center hole 415a of the second shift fork 409 is mounted on the firing rod driver 448. The second shift fork 409 and the firing rod driver 448 are movable relative to each other along the longitudinal direction of the rotation tube 427. In this manner, the second shift fork 409 is mounted on both the second drive shaft assembly 411 and the firing rod driver 448. When the second drive shaft assembly 411 drives the second shift fork 409 to move, the firing rod driver 448 blocks the second drive shaft assembly 411 from rotating relative to the second drive shaft assembly 411. Of course, the second drive rod 393 can also prevent the second shift fork 409 from rotating relative to the second drive shaft assembly 411.

[0144] The second shift fork 409 can include a second shift fork body 417 and a second shift fork cover plate 419. The second shift fork body 417 is formed with a second annular groove 421, and the second center hole 415a is located at the center of the second annular groove 421. The two may have similar centerlines. The second shift fork cover plate 419 mates with the second shift fork body 417 to form a second annular groove 403. The second shift fork cover plate 419 has a second center hole 415b at its center. This allows the second shift fork 409 to be mounted on the firing rod driver 448. Furthermore, the center hole diameter of the second shift fork cover plate 419 is larger than the outer diameter of the firing rod driver 448. This creates an annular space between the second shift fork cover plate 419 and the firing rod driver 448. Furthermore, the second driving rod 393 can extend from this annular space into the second annular groove 403, so that the second flange 401 is at least partially accommodated within the second annular groove 403. Furthermore, when the rotating tube 427 rotates, the second driving rod 393 can move along the annular space, so that the second driving rod 393 rotates together with the rotating tube 427 .

[0145] The second fork cover plate 419 and the second fork body 417 can be fixedly connected. Specifically, screws, rivets, or buckle structures can be used to limit the position of the two, and glue can also be used to bond the two.

[0146] When the second flange 401 of the second drive rod 393 is at least partially received in the second annular groove 421, the third surface 397 can contact the bottom surface 423 of the second annular groove 421, and the fourth surface 399 can contact the surface 425 of the second fork cover 419 facing the bottom surface 423 of the second annular groove 421. This allows the second drive rod 393 and the second fork 409 to be positioned longitudinally along the rotation tube 427. Furthermore, when the second fork 409 is driven to move longitudinally along the rotation tube 427, it can also move the second drive rod 393. This allows the second drive rod 393 to operate to trigger the end effector 321.

[0147] Please also refer to Figures 3 to 6 and Figure 8 In some embodiments, the second drive shaft assembly 411 is mounted on the drive device 310 . Specifically, the second drive shaft assembly 411 may mainly include a second drive shaft 412 , a second connecting assembly 414 , a second connecting shaft 416 , and a second driving member 418 .

[0148] The second drive shaft 412 passes through the through hole 420 of the second fork body 417, so that the second fork 409 is sleeved on the second drive shaft assembly 411. The top plate 481 is provided with a through hole 422 corresponding to the second drive shaft 412, and the second drive shaft 411 is mounted to the through hole 422 through a bearing 424. In this way, the second drive shaft 411 can rotate relative to the top plate 481. The portion of the second drive shaft 411 extending out of the through hole 422 is connected with a nut 426. The portion of the second drive shaft 411 that contacts the bearing 424 is provided with a step surface. Furthermore, through the cooperation of the step surface, the bearing 424 and the nut 426, the position of the second drive shaft 411 relative to the top plate 481 is limited, and the second drive shaft 411 is allowed to rotate relative to the top plate 481.

[0149] Please also refer to Figure 10 The second connecting assembly 414 may include a second connecting member body 428, a shaft fixing member 429, and a shaft fixing member 432. The second connecting assembly 414 may be used to connect the second drive shaft 412 and the second connecting shaft 416. Specifically, the shaft fixing member 429 may fixedly connect the second drive shaft 412 to the second connecting member body 428. The shaft fixing member 429 may fixedly connect the second connecting shaft 416 to the second connecting member body 428. The aforementioned fixed connection method may include, but is not limited to, screws or rivets. In this way, the second drive shaft 412 and the second connecting shaft 416 are fixedly connected.

[0150] The second connecting shaft 416 can be mounted in the through hole 436 of the bottom plate 483 via the bearing 396. This allows the second connecting shaft 416 to rotate relative to the bottom plate 483, thereby enabling the second drive shaft assembly 411 to rotate relative to the top plate 481 and the bottom plate 383. This also defines the position of the second drive shaft assembly 411 along the longitudinal direction of the rotation tube 427.

[0151] The second driving member 418 is fixedly connected to the second connecting shaft 416. The second driving member 418 can be used to receive power input from the actuator of the actuating device 220, thereby driving the second driving shaft assembly 411 to rotate.

[0152] In some embodiments, the axial direction of the second drive shaft assembly 411 is parallel to the longitudinal direction. Since the second shift fork 409 is sleeved on the second drive shaft assembly 411, when the second drive shaft assembly 411 drives the second shift fork 409 to move, the second shift fork 409 moves along the second drive shaft assembly 411. Since the second drive shaft assembly 411 is parallel to the longitudinal direction of the rotation tube 427, the second shift fork 409 drives the second drive rod 393 to move along the longitudinal direction of the rotation tube 427.

[0153] In some embodiments, the third surface 397 and the fourth surface 399 of the second driving rod 393 may be simultaneously subjected to forces exerted by the second fork 409. In this case, under the combined force of the forces exerted on the third surface 397 and the fourth surface 399, the second driving rod 393 moves along the longitudinal direction of the rotation tube 427.

[0154] In some embodiments, the first drive rod 355 and the second drive rod 393 are each used to trigger different functions of the end instrument 321. Specifically, for example, the first drive rod 355 can be used to trigger the swing function of the end instrument 321, and the second drive rod 393 can be used to trigger the clamping function of the end instrument 321. Of course, the first drive rod 355 and the second drive rod 393 can also be used to trigger other functions, which are not specifically limited here. In some embodiments, the first mode of movement of the end instrument 321 can realize the swing function of the end instrument 321. The second mode of movement of the end instrument 321 can realize the clamping function of the end instrument 321.

[0155] In some embodiments, the first driving unit 367 of the driving device 310 includes a first shift fork 371 provided with the first annular groove 365 , and the first shift fork 371 and the second shift fork 409 are arranged along the longitudinal direction.

[0156] The first shift fork 371 and the second shift fork 409 can both be mounted on the firing rod driving member 448. In this way, the first shift fork 371 and the second shift fork 409 will be arranged along the longitudinal direction. Furthermore, the first shift fork 371 and the second shift fork 409 can both be driven to move along the longitudinal direction of the rotation tube 427. Furthermore, the first shift fork 371 and the second shift fork 409 will have a certain amount of overlapping stroke relative to the displacement space of the firing rod driving member 448. It can be understood that at the operational level, the first shift fork 371 and the second shift fork 409 will usually not be used with the overlapping stroke, so that such a design improves the space utilization rate within the driving device 310 and can reduce the volume of the driving device 310 to a certain extent.

[0157] Accordingly, when the first shift fork 371 is positioned relative to the second shift fork 409 and closer to the first end 351 of the rotation tube 427, the annular space between the walls of the first central holes 377a, 377b of the first shift fork 371 and the firing rod driver 448 must be large enough to accommodate the second driving rod 393. Similarly, when the second shift fork 409 is positioned relative to the first shift fork 371 and closer to the first end 351 of the rotation tube 427, the annular space between the walls of the second central holes 415a, 415b of the second shift fork 409 and the firing rod driver 448 must be large enough to accommodate the first driving rod 355.

[0158] See also Figure 5 and Figure 11 In some embodiments, in order to enable the first shift fork 371 to move more stably along the longitudinal direction of the rotation tube 427 , a guide shaft assembly 462 may be further provided in the driving device 310 .

[0159] A first guide hole 464 is provided between the first center hole 377a of the first fork body 383 and the through hole 382. The first guide hole 464 may be a through hole that passes through the first fork body 383.

[0160] The guide shaft assembly 462 may include a first guide shaft 468 and a base 472. The first guide shaft 468 passes through the first guide hole 464 and is loosely fitted with the first guide hole 464. The first guide shaft 468 is fixedly connected to the top plate 481. The end of the first guide shaft 468 away from the top plate 481 is connected to the base 472. In this manner, the first guide shaft 468 is constrained between the top plate 481 and the base 472. When the first shift fork 371 is driven to move along the longitudinal direction of the rotation tube 427, the fit between the first guide hole 464 and the first guide shaft 468 enables the first shift fork 371 to move along the first guide shaft 468. Furthermore, the axial direction of the first guide shaft 468 is parallel to the longitudinal direction of the rotation tube 427. This ensures that the first guide shaft 468 guides the first shift fork 371, allowing the first shift fork 371 to move more stably along the longitudinal direction of the rotation tube 427.

[0161] The base 472 can be fixedly connected to the bottom plate 483 so that the base 472 can support the first guide shaft 468 more stably.

[0162] In order to make the positional relationship between the first shift fork 371 and the first guide shaft 468 more stable and reduce the relative tilt or shaking between the first shift fork body 383 and the first guide shaft 468, a first guide seat 474 can be sleeved on the first guide shaft 468, and the two can slide relative to each other. The first guide seat 474 is fixedly connected to the first shift fork body 383. The first guide seat 474 can be a hollow cylindrical shape as a whole. In this way, the first guide seat 474 is sleeved on the first guide shaft 468 and fixedly connected to the first shift fork body 383. To a certain extent, it is equivalent to increasing the contact area between the first shift fork body 383 and the first guide shaft 468. In this way, when the first shift fork 371 moves relative to the first guide shaft 468, it can be more stable and reduce shaking or tilting between the two. Furthermore, in some embodiments, to reduce friction between the first guide shaft 468 and the first shift fork body 383 and the first guide seat 474, a relatively smooth first sleeve may be provided between the first shift fork body 383, the first guide seat 474, and the first guide shaft 468. The first sleeve may be made of a relatively smooth material. Of course, the first sleeve may be omitted, and the first shift fork body 383 and / or the first guide seat 474 may be made of a relatively smooth material.

[0163] In some embodiments, the guide shaft assembly 462 may further include a second guide shaft 476. A second guide hole 478 is provided between the second center hole 415a of the second fork body 417 and the through hole 420. The second guide shaft 476 passes through the second guide hole 478 and is loosely fitted with the second guide hole 478. The second guide shaft 476 may be fixedly connected to the top plate 481. The end of the second guide shaft 476 away from the top plate 481 is connected to the base 472. In this way, the second guide shaft 476 is confined between the top plate 481 and the base 472. When the second fork 409 is driven to move along the longitudinal direction of the rotation tube 427, the second guide hole 478 and the second guide shaft 476 cooperate to enable the second fork 409 to move along the second guide shaft 476. Furthermore, the axial direction of the second guide shaft 476 tends to be parallel to the longitudinal direction of the rotation tube 427. In this way, the second guide shaft 476 guides the second fork 409 , so that the second fork 409 can be displaced more stably along the longitudinal direction of the rotation tube 427 .

[0164] In order to make the positional relationship between the second fork 409 and the second guide shaft 476 more stable and reduce the relative tilt or shaking between the second fork body 417 and the second guide shaft 476, a second guide seat 480 can be sleeved on the second guide shaft 476, and the two can slide relative to each other. The second guide seat 480 is fixedly connected to the second fork body 417. The second guide seat 480 is in the shape of a hollow cylinder as a whole. In this way, the second guide seat 480 is sleeved on the second guide shaft 476 and fixedly connected to the second fork body 417. To a certain extent, it is equivalent to increasing the contact area between the second fork body 417 and the second guide shaft 476. In this way, when the second fork 409 moves relative to the second guide shaft 476, it can be more stable and reduce shaking or tilting between the two. Furthermore, in some embodiments, to reduce friction between the second guide shaft 476 and the second fork body 417 and the second guide seat 480, a relatively smooth second sleeve may be provided between the second fork body 417, the second guide seat 480, and the second guide shaft 476. The second sleeve may be made of a relatively smooth material. Of course, the second sleeve may be omitted, and the second fork body 417 and / or the second guide seat 480 may be made of a relatively smooth material.

[0165] In some embodiments, the guide shaft assembly 462 of the drive device 310 may be provided only with structures related to guiding the first shift fork 371. Of course, the guide shaft assembly 462 of the drive device 310 may also be provided only with structures related to guiding the second shift fork 409. Of course, in some embodiments, the guide shaft assembly 462 may be provided with structures related to guiding both the first shift fork 371 and the second shift fork 409.

[0166] Please also refer to Figures 3 to 6 and Figure 8 In some embodiments, the second driving rod 393 and the first driving rod 355 are both partially received in the rotating tube 427 and are circumferentially limited relative to the rotating tube 427 .

[0167] The first drive rod 355 and the second drive rod 393 extend from the drive device 310 into the rotation tube 427. Specifically, the first drive rod 355 and the second drive rod 393 are respectively provided with the first flange 363 and the second flange 401, which are located outside the rotation tube 427, so that they can cooperate with the first fork 371 or the second fork 409.

[0168] The portions of the first drive rod 355 and the second drive rod 393 that extend into the rotation tube 427 are circumferentially limited relative to the rotation tube 427, but allow for longitudinal displacement of the first and second drive rods 355, 393 relative to the rotation tube 427. Specifically, a drive rod stopper 430 having multiple through-holes is disposed within the rotation tube 427. The drive rod stopper 430 has a first through-hole 431 corresponding to the first drive rod 355 and a second through-hole 433 corresponding to the second drive rod 393. The first drive rod 355 passes through the first through-hole 431, and the second drive rod 393 passes through the second through-hole 433. The drive rod stopper 430 is fixedly connected to the rotation tube 427, allowing the drive rod stopper 430 to move with the rotation tube 427. When the rotation tube 427 is driven to rotate in the longitudinal direction, the drive rod stopper 430 rotates with it. At this time, the driving rod stopper 430 drives the first driving rod 355 and the second driving rod 393 to rotate together through the first through hole 431 and the second through hole 433 .

[0169] The number of drive rod stoppers 430 can be one or more. Generally, when there are two or more drive rod stoppers 430, the stop effect achieved is better than when there is only one drive rod stopper 430. In some embodiments, two adjacent drive rod stoppers 430 can be connected by a connecting rod 438, which makes the stop of the two adjacent drive rod stoppers 430 more secure and the positioning more accurate.

[0170] The rotating tube 427 is mounted on the base plate 369 via bearings 438 and 440. The rotating tube 427 is positioned longitudinally relative to the base plate 369, allowing for circumferential rotation. The portion of the rotating tube 427 that extends into the drive unit 310 is fixedly connected to the driven wheel 477. This ensures that when the driven wheel 477 is driven, the rotating tube 427 rotates along with it.

[0171] Please also refer to Figure 3 、 Figure 8 and Figure 21 In some embodiments, the firing rod assembly 435 may include a firing rod stopper 446 , a firing rod driver 448 , and a firing rod 450 .

[0172] The firing rod stopper 446 extends along the longitudinal direction and is fixedly connected to the housing 381 of the drive device 310. Specifically, for example, the firing rod stopper 446 can be fixedly connected to the top plate 481 of the drive device 310, so that the firing rod stopper 446 does not move relative to the top plate 481.

[0173] The firing rod 450 can be sleeved on the firing rod limiter 446 and circumferentially limited relative to the firing rod limiter 446. The firing rod 450 has a hollow section that accommodates at least a portion of the firing rod limiter 446, and the firing rod limiter 446 and the firing rod 450 can be relatively displaced along the longitudinal direction of the rotation tube 427. The firing rod limiter 446 limits the firing rod 450 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 446, and a corresponding guide groove extending along the longitudinal direction can be provided on the firing rod 450. By accommodating the guide flange in the guide groove, the relative circumferential position of the firing rod limiter 446 and the firing rod 450 is limited, while allowing relative movement between the two along the longitudinal direction.

[0174] In some embodiments, the firing rod 450 is located between the first drive rod 355 and the second drive rod 393; when the rotation tube 427 is driven to rotate by the drive device 310, the first drive rod 355 and the second drive rod 393 rotate around the firing rod 450.

[0175] The firing rod 450 can be located at the center of the rotation tube 427. Specifically, for example, the centerline of the firing rod 450 and the centerline of the rotation tube 427 tend to coincide. This allows the firing rod 450 and the rotation tube 427 to be coaxially arranged. The first drive rod 355 and the second drive rod 393 are located on either side of the firing rod 450, respectively. When the rotation tube 427 is driven to rotate, the rotation tube 427 can rotate along the circumference of the firing rod 450. The first drive rod 355 and the second drive rod 393 can rotate around the firing rod 450. The rotation of the rotation tube 427 relative to the firing rod 450 can be understood as the rotation of the rotation tube 427. The rotation of the first drive rod 355 and the second drive rod 393 around the firing rod 450 can be understood as the orbital revolution of the first drive rod 355 and the second drive rod 393 relative to the firing rod 450.

[0176] The firing rod driver 448 can drive the firing rod 450 to move along the longitudinal direction relative to the firing rod stopper 446. The firing rod driver 448 can be rotatably connected to the top plate 481 of the drive device 310. Thus, the firing rod driver 448 can rotate relative to the firing rod stopper 446. The firing rod driver 448 contacts the firing rod 450, so that when the firing rod driver 448 is driven to rotate, the firing rod 450 can be driven to move along the longitudinal direction. Specifically, for example, the firing rod 450 can have a plurality of annular grooves on its outer surface. The firing rod driver 448 can be a gear with an axis extending perpendicular to the longitudinal direction. The teeth of the gear can extend into the annular grooves of the firing rod 450. Thus, when the firing rod driver 448 rotates, the firing rod 450 can be driven to move along the longitudinal direction relative to the firing rod stopper 446.

[0177] In this embodiment, a firing rod stopper 446 is provided, which is fixed to the housing 381 of the drive device 310, so that the firing rod stopper 446 can achieve circumferential limitation and longitudinal guidance of the firing rod 450. A firing rod driver 448 can be mounted on the drive device 310, and the firing rod 450 can move longitudinally relative to the rotating tube 427, thereby directly triggering the end effector 321. Specifically, in some embodiments, the longitudinal movement of the firing rod 450 relative to the rotating tube 427 can push the blade of the end effector 321 to achieve a cutting function.

[0178] In some embodiments, the distance that the firing rod 450 can move along the longitudinal direction is less than the length of the firing rod stopper 446 along the longitudinal direction. The length of the firing rod stopper 446 along the longitudinal direction may be g, and the distance that the firing rod 450 can move along the longitudinal direction when driven by the firing rod driver 448 may be G. It is necessary to maintain G < g to prevent the firing rod 450 from disengaging from the firing rod stopper 446 and losing the circumferential restraint on the firing rod 450.

[0179] In some embodiments, the firing rod 450 includes a first section 437 in the shape of a hollow cylinder and a second section 439 connected to the first section 437 ; wherein the first section 437 accommodates at least a portion of the firing rod stopper 446 .

[0180] The firing rod 450 may include a first section 437 and a second section 439. The first section 437 may have a hollow portion. Specifically, the first section 437 may be entirely hollow, so that the first section 437 can accommodate the firing rod stop 446. This prevents the first section 437 of the firing rod 450 from rotating relative to the circumferential direction. This ensures that when the firing rod driver 448 rotates and drives the firing rod 450, the firing rod 450 as a whole can move relative to the drive rod stop 430.

[0181] The first section 437 and the second section 439 can be fixedly connected. The connection can be made according to the materials of the first section 437 and the second section 439. Specifically, for example, the first section 437 and the second section 439 can be connected by welding, bonding, riveting, or interference fit.

[0182] In some embodiments, the firing rod stopper 446 includes a stopper mounting portion 830 fixedly connected to the housing 381 of the drive device 310, and a stopper extension portion 832 housed within the housing 381 of the drive device 310 and extending into the first section 437. The stopper mounting portion 830 and the stopper extension portion 832 are fixedly connected. Of course, in some embodiments, the firing rod stopper 446 may include only the stopper extension portion 832, which is directly fixedly connected to the housing 381 of the drive device 310. Specifically, for example, depending on the material used, the stopper extension portion 832 may be connected using welding, adhesive bonding, a snap-fit ​​structure, or other methods. Alternatively, an opening may be provided in the housing 381 of the drive device 310, and the stopper extension portion 832 may be fixedly connected to the housing 381 of the drive device 310 by interference fit with the opening.

[0183] The position-limiting member extension 832 limits the firing rod 450 circumferentially and allows the firing rod 450 to move relative to the position-limiting member extension 832 along the longitudinal direction.

[0184] In some embodiments, the internal cross-section of the first section 437 perpendicular to the longitudinal direction is non-circular, and the outer shape of the limiter extension 832 matches the shape of the internal cross-section. In this way, it is difficult for the first section 437 and the drive rod limiter 430 to rotate relative to the circumference around the longitudinal direction. The first section 437 is hollow, and the cross-section of the inner surface of the first section 437 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.

[0185] The outer shape of the limiter extension 832 matches the shape of the internal cross-section. It can be that after the limiter extension 832 extends into the interior of the first section 437, it can contact the inner surface of the first section 437. Therefore, the limiter extension 832 can limit the circumferential rotation of the first section 437 of the central tube by contacting the inner surface of the first section 437. Specifically, for example, the cross-sectional shape of the outer surface of the limiter extension 832 is perpendicular to the longitudinal direction and is similar to the internal cross-sectional shape of the first section 437. Alternatively, the cross-sectional shape of the limiter extension 832 and the shape of the internal cross-section of the first section 437 may be different or similar, but as long as the limiter extension 832 and the first section 437 are adapted in shape to achieve circumferential limitation of the two, it will be sufficient.

[0186] In some embodiments, the firing rod 450 may further include a third section 803 rotatably connected to the second section 439. This prevents the firing rod stopper 446 from restricting the circumferential rotation of the third section 803. This allows the third section 803 to rotate circumferentially along with the rotation tube 427. This allows the end effector 321 to rotate along with the rotation tube 427 to adjust its posture angle without affecting the firing rod 450's ability to trigger the end effector 321.

[0187] Specifically, in some embodiments, the firing rod 450 can be used to trigger the cutting function of the end instrument 321. Thus, when the rotation tube 427 rotates, the end instrument 321 can rotate along with the rotation tube 427. Furthermore, the third section 803 can be connected to the end instrument 321 and rotate together with the end instrument 321, and the third section 803 and the second section 439 can rotate relative to each other. In this way, the rotation of the rotation tube 427 does not affect the coordination between the firing rod 450 and the firing rod stop 446, nor does it affect the coordination between the firing rod 450 and the firing rod driver 448.

[0188] In some embodiments, the second section 439 and the third section 803 are rotatably connected via a firing rod connector 834. Specifically, the firing rod connector 834 can be rotatably connected to both the second section 439 and the third section 803. Alternatively, the firing rod connector 834 can be rotatably connected to only one of the second section 439 or the third section 803. Specifically, for example, the firing rod connector 834 can be hollow cylindrical in shape, with two annular flanges disposed therein. Annular grooves can be provided where the second section 439 and the third section 803 mate with the firing rod connector 834. Thus, the annular flanges extend into the annular grooves of the second section 439 and the third section 803, respectively, thereby connecting the firing rod connector 834 to the second section 439 and the third section 803. The annular flanges can slide along the annular grooves, thereby enabling relative rotation between the second section 439 and the third section 803. Of course, there may be other embodiments for connecting and realizing the rotational connection between the second section 439 and the third section 803. For example, an annular flange is provided inside the second section 439 and an annular groove is provided in the third section 803 directly at the position where the second section 439 and the third section 803 are connected. In this way, the second section 439 and the third section 803 are limitedly connected by the annular flange and the annular groove, and the relative position of the second section 439 and the third section 803 is limited along the longitudinal direction, but relative circumferential rotation between the second section 439 and the third section 803 is allowed.

[0189] In some embodiments, the firing rod connector 834 may be formed into an annular groove that partially surrounds the second section 439 and the third section 803. A wedge 835 may also be provided between the firing rod connector 834 and the rotation tube 427. The wedge 835 can abut against the firing rod connector 834 to prevent the firing rod connector 834 from disengaging from the second section 439 and the third section 803. Those skilled in the art may also make other modifications based on the technical essence of the embodiments of this specification. However, as long as the functions and effects achieved by such modifications are the same or similar to those of the embodiments provided in this specification, they shall be included within the scope of protection of this application.

[0190] In some embodiments, the firing rod driver 448 is generally cylindrical and extends along the longitudinal direction, with the firing rod 450 at least partially housed within the firing rod driver 448. In some embodiments, the firing rod driver 448 is sleeved within the first section 437 of the firing rod 450. The firing rod driver 448 and the firing rod 450 are provided with a matching motion conversion structure. This motion conversion structure can convert the rotation of the firing rod driver 448 into movement of the firing rod 450 along the longitudinal direction of the rotation tube 427. Specifically, for example, the motion conversion structure can be implemented by providing a threaded structure between the firing rod driver 448 and the firing rod 450. Alternatively, the motion conversion structure can be implemented by providing a cam on the surface of the center nut 448 facing the firing rod 450, and providing a cam groove on the outer surface of the firing rod 450.

[0191] In some embodiments, a gear portion 452 is provided at the end of the firing rod driver 448 distal from the first end 351, so that the firing rod driver 448 is driven to rotate via the gear portion 452. Specifically, for example, the firing rod driver 448 may include a gear portion 452 and a driver extension 454. The gear portion 452 can be driven to rotate the firing rod driver 448. The driver extension 454 is integrally sleeved on the outer surface of the firing rod 450. Furthermore, the length of the firing rod driver 448 limits the longitudinal displacement of the firing rod 450 relative to the rotation tube 427. That is, without disengaging the firing rod driver 448, the maximum longitudinal displacement of the firing rod 450 relative to the rotation tube 427 tends to approach the length of the firing rod driver 448.

[0192] The firing rod assembly 435 can be driven to displace along the longitudinal direction of the rotating tube 427, so as to trigger the end instrument 321 to perform a corresponding function. Specifically, for example, the firing rod assembly 435 can be used to trigger the cutting function of the end instrument 321.

[0193] Please also refer to Figure 8 、 Figure 21 and Figure 22 In some embodiments, the drive device 310 is provided with a firing rod driving gear 836 that meshes with the gear portion 452. A firing drive unit 838 is provided within the housing 381 of the drive device 310 to drive the firing rod driving gear 836 to rotate. The firing drive unit 838 can receive power from the actuator of the actuating device 220 to drive the firing rod 450 to move.

[0194] The firing rod drive gear 836 can be mounted on the top plate 481 of the drive device 310 and can rotate relative to the top plate 481. The firing rod drive gear 836 can be driven to rotate by the firing drive unit 838. In this way, by engaging with the gear portion 452 of the firing rod driver 448, the firing rod driver 448 is driven to rotate, thereby driving the firing rod 450 to move in the longitudinal direction of the long axis assembly. Specifically, the firing rod drive gear 836 can be mounted on the top plate 481 of the drive device 310 via a drive gear shaft 840. A bearing can be provided between the drive gear shaft 840 and the top plate 481, thereby enabling the firing rod drive gear 836 to rotate relative to the top plate 481.

[0195] A firing drive unit 838 for driving the firing rod drive gear 836 may be disposed within the drive device 310. The firing drive unit 838 may rotate by driving the firing rod drive gear 836, thereby further driving the firing rod 450 to move along the longitudinal direction. The firing drive unit 838 may include a first transition gear 842 sleeved on the drive gear shaft 840 and a third drive shaft assembly 844.

[0196] The first transition gear 842 can be fixedly connected to the drive gear shaft 840. In this way, when the first transition gear 842 rotates, it can drive the drive gear shaft 840 to rotate together. The first transition gear 842 can be driven to rotate by the third drive shaft assembly 844.

[0197] The third drive shaft assembly 844 is mounted on the drive device 310 . Specifically, the third drive shaft assembly 844 may mainly include: a third drive shaft gear 846 , a third connecting assembly 848 , a third drive shaft 850 and a third driving member 852 .

[0198] The third drive shaft gear 846 can mesh with the first transition gear 842. Thus, when the third drive shaft gear 846 is driven to rotate, it can also drive the first transition gear 842 to rotate. The third drive shaft gear shaft 860 of the third drive shaft gear 846 can be fixedly connected to the third drive shaft 850 via a third connecting assembly 848.

[0199] The third connecting assembly 848 may include a third connecting member body 854, a shaft fixing member 856, and a shaft fixing member 858. The third connecting assembly 848 may be used to connect the third drive shaft 850 and the third drive shaft gear 846. Specifically, the shaft fixing member 856 may securely connect the third drive shaft 850 to the third connecting member body 854. The shaft fixing member 858 may securely connect the third drive shaft gear 860 to the third connecting member body 854. The aforementioned secure connection method may include, but is not limited to, screws or rivets. In this manner, the third drive shaft 850 is securely connected to the third drive shaft gear 846.

[0200] The third driving member 852 is fixedly connected to the third driving shaft 850. The third driving member 852 can be used to receive power input from the actuator of the actuating device 220. Thereby, the third driving shaft assembly 844 is driven to rotate.

[0201] In some embodiments, a manual drive unit 862 is disposed outside the housing 381 of the drive device 310 and is capable of driving the firing rod drive gear 836 to rotate. The manual drive unit 862 can be used to manually drive the firing rod 450 to move. The manual drive unit 862 can primarily include: a second transition gear 864 sleeved on the drive gear shaft 840 and a first manual wheel assembly 866.

[0202] The second transition gear 864 is located outside the driving device, so that the firing rod driving gear 836 can be located between the first transition gear 842 and the second transition gear 864, and the three are coaxially arranged.

[0203] The first manual wheel assembly 866 may include a first knob 868, a first manual shaft 870, and a first manual gearwheel 872. The first knob 868 is fixedly connected to the first manual shaft 870. Thus, the first knob 868 can be manually rotated, thereby driving the first manual shaft 870 to rotate. The first manual gearwheel 872 is sleeved on the first manual shaft 870 and circumferentially limited to the first manual shaft 870. Thus, when the first manual shaft 870 rotates, it can drive the first manual gearwheel 872 to rotate together. The first manual gearwheel 872 meshes with the second transition gear 864. Thus, when the first manual gearwheel 872 rotates, it can drive the second transition gear 864 to rotate, thereby driving the firing rod drive gear 836 to rotate, thereby further driving the firing rod drive member 448 to drive the firing rod 450.

[0204] In some embodiments, the drive rod limiter 430 is provided with a third through hole 482 corresponding to the firing rod 450. The rotation tube 427 can rotate around the firing rod 450. The firing rod 450 passes through the third through hole 482. The inner diameter of the third through hole 482 is larger than the outer diameter of the firing rod 450, so that the drive rod limiter 430 does not restrict the movement of the firing rod 450 along the longitudinal direction. Furthermore, when the rotation tube 427 rotates, the rotation tube 427 and the drive rod limiter 430 can both rotate around the firing rod 450. The first section 437 and the second section 439 of the firing rod 450 will not rotate circumferentially, and the third section 874 can rotate circumferentially together with the rotation tube 427. In this way, the internal space of the rotation tube is more reasonably utilized, while also ensuring the stable execution of each function.

[0205] In some embodiments, the portion of the second drive rod 393 housed within the rotation tube 427 is provided with an outer tube connector 460. The rotation tube 427 has a through-hole 462 at a position corresponding to the outer tube connector 460. The outer tube connector 460 can extend from the through-hole 462. Furthermore, the outer tube connector 460 can be connected to the instrument outer tube 606 of the end instrument 321. In this manner, the outer tube connector 460 positions the second drive rod 393, the rotation tube 427, and the instrument outer tube 606. This allows the rotation of the rotation tube 427 circumferentially, driving the instrument outer tube 606 to rotate along with it, thereby also rotating the end instrument 321.

[0206] Please also refer to Figure 3 、 Figure 12 and Figure 13 In some embodiments, a first fastener 502 is detachably mounted on the rotation tube 427. The first fastener 502 is used to connect the first section 504 and the second section 506 of the first drive rod 355. Specifically, when the first fastener 502 is removed, the first drive rod 355 is separated into the first section 504 and the second section 506.

[0207] The first fastener 502 is structurally configured to be removable from the rotation tube 427 without physically damaging the first fastener 502. This allows the first fastener 502 to be reattached to the rotation tube 427 after being removed. The first drive rod 355 includes a first section 504 and a second section 506. After the first fastener 502 is removed, the first section 504 and the second section 506 are disengaged. When the first fastener 502 is removed, the first section 504 can be driven by the drive device 310 to move along the longitudinal direction, while the drive device 310 cannot drive the second section 506 to move. This means that when the first section 504 is driven to move by the first drive unit 367, the second section 506 does not receive any power. Of course, in some embodiments, after the first fastener 502 is removed from the rotation tube 427, its physical structure may be damaged, making it impossible to reattach it to the rotation tube 427. Specifically, for example, the structure of the first fastener 502 may be designed to be disposable and cannot be reused after being disassembled.

[0208] The second section 506 can be connected to the end instrument 321. Since the first section 504 and the second section 506 are separated, the second section 506 is in a free state, and the operation of the end instrument 321 connected to the second section 506 is released, and the end instrument 321 is also in a free state.

[0209] In some embodiments, when the first fastener 502 is not removed, the first drive rod 355 can be driven by the drive unit 310 to move along the longitudinal direction of the rotating tube 427 to trigger the end instrument 321. The first fastener 502 connects the first section 504 and the second section 506. When the first fastener 502 is not removed, the first drive rod 355 can be driven by the drive unit 310 to move along the longitudinal direction, moving the first fastener 502 along with the first section 504 and the second section 506. The first drive rod 355 can connect the first section 504 and the second section 506 of the first drive rod 355. As a result, when the first section 504 is driven by the first drive unit 367 to move along the longitudinal direction of the rotating tube 427, it pushes the first fastener 502 to move along with it, which in turn drives the second section 506 to move along with it. The second section 506 is connected to the end instrument 321, and thus, the second section 506 can trigger the corresponding function of the end instrument 321. Specifically, for example, the second section 506 drives the swing function of the end instrument 321 .

[0210] Please also refer to Figure 3 、 Figure 12 、 Figure 13 and Figure 14 In some embodiments, the self-rotating tube 427 is detachably mounted with a second fastener 508 corresponding to the second drive rod 393. The second fastener 508 is used to connect the third section 510 and the fourth section 512 of the second drive rod 380. When the second fastener 508 is removed, the second drive rod 380 is separated into the third section 510 and the fourth section 512.

[0211] The second fastener 508 is structurally configured to be removable from the rotation tube 427 without physically damaging the second fastener 508. This allows the second fastener 510 to be reattached to the rotation tube 427 after being removed. The second drive rod 393 may include a third section 510 and a fourth section 512. After the second fastener 508 is removed, the third section 510 and the fourth section 512 are disengaged. When the second fastener 508 is removed, the third section 510 can be driven by the drive device 310 to move along the longitudinal direction, while the drive device 310 cannot drive the fourth section 512 to move. This means that when the third section 510 is driven to move by the second drive unit 405, the fourth section 512 does not receive any power. Of course, in some embodiments, after the second fastener 508 is removed from the rotation tube 427, its physical structure may be damaged, making it impossible to reattach it to the rotation tube 427. Specifically, for example, the structure of the first fastener 508 may be designed to be disposable and cannot be reused after being disassembled.

[0212] The fourth section 512 can be connected to the end instrument 321. Since the third section 510 and the fourth section 512 are separated, the fourth section 512 is in a free state, and the corresponding operation of the end instrument 321 connected to the fourth section 512 is released, and the end instrument 321 is also in a free state.

[0213] In some embodiments, when the second fastener 508 is not removed, the second drive rod 393 can be driven by the drive device 310 to move along the longitudinal direction to trigger the end instrument 321. The second fastener 508 connects the third section 510 and the fourth section 512. When the second fastener 508 is not removed, the second drive rod 393 can be driven by the drive device 310 to move along the longitudinal direction, and the second fastener 508 moves along with the third section 510 and the fourth section 512. The second fastener 508 can connect the third section 510 and the fourth section 512 of the second drive rod 393. In this way, when the third section 510 is driven by the second drive unit 405 to move along the longitudinal direction of the rotating tube 427, it pushes the second fastener 508 to move along with it, which in turn drives the fourth section 512 to move along with it. The fourth section 512 is connected to the end instrument 321, and thus, the fourth section 512 can trigger the corresponding function of the end instrument 321. Specifically, for example, the fourth section 512 drives the clamping function of the end instrument 321 to operate.

[0214] Please also refer to Figure 3 、 Figure 12 and Figure 13 In some embodiments, the first fastener 502 includes a first fastener body 518 having a body connection portion 514 ; the body connection portion 514 is configured to connect to the first section 504 of the first drive rod 355 and to connect to the second section 506 of the first drive rod 355 .

[0215] The first fastener body 518 is entirely located outside the rotation tube 427, and the body connecting portion 514 can extend into the interior of the rotation tube 427 to connect the first section 504 and the second section 506 of the first driving rod 355 inside the rotation tube 427. The body connecting portion 514 can be connected to the first section 504 and the second section 506, thereby connecting the first section 504 and the second section 506 of the first driving rod 355 into one piece.

[0216] In some embodiments, the first section 504 is provided with a first section groove 520 at the end close to the second section 506, and the second section 506 is provided with a second section groove 522 at the end close to the first section 504. Figure 14The main body connecting portion 514 is provided with a first stop wall 524 that is engaged with the first section groove 520 , and is provided with a second stop wall 526 that is engaged with the second section groove 522 .

[0217] The first section groove 520 may be an annular groove formed along the circumference of the first driving rod 355. Of course, one first section groove 520 may also be provided on both sides of the first driving rod 355.

[0218] The first stop wall 524 is provided with a first notch 528. The first drive rod 355 engages with the first notch 528 through the first section groove 520. Specifically, the first section 504 of the first drive rod 355 can extend into the first notch 528. Furthermore, the first stop wall 524 extends into the first section groove 520. Thus, along the extension direction of the first drive rod 355, the first section 504 of the first drive rod 355 is positionally connected to the first fastener body 518. Furthermore, the first notch 528 of the first stop wall 524 mates with the first section groove 520 of the first section 504, thereby connecting the first section 504 to the body connection portion 514.

[0219] Similarly, the second stop wall 526 is provided with a second notch 530. The first drive rod 355 engages the second notch 530 through the second section groove 522. Specifically, the second section 506 of the first drive rod 355 can extend into the second notch 528. Furthermore, the second stop wall 526 extends into the second section groove 522. Thus, along the extension direction of the first drive rod 355, the second section 506 of the first drive rod 355 is positionally connected to the first fastener body 518. Furthermore, the second notch 530 of the second stop wall 526 mates with the second section groove 522 of the second section 506, thereby connecting the second section 506 to the second section connecting portion 516.

[0220] The first stop wall 524 and the second stop wall 526 may have facing surfaces. In this way, the body connecting portion 514 is connected to the first section 504 and the second section 506 of the first driving rod 355, thereby connecting the first section 504 and the second section 506 along the longitudinal direction of the rotation tube 427.

[0221] In some embodiments, a first window 532 is provided at a position of the rotating tube 427 corresponding to the first fastener 518 , the first fastener body 518 covers the first window 532 from the outside of the rotating tube 427 , and the body connection portion 514 extends into the first window 532 .

[0222] The rotating tube 427 is provided with a first window 532. The dimensions of the first window 532 are larger than the dimensions of the entire main connecting portion 514. That is, the main connecting portion 514 is formed as a single unit and may have a single width and a single length. The length L of the first window 532 along the longitudinal direction of the rotating tube 427 is greater than the length of the main connecting portion 514 along this longitudinal direction. This allows the first fastener body 518 to undergo a certain displacement relative to the rotating tube 427 along this longitudinal direction. This allows the first drive rod 355 to be driven and moved by the first drive unit 367.

[0223] In some embodiments, the first fastener 502 may further include at least one body stopper 534. At least a portion of the body stopper 534 extends from the first window 532 into the interior of the rotation tube 427, such that the width of the portion of the first fastener 502 extending into the first window 532 relative to the longitudinal direction is greater than the width of the first window 532 relative to the longitudinal direction.

[0224] The body stopper 534 can be used to retain the first fastener body 518 on the rotation tube 427, preventing the first fastener body 518 from falling out of the first window 532 while allowing the first fastener 502 to move relative to the first window 532 along the longitudinal direction of the rotation tube 427. The body stopper 534 can extend from the first window 532 into the interior of the rotation tube 427 and contact the inner sidewall of the rotation tube 427. In this way, the first fastener 502 is restrained by the body stopper 534 in a direction away from the first window 532, preventing it from falling out of the first window 532. Specifically, after the body stopper 534 extends into the rotation tube 427, the width of the portion of the first fastener 502 extending into the first window 532 relative to the longitudinal direction is greater than the width of the first window 532 relative to the longitudinal direction. In this way, the first fastener 502 can move along the first window 532 along the longitudinal direction of the rotation tube 427 without falling off from the first window 532 .

[0225] The number of body stoppers 534 can be one, two, three, etc., and the specific number is not specifically limited. In some embodiments, the number of body stoppers 534 can be two. Strip-shaped holes 536 are respectively formed on both sides of the first fastener body 518 in the longitudinal direction relative to the rotation tube 427. The two body stoppers 534 each correspond to a strip-shaped hole 536 and extend into the interior of the rotation tube 427 through the corresponding strip-shaped hole 536.

[0226] Please also refer to Figure 16 、 Figure 17 and Figure 18The main body stopper 534 may include a stopper body 538 and a stopper portion 540. The stopper portion 540 extends in a direction that deviates from the direction of extension of the stopper body 538. When the main body stopper 534 is mounted to the first fastener body 518, the stopper portion 540 extends from the strip-shaped hole 536 of the first fastener body 538 into the rotation tube 427. The stopper portion 540 is clamped between the first fastener body 518 and the rotation tube 427, thereby preventing the first fastener body 518 from falling out of the first window 532.

[0227] In some embodiments, the body stopper 534 can be a flat plate pivotally connected to the first fastener body 518. The body stopper 534 can rotate relative to the first fastener body 518, having an extended position in which the first fastener body 518 extends transversely relative to the longitudinal direction of the rotation tube 427, and a retracted position in which the first fastener body 518 is not extended. In the extended position, the body stopper 534 can contact the inner sidewall of the rotation tube 427, preventing the first fastener body 518 from falling out of the first window 532. In the retracted position, the body stopper 534 allows the first fastener body 518 to separate from the rotation tube 427.

[0228] In some embodiments, the first fastener 502 may further include a first assembly cap 542 snap-fitted to the first fastener body 518 . The first assembly cap 542 securely connects the at least one body stopper 534 to the first fastener body 518 .

[0229] The first assembly cap 542 can be mounted on the first fastener body 518 and fix the position of at least one body stopper 534. In this way, the body stopper 534 can stably limit the positional relationship between the first fastener body 518 and the first window 532, preventing the first fastener body 518 from falling off from the first window 532, thereby preventing the first fastener 502 from falling off from the rotating tube. Figure 15 Specifically, the first assembly cap 542 may include a convex brim portion 543. This brim portion 543 may abut against the surface of the main body stopper 534 facing away from the rotation tube 427, preventing the main body stopper 534 from falling off the rotation tube 427. In some embodiments, the number of brim portions 543 may correspond to the number of main body stoppers 534. Alternatively, the first assembly cap 542 may include a single annular brim portion 543. In this case, the number of brim portions 543 may be one.

[0230] The surface of the first assembly cap 542 facing the first fastener body 518 is connected to the first fastener 502 by a snap-fit ​​structure. Specifically, for example, the surface of the first assembly cap 542 facing the first fastener body 518 may be provided with a snap-fit ​​hole 544, and the first fastener body 518 may be provided with a snap-fit ​​bolt 546.

[0231] The entrance diameter of the snap hole 544 is smaller than the internal diameter, resulting in a closed end at the entrance of the snap hole 544. The snap bolt 546 can be divided into a bolt head 547 and a bolt post 549, wherein the outer diameter of the bolt head 547 is larger than the outer diameter of the bolt post 549. The first component cap 542 can be made of a flexible material.

[0232] Thus, when the first component cap 542 is mounted on the first fastener body 518, the bolt head 547 of the snap bolt 546 can extend into the snap hole 544 and be locked by the closing of the snap hole 544, thereby preventing the first component cap 542 from falling off. Of course, the snap structure between the first component cap 542 and the first fastener body 518 can also be implemented with other structures. Those skilled in the art can also make other changes based on the technical essence of the embodiments of this specification. However, as long as the functions and effects achieved by the embodiments are the same or similar to those achieved by the embodiments of this specification, they should be covered by the scope of protection of the present claims.

[0233] In some embodiments, the first assembly cap 542 can be integrally formed with the main body stopper 534. Thus, the first assembly cap 542 can extend through the stopper 540 into the strip-shaped hole 536 to achieve positional retention of the first assembly cap 542 relative to the rotation tube 427. Furthermore, the aforementioned snap-fit ​​structure between the first assembly cap 542 and the first fastener body 518 may not be required.

[0234] In some embodiments, the specific structure of the second fastener 508 can be identical to that of the first fastener 502. Furthermore, the corresponding structure of the self-rotating tube 427 and the second drive rod 393 cooperating with the second fastener 508 is also identical to the structure of the self-rotating tube 427 and the first drive rod 355 cooperating with the first fastener 502. Therefore, reference can be made to the previous explanations and will not be repeated here. In some cases, if it is necessary to refer to the specific structure and components of the second fastener 508, the naming convention for the first fastener 502 can be used, with the addition of "nth" as a distinguishing factor, where n can be a positive integer.

[0235] The components and materials used in the various embodiments disclosed in this specification all comply with medical standards or regulations.

[0236] 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.

[0237] 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 includes a drive device and a tube; the tube extends in a longitudinal direction and has a first end and a second end, the first end is used to mount an end instrument, and the second end is used to couple to the drive device; the surgical instrument also includes a first drive rod extending from the drive device into the tube, the first drive rod is driven by the drive device to move along the longitudinal direction to trigger the end instrument to perform a first mode of movement, the first drive rod includes a first section and a second section, and the tube is installed with a detachable first fastener, the fastener is used to connect the first section and the second section of the first drive rod; The invention also includes a second driving rod for driving the end instrument, wherein the second driving rod is driven by the driving device to move along the longitudinal direction to trigger the end instrument to perform a second mode of movement; The first mode of motion includes rotational oscillation, and the second mode of motion includes translation.

2. The surgical instrument according to claim 1, wherein: When the first driving rod is driven by the driving device to move along the longitudinal direction, the first fastener moves together with the first section and the second section.

3. The surgical instrument according to claim 1, wherein: The second driving rod includes a third section and a fourth section. The pipe is installed with a detachable second fastener corresponding to the second driving rod. The second fastener is used to connect the third section and the fourth section of the second driving rod.

4. The surgical instrument according to claim 3, characterized in that When the second driving rod is driven by the driving device to move along the longitudinal direction, the second fastener moves together with the third section and the fourth section.

5. The surgical instrument according to claim 1, wherein: The first fastener includes a first fastener body provided with a body connecting portion; the first fastener body is located outside the pipe, and the body connecting portion extends into the pipe and is connected to the first section and the second section respectively.

6. The surgical instrument according to claim 5, characterized in that The first section is provided with a first section groove at the end close to the second section, and the second section is provided with a second section groove at the end close to the first section; the main body connecting part is provided with a first stop wall engaged with the first section groove, and a second stop wall engaged with the second section groove.

7. The surgical instrument according to claim 5, characterized in that: A first window is provided at a position of the pipe corresponding to the first fastener, the first fastener body covers the first window from the outside of the pipe, and the body connecting portion extends into the first window.

8. The surgical instrument according to claim 7, wherein: The first fastener also includes at least one body limiter; at least part of the body limiter extends from the first window into the interior of the tube, so that the width of the part of the first fastener extending into the first window relative to the longitudinal direction is greater than the width of the first window relative to the longitudinal direction.

9. The surgical instrument according to claim 8, characterized in that The first fastener further comprises a first component cap snap-fitted to the first fastener body; the first component cap fixedly connects the at least one body stopper to the first fastener body.

10. The surgical instrument according to claim 7, characterized in that: A length of the main body connection portion along the longitudinal direction of the tube is smaller than a length of the first window along the longitudinal direction.

11. A surgical instrument comprising an end instrument for performing surgery, characterized in that: The surgical instrument further comprises a driving device and a self-rotating tube; the self-rotating tube extends in a longitudinal direction and has a first end and a second end, the first end being used to mount an end instrument, and the second end being used to couple to the driving device, the surgical instrument further comprising a first driving rod, a second driving rod and a firing rod partially housed in the self-rotating tube, the driving device providing a rotational driving force, the self-rotating tube receiving the driving force of the driving device and providing the self-rotating power to the end instrument, the first driving rod and the second driving rod surrounding the firing rod, the end instrument having a blade, the firing rod being used to trigger the blade movement of the end instrument, the first driving rod and the second driving rod being used to provide the end instrument with rotational or moving power, the first driving rod and / or the second driving rod comprising a first section and a second section, the self-rotating tube being installed with a detachable first fastener, the fastener being used to connect the first section and the second section of the first driving rod and / or the second driving rod; The first driving rod is used to drive the end instrument to rotate and swing, and the second driving rod is used to drive the end instrument to move.

12. The surgical instrument according to claim 11, wherein: A rotation tube drive unit capable of providing rotational driving force to the rotation tube is provided in the driving device. The rotation tube drive unit includes: a rotation tube drive shaft having a driving wheel, a driven wheel fixedly connected to the rotation tube, and a transmission member wound around the driving wheel and the driven wheel.

13. The surgical instrument according to claim 11, wherein: The rotating tube has an axis X, and is driven by the driving force of the driving device to rotate around the axis X. The first driving rod and / or the second driving rod rotates around the axis X together with the rotating tube.

14. A slave operating device comprising at least one robotic arm, the robotic arm comprising a plurality of joints and an actuator, the plurality of joints being linked to achieve movement of the actuator with multiple degrees of freedom, characterized in that: The actuating device is detachably mounted with the surgical instrument according to any one of claims 1 to 13.

15. A surgical robot, characterized in that: It comprises a main operation console and a slave operation device according to claim 14, wherein the slave operation device performs a surgical operation on a human body according to instructions of the main operation console.

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