Surgical instrument, slave device and surgical robot

Abstract

The specification provides a surgical instrument, a slave operating device and a surgical robot. The surgical instrument can include: a tube member extending in a longitudinal direction and having a first end and a second end; wherein the first end is used to install an end instrument; a first driving rod for driving the end instrument is arranged in the tube member; a first surface facing the first end and a second surface facing away from the first end are formed at the end of the first driving rod away from the first end; a driving device coupled with the second end of the tube member, the driving device can apply force to the first surface and / or the second surface to move the first driving rod along the longitudinal direction. The mechanical stability of the surgical instrument is improved.

Description

Technical Field

[0001] The present specification relates to the field of medical instruments, and in particular to a surgical instrument, a slave operating device using the surgical instrument, 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] Minimally invasive surgical robots have high requirements for the mechanical stability of surgical instruments. Otherwise, mechanical failure of the surgical instruments may pose risks to patients. Summary of the Invention

[0006] The embodiments of this specification are dedicated to providing a surgical instrument, a slave operating device and a surgical robot with very stable mechanical properties.

[0007] An embodiment of the present specification provides a surgical instrument, comprising: a long axis assembly extending in a longitudinal direction and having a first end and a second end; wherein the first end is used to mount an end instrument; a first drive rod for driving the end instrument is provided in the long axis assembly; a first surface facing the first end and a second surface facing away from the first end are formed at an end of the first drive rod away from the first end; a drive device coupled to the second end of the long axis assembly, wherein the drive device can apply force to the first surface and / or the second surface to move the first drive rod along the longitudinal direction.

[0008] 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 surgical instrument described in the above embodiment is detachably mounted on the actuator.

[0009] An embodiment of the present specification provides a surgical robot, comprising a main operating console and a slave operating device as described in the above embodiment, wherein the slave operating device performs surgical operations on a human body according to instructions from the main operating console.

[0010] The surgical instrument provided in the embodiments of this specification utilizes a drive rod as the triggering element for the end-use instrument. The drive rod is provided with two opposing surfaces, namely, a first surface and a second surface. Thus, force can be applied to the first surface and / or the second surface to propel the drive rod along the longitudinal direction of the long axis assembly. This method of driving the drive rod is very direct and stable, improving the mechanical reliability of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0014] Figure 4 Shown is an exploded schematic diagram of the top plate, bottom plate, and support frame of the driving device provided in an embodiment of this specification;

[0015] Figure 5 FIG2 is a schematic diagram of the internal three-dimensional structure of the driving device provided in the embodiment of this specification;

[0016] 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;

[0017] Figure 7 Shown is a partially exploded perspective view of a long shaft assembly provided in an embodiment of this specification;

[0018] 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;

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

[0020] 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;

[0021] Figure 11 Shown Figure 8 A schematic cross-sectional view of the drive device along line YY is provided;

[0022] Figure 12 FIG2 is a partially exploded perspective view of a firing rod provided in an embodiment of the present specification;

[0023] Figure 13 Shown is a three-dimensional structural diagram of the internal structure of the driving device provided in the embodiment of this specification.

[0024] Master operation console 100 Slave operation device 200 Robotic arm 210

[0025] Actuating device 220 Surgical instrument 300 Driving device 310

[0026] Long shaft assembly 320 first end 351 end instrument 321

[0027] Second end 353 End 357 End effector 340

[0028] First driving rod 355 First flange 363 First surface 359

[0029] Second surface 361 Groove wall 369 First annular groove 365

[0030] First driving unit 367 First center hole 377a First shift fork 371

[0031] First drive shaft assembly 373 First connecting assembly 376 First center hole 377b

[0032] First driving shaft 374 through hole 382 First connecting shaft 378

[0033] First driving member 380 Bearing 386 Through hole 384

[0034] First fork cover 385 First annular groove 387 Housing 381

[0035] First fork body 383 nut 388 bottom surface 389

[0036] Surface 391 Axis fixing member 394 First connecting member body 390

[0037] Shaft fixing member 392 Second driving rod 393 Bearing 396

[0038] Third surface 397 Second flange 401 End 395

[0039] Fourth surface 399 Second drive unit 405 Second annular groove 403

[0040] Second shift fork 409 Second drive shaft assembly 411 Groove wall 407

[0041] Second center hole 415b Second fork body 417 Second center hole 415a

[0042] Second annular groove 421 bottom surface 423 second fork cover plate 419

[0043] Rotating tube 427 Driving rod stopper 430 Surface 425

[0044] Second through hole 433 Firing rod assembly 435 First through hole 431

[0045] Second section 439 driving wheel 475 first section 437

[0046] Rotating tube drive shaft assembly 473 Top plate 481 Rotating tube drive unit 471

[0047] Transmission member 479 Second connecting shaft 416 Driven wheel 477

[0048] Support frame 485 Second connecting component 414 Bottom plate 483

[0049] Second drive shaft 412 through hole 420 through hole 422

[0050] Second driving member 418 Nut 426 Second connecting member body 428

[0051] Bearing 424 Shaft fixing member 432 Through hole 436

[0052] Shaft fixing member 429 Bearing 440 Driven wheel body 442

[0053] Bearing 438 Firing rod limiter 446 Firing rod driver 448

[0054] Rotating tube fixing member 444 Gear portion 452 Driving member extension portion 454

[0055] Firing rod 450 Guide shaft assembly 462 First guide hole 464

[0056] First guide shaft 468 Base 472 First guide seat 474

[0057] Second guide shaft 476 Second guide hole 478 Second guide seat 480

[0058] Third through hole 482 connecting groove 622 third section 803

[0059] Firing rod connecting piece 834 Limiting piece mounting portion 830 Limiting piece extension portion 832

[0060] Drive gear shaft 840 Firing rod drive gear 836 Firing drive unit 838

[0061] Third drive shaft gear 846 First transition gear 842 Third drive shaft assembly 844

[0062] Third driving member 852 Third connecting assembly 848 Third driving shaft 850

[0063] Axis fixing member 858 Third connecting member body 854 Axis fixing member 856

[0064] Second transition gear 864 Third drive shaft gear shaft 860 Manual drive unit 862

[0065] First manual shaft 870 First manual wheel assembly 866 First knob 868

[0066] First manual gear 872 wedge 835 DETAILED DESCRIPTION

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] In some embodiments, a minimally invasive surgical robot generally includes a slave operating device and a master operating console. Figure 1 Shown is a main operating console 100 according to one embodiment of the present specification. Figure 2 The slave operating device 200 of one embodiment of the present specification is shown. The surgeon can perform relevant control operations on the slave operating device 200 on the main operating console 100, and the slave operating device 200 performs surgical operations on the human body according to the input instructions of the main operating console 100. The main operating console 100 and the slave operating device 200 can be placed in the same operating room, or in different rooms, or even the main operating console 100 and the slave operating device 200 can be far apart. For example, the main operating console 100 and the slave operating device 200 are located in different cities. The main operating console 100 and the slave operating device 200 can transmit data by wire or by wireless. For example, the main operating console 100 and the slave operating device 200 are located in the same operating room, and data is transmitted between the two by wire. For another example, the main operating console 100 and the slave operating device 200 are located in different cities, and long-distance data transmission is performed between the two via 5G wireless signals.

[0072] 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.

[0073] In some embodiments, see Figure 3The surgical instrument 300 may include a drive unit 310, a long shaft assembly 320, and an end instrument 321. The long shaft assembly 320 may include a self-rotating tube 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 unit 310. The end instrument 321 may include a wrist and / or an end effector 340. The drive unit 310 may be coupled to the actuator 220. Multiple drive units within the drive unit 310 may manipulate the wrist and / or the end effector 340 via the long shaft assembly 320. The end effector 340 may be an instrument that performs functions such as cauterization, shearing, cutting, clamping, or imaging. In some other embodiments, the first end 351 of the long shaft assembly 320 can be connected only to the wrist, and the movement of the wrist can be used to perform actions such as pressing or lifting tissue.

[0074] 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.

[0075] Please also refer to Figure 5 In some embodiments, the rotating tube 427 extends along the longitudinal direction to form the first end 351 and the second end 353 .

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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 .

[0081] 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.

[0082] Specifically, when the driving device 310 applies a force to the first surface 359 of the first driving rod 355, the first driving rod 355 can move away from the first end 351 along the longitudinal direction. When the driving device 310 applies a force to the second surface 361 of the first driving rod 355, the first driving rod 355 can move closer to the first end 351 along the longitudinal direction. In this way, the first driving rod 355 can be stably driven to move along the longitudinal direction. In this way, the first driving rod 355 can further drive the corresponding functions of the end effector 321.

[0083] In some embodiments, the first driving rod 355 can be limited in the circumferential direction of the self-rotating tube 427. Specifically, the self-rotating tube 427 can be driven by the driving device 310 to rotate relative to the axis X of the self-rotating tube 427, so as to drive the end instrument 321 to rotate, and further adjust the position and angle of the end effector 340, so as to facilitate the operation. The first driving rod 355 can be limited in the circumferential direction of the self-rotating tube 427. That is, when the self-rotating tube 427 rotates relative to the axis X thereof, the first driving rod 355 rotates around the axis X of the self-rotating tube 427.

[0084] In this way, the first driving rod 355 can rotate around the axis X of the self-rotating tube 427 when the self-rotating tube 427 rotates. The relative position of the first driving rod 355 in the self-rotating tube 427 can be stably maintained, and the stability of the surgical instrument 300 is improved.

[0085] 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 face 359 and the second face 361.

[0086] The extension direction of the first flange 363 can deviate from the longitudinal direction of the self-rotating tube 427. That is, the extension direction of the first flange 363 can form an acute angle or a right angle with the longitudinal direction of the self-rotating tube 427. In this way, the first flange 363 has two surfaces, one of which is the first face 359 facing the first end 351 of the self-rotating tube 427 as a whole, and the other of which is the second face 361 facing away from the first end 351 of the self-rotating tube 427 as a whole.

[0087] By forming the first flange 363 on the first driving rod 355, and forming the first face 359 and the second face 361 on the first flange 363, the structure can facilitate the movement of the first driving rod 355 along the longitudinal direction of the self-rotating tube 427.

[0088] In some embodiments, the first flange 363 can be integrally formed with the first driving rod 355. In this way, the combination between the two is better. Of course, in some embodiments, the first flange 363 and the first driving rod 355 can also be independent elements, and are connected by a suitable connection method.

[0089] In some embodiments, the end 357 of the first driving rod 355 distal to the first end 351 can be provided with a groove (not shown in the figures). In this way, the surface of the groove sidewall facing the first end 351 can serve as the first face 359, and the surface of the groove sidewall facing away from the first end 351 can serve as the second face 361. Alternatively, the end surface of the first driving rod 355 distal to the first end 351 can serve as the second face 361. Of course, one skilled in the art can make other modifications under the guidance of the embodiments disclosed in the specification, as long as the functions and effects achieved are the same or similar to those disclosed in the embodiments of the specification, and they should be covered within the scope of protection of the claims.

[0090] In some embodiments, the driving device 310 can have a first annular groove 365 extending along the circumference of the rotation 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.

[0091] One driving unit 367 of the driving device 310 can be provided with a first annular groove 365 for at least partially receiving the first flange 363. In this way, the second face 361 of the first flange 363 can be subjected to a force applied by the groove wall 369 of the first annular groove 365, so that the first driving rod 355 moves along the longitudinal direction of the rotation tube 427 towards the first end 351. The first face 359 of the first flange 363 can also be subjected to a force applied by the groove wall 369 of the first annular groove 365, so that the first driving rod 355 moves along the longitudinal direction of the rotation tube 427 towards the second end 353.

[0092] The portion of the first flange 363 protruding from the first driving rod 355 can extend partially 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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 .

[0098] 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.

[0099] When the first flange 363 of the first driving rod 355 is at least partially received in the first annular groove 365, the second face 361 can be in contact with the bottom face 389 of the first annular groove 387, and the first face 359 can be in contact with the surface 391 of the first yoke cover plate 385 facing the bottom face 389 of the first annular groove 387. In this way, the displacement between the first driving rod 355 and the first yoke 371 along the longitudinal direction of the rotation tube 427 is limited. Further, when the first yoke 371 is driven to displace along the longitudinal direction of the rotation tube 427, the first driving rod 355 can be driven to displace together with the first yoke 371. In turn, the first driving rod 355 can be operable to trigger the corresponding function of the end instrument 321.

[0100] In some embodiments, the first driving shaft assembly 373 is parallel to the longitudinal direction. Since the first yoke 371 is sleeved on the first driving shaft assembly 373, when the first driving shaft assembly 373 drives the first yoke 371 to displace, the first yoke 371 can displace along the first driving shaft assembly 373. Since the first driving shaft assembly 373 is parallel to the longitudinal direction of the rotation tube 427, the first yoke 371 can drive the first driving rod 355 to displace along the longitudinal direction of the rotation tube 427.

[0101] The first driving shaft assembly 373 is installed on the driving device 310. Specifically, the first driving shaft assembly 373 can mainly include a first driving shaft 374, a first connecting assembly 376, a first connecting shaft 378, and a first driving member 380.

[0102] The first driving shaft 374 passes through the through hole 382 of the first yoke body 383, so that the first yoke 371 is sleeved on the first driving shaft assembly 373. The top plate 481 is provided with a through hole 384 corresponding to the first driving shaft 374, and the first driving shaft 374 is installed to the through hole 384 through a bearing 386. In this way, the first driving shaft 374 can rotate relative to the top plate 481. The portion of the first driving shaft 374 extending out of the through hole 384 is connected with a nut 388. The portion of the first driving shaft 374 in contact with the bearing 386 is provided with a stepped surface. In turn, the position of the first driving shaft 374 relative to the top plate 481 is limited, and the first driving shaft 374 is allowed to rotate relative to the top plate 481 through the cooperation of the stepped surface, the bearing 386, and the nut 388.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 .

[0108] 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.

[0109] Specifically, when the driving device 310 applies a force to the third surface 397 of the second driving rod 393, the second driving rod 393 can move away from the first end 351 along the longitudinal direction. When the driving device 310 applies a force to the fourth surface 399 of the second driving rod 393, the second driving rod 393 can move closer to the first end 351 along the longitudinal direction. In this manner, the second driving rod 393 can be stably driven to move along the longitudinal direction. In this manner, the second driving rod 393 can further activate the corresponding function of the end instrument 321.

[0110] 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, the second drive rod 393 will rotate along with it.

[0111] 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.

[0112] 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 .

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] The second yoke 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 yoke 409 is sleeved on the firing rod driving member 448. The second yoke 409 and the firing rod driving member 448 can relatively move along the longitudinal direction of the rotation tube 427. In this way, the second yoke 409 is sleeved on the second driving shaft assembly 411 and the firing rod driving member 448 at the same time, so that when the second driving shaft assembly 411 drives the second yoke 409 to move, the second driving shaft assembly 411 will not rotate relative to the second driving shaft assembly 411 due to the blocking of the firing rod driving member 448. Of course, the second driving rod 393 can also prevent the second yoke 409 from rotating relative to the second driving shaft assembly 411.

[0124] The second yoke 409 can include a second yoke body 417 and a second yoke cover plate 419. The second yoke body 417 is formed with a second annular groove 421, and the second center hole 415a is located at the center position of the second annular groove 421, both of which can have the same center line. The second yoke cover plate 419 is coupled with the second yoke body 417 to form the second annular groove 403. The center position of the second yoke cover plate 419 has a second center hole 415b. In this way, the second yoke 409 can be sleeved on the firing rod driving member 448. Further, the center hole of the second yoke cover plate 419 has a larger diameter than the outer diameter of the firing rod driving member 448. An annular space is formed between the second yoke cover plate 419 and the firing rod driving member 448. Further, the second driving rod 393 can extend into the second annular groove 403 from the annular space, so that the second flange 401 is at least partially accommodated in the second annular groove 403. Moreover, when the rotation tube 427 rotates, the second driving rod 393 can move along the annular space to realize rotation of the second driving rod 393 together with the rotation tube 427.

[0125] The second yoke cover plate 419 and the second yoke body 417 can be fixedly connected. Specifically, screws, rivets, or buckle structures can be used to limit the positions of the two, and glue can also be used to bond the two.

[0126] When the second flange 401 of the second driving rod 393 is at least partially accommodated in the second annular groove 421, the third face 397 can be in contact with the bottom face 423 of the second annular groove 421, and the fourth face 399 can be in contact with the surface 425 of the second yoke cover plate 419 facing the bottom face 423 of the second annular groove 421. In this way, the second driving rod 393 and the second yoke 409 are limited in position along the longitudinal direction of the rotation tube 427. Further, when the second yoke 409 is driven to displace along the longitudinal direction of the rotation tube 427, it can drive the second driving rod 393 to move together. Further, the second driving rod 393 can operate the corresponding functions of the trigger end instrument 321.

[0127] 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 .

[0128] 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.

[0129] 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 securely connect the second drive shaft 412 to the second connecting member body 428. The shaft fixing member 429 may securely connect the second connecting shaft 416 to the second connecting member body 428. The aforementioned secure connection method may include, but is not limited to, screws or rivets. In this manner, the second drive shaft 412 and the second connecting shaft 416 are securely connected.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] In some embodiments, the first drive rod 355 and the second drive rod 393 are each used to trigger different functions of the end effector 321. Specifically, for example, the first drive rod 355 can be used to trigger the swing function of the end effector 321, and the second drive rod 393 can be used to trigger the clamping function of the end effector 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] See also Figure 5 、 Figure 10 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 .

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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 .

[0144] To make the positional relationship between the second shifting fork 409 and the second guide shaft 476 more stable, reduce the relative inclination or sway between the second shifting fork body 417 and the second guide shaft 476. The second guide seat 480 can be sleeved on the second guide shaft 476, and can slide relative to each other. The second guide seat 480 is fixedly connected with the second shifting fork body 417. The second guide seat 480 is a hollow cylindrical shape as a whole, so that the second guide seat 480 is sleeved on the second guide shaft 476, and is fixedly connected with the second shifting fork body 417. To some extent, it is equivalent to increasing the contact area between the second shifting fork body 417 and the second guide shaft 476. In this way, when the second shifting fork 409 moves relative to the second guide shaft 476, it can be more stable, reducing the sway or inclination between them. Further, in some embodiments, in order to reduce the friction between the second guide shaft 476 and the second shifting fork body 417 and the second guide seat 480, a relatively smooth second shaft sleeve can be provided between the second shifting fork body 417 and the second guide seat 480 and the second guide shaft 476. The second shaft sleeve can be made of a material with a relatively smooth surface. Of course, the second shaft sleeve can not be provided, and the second shifting fork body 417 and / or the second guide seat 480 can be made of a material with a relatively smooth surface.

[0145] In some embodiments, the guide shaft assembly 462 of the drive device 310 can only be provided with related structures for guiding the first shifting fork 371. Of course, the guide shaft assembly 462 of the drive device 310 can only be provided with related structures for guiding the second shifting fork 409. Of course, in some embodiments, the guide shaft assembly 462 can be provided with related structures for guiding the first shifting fork 371 and the second shifting fork 409 at the same time.

[0146] Please refer to Figures 3 to 6 and Figure 8 In some embodiments, the second drive rod 393 and the first drive rod 355 are both partially accommodated in the self-rotating pipe 427 and limited in the circumferential direction relative to the self-rotating pipe 427.

[0147] The first drive rod 355 and the second drive rod 393 extend from the drive device 310 to the self-rotating pipe 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, and the parts of the first flange 363 and the second flange 401 located outside the self-rotating pipe 427 can cooperate with the first shifting fork 371 or the second shifting fork 409.

[0148] 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 .

[0149] 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.

[0150] 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.

[0151] Please also refer to Figure 3 、 Figure 8 and Figure 12 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 .

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 .

[0160] 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.

[0161] The first section 437 can be fixedly connected with the second section 439. 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.

[0162] In some embodiments, the firing rod stopper 446 includes a stopper mounting portion 830 fixedly connected with the housing 381 of the driving device 310, and a stopper extension portion 832 received in the housing 381 of the driving device 310 and extending into the first section 437. The stopper mounting portion 830 is fixedly connected with the stopper extension portion 832. Of course, in some embodiments, the firing rod stopper 446 can only include the stopper extension portion 832, and the stopper extension portion 832 is fixedly connected with the housing 381 of the driving device 310 directly. Specifically, for example, according to the materials used, the stopper extension portion 832 can be connected by welding, bonding, buckle structure, or the like. Alternatively, an opening can be provided on the housing 381 of the driving device 310, and the stopper extension portion 832 is fixedly connected with the housing 381 of the driving device 310 by interference fit with the opening.

[0163] The stopper extension portion 832 circumferentially limits the firing rod 450 and allows the firing rod 450 to move along the longitudinal direction relative to the stopper extension portion 832.

[0164] In some embodiments, the internal cross section of the first section 437 perpendicular to the longitudinal direction is non-circular, and the shape of the stopper extension portion 832 is matched with the shape of the internal cross section. In this way, it is difficult for the first section 437 and the driving rod stopper 430 to rotate relative to the circumferential direction 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 irregular. 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 polygonal. Specifically, for example, triangular, square, pentagonal, or the like.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] Please also refer to Figure 8 、 Figure 12 and Figure 13 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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 .

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] The components and materials used in the various embodiments disclosed in this specification all comply with medical standards or regulations.

[0186] 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.

[0187] 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: include: A tubular member extending in a longitudinal direction and having a first end and a second end; wherein the first end is used to mount an end tool; a first drive rod for driving the end tool is disposed within the tubular member; a first surface facing the first end and a second surface facing away from the first end are formed at an end of the first drive rod away from the first end; a driving device coupled to the second end of the tube, the driving device being capable of applying a force to the first surface and / or the second surface to move the first driving rod along the longitudinal direction to drive the end instrument; The end of the first driving rod away from the first end is provided with a first flange deviating from the longitudinal direction; the first flange has the first surface and the second surface; The driving device has a first annular groove extending along the circumference of the pipe, and the first flange of the first driving rod is at least partially accommodated in the first annular groove, so that the driving device can drive the first driving rod to move along the longitudinal direction.

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

3. The surgical instrument according to claim 1, wherein: The pipe is a self-rotating pipe, and the driving device can drive the self-rotating pipe to rotate along the circumferential direction, so that the first flange of the first driving rod moves along the first annular groove.

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

5. The surgical instrument according to claim 4, characterized in that: The axial direction of the first drive shaft assembly is parallel to the longitudinal direction.

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

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

8. The surgical instrument according to claim 1, wherein: A second driving rod for driving the end instrument is provided in the tube; a third surface facing the first end and a fourth surface facing away from the first end are formed at the end of the second driving rod away from the first end; Accordingly, the driving device can apply force to the third surface and / or the fourth surface to move the second driving rod along the longitudinal direction.

9. The surgical instrument according to claim 8, characterized in that The second driving rod is limited relative to the circumferential direction of the pipe.

10. The surgical instrument according to claim 8, characterized in that The end portion of the second driving rod away from the first end is provided with a second flange deviating from the longitudinal direction; the second flange has the third surface and the fourth surface.

11. The surgical instrument according to claim 10, characterized in that: The driving device has a second annular groove extending along the circumference of the pipe, and the second flange of the second driving rod is at least partially accommodated in the second annular groove, so that the driving device can drive the second driving rod to move along the longitudinal direction.

12. The surgical instrument according to claim 11, wherein: The pipe is a self-rotating pipe, and the driving device can drive the self-rotating pipe to rotate along the circumferential direction, so that the second flange of the second driving rod moves along the second annular groove.

13. The surgical instrument according to claim 12, wherein: The driving device includes a second driving unit, which includes a second fork provided with a second annular groove, and a second driving shaft assembly rotatably connected to the second fork; the second fork can be driven by the second driving shaft assembly to move along the axial direction of the second driving shaft assembly to drive the second driving rod to move along the longitudinal direction.

14. The surgical instrument according to claim 13, characterized in that The axial direction of the second drive shaft assembly is parallel to the longitudinal direction.

15. The surgical instrument according to claim 13, wherein: The driving device also includes a second guide shaft for guiding the second shift fork; the second shift fork is provided with a second guide hole located between the second annular groove and the second drive shaft assembly; the second guide shaft passes through the second guide hole and is clearance-matched with the second guide hole.

16. The surgical instrument according to claim 15, characterized in that The driving device further includes a second guide seat which is sleeved on the second guide shaft and fixedly connected to the second shift fork.

17. The surgical instrument according to claim 13, wherein: The first driving unit of the driving device includes a first shift fork provided with a first annular groove, and the first shift fork and the second shift fork are arranged along the longitudinal direction.

18. The surgical instrument according to claim 8, wherein: The second driving rod and the first driving rod are both partially accommodated in the pipe and are circumferentially limited relative to the pipe.

19. The surgical instrument according to claim 18, wherein: At least one drive rod limiting member for circumferentially limiting the first drive rod and the second drive rod is provided in the pipe fitting; wherein, the drive rod limiting member is fixedly connected to the pipe fitting, and a first through hole is provided corresponding to the first drive rod, and a second through hole is provided corresponding to the second drive rod.

20. The surgical instrument according to claim 18, wherein: A firing rod is provided in the tube, and the tube is a self-rotating tube. The firing rod is located between the first driving rod and the second driving rod; the driving rod limiter is provided with a third through hole corresponding to the firing rod; the self-rotating tube can rotate around the firing rod.

21. The surgical instrument according to claim 20, characterized in that The firing rod is located between the first driving rod and the second driving rod; when the rotating tube is driven to rotate by the driving device, the first driving rod and the second driving rod rotate around the firing rod.

22. The surgical instrument according to claim 21, wherein: The firing rod includes a first section having a hollow section, a second section fixedly connected to the first section, and a third section pivotally connected to the second section; the first section accommodates a firing rod limiter to limit the circumferential position of the first section.

23. 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 22.

24. A surgical robot, characterized in that: It comprises a main operation console and a slave operation device as claimed in claim 23, 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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