Surgical instrument and surgical robot

Abstract

The application discloses a surgical instrument and a surgical robot. When two groups of surgical instruments are attached to a double-channel endoscope to operate cooperatively, the application controls the steerable members of the mechanical arm assemblies of at least one group of surgical instruments in sections, and when the mechanical arm assemblies of the group are extended from the working channel of the endoscope, the steerable members are first deflected in a direction opposite to the mechanical arm assemblies of the other group of surgical instruments, so that interference is avoided when the two groups of surgical instruments operate cooperatively.

Description

Technical Field

[0001] This invention relates to a surgical instrument and a surgical robot, particularly a surgical instrument and a surgical robot suitable for dual-channel endoscopes. Background Technology

[0002] Flexible endoscopes are commonly used medical devices in clinical practice, often for the diagnosis and treatment of diseases related to natural cavities. When procedures such as electrocoagulation, cutting, or traction are required during examinations and surgeries, other surgical instruments are needed in conjunction with the endoscope.

[0003] Dual-channel endoscopes are more commonly used in endoscopic surgical robots. For example, Chinese invention patent application CN115120352A, entitled "Endoscopic Surgical Device," is an endoscopic surgical robot developed specifically for dual-channel endoscopes. Two sets of surgical instruments can be used in conjunction to perform surgical operations through the two tool channels of the dual-channel endoscope.

[0004] When an endoscopic surgical robot uses two sets of surgical instruments attached to a dual-channel endoscope for collaborative operation, the two sets of surgical instruments may interfere with each other during the extension of the instrument channels and the operation, thus affecting the smooth progress of the surgery. Summary of the Invention

[0005] This invention provides a surgical instrument and surgical robot that can avoid interference caused by attaching to a dual-channel endoscope for collaborative operation.

[0006] Surgical instruments, including:

[0007] Robotic arm assembly, the robotic arm assembly including:

[0008] A steerable component includes a plurality of curved segments connected in series and in contact with each other, and distal and proximal connectors at both ends of the steerable component. The steerable component has a first through hole and a second through hole, the first through hole being located at the center of the steerable component.

[0009] End effector;

[0010] Actuation ropes, including a first actuation rope passing through the first through-hole and actuating the end effector, and a first set of actuation ropes passing through the second through-hole and actuating the steerable member; and

[0011] The actuator, whose proximal end is connected to and driven by the actuator,

[0012] The first set of actuation ropes includes:

[0013] The second actuation rope can drive the distal end of the steerable member to deflect in any direction;

[0014] The third actuation rope and the fourth actuation rope can drive the two different positions in the middle of the steerable member to deflect in opposite directions respectively;

[0015] The distal end of the second actuation rope is locked to the distal connector, and the distal ends of the third actuation rope and the fourth actuation rope are respectively locked to the curved segment near the distal connector and the curved segment away from the distal connector.

[0016] Preferably, each of the curved segments includes a protrusion at one end and a groove at the opposite end, the protrusion being positioned 90 degrees off relative to the groove.

[0017] Preferably, the curved segment includes a first-order segment and a second-order segment, each of the curved segments having a protrusion at one end and a groove at the opposite end, the protrusion of the first-order segment being positioned offset by 90 degrees relative to the groove, and the protrusion of the second-order segment being aligned with the groove.

[0018] Preferably, the distal end of the third actuation rope is locked to the first segment at the nearest end or the second segment at the farthest end.

[0019] Preferably, the distal end of the fourth actuation rope is locked to the farthest second segment or the middle second segment.

[0020] Preferably, the length of the second segment at the distal end of the locking fourth actuation rope is greater than the length of the remaining second segments.

[0021] Preferably, the first actuation rope is made of shape memory material.

[0022] Preferably, a sheath containing the actuation rope is provided between the steerable component and the controller.

[0023] Preferably, the sheath is a multi-lumen tube, and the position of the lumens of the multi-lumen tube corresponds to the position of the through hole of the steerable member.

[0024] Preferably, the cavities forming the multi-cavity tube are made of a material that combines lubricity and hardness.

[0025] A surgical robot comprising an instrument drive unit detachably coupled to the controller of the surgical instrument according to any one of claims 1 to 12, wherein when the controller is coupled to the instrument drive unit, the instrument drive unit drives the controller to perform operations; and when the controller is decoupled from and separated from the instrument drive unit, the two no longer operate together.

[0026] When two sets of surgical instruments are attached to a dual-channel endoscope for coordinated operation, the present invention can segmentally control the steerable component of the robotic arm assembly of at least one set of surgical instruments. When the robotic arm assembly extends out of the endoscope working channel, it can first deflect in the opposite direction to the robotic arm assembly of the other set of surgical instruments, thereby avoiding interference when the two sets of surgical instruments are operated in coordination. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a surgical instrument used in conjunction with an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of one set of surgical instruments (excluding the controller) according to an embodiment of the present invention;

[0029] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0030] Figure 4 for Figure 2 A magnified view of a section at point B in the middle;

[0031] Figure 5 for Figure 2 A magnified view of a section at point C;

[0032] Figure 6 This is a schematic diagram of the structure of a remote connector according to an embodiment of the present invention;

[0033] Figure 7 , Figure 8 This is a schematic diagram of the structure of the first segment according to an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of a structure in which two first-order segments are connected in series according to an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the structure of a first-stage segment with a countersunk hole according to an embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure of a second-order segment with a countersunk hole according to an embodiment of the present invention;

[0037] Figure 12This is a schematic diagram of the structure of the second segment according to an embodiment of the present invention;

[0038] Figure 13 This is a schematic diagram of a structure in which two second-order segments are connected in series according to an embodiment of the present invention;

[0039] Figure 14 This is a schematic diagram of the structure of a proximal connector according to an embodiment of the present invention;

[0040] Figure 15 This is a schematic diagram of the structure of a seven-lumen tube according to an embodiment of the present invention. Detailed Implementation

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] In the description of this invention, the terms "proximal" and "distal" will be used to describe the axially opposite ends of the device and the axial ends of the various component features. The term "proximal," in its conventional sense, refers to the end of the device (or component) closest to the medical professional during use. The term "distal," in its conventional sense, refers to the end of the device (or component) initially inserted into the patient or closest to the patient during use.

[0043] It should also be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] like Figure 1 The diagram shows two sets of surgical instruments 100 and 200 attached to a dual-channel endoscope 300 for use in conjunction with it. Each surgical instrument includes a robotic arm assembly 500 and a controller. The distal end of the robotic arm assembly 500 can reach the affected area and perform surgical operations, and the controller provides a cable-driven power interface for the robotic arm assembly 500.

[0045] like Figure 2 As shown, the robotic arm assembly 500 includes an end effector 510, a steerable member 520, and an actuation rope 530.

[0046] The end effector 510 can be a surgical tool such as a high-frequency electrosurgical scalpel or clamp. Figure 1 and Figure 2In the surgical instrument 100, the end effector is a clamp, and in the other set of surgical instruments 200, the end effector is a high-frequency electrosurgical scalpel.

[0047] like Figure 2 As shown, the steerable member 520 includes a plurality of curved segments 521 that are in contact with each other and connected in series, and a distal connector 522 and a proximal connector 523 located at both ends of the steerable member. The steerable member has a first through hole 524 and a second through hole 525, with the first through hole 524 located at the center of the steerable member 520.

[0048] The actuation rope 530 includes a first actuation rope 531 that passes through a first through hole 524 of the steerable member 520 and actuates the end effector 510, and a first set of actuation ropes that passes through a second through hole 525 and actuates the steerable member 520.

[0049] To avoid interference when the two sets of surgical instruments operate together, the first set of actuation ropes of at least one set of surgical instruments includes a second actuation rope 532, a third actuation rope 533 and a fourth actuation rope 534, the distal ends of which are respectively locked at different length positions of the steerable member 520.

[0050] Specifically, such as Figure 3 The distal end of the second actuation rope 532 shown is locked to the distal connector 522. The second actuation rope 532 can drive the distal end of the steerable member 520 to deflect in any direction, thereby controlling the position and attitude of the end effector 510.

[0051] like Figure 1 As shown, the distal ends of the third actuation rope 533 and the fourth actuation rope 534 are locked to the curved segment near the distal connector and the curved segment away from the distal connector, respectively. The third actuation rope 533 and the fourth actuation rope 534 can drive the two different positions in the middle of the steerable member 520 to deflect in opposite directions. In actual use, after the robotic arm assembly 500 extends from the distal end of the dual-channel endoscope 300, under the action of the fourth actuation rope 534, it first moves away from the axis of the dual-channel endoscope 300, thereby avoiding interference with another set of surgical instruments; then, under the action of the third actuation rope 533, the robotic arm assembly 500 returns to a position parallel to the axis of the dual-channel endoscope 300.

[0052] As one embodiment, each of the curved segments 521 includes a protrusion 526 at one end and a recess 527 at its opposite end, the protrusion 526 being positioned offset by 90 degrees relative to the recess 527. Both the protrusion 526 and the recess 527 have arcuate surfaces, and the protrusion 526 of the curved segment is received in the recess 527 of the adjacent curved segment to form a hinge connection. Each protrusion 526 can slide along the surface of the corresponding recess 527, allowing the centerline of the adjacent curved segment to move at an angle relative to the arcuate focal point. The distal connector 522 and the proximal connector 523 are connected to their adjacent curved segments 521 using the same hinge connection method as described above.

[0053] As one embodiment, the curved segment 521 includes a first segment 5211 and a second segment 5212. Each of the curved segments 521 includes a protrusion 526 at one end and a groove 527 at the opposite end. The protrusion 526 of the first segment 5211 is positioned offset by 90 degrees relative to the groove 527, and the protrusion 526 of the second segment 5212 is aligned with the groove 527.

[0054] Figure 9 The diagram shows two first-order segments connected in series according to an embodiment of the present invention. Figure 13 The diagram shows two second-order segments connected in series according to an embodiment of the present invention. Using the second-order segment 5212 can achieve a single axis away from the dual-channel endoscope 300, while using the first-order segment 5211 can achieve more degrees of freedom than using the second-order segment 5212, thereby better controlling the position and orientation of the end effector 510.

[0055] The distal end of the third actuation rope 533 can be locked to the nearest first segment 5211 or the farthest second segment 5212. For example... Figure 4 As shown, the distal end of the third actuation rope 533 is locked to the first segment 5211 at the nearest end.

[0056] The distal end of the fourth actuation rope 534 can be locked to either the farthest second segment 5212 or the middle second segment 5212. For example... Figure 5 As shown, the distal end of the fourth actuation rope 534 is locked to the middle second segment 5212.

[0057] To achieve a better effect of being further away from the axis of the dual-channel endoscope 300, as an example, the length of the second segment 5212 at the distal end of the locking fourth actuation rope 534 is greater than the length of the other second segments 5212. Figure 11The length of the second segment 5212 at the distal end of the fourth locking actuation rope 534 shown is approximately twice the length of the other second segments 5212. This second segment 5212 has better rigidity than the other second segments 5212, thus providing better controllability.

[0058] As one embodiment, each actuation rope in the first set of actuation ropes may be composed of solid or stranded / braided metal wire, with the distal end of the metal wire fused into a ball head 601, the diameter of which is larger than the diameter of the metal wire itself. The steerable member 520 locking the second actuation rope 532, the third actuation rope 533, and the fourth actuation rope 534 is provided with a countersunk hole 602, the diameter of which is larger than the diameter of the second through hole 525, and the ball head 601 can be locked in the countersunk hole 602.

[0059] like Figure 6 As shown, the distal connector 522 has three countersunk holes 602, which can be configured to correspond to the ball head 601 at the distal end of the second actuation rope 532.

[0060] like Figure 10 The first segment 5211 shown is provided with a countersunk hole 602, which passes through the protrusion 526 on one side of the first through hole 524 and can be correspondingly configured with the ball head 601 at the far end of the third actuation rope 533.

[0061] like Figure 11 The second segment 5212 shown has two countersunk holes 602, which can be used to configure the ball head 601 at the far end of the fourth actuation rope 534.

[0062] The first actuation cord 531 is made of shape memory material. As an example, the first actuation cord 531 is made of nickel-titanium alloy material, so that the first actuation cord 531 located at the center of the steerable member 520 can return to a relatively straight state after bending as it is turned.

[0063] The second actuation rope 532, the third actuation rope 533, and the fourth actuation rope 534 may be made of solid or stranded / braided metal wire, and are flexible and easy to bend.

[0064] A sheath 550 containing the actuation rope 530 is provided between the steerable component 520 and the controller, and a proximal connector 523 is fixedly connected to the distal end of the seven-lumen tube. To provide channels for a large number of actuation ropes 530, the sheath 550 is implemented as a multi-lumen tube, with the positions of the lumens corresponding to the positions of the through holes in the steerable component 520. As one embodiment, such as... Figure 15As shown, the sheath 550 is a seven-lumen tube. The first cavity 551 located in the center is used for the first actuation rope 531. The other six lumens are evenly distributed at 60° intervals with the first cavity 551 as the center. The second cavity 552 is used for the second actuation rope 532; the third cavity 553 is used for the third actuation rope 533; and the fourth cavity 554 is used for the fourth actuation rope 534.

[0065] The cavities forming the multi-cavity tube are made of a material that combines lubricity and hardness. Preferred resins with low coefficient of friction include polytetrafluoroethylene (PTFE), polychlorotrifluoroethylene (PCTFE), polyvinylidene fluoride (PVDF), ethylene-tetrafluoroethylene copolymer (ETFE), ethylene-chlorotrifluoroethylene copolymer (ECTFE), and polyvinyl fluoride (PVF), to facilitate the traction action of the actuation rope.

[0066] The multi-lumen tube can also be a multi-layered braided tube, with each lumen filled with polytetrafluoroethylene (PTFE); the middle layer is braided stainless steel, providing sufficient support to ensure that the sheath 550 will not be squeezed or deformed when passing through the endoscope in applications using endoscopic surgical robots, thus affecting the traction effect of the actuation cord 530; the outermost layer is made of polyether block amide (PEBAX), which also provides support and anti-torsion properties. The resulting multi-lumen tube also exhibits excellent synchronous rotation performance, facilitating the operator's adjustment of the surgical actuator's end effector position under endoscopic visualization.

[0067] The structure of the end effector 510 is referenced in Chinese invention patent application "Endoscope Adapter and Endoscopic Surgical Auxiliary Instrument" with publication number CN114903409A. Figure 13 , Figure 14 and its description. For example... Figure 2 As shown, the fork-shaped connector 511 is fixedly connected to the distal connector 522.

[0068] The proximal end of the actuation cord 530 is connected to a manipulator. The internal structure of the manipulator can be found in Figures 19 and 20 and their description in Chinese invention patent application CN114903409A, entitled "Endoscope Adapter and Endoscopic Surgical Auxiliary Instrument". Specifically, as shown in... Figure 2 In the embodiment shown, six reels can be arranged on both sides of the base of the controller according to the number of the second actuation rope 532, the third actuation rope 533 and the fourth actuation rope 534.

[0069] The surgical robot is equipped with an instrument drive device (such as the "drive component" of the Chinese invention patent application "Endoscopic Surgical Equipment" with publication number CN115120352A). The instrument drive device can be detachably coupled to the controller of the surgical instrument. When the controller is coupled to the instrument drive device, the instrument drive device drives the controller to perform operations. When the controller is decoupled from the instrument drive device and separated, the two no longer operate together.

[0070] Specifically, such as Figure 2 , Figure 15 In the illustrated embodiment, during use, pulling two fourth actuation ropes 534 simultaneously moves the robotic arm assembly 500 away from the axis of the dual-channel endoscope 300; then pulling a third actuation rope 533 returns the robotic arm assembly 500 to a position relatively parallel to the axis of the dual-channel endoscope 300; subsequently, pulling three second actuation ropes 532 controls the end effector 510 to bend in three different directions, which, in conjunction with the rotation of surgical instruments, allows the end effector 510 to reach the desired position, facilitating surgical operations; finally, pulling the first actuation rope 531 controls the forward, backward, opening, and closing of the end effector 510.

Claims

1. A surgical instrument, comprising: a mechanical arm assembly, comprising: a steerable member comprising a plurality of curved segments in series in contact with each other, and a distal connector and a proximal connector at two ends of the steerable member, the steerable member having a first through hole and a second through hole, the first through hole being in the center of the steerable member; an end effector; actuation cords, comprising a first actuation cord passing through the first through hole and actuating the end effector, a first set of actuation cords passing through the second through hole and actuating the steerable member; and a manipulator, the proximal ends of the actuation cords being connected to and driven by the manipulator, characterized in that the first set of actuation cords comprises: a second actuation cord, the second actuation cord being drivable to deflect the distal end of the steerable member in any direction; a third actuation cord and a fourth actuation cord, the third actuation cord and the fourth actuation cord being drivable to deflect the middle part of the steerable member in opposite directions at two different positions respectively; the distal end of the third actuation cord being locked to the proximal-most first order segment or the distal-most second order segment, the distal end of the fourth actuation cord being locked to the distal-most second order segment or the second order segment in the middle, the length of the second order segment locking the distal end of the fourth actuation cord being greater than the lengths of the rest of the second order segments; the distal end of the second actuation cord being locked to the distal connector, the distal ends of the third actuation cord and the fourth actuation cord being locked to the curved segments close to the distal connector and the curved segments away from the distal connector respectively; each of the curved segments comprising a protrusion at one end and a groove at the opposite end, the protrusion being positioned 90 degrees offset to the groove; each of the curved segments comprising a first order segment and a second order segment, the protrusion of the first order segment being positioned 90 degrees offset to the groove, the protrusion of the second order segment being in the same direction as the groove.

2. The surgical instrument of claim 1, wherein, The first actuation cord is made of a shape memory material.

3. The surgical instrument of claim 1, wherein, A sheath tube is provided between the steerable member and the manipulator, the sheath tube containing the actuation cords.

4. The surgical instrument of claim 3, wherein, The sheath tube is a multi-lumen tube, the positions of the lumens of the multi-lumen tube corresponding to the positions of the through holes of the steerable member.

5. The surgical instrument of claim 4, wherein, The material of the lumens of the multi-lumen tube has both lubricity and hardness.

6. A surgical robot, characterised in that, The surgical robot comprises an instrument driving device, the instrument driving device being detachably coupled with the manipulator of the surgical instrument according to any one of claims 1 to 5, when the manipulator is coupled with the instrument driving device, the instrument driving device drives the manipulator to perform an operation; when the manipulator is decoupled and separated from the instrument driving device, the two are no longer operated together.

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