Surgical instruments and surgical robots

Abstract

The present invention provides a surgical instrument and a surgical robot, comprising a swing arm nut, a swing arm screw, and a swinging member. The swing arm nut is configured to be transmission-connected to a drive mechanism and rotate about a first axis under the drive of the drive mechanism; the swing arm screw is transmission-coupled with the swing arm nut and moves along the first axis under the drive of the swing arm nut; the swinging member is swingably arranged and connected to the surgical instrument. The swinging member is transmission-coupled with the swing arm screw and drives an actuator of the surgical instrument to swing under the drive of the swing arm screw. By using a linear conversion mechanism to drive the swinging member to swing the actuator, the components on the transmission path have good strength and are not easily broken. The entire swing transmission mechanism has high strength and reliability, which can improve the safety and accuracy of the surgery.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a surgical instrument and a surgical robot. 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 detachable surgical instrument is connected to the slave operating device. The surgical instrument includes a drive unit and an end effector for performing surgery, as well as a long shaft for connecting the end effector and the drive unit. The drive unit is used to connect the surgical instrument to the slave operating device and receives driving force from the slave operating device to drive the end effector to move. The drive unit is connected to the end effector via a cable, and the drive unit controls the movement of the end effector via the cable. The swing of the actuator in the related art uses two sets of cables to drive the swing and pitch of the actuator respectively. However, cable drive has problems with poor strength and reliability. For example, the cable may break during use, thereby affecting the safety of the operation. Summary of the Invention

[0005] The main purpose of the present invention is to provide a surgical instrument and a surgical robot, aiming to solve the technical problem that the swing cable of the existing actuator is prone to breakage during the driving process.

[0006] To achieve the above-mentioned object, the present invention provides a surgical instrument having an actuator for performing surgery, the surgical instrument comprising:

[0007] a swing arm nut, the swing arm nut being in driving connection with a driving mechanism so as to rotate around a first axis under the driving of the driving mechanism;

[0008] a swing arm screw, the swing arm screw being in driving engagement with the swing arm nut and moving along the first axis under the drive of the swing arm nut;

[0009] The swinging member is swingably arranged and connected to the executive member. The swinging member is in transmission cooperation with the swing arm screw and drives the executive member to swing under the drive of the swing arm screw.

[0010] As an optional embodiment, it also includes a swinging transmission member, and a first swinging part and a second swinging part are formed on both sides of the swinging axis of the swinging member respectively. The swinging transmission member includes a first transmission part, and the first transmission part is connected to the swing arm screw for driving to move along the first axis under the drive of the swing arm screw. The first transmission part is rotatably connected to the first swinging part. When the first transmission part moves along the first axis, the swinging member swings.

[0011] As an optional embodiment, the swinging transmission member also includes a second transmission part and a connecting part, the second transmission part is arranged parallel to the first transmission part, one end of the second transmission part is rotatably connected to the second swinging part, and the other end of the second transmission part is connected to the first transmission part through the connecting part and is respectively rotatably connected to the connecting part.

[0012] As an optional embodiment, the first transmission part, the swinging member, the second transmission part and the connecting part are rotatably connected end to end in sequence to form a parallelogram transmission structure.

[0013] As an optional embodiment, a boss is formed on the first swinging part and the second swinging part, and a groove matching the boss is formed on the first transmitting part and the second transmitting part respectively, and the groove forms a rotational fit with the boss.

[0014] As an optional implementation, the first transmission part and the second transmission part are elastic members.

[0015] As an optional embodiment, the swing transmission member further includes a linkage portion, the swing arm screw is connected to the first transmission portion via the linkage portion, the swing arm screw and the linkage portion are relatively fixed, and the linkage portion and the first transmission portion form a rotatable connection.

[0016] As an optional embodiment, a base rod is further included, the swing member is swingably mounted on the base rod through the swing shaft, and the swing screw is movable relative to the base rod to drive the swing member to swing when moving.

[0017] As an optional embodiment, the surgical instrument also includes a bracket, and the swing transmission mechanism also includes a limit member, the limit member is fixed relative to the bracket or the limit member is a part of the bracket, when the swing arm nut rotates, the swing arm screw moves relative to the bracket under the constraint of the limit member.

[0018] As an optional embodiment, one of the swing arm screw and the limit member has a sliding groove, and the other has a slider matching the sliding groove. The sliding groove extends along the first axis. When the swing arm nut rotates, the swing arm screw moves along the first axis under the limiting cooperation of the sliding groove and the slider.

[0019] As an optional embodiment, it also includes a swing rod, one of the swing rod and the swing arm screw has a stepped end in the shape of a rotating body, and the other of the swing rod and the swing arm screw has an embedding groove matching the stepped end, and the embedding groove is partially open to allow the stepped end to be embedded, and the swing arm screw is transmission-connected to the swing member through the swing rod.

[0020] As an optional embodiment, it also includes an outer tube, the swing arm nut and the swing arm screw are nested with each other, the swing arm screw and the limit member are nested with each other, the outer tube is sleeved outside the swing rod, and the swing rod is slidable relative to the outer tube.

[0021] As an optional embodiment, a rotation connection assembly is further included, which includes two rotating parts. The two rotating parts are respectively located on two opposite sides outside the swinging part, and the actuator is rotationally connected to the outer tube through the two rotating parts.

[0022] As an optional embodiment, the rotating member includes a first rotating portion and a second rotating portion that are spaced apart, the first rotating portion is rotationally connected to the outer tube, and the second rotating portion is rotationally connected to the actuator.

[0023] As an optional embodiment, it further includes a flexible sleeve, one end of which is connected to the outer tube, and the other end of which is connected to the actuator, and the flexible sleeve covers the rotating connection assembly therein.

[0024] To achieve the above object, the present invention further provides a surgical instrument, comprising:

[0025] A drive disk, the drive disk being used to connect to a robotic arm and receive and convert power from the robotic arm into a rotational drive force;

[0026] a swing drive assembly, the swing drive assembly comprising a transmission member and a swing arm assembly, the transmission member receiving the rotational driving force of the drive disk and converting it into linear motion, the swing arm assembly receiving the drive of the transmission member to perform linear motion; and

[0027] A swinging member, one end of which is connected to the actuator, and the swinging member rotates and swings under the drive of the swinging rod assembly, thereby driving the actuator to swing.

[0028] To achieve the above-mentioned object, the present invention further provides a manual robot comprising a master operating console and a slave operating device, wherein the slave operating device comprises the above-mentioned surgical instrument.

[0029] The surgical instrument and surgical robot provided by the present invention use a linear conversion mechanism to push the swinging part to drive the actuator to swing. The components on the transmission path have good strength and are not easy to break. The entire swing transmission mechanism has high strength and reliability, which can improve the safety and accuracy of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of the overall structure of a surgical instrument provided by an embodiment of the present invention is shown;

[0032] Figure 2 A schematic diagram of a partial structure of a surgical instrument provided by an embodiment of the present invention is shown;

[0033] Figure 3 Shown Figure 2 sectional view of

[0034] Figure 4 A schematic diagram of the assembly structure of the bracket of the surgical instrument provided in this embodiment is shown;

[0035] Figure 5 Shown Figure 3 Schematic diagram of the decomposition structure;

[0036] Figure 6 A schematic diagram of the assembly structure of a swing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0037] Figure 7 Shown Figure 6 Schematic diagram of the decomposition structure;

[0038] Figure 8 A partial cross-sectional schematic diagram of a swing transmission mechanism provided by an embodiment of the present invention is shown;

[0039] Figure 9 Shown Figure 8 Schematic diagram of the decomposition structure;

[0040] Figure 10 A schematic diagram of a partial decomposition structure of a swing drive transmission provided by an embodiment of the present invention is shown;

[0041] Figure 11 A schematic diagram of a first partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention is shown;

[0042] Figure 12 A second partial cross-sectional structural diagram of the swing drive mechanism provided by an embodiment of the present invention is shown;

[0043] Figure 13 A third partial cross-sectional structural diagram of the swing drive mechanism provided by an embodiment of the present invention is shown;

[0044] Figure 14 A schematic diagram of a first state of a parallelogram structure composed of a first transmission part, a swinging member, a second transmission part, and a connecting part of the swing transmission mechanism is shown;

[0045] Figure 15 A schematic diagram of a second state of a parallelogram structure composed of the first transmission part, the swing member, the second transmission part and the connecting part of the swing transmission mechanism is shown;

[0046] Figure 16 Shown Figure 13 A local enlarged schematic diagram of point A in the middle.

[0047] Component Symbol Description:

[0048] 10-bracket; 101-base; 102-top seat; 103-first connecting plate; 104-second connecting plate; 100-swing transmission mechanism; 110-swing arm nut; 111-firing part; 112-fourth bearing; 113-circlip; 120-swing arm screw; 121-non-rotating section; 130-swing member; 131-first swing part; 132-second swing part; 140-limiting member; 150-swing rod; 160-swing transmission member; 161-first transmission part; 162-second transmission part; 163-linkage part; 164-connecting part ;170-outer tube;180-rotating connection assembly;181-rotating member;1811-first rotating part;1812-second rotating part;190-base rod;191-swinging shaft;200-swinging drive mechanism;210-swinging drive member;211-driving capstan;212-first bearing;213-driving main shaft;214-coupling;220-first transmission gear;230-first gear shaft;231-second bearing;240-nut;250-second transmission gear;251-third bearing;252-circlip;300-actuator. DETAILED DESCRIPTION

[0049] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0050] 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 also be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be an element centered thereon. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items, and "cable bundle" in the text means that each cable in a bundle of cables is relatively close to each other and extends in substantially the same direction. Unless otherwise specified, the cable bundle direction or cable direction referred to in this application refers to the direction of the cable bundle or cable along the length direction.

[0052] The following is a detailed description with reference to the accompanying drawings.

[0053] A surgical robot generally includes a slave operating device and a master operating console. The doctor performs relevant control operations on the slave operating device on the master operating console, and the slave operating device performs surgical operations on the human body according to the input instructions of the master operating console. The master operating console and the slave operating device can be placed in the same operating room or in different rooms. The master operating console and the slave operating device can even be far apart. For example, the master operating console and the slave operating device are located in different cities. The master operating console and the slave operating device can transmit data by wire or by wireless means. For example, the master operating console and the slave operating device are located in the same operating room, and data is transmitted between the two by wire. Alternatively, the master operating console and the slave operating device are located in different cities, and long-distance data transmission is performed between the two using wireless signals such as 4G and 5G.

[0054] The slave operating device includes a robotic arm and an actuator arranged at the distal end of the robotic arm. The surgical instrument used to perform a surgical operation is connected to the actuator, and the actuator drives the surgical instrument to move through multiple actuators inside the actuator.

[0055] Surgical instruments, used in surgical robots, perform corresponding surgical procedures on the patient's surgical site or affected area according to a set program under the control of the surgical robot's main operating console. Surgical instruments include a transmission mechanism and a drive mechanism. The drive mechanism is used to connect to the actuator and provide power for the surgical instrument to perform its movements. The transmission mechanism is used to convert the power received by the drive mechanism into different outputs, enabling the actuator used to perform the surgical operation to perform different actions, such as movement, rotation, opening and closing, pinching, and swinging.

[0056] like Figure 1 As shown, Figure 1 The figure shows the overall structure of the surgical instrument provided by the embodiment of the present invention.

[0057] The surgical instrument 1000 of this embodiment includes a swing transmission mechanism 100, a swing drive mechanism 200 and an actuator 300. The swing drive mechanism 200 drives the swing transmission mechanism 100 to move, so that the actuator 300 outputs a corresponding swing movement, thereby enabling the actuator 300 to swing and adjust its movement direction.

[0058] As described above, the swing drive mechanism 200 is used to receive power from the actuator of the robot's manipulator arm and transmit rotational power to the swing transmission mechanism 100. It is a rotational transmission mechanism that can adjust the output speed and torque through multi-stage transmission. The swing transmission mechanism 100 converts the rotational motion of the swing drive mechanism 200 into a swinging motion and is a motion conversion mechanism. The actuator 300 can be a surgical actuating component such as a scalpel or stapler. This embodiment uses the actuator 300 as a stapler. The surgical instrument is a stapler, which is used to suture postoperative wounds.

[0059] Please also refer to Figure 2 and Figure 3 , Figure 2 A schematic diagram of a partial structure of a surgical instrument provided by an embodiment of the present invention is shown; Figure 3 Shown Figure 2 sectional view.

[0060] The swing drive mechanism 200 includes a bracket 10, a swing drive member 210, and a first transmission gear 220. The swing drive member 210 drives the first transmission gear 220 to rotate. The swing drive member 210 is used to connect to the robotic arm and receive the robotic arm's rotational power. The swing drive mechanism 200 also includes a first gear shaft 230. The swing drive member 210 drives the first transmission gear 220 to rotate via the first gear shaft 230. The first transmission gear 220 is in driving connection with the swing transmission mechanism 100 to transmit the power from the swing drive mechanism 200 to the swing transmission mechanism 100.

[0061] like Figure 3 and Figure 4 As shown, Figure 3 FIG. 1 shows a schematic diagram of the assembly structure of the bracket of the surgical instrument provided in this embodiment. Figure 4 Shown Figure 3 Schematic diagram of the decomposition structure.

[0062] The bracket 10 is used to carry and install components of the surgical instrument, and is connected to the robotic arm to fix the entire surgical instrument to the robotic arm. In some embodiments, the bracket 10 includes a base 101, a top seat 102, and a first connecting plate 103 and a second connecting plate 104. The top seat 102 and the base 101 are arranged substantially parallel and spaced apart and connected by the first connecting plate 103 and the second connecting plate 104. For example, the first connecting plate 103 and the second connecting plate 104 are supported between the top seat 102 and the base 101. The first connecting plate 103 and the second connecting plate 104 can be connected to the top seat 102 and the base 101 by screws, snap-fit ​​connections, or welding.

[0063] Please also refer to Figure 3 、 Figure 6 and Figure 7 , Figure 6 A schematic diagram of the assembly structure of a swing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 7 Shown Figure 6 Schematic diagram of the decomposition structure.

[0064] In this embodiment, the swing drive 210 includes a drive capstan 211, a first bearing 212 and a drive spindle 213. The lower surface of the first bearing 212 is in contact with the bearing mounting surface of the drive capstan 211, and the drive spindle 213 is inserted into the drive capstan 211 from the top and fixed with screws. The drive capstan 211 is installed into the base 101 from the bottom, and the upper surface of the first bearing 212 is flush with the step surface of the bearing mounting hole of the base 101. The drive capstan 211 is used to connect the rotational power of the robotic arm, and the outer surface may have teeth for engagement. Of course, in other embodiments, the drive capstan 211 and the drive spindle 213 of the swing drive 210 can be an integral component, the optical axis outer sleeve of which is provided with a first bearing 212 and is mounted on the base 101 through the first bearing 212.

[0065] The drive spindle 213 of the swing drive member 210 is connected to one end of the first gear shaft 230 via a coupling 214. The other end of the first gear shaft 230 is rotatably mounted on the top base 102 via a second bearing 231. For example, the top base 102 is inserted from above into the first gear shaft 230, and the second bearing 231 is inserted from above into the first gear shaft 230. The lower surface of the inner ring of the second bearing 231 mates with the bearing mounting surface of the first gear shaft 230, and the lower surface of the outer ring of the second bearing 231 mates with the stepped surface of the bearing mounting hole of the top base 102. The upper surface of the second bearing 231 is retained by a nut 240 mounted on the first gear shaft 230. The first transmission gear 220 is coaxially arranged with the first gear shaft 230. The first transmission gear 220 can be integral with the first gear shaft 230 or connected via a gear key, thereby allowing the first transmission gear 220 to rotate with the first gear shaft 230. Both ends of the first gear shaft 230 are connected between the top seat 102 and the base 101 , and also have a supporting effect on the stable connection between the top seat 102 and the base 101 .

[0066] Please also refer to Figure 3 、 Figure 7 and Figure 8 , Figure 8 FIG2 shows a schematic diagram of the assembly structure of the second transmission gear of the swing drive mechanism of the surgical instrument provided by an embodiment of the present invention. Figure 9 Shown Figure 8 Schematic diagram of the decomposition structure.

[0067] In this embodiment, the swing drive mechanism 200 further includes a second transmission gear 250. The first transmission gear 220 meshes with the second transmission gear 250 and is in transmission connection with the swing transmission mechanism 100 via the second transmission gear 250. The provision of the second transmission gear 250 compensates for the gap between the first transmission gear 220 and the swing transmission mechanism 100, thereby increasing the transmission ratio of the swing drive mechanism 200 and achieving a speed reduction and torque increase effect, thereby providing greater torque to the swing transmission mechanism 100. Furthermore, the reduced speed also helps improve the driving accuracy of the swing transmission mechanism 100.

[0068] Exemplarily, the second transmission gear 250 is installed on the top seat 102 through the third bearing 251, the third bearing 251 is inserted into the gear shaft of the second transmission gear 250 from the upper part, and the lower surface of the third bearing 251 is fitted with the gear shaft bearing mounting step surface of the second transmission gear 250, the top seat 102 is inserted into the gear shaft of the second transmission gear 250 from the upper part, the third bearing 251 is inserted into the gear shaft of the second transmission gear 250 from the upper part, the lower surface of the inner ring of the third bearing 251 is fitted with the bearing mounting surface of the gear shaft of the second transmission gear 250, the lower surface of the outer ring of the third bearing 251 is fitted with the bearing mounting hole step surface of the top seat 102, and the upper surface of the third bearing 251 is limited by a retaining ring 252 installed on the gear shaft of the second transmission gear 250.

[0069] It is understandable that in other embodiments, the first transmission gear 220 can be directly matched with the swing transmission mechanism 100 without setting the second transmission gear 250. Of course, in order to meet the transmission ratio, the tooth diameter can be adjusted, or the first transmission gear 220 can also be matched with the swing transmission mechanism 100 through more intermediate transition gears to achieve the expected transmission ratio.

[0070] It should be noted that the "transmission connection" mentioned in this application can be the transmission of action achieved by direct transmission cooperation, or it can be the transmission of action achieved by indirect transmission cooperation through other intermediate transition components.

[0071] Please also refer to Figure 10-13 , Figure 10 A schematic diagram of a partially exploded structure of a mobile drive mechanism provided by an embodiment of the present invention is shown; Figure 11 A schematic diagram of a first partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention is shown; Figure 12 A second partial cross-sectional structural diagram of the swing drive mechanism provided by an embodiment of the present invention is shown; Figure 13 It shows a third partial cross-sectional structural schematic diagram of the swing drive mechanism provided by an embodiment of the present invention; the first part, the second part and the third part constitute an overall view of the rod-shaped transmission structure exposed from the bracket.

[0072] The swing drive mechanism 200 drives the actuator 300 to swing through the swing transmission mechanism 100. The swing transmission mechanism 100 includes a swing arm nut 110, a swing arm screw 120, and a swing member 130. The swing arm nut 110 is in driving connection with the swing drive mechanism 200 and rotates about a first axis when driven by the swing drive mechanism 200. The swing arm screw 120 is in driving engagement with the swing arm nut 110 and moves along the first axis when driven by the swing arm nut 110, thereby converting the rotation of the swing arm nut 110 into the movement of the swing arm screw 120. The swing drive mechanism 200 also includes a bracket 10, a swing arm nut 110 is rotatably connected to the bracket 10, a swing member 130 is swingably arranged relative to the bracket 10 and the swing member 130 is connected to the actuator 300, the swing member 130 is in transmission cooperation with the swing arm screw 120 and swings under the drive of the swing arm screw 120, and the swing member 130 is connected to the actuator 300, so that when the swing member 130 swings, the actuator 300 can be linked to swing.

[0073] The swing transmission mechanism 100 is generally in the shape of a straight rod. In this embodiment, the swing transmission mechanism 100 serves as the knife bar of the stapler. The first axis extends in the same direction as the swing transmission mechanism 100. The drive spindle 213, the first gear shaft 230, and the gear shafts of the second transmission gear 250 of the swing drive mechanism 200 all extend parallel to the first axis. The swing axis of the swing member 130 is also the swing axis of the actuator 300. In one embodiment, the swing axis of the swing member 130 is perpendicular to the first axis.

[0074] By using a linear conversion mechanism to push the swinging member 130 to drive the actuator 300 to swing, the components on the transmission path have good strength and are not easy to break. The entire swing transmission mechanism 100 has high strength and reliability, which can improve the safety and accuracy of the operation.

[0075] In this embodiment, the swing transmission mechanism 100 and the swing drive mechanism 200 share the same bracket 10. In other embodiments, the swing transmission mechanism 100 and the swing drive mechanism 200 may also be respectively installed on their respective brackets 10 and then assembled.

[0076] In this embodiment, the swing transmission mechanism 100 further includes a limiter 140. The limiter 140 is fixed relative to the bracket 10 or is part of the bracket 10. When the swing arm nut 110 rotates, the swing arm screw 120 moves relative to the bracket 10 under the constraint of the limiter 140. By providing the limiter 140 to limit the rotation of the swing arm screw 120, the swing arm screw 120 can move but not rotate relative to the swing arm nut 110, thereby improving the effectiveness of the movement of the swing arm screw 120. The limiter 140 mechanically limits the rotation of the swing arm screw 120, eliminating the need for complex decoupling operations.

[0077] The swing arm nut 110 is threadedly connected to the swing arm screw 120. One of the swing arm screw 120 and the limiting member 140 has a sliding groove, and the other has a slider that matches the sliding groove. The sliding groove extends along the first axis. When the swing arm nut 110 rotates, the swing arm screw 120 moves along the first axis under the limited cooperation of the sliding groove and the slider. The threaded connection between the swing arm nut 110 and the swing arm screw 120 can convert rotational motion into linear motion. At the same time, the swing arm nut 110 and the swing arm screw 120 can be nested with each other, which is beneficial to the rod-shaped integrity of the swing transmission mechanism 100 and a more compact structure. The swing arm nut 110 includes a swing trigger 111, which is used to be connected to the output component of the swing drive mechanism 200 in a transmission manner, thereby connecting the power of the swing drive mechanism 200 to the swing transmission mechanism 100.

[0078] In this embodiment, the swing firing portion 111 is a gear disposed on the outer circumference of the swing arm nut 110 and meshing with the second transmission gear 250. The swing arm nut 110 is provided with a threaded hole, and the swing arm screw 120 is a screw disposed within the threaded hole. The limiter 140 is provided with a slide groove, and the swing arm screw 120 is provided with a slider. The swing arm nut 110 and the swing arm screw 120 form a screw pair, wherein the limiter 140 is used to limit the rotational motion of the swing arm screw 120, thereby converting the rotational motion of the swing arm nut 110 into linear motion of the swing arm screw 120.

[0079] Exemplarily, the various components are assembled as follows: the swing arm nut 110 is mounted on the top seat 102 via the fourth bearing 112. The swing arm nut 110 is installed into the top seat 102 from the right side, and the fourth bearing 112 is installed into the top seat 102 from the left side. The left side of the inner ring of the fourth bearing 112 is in contact with the bearing mounting surface of the swing arm nut 110, and the left side of the outer ring of the fourth bearing 112 is in contact with the stepped surface of the bearing mounting hole of the top seat 102. The right side of the inner ring of the fourth bearing 112 is limited by a retaining spring 113 installed on the swing arm nut 110, thereby enabling the swing arm nut 110 to rotate relative to the bracket 10 under the drive of the swing drive mechanism 200. The swing arm screw 120 has a non-rotating section 121 and a threaded section. The threaded section is inserted into the swing arm nut 110 and threadedly connected thereto, and the non-rotating section 121 extends from the swing arm nut 110. The limit member 140 is provided with a slide groove that cooperates with the non-rotating section of the swing arm screw 120. The limit member 140 and the top seat 102 are fixedly connected using screws, thereby fixing the limit member 140 and the top seat 102, and then limiting the rotation of the swing arm screw 120. The limit member 140 has a boss, which can be used to limit the right side of the outer ring of the fourth bearing 112, thereby completing the installation of the fourth bearing 112.

[0080] like Figure 11As shown, in this embodiment, the swing transmission mechanism 100 of the surgical instrument also includes a swing rod 150, and the swing arm screw 120 is transmission-connected to the swing member 130 through the swing rod 150, and the swing rod 150 is rotationally connected to the swing arm screw 120, so that when the swing arm screw 120 moves, the swing rod 150 can be driven to move together, and at the same time, if the swing rod 150 wants to perform a rotational movement, it will not be restricted by the swing arm screw 120.

[0081] For example, one of the swing lever 150 and the swing arm screw 120 has a stepped end in the shape of a body of revolution, while the other of the swing lever 150 and the swing arm screw 120 has a slot that matches the stepped end. The slot is partially open to allow the stepped end to be inserted, thereby forming a rotary connection. This structure is simpler than a more complex decoupling mechanism and transmits movement more efficiently. In addition, by providing the swing lever 150, the length of the swing arm screw 120 can be shortened, reducing the actuation resistance of the swing arm nut 110 while ensuring the transmission length of the stapler knife bar. In addition, by configuring the swing lever 150 as a rotatable hook connection, other drive modes can be configured on the swing lever 150, forming a combined transmission structure with more transmission motions.

[0082] like Figure 12 and 13 As shown, in this embodiment, the swing transmission mechanism 100 includes a swing transmission member 160. A first swing portion 131 and a second swing portion 132 are formed on either side of the swing axis of the swing member 130. The swing transmission member 160 includes a first transmission portion 161. The first transmission portion 161 is transmission-connected to the swing arm screw 120 so as to move along the first axis under the drive of the swing arm screw 120. The first transmission portion 161 is rotatably connected to the first swing portion 131. The first transmission portion 161 extends along the direction of the first axis and is used to transmit the movement of the swing arm screw 120 to the swing member 130. The first transmission portion 161 forms a connecting rod structure with the swing member 130, and when moving, it can push the swing member 130 to swing about the swing connection as the axis.

[0083] The swing transmission member 160 also includes a linkage portion 163, through which the swing arm screw 120 is connected to the first transmission portion 161. In this embodiment, the swing arm screw 120 is connected to the linkage portion 163 via the swing rod 150. The swing arm screw 120 and the linkage portion 163 are relatively fixed, and the linkage portion 163 forms a rotatable connection with the first transmission portion 161. Thus, the transmission of the swing transmission mechanism 100 is transmitted from the swing arm nut 110, through the swing arm screw 120, the swing rod 150, the linkage portion 163, and the first transmission portion in sequence to the swing member 130, driving the swing member 130 to swing. The linkage portion 163 is connected to the outside of the swing rod 150, thereby avoiding the center position of the power transmission path, enabling other transmission nodes to be set at the center position, combining more transmission actions, and allowing the actuator 300 to output more actions.

[0084] Illustratively, the end of the linkage portion 163 is bent, and an embedding groove is provided on the outer surface of the swing lever 150. The bent end of the linkage portion 163 embeds into the embedding groove, so that the linkage portion 163 and the swing lever 150 form a hook-fixed connection. The other end of the linkage portion 163 is rotatably connected to the first transmission portion 161. Illustratively, the linkage portion 163 has a mounting hole, and the mounting hole is open. The end of the first transmission portion is curled into a cylinder, and the cylinder is embedded in the linkage portion 163 through the opening to form a rotatable connection with the linkage portion 163.

[0085] In some embodiments, the swinging transmission member 160 also includes a second transmission part 162 and a connecting part 164. The second transmission part 162 is arranged parallel to the first transmission part. One end of the second transmission part 162 is rotatably connected to the second swinging part 132. The other end of the second transmission part 162 is connected to the first transmission part through the connecting part 164 and is respectively rotatably connected to the connecting part 164. The connecting part 164 is swingably arranged relative to the bracket 10.

[0086] like Figure 14 and Figure 15 As shown, Figure 14 1 shows a schematic diagram of a first state of a parallelogram structure composed of the first transmission part 161, the swinging member 130, the second transmission part 162 and the connecting part 164, Figure 15 A schematic diagram of a second state of the parallelogram structure composed of the first transmission part 161 , the swinging member 130 , the second transmission part 162 and the connecting part 164 is shown.

[0087] The first transmission part 161, the swinging member 130, the second transmission part 162 and the connecting part 164 are connected to form a rotatable connection. When the linkage part 163 drives the first transmission part 161 to move forward, the swinging member 130 swings, the first swinging part 131 swings forward, the second swinging part 132 swings backward, and the second transmission part 162 moves backward to drive one end of the connecting part 164 to move forward and the other end to move backward. That is, the parallelogram structure composed of the first transmission part 161, the swinging member 130, the second transmission part 162 and the connecting part 164 is composed of Figure 14 The first state shown is Figure 15 Compared with the single-axis transmission mechanism, the parallelogram transmission structure has a mutual support function among the first transmission part 161, the swing member 130, the second transmission part 162 and the connecting part 164, has better structural strength, and is conducive to better force transmission.

[0088] Exemplarily, the first transmission part 161 and the second transmission part 162 are of equal length, and both ends are curled into a cylindrical shape. Two convex shafts are formed on the swinging part, and the two convex shafts are respectively inserted into the cylinders of the first transmission part 161 and the second transmission part 162 to achieve a rotatable connection. The first swinging part 131 and the second swinging part 132 of the swinging member 130 are respectively provided with convex shafts, and the two convex shafts are respectively inserted into the cylinders of the first transmission part 161 and the second transmission part 162 to achieve a rotatable connection, thereby realizing a parallelogram frame transmission mechanism.

[0089] In some embodiments, the first transmission part 161 and the second transmission part 162 are elastic parts, such as spring sheets, and can produce a certain degree of bending deformation, but are not easily compressed in the extension direction. Therefore, the first transmission part 161 and the second transmission part 162 have good toughness, which can avoid the problem of brittle fracture during the force transmission process due to being relatively slender, and can stably transmit the force.

[0090] As described above, since the various transmission components of the swing transmission mechanism 100 are divided into multiple sections along its length, in order to ensure that the multiple transmission sections can both independently transmit power and communicate with each other, while maintaining external integrity and minimizing external interference with the operation of each transmission section, in some embodiments, the swing transmission mechanism 100 further includes an outer tube 170 , which is connected to the bracket 10 and encloses the components of the swing transmission mechanism 100 from the bracket 10 to the actuator 300 , thereby protecting the multi-section transmission structure from interference.

[0091] Please also refer to Figure 13 and Figure 16 , Figure 16 Shown Figure 13The partially enlarged schematic diagram at A in the middle is intended to illustrate the installation and swing connection structure of the swing member 130. In some embodiments, the swing transmission mechanism 100 also includes a base rod 190, which is nested in the outer tube 170. The base rod 190 is slidable relative to the swing arm screw 120 so as to remain fixed when the swing arm screw 120 moves. The swing member 130 is mounted on the base rod 190 via a swing shaft 191. The swing shaft 191 is fixed relative to the base rod 190 and can be a part of the base rod 190. The swing screw 120 is movable relative to the swing shaft 191 to drive the swing member 130 to swing when moving. The base rod in the present swing transmission mechanism 100 is nested in the sleeve structure and is used to install the swing member 130 so that the swing shaft 191 of the swing member 130 can be relatively fixed in position when the swing arm screw 120 moves, so that the swing arm screw 120 can stably drive the swing member 130 to swing. In some embodiments, the swing transmission mechanism 100 further includes a rotational connection assembly 180, which includes two rotating members 181. The two rotating members 181 are located on opposite sides of the swing member 130. The actuator 300 is rotationally connected to the outer tube 170 via the two rotating members 181. The placement of the rotating members 181 on both sides does not affect the insertion of internal transmission components. Furthermore, in addition to being able to accommodate the swing, the outer tube 170 also provides a swinging mounting for the actuator 300, providing stable support and further improving the stability of the swing transmission of the actuator 300.

[0092] The rotating member 181 includes a first rotating portion 1811 and a second rotating portion 1812 that are spaced apart. The first rotating portion 1811 is rotationally connected to the outer tube 170, and the second rotating portion 1812 is rotationally connected to the actuator 300. The rotation axes of the first rotating portion 1811 and the second rotating portion 1812 are parallel to the rotation axis of the swinging member 130. The spaced-apart first rotating portion 1811 and the second rotating portion 1812 can ensure that the rotation connection of the actuator 300 does not interfere with the rotation of the swinging member 130, and obtains swing support, resulting in high structural stability. For example, the first rotating portion 1811 and the second rotating portion 1812 are bosses provided on the rotating member 181, and connecting holes are respectively provided on the actuator 300 and the outer tube 170, thereby achieving a rotatable connection. Of course, the bosses and holes between the components can be interchangeable.

[0093] In some embodiments, the swing transmission mechanism 100 further includes a flexible sleeve, one end of which is connected to the outer tube 170 and the other end is connected to the actuator 300, and the flexible sleeve covers the rotating connection component 180 therein. The flexible sleeve can be deformed along with the swinging of the actuator 300, and by covering the rotating connection component 180 therein, it can avoid interference with the outside world, such as the human body, during the swinging process. Hard connecting rings are respectively connected to the two ends of the flexible sleeve, and the hard connecting rings are connected to the outer tube 170 and the actuator 300, thereby realizing the connection of the flexible sleeve. Furthermore, in order to ensure that the surface of the flexible sleeve always has a certain tension and will not be broken or loose due to repeated deformation, the flexible sleeve can be made of soft glue, such as silicone, rubber and other materials. Of course, more skin-friendly leather can also be selected, or it can be a metal sleeve that can be bent and deformed.

[0094] As described above, the swing transmission mechanism 100 of this embodiment is generally rod-shaped, with the swing arm nut 110 and the swing arm screw 120 nested within each other, the limiter 140 nested within the swing arm screw 120, and the ends of the swing arm screw 120 and the swing arm 150 forming a hook-type rotational connection. Specifically, the swing arm screw 120 is embedded in the swing arm nut 110, and the limiter 130 is sleeved outside the swing arm screw 120, and the swing arm screw 120 is movable relative to the limiter 130. The swing arm 150 extends from the bracket 100 and is embedded in the outer tube 170, and is able to slide relative to the inner tube 180.

[0095] Furthermore, the aforementioned linkage member 163 is connected to the end of the swing rod 150. The linkage member 163 is connected to a point in the parallelogram structure and is used to push one side of the parallelogram to translate, causing the swing member 130 to swing. Simultaneously, the linkage member 163 and the first transmission portion 161, the second transmission portion 162, and the connecting portion 164 in the parallelogram structure are all built into the outer tube 170 and are able to move relative to the outer tube. Thus, the entire mobile transmission mechanism 100 is rod-shaped, with multiple components within the outer tube 170 nested to form a transmission connection or sliding relationship. Each component is both related and independent.

[0096] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0097] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A surgical instrument having an actuator for performing surgery, characterized in that: The surgical instrument comprises: a swing arm nut, the swing arm nut being in driving connection with a driving mechanism so as to rotate around a first axis under the driving of the driving mechanism; a swing arm screw, the swing arm screw being in driving engagement with the swing arm nut and moving along the first axis under the drive of the swing arm nut; a swinging member, the swinging member being swingably arranged and connected to the actuator, the swinging member being in driving engagement with the swing arm screw and driving the actuator to swing under the drive of the swing arm screw; The surgical instrument further includes a swing transmission member, wherein a first swing portion and a second swing portion are respectively formed on either side of a swing axis of the swing transmission member, the swing transmission member including a first transmission portion, the first transmission portion being drivingly connected to the swing arm screw so as to move along the first axis under the drive of the swing arm screw, the first transmission portion being rotatably connected to the first swing portion, and the swing member swings when the first transmission portion moves along the first axis; The swing transmission member further includes a linkage portion, the swing arm screw is connected to the first transmission portion via the linkage portion, the swing arm screw and the linkage portion are relatively fixed, and the linkage portion and the first transmission portion form a rotatable connection.

2. The surgical instrument according to claim 1, wherein: The swing transmission member also includes a second transmission part and a connecting part. The second transmission part is arranged parallel to the first transmission part. One end of the second transmission part is rotatably connected to the second swing part. The other end of the second transmission part is connected to the first transmission part through the connecting part and is respectively rotatably connected to the connecting part.

3. The surgical instrument according to claim 2, characterized in that The first transmission part, the swinging member, the second transmission part and the connecting part are rotatably connected end to end in sequence to form a parallelogram transmission structure.

4. The surgical instrument according to claim 2, wherein: A boss is formed on the first swinging part and the second swinging part, and a groove matching the boss is formed on the first transmitting part and the second transmitting part respectively, and the groove forms a rotational fit with the boss.

5. The surgical instrument according to claim 2, wherein: The first transmission part and the second transmission part are elastic members.

6. The surgical instrument according to claim 1, wherein: It also includes a base rod, the swing member is swingably mounted on the base rod through the swing shaft, and the swing screw is movable relative to the base rod to drive the swing member to swing when moving.

7. The surgical instrument according to claim 1, wherein: The surgical instrument also includes a bracket, and the swing transmission mechanism also includes a limiter, which is fixed relative to the bracket or is a part of the bracket. When the swing arm nut rotates, the swing arm screw moves relative to the bracket under the constraint of the limiter.

8. The surgical instrument according to claim 7, wherein: One of the swing arm screw and the limiting member has a sliding groove, and the other has a slider matching the sliding groove. The sliding groove extends along the first axis. When the swing arm nut rotates, the swing arm screw moves along the first axis under the limiting cooperation of the sliding groove and the slider.

9. The surgical instrument according to claim 7, characterized in that: It also includes a swing rod, one of the swing rod and the swing arm screw has a stepped end in the shape of a rotating body, and the other of the swing rod and the swing arm screw has an embedding groove matching the stepped end, and the embedding groove is partially open to allow the stepped end to be embedded, and the swing arm screw is transmission connected to the swing member through the swing rod.

10. The surgical instrument according to claim 9, characterized in that: It also includes an outer tube, the swing arm nut and the swing arm screw are nested with each other, the swing arm screw and the limiter are nested with each other, the outer tube is sleeved outside the swing rod, and the swing rod is slidable relative to the outer tube.

11. The surgical instrument according to claim 10, characterized in that: It also includes a rotation connection assembly, which includes two rotating parts. The two rotating parts are respectively located on two opposite sides outside the swing part. The actuator is rotationally connected to the outer tube through the two rotating parts.

12. The surgical instrument according to claim 11, wherein: The rotating member includes a first rotating portion and a second rotating portion that are spaced apart. The first rotating portion is rotatably connected to the outer tube, and the second rotating portion is rotatably connected to the actuator.

13. The surgical instrument according to claim 10, characterized in that It also includes a flexible sleeve, one end of which is connected to the outer tube, and the other end is connected to the actuator, and the flexible sleeve covers the rotating connection component.

14. A surgical instrument having an actuator for performing surgery, characterized in that: include: A drive disk, the drive disk being used to connect to a robotic arm and receive and convert power from the robotic arm into a rotational drive force; A swing drive assembly, comprising a transmission member and a swing lever assembly, wherein the transmission member receives the rotational driving force of the drive disc and converts it into linear motion, and the swing lever assembly receives the drive of the transmission member to perform linear motion; as well as a swinging member, one end of which is connected to the actuator, and the swinging member rotates and swings under the drive of the swinging rod assembly, thereby driving the actuator to swing; The surgical instrument further includes a swing transmission member, wherein a first swing portion and a second swing portion are formed on both sides of a swing axis of the swing member, and the swing transmission member includes a first transmission portion; The swing transmission member further includes a linkage portion, the swing lever assembly is connected to the first transmission portion via the linkage portion, the swing lever assembly and the linkage portion are relatively fixed, and the linkage portion and the first transmission portion form a rotatable connection.

15. A surgical robot, characterized in that: The system comprises a master operating console and a slave operating device, wherein the slave operating device comprises the surgical instrument according to any one of claims 1 to 14.

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