Surgical instruments and surgical robots

Abstract

The present invention provides a surgical instrument and a surgical robot. The surgical instrument includes an actuator for performing surgery, a drive disc, a transmission mechanism, a rotation tube, and a clamping tube. The drive disc is used to connect to a robot arm and receive and convert power from the robot arm into a rotational driving force. The transmission mechanism includes a driving wheel and a driven wheel, the driving wheel connected to the drive disc, and the driven wheel is in a tubular shape. The rotation tube is inserted into the driven wheel and rotates with the driven wheel. The rotation tube has a slide groove. The clamping tube is connected to the slide groove via a first rotation key so that it rotates with the rotation tube when the rotation tube rotates. The first rotation key can slide along the slide groove to cause the clamping tube to move axially relative to the rotation tube. The actuator includes a clamp head. When the clamping tube moves axially, the clamp head of the actuator drives the clamping tube to perform a clamping action. The coordination structure between the multiple transmission mechanisms relies on non-rotational coordination to achieve rotational power transmission and relies on sliding to achieve movement decoupling. The structure is simple and the movement independence is good.

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 and includes a drive unit and an end effector for performing the surgery. In related actuator drive solutions, multiple actuator motions must be integrated into a single in-tube transmission. This results in complex decoupling mechanisms for different motions, and interference between the different transmission mechanisms is likely to occur. 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 problem that when the transmission mechanism of the existing actuator is combined with multiple transmission modes, the decoupling structure is complex and interference between different transmissions is easy.

[0006] To achieve the above-mentioned objectives, an embodiment of the present invention provides a surgical instrument, comprising an actuator for performing surgery, and further comprising:

[0007] A drive disk, the drive disk being used to connect to a robotic arm of a robot and receive and convert power from the robotic arm into a rotational drive force;

[0008] A transmission mechanism, the transmission mechanism comprising a driving wheel and a driven wheel, the driving wheel being connected to the driving disc, the driven wheel being in transmission connection with the driving wheel, and the driven wheel being tubular;

[0009] A self-rotating tube, which is sleeved onto the driven wheel and rotates along with the driven wheel, and is provided with a sliding groove;

[0010] The clamping tube is connected to the slide groove through a first rotation key so as to follow the rotation of the rotating tube when the rotating tube rotates. The first rotation key can slide along the slide groove to enable the clamping tube to move axially relative to the rotating tube. The actuator includes a clamp head, and when the clamping tube moves axially, the clamp head of the actuator is driven to perform a clamping action.

[0011] As an optional embodiment, it also includes an outer tube, which is fixedly connected to the clamping tube by a clamping key so as to rotate and move axially with the clamping tube. When the outer tube is extended axially, the actuator is retracted into the outer tube to clamp and close. When the outer tube is retracted axially, the actuator exposes the outer tube to release the clamping action.

[0012] As an optional embodiment, a threaded assembly is further included, which includes a clamping nut that receives the rotational driving force of the drive disk, and a clamping screw threadedly connected to the clamping nut. The clamping screw moves axially along the screw under the drive of the clamping nut, and the clamping screw is connected to the clamping tube to drive the clamping tube to move axially.

[0013] As an optional embodiment, the clamping screw is connected to the clamping tube via a circular ring structure, the clamping tube and the clamping screw are isolated by the circular ring structure, the clamping tube rotates within the circular ring structure, and the outside of the clamping screw is further connected to two limit columns to limit the clamping screw from rotating with the clamping tube.

[0014] As an optional embodiment, the clamping nut is fixedly connected to a gear, and the gear receives the rotational driving force of the driving disk to drive the clamping nut to rotate.

[0015] As an optional embodiment, it also includes a base rod and a swing rod, the base rod is connected to the rotation tube via the first rotation key so that the base rod follows the rotation of the rotation tube, the base rod is connected to the swing rod via the second rotation key so that the swing rod follows the rotation of the base rod, and the swing rod is used to drive the actuator to swing.

[0016] As an optional embodiment, one end of the swing rod is connected to a swing screw through a cylindrical structure, so that the swing rod can rotate around the swing screw during its self-rotation, and the other end of the swing rod is connected to a parallelogram swing member, and the swing screw is threadedly connected to a drive nut, and the drive nut receives the rotational driving force of the drive disk and rotates, and the swing screw moves axially under the drive of the drive nut to push the swing rod to move axially, and the parallelogram swing member is connected to the actuator, and when the swing rod moves axially, it drives the parallelogram swing member to swing to drive the actuator to swing.

[0017] As an optional embodiment, it also includes a firing rod and a firing screw, the firing rod is connected to the base rod by a second rotation key so as to follow the rotation of the base rod when the base rod rotates, the firing rod and the firing screw are connected by a cylindrical structure so that the firing rod can rotate relative to the firing screw when it rotates, the firing screw is threadedly connected to a firing nut, and the firing nut receives the rotational driving force of the drive disk and rotates, and the firing screw moves axially under the drive of the firing nut to push the firing rod to move axially, and the actuator includes a blade arranged in the pliers head, and the firing rod pushes the blade to move.

[0018] As an optional embodiment, the transmission mechanism is a wire wheel transmission mechanism, the driving wheel is a driving wire wheel, the driven wheel is a driven wire wheel, the driving wire wheel is connected to the driving disc, and the driven wire wheel is connected to the driving wire wheel through a wire transmission.

[0019] As an optional embodiment, the swing rod is located inside the firing rod, and the firing rod is located inside the base rod.

[0020] An embodiment of the present invention further provides a surgical robot, which includes a master operating device and a slave operating device, wherein the slave operating device includes the above-mentioned surgical instrument.

[0021] The embodiments of the present invention have at least the following beneficial effects:

[0022] The rotating tube and clamping tube of the surgical instrument form a sliding but non-rotating connection through the keyway, realizing the independent rotation and opening and closing movements of the forceps head, and realizing independent transmission of multiple transmission mechanisms in one tube. The cooperation structure between them relies on non-rotating cooperation to realize the transmission of rotating motion and relies on sliding to realize mobile decoupling. The structure is simple and the movement independence is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 A schematic structural diagram of a surgical instrument provided by an embodiment of the present invention is shown;

[0025] Figure 2 A schematic structural diagram of a firing drive mechanism and a moving transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0026] Figure 3 A schematic structural diagram of a self-rotation drive mechanism and a rotation transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0027] Figure 4 A first partial cross-sectional schematic diagram of a combined transmission device provided by an embodiment of the present invention is shown;

[0028] Figure 5 A second partial cross-sectional schematic diagram of a combined transmission device provided by an embodiment of the present invention is shown;

[0029] Figure 6 A third partial cross-sectional schematic diagram of the combined transmission device provided by an embodiment of the present invention is shown;

[0030] Figure 7 A fourth partial cross-sectional schematic diagram of a combined transmission device provided by an embodiment of the present invention is shown;

[0031] Figure 8 A schematic diagram showing the structure of the actuator provided by an embodiment of the present invention with the clamp head opened is shown;

[0032] Figure 9 A schematic structural diagram of a swing drive mechanism and a swing transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0033] Figure 10 A schematic structural diagram of a clamping drive mechanism and a clamping transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0034] Figure 11 The figure shows the overall structure of the bracket provided by the embodiment of the present invention;

[0035] Figure 12 Shown Figure 11 Schematic diagram of the decomposition structure;

[0036] Figure 13 A schematic diagram of the assembly structure of the self-rotation drive mechanism of the surgical instrument provided by an embodiment of the present invention is shown;

[0037] Figure 14 Shown Figure 13 Schematic diagram of the decomposition structure;

[0038] Figure 15 A schematic diagram of the assembly structure of a rotary transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0039] Figure 16 Shown Figure 15 Schematic diagram of the decomposition structure;

[0040] Figure 17A schematic diagram of the assembly structure of a firing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0041] Figure 18 Shown Figure 17 Schematic diagram of the decomposition structure;

[0042] Figure 19 A schematic diagram showing the assembly structure of a first transition gear of a firing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0043] Figure 20 Shown Figure 19 Schematic diagram of the decomposition structure;

[0044] Figure 21 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;

[0045] Figure 22 Shown Figure 21 Schematic diagram of the decomposition structure;

[0046] Figure 23 A schematic diagram of the assembly structure of the third transition gear of the swing drive mechanism of the surgical instrument provided by an embodiment of the present invention is shown;

[0047] Figure 24 Shown Figure 23 Schematic diagram of the decomposition structure;

[0048] Figure 25 A partial cross-sectional structural diagram of a swing transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0049] Figure 26 A schematic diagram of the assembly structure of a clamping drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0050] Figure 27 Shown Figure 26 Schematic diagram of the decomposition structure;

[0051] Figure 28 A schematic cross-sectional view of a clamping transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0052] Figure 29 A schematic diagram of the exploded structure of the connection between the clamping transmission mechanism and the actuator of the surgical instrument provided by an embodiment of the present invention is shown;

[0053] Figure 30 A schematic diagram of the exploded structure of a combined transmission device provided by an embodiment of the present invention is shown;

[0054] Figure 31The first partial exploded structure of the combined transmission device provided by the embodiment of the present invention is shown;

[0055] Figure 32 It shows a second partial exploded structural schematic diagram of the combined transmission device provided by an embodiment of the present invention;

[0056] Figure 33 The third partial exploded structure schematic diagram of the combined transmission device provided by the embodiment of the present invention is shown;

[0057] Figure 34 A fourth partial exploded structural schematic diagram of the combined transmission device provided by an embodiment of the present invention is shown.

[0058] Description of main component symbols:

[0059] 1-Surgical instruments;

[0060] 10-firing drive mechanism;

[0061] 11 - firing drive plate; 12 - first drive shaft; 13 - bearing; 14 - first gear shaft; 15 - coupling; 16 - bearing; 17 - nut; 18 - bearing; 19 - first transition gear; 191 - retaining spring;

[0062] 20-rotation drive mechanism;

[0063] 21 - self-rotating drive disc; 22 - second drive shaft; 23 - driving wheel; 24 - transmission line; 241 - first pressure block; 25 - bearing; 26 - bearing; 27 - nut;

[0064] 30-swing drive mechanism;

[0065] 31 - swing drive plate; 32 - bearing; 33 - third drive shaft; 34 - third gear shaft; 35 - coupling; 36 - bearing; 37 - nut; 38 - bearing; 39 - third transition gear; 391 - retaining spring;

[0066] 40- clamping drive mechanism;

[0067] 41 - clamping drive plate; 42 - bearing; 43 - fourth drive shaft; 44 - fourth gear shaft; 45 - bearing; 46 - nut;

[0068] 50-bracket; 51-base; 52-top seat; 53-first connecting plate; 54-second connecting plate; 55-middle plate; 56-support seat; 57-cover plate;

[0069] 60-combined transmission;

[0070] 100 - moving transmission mechanism; 110 - firing nut; 111 - bearing; 112 - retaining spring; 120 - firing screw; 121 - first fixed keyway; 130 - firing rod; 140 - third rotation key; 150 - cutter head linkage;

[0071] 200 - Rotational transmission mechanism; 210 - Driven wheel; 220 - Rotation tube; 221 - Slideway; 230 - Base rod; 231 - Bearing; 232 - Circlip; 233 - First sliding keyway; 234 - Third fixed keyway; 240 - Second pressure block; 250 - Bearing; 260 - First rotation key; 270 - Second rotation key;

[0072] 300 - swing transmission mechanism; 310 - swing nut; 311 - bearing; 312 - retaining spring; 320 - swing screw; 321 - second sliding keyway; 330 - swing limiter; 340 - swing rod; 341 - third sliding keyway; 350 - swing member; 360 - connecting rod; 370 - first transmission member; 380 - second transmission member; 390 - connecting member;

[0073] 400 - Clamping transmission mechanism; 410 - Clamping nut; 411 - Bearing; 412 - Circlip; 420 - Clamping screw; 430 - Clamping limiter; 440 - Clamping tube; 441 - Fourth sliding keyway; 442 - Fourth fixed keyway; 450 - Pulling member; 460 - Outer tube; 461 - Fifth fixed keyway; 470 - Clamping key;

[0074] 70 - actuator; 71 - first clamp body; 711 - slider; 72 - second clamp body; 721 - arc-shaped slide groove; 73 - blade. DETAILED DESCRIPTION

[0075] 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.

[0076] 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.

[0077] 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.

[0078] The following is a detailed description with reference to the accompanying drawings.

[0079] 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.

[0080] 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.

[0081] Please also refer to Figure 1-3 , Figure 1A schematic structural diagram of a surgical instrument provided by an embodiment of the present invention is shown; Figure 2 A schematic structural diagram of a firing drive mechanism and a moving transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 3 A schematic structural diagram of a self-rotation drive mechanism and a rotation transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown.

[0082] The surgical instrument 1 of this embodiment includes a firing drive mechanism 10, a rotation drive mechanism 20, a bracket 50, a combined transmission device 60, and an actuator 70. The firing drive mechanism 10, the rotation drive mechanism 20, and the combined transmission device 60 are all mounted on the bracket 50. The firing drive mechanism 10 and the rotation drive mechanism 20 respectively drive the combined transmission device 60 to produce different transmission outputs. The combined transmission device 60 is connected to the actuator 70 to drive the actuator 70 to produce different motions.

[0083] Please also refer to Figure 4-7 , Figure 4 A first partial cross-sectional schematic diagram of a combined transmission device provided by an embodiment of the present invention is shown; Figure 5 A second partial cross-sectional schematic diagram of a combined transmission device provided by an embodiment of the present invention is shown; Figure 6 A third partial cross-sectional schematic diagram of the combined transmission device provided by an embodiment of the present invention is shown; Figure 7 A fourth partial cross-sectional schematic diagram of the combined transmission device provided by an embodiment of the present invention is shown; the first partial cross-section, the second partial cross-section, the third partial cross-section and the fourth partial cross-section together constitute an overall cross-sectional schematic diagram of the combined transmission device 60.

[0084] The combined transmission device 60 includes a mobile transmission mechanism 100 and a rotary transmission mechanism 200. The mobile transmission mechanism 100 includes a firing nut 110, a firing screw 120, and a firing rod 130. The firing nut 110 is configured to be in transmission connection with the firing drive mechanism 10 and to rotate about a first axis. The firing screw 120 cooperates with the firing nut 110 and, driven by the firing nut 110, moves along the first axis. The firing rod 130 forms a rotational connection with the firing screw 120, which can be rotatably connected about the first axis. Thus, the firing screw 120 outputs linear motion, and the firing rod 130 transmits the movement of the firing screw 120. The two are rotationally connected, so they do not interfere with each other in the direction of rotation.

[0085] The rotation transmission mechanism 200 includes a driven wheel 210 and a rotating tube 220. The driven wheel 210 is in driving connection with the rotating drive mechanism 20 and rotates about a first axis. The rotating tube 220 forms a non-rotating fit with the driven wheel 210 and rotates about the first axis. The firing rod 130 and the rotating tube 220 form a non-rotating, slidable fit. The firing rod 130 and the rotating tube 220 are respectively in driving connection with the actuator 70 of the surgical instrument 1, thereby coordinating the actuator 70 to output different motions.

[0086] As described above, the firing nut 110 and the driven wheel 210 are rotatably connected to the bracket 50, respectively, thereby achieving the installation of the mobile transmission mechanism 100 and the rotary transmission mechanism 200 on the bracket 50. The mobile transmission mechanism 100 and the rotary transmission mechanism 200 are connected by the non-rotating sliding connection between the rotation tube 220 and the firing rod 130, and the rotatable connection between the firing rod 130 and the firing screw 120, so that the linear motion of the mobile transmission mechanism 100 is not affected by the rotary transmission mechanism 200, and the rotation of the rotary transmission mechanism 200 is not affected by the mobile transmission mechanism 100. The combined transmission device 60 can realize the independent transmission of multiple transmission mechanisms in a single pipe, and the mutual cooperation structures rely on rotation to achieve rotational decoupling and rely on sliding to achieve movement decoupling, with a simple structure and high reliability.

[0087] Please also refer to Figure 8 , Figure 8 A schematic structural diagram of the open clamp head of the actuator provided by an embodiment of the present invention is shown.

[0088] The actuator 70 can be a surgical execution component such as a scalpel or a stapler. This embodiment uses the actuator 70 as a stapler. The surgical instrument 1 is a stapler, which is used to suture postoperative wounds. The actuator 70 includes a first clamp body 71 and a second clamp body 72. The first and second clamp bodies 71 and 72 are rotatably connected and can rotate relative to each other to open and close. The actuator also includes a blade 73, which is movably disposed between the first and second clamp bodies 71 and 72. For example, the blade 73 is movably connected to the second clamp body 72.

[0089] The combined transmission device 60 is in the shape of a straight rod as a whole. In this embodiment, the combined transmission device 60 serves as a knife rod of the stapler. As mentioned above, the extending direction of the first axis is consistent with the extending direction of the combined transmission device 60.

[0090] 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.

[0091] In some embodiments, the mobile transmission mechanism 100 is telescopically and fixedly connected to the actuator 70 on a first axis via the firing rod 130, that is, the firing rod 130 and the actuator 70 do not move relative to each other along the transmission path of movement along the first axis. Therefore, when the firing nut 110 of the mobile transmission mechanism 100 rotates, it can drive the firing rod 130 to drive the actuator 70 to move. The rotation transmission mechanism 200 forms a non-rotating connection with the actuator 70 via the self-rotating tube 220 to drive the actuator 70 to rotate about the first axis. The rotation transmission mechanism 200 is used to drive the actuator 70 to rotate. Since the self-rotating tube 220 forms a rotatable connection with the firing screw 120 via the firing rod 130, the self-rotating tube 220 does not affect the firing screw 120 when it rotates. When the driven wheel 210 rotates, it can drive the actuator 70 to rotate. In this embodiment, the combined transmission device can drive the actuator 70 to move and rotate, and the two do not affect each other and can operate independently.

[0092] In some embodiments, the mobile transmission mechanism 100 further includes a swinging member 350 (described in detail below). The firing rod 130 is connected to the actuator 70 via the swinging member 350 to drive the actuator 70 to swing. That is, the swinging member 350 is provided on the transmission path between the firing rod 130 and the actuator 70. The swinging member 350 converts the swinging of the firing rod 130 into the swinging of the actuator 70. When the firing nut 110 rotates, the firing screw 120 swings in conjunction with the swinging member 350 via the firing rod 130, thereby causing the actuator 70 to swing synchronously. The rotary transmission mechanism 200 forms a non-rotating connection with the actuator 70 via the self-rotating tube 220, thereby driving the actuator 70 to rotate about the first axis. The rotary transmission mechanism 200 is used to drive the actuator 70 to rotate. Because the self-rotating tube 220 forms a rotatable connection with the firing screw 120 via the firing rod 130, the rotation of the self-rotating tube 220 does not affect the firing screw 120. Rotation of the driven wheel 210 can drive the actuator 70 to rotate. In this embodiment, the combined transmission device can drive the actuator 70 to swing and rotate, without affecting each other and allowing independent operation.

[0093] In some embodiments, the movement transmission mechanism 100 further includes a swinging member 350, through which the firing rod 130 is connected to the actuator 70 to drive the actuator 70 to swing. Specifically, the swinging member 350 is disposed in the transmission path between the firing rod 130 and the actuator 70, and the swinging member 350 converts the swinging motion of the firing rod 130 into the swinging motion of the actuator 70. When the firing nut 110 rotates, the firing screw 120 swings in conjunction with the swinging member 350 via the firing rod 130, thereby causing the actuator 70 to swing synchronously. The rotation transmission mechanism 200 further includes a linkage member that moves along the first axis along the drive line of the rotating tube 220. The linkage member is connected to the actuator 70 to drive the actuator 70 to move. Because the rotating tube 220 is rotatably connected to the firing screw 120 via the firing rod 130, the rotation of the rotating tube 220 does not affect the firing screw 120. When the driven wheel 210 rotates, the linkage member can drive the actuator 70 to move. In this embodiment, the combined transmission device can drive the actuator 70 to swing and move, and the two do not affect each other and can operate independently.

[0094] In some embodiments, the mobile transmission mechanism 100 further includes a pulling member 450 (described in detail below). The firing rod 130 and the pulling member 450 are capable of relative movement on a first axis. The firing rod 130 is connected to the first jaw body 71, and the pulling member 450 is connected to the second jaw body 72. When the firing rod 130 and the pulling member 450 move relative to each other, the first jaw body 71 and the second jaw body 72 are linked to rotate relative to each other. Thus, the relative movement of the firing rod 130 and the pulling member 450 links the relative rotation of the first jaw body 71 and the second jaw body 72, thereby achieving the opening and closing of the jaws. The rotary transmission mechanism 200 forms a non-rotating connection with the actuator 70 via the self-rotating tube 220, thereby driving the actuator 70 to rotate about the first axis. The rotary transmission mechanism 200 is used to drive the actuator 70 to rotate. Because the self-rotating tube 220 forms a rotatable connection with the firing screw 120 via the firing rod 130, the rotation of the self-rotating tube 220 does not affect the firing screw 120. Rotation of the driven wheel 210 can drive the actuator 70 to rotate. In this embodiment, the combined transmission device can drive the actuator 70 to open and close and rotate, without affecting each other and allowing the two to operate independently.

[0095] In some embodiments, the mobile transmission mechanism 100 further includes a pulling member 450. The firing rod 130 and the pulling member 450 can generate relative movement on a first axis. The firing rod 130 is connected to the first jaw body 71, and the pulling member 450 is connected to the second jaw body 72. When the firing rod 130 and the pulling member 450 move relative to each other, the first jaw body 71 and the second jaw body 72 are linked to rotate relative to each other. Thus, through the relative movement of the firing rod 130 and the pulling member 450, the relative rotation of the first jaw body 71 and the second jaw body 72 is linked, thereby realizing the opening and closing of the jaws. The rotation transmission mechanism 200 further includes a linkage member, which moves along the first axis on the driving line of the rotation tube 220. The linkage member is connected to the actuator 70 to drive the actuator 70 to move. Because the rotating tube 220 is rotatably connected to the firing screw 120 via the firing rod 130, the rotating tube 220 does not affect the firing screw 120 when it rotates. When the driven wheel 210 rotates, it can drive the actuator 70 to move through the linkage. In this embodiment, the combined transmission device can drive the actuator 70 to open, close, and move, and the two can operate independently without affecting each other.

[0096] In some embodiments, the mobile transmission mechanism 100 of the combined transmission device 60 is a linear transmission mechanism, and the rotation transmission mechanism 200 is also a linear transmission mechanism. The rotation transmission mechanism 200 includes a driven wheel 210 and a self-rotating tube 220. The driven wheel 210 is used to be connected to another driving component and rotates about a first axis. The self-rotating tube 220 cooperates with the driven wheel 210, and the self-rotating tube 220 moves along the first axis under the drive of the driven wheel 210. The firing screw 120 and the self-rotating tube 220 form a slidable fit. The firing screw 120 and the self-rotating tube 220 are respectively connected to different parts of the actuator 70 of the surgical instrument 1 to link the actuator 70 to output different actions. For example, the firing rod 130 is connected to the blade 73 of the actuator 70. When the firing rod 130 moves, the blade 73 moves relative to the pliers head. The self-rotating tube 220 is connected to the pliers head of the actuator 70. When the self-rotating tube 220 moves, the first pliers body 71 is linked to the second pliers body 72. Thus, the combined transmission device 60 can drive the clamp head of the actuator 70 to open and close or drive the blade 73 of the actuator 70 to move through the combination of the two linear transmission mechanisms, and the two do not affect each other.

[0097] There are multiple mobile transmission mechanisms 100, and the multiple transmission mechanisms are interconnected. The firing rods 130 of adjacent mobile transmission mechanisms 100 form a non-rotating slidable fit, and the firing rod 130 of each mobile transmission mechanism 100 forms a non-rotating fit with the rotation tube 220. This allows more transmission mechanisms to be integrated into a single arbor. The conversion components of multiple linear transmission mechanisms form a slidable connection so that they do not affect each other during movement. The linear transmission mechanism forms a non-rotating fit with the conversion components of the rotary transmission mechanism, so that the rotation of the rotary transmission mechanism can be effectively transmitted to the actuator 70 without affecting the transmission of rotational power.

[0098] It should be noted that when the number of mobile transmission mechanisms 100 mentioned in this article is multiple, the structures of the multiple mobile transmission mechanisms 100 are not exactly the same, but all have parts that are linear transmission mechanisms, and the transmission mechanisms can be the same, all including a firing member and a conversion member. The conversion member can perform linear motion under the drive of the firing member, and the components of the multiple mobile transmission mechanisms 100 are interconnected and can move independently.

[0099] In some embodiments, the mobile transmission mechanism 100 further includes a functional component, through which the firing rod 130 is connected to the actuator 70. The functional component converts the linear motion of the firing rod 130 into other motions. Alternatively, the firing rod 130 and the functional component are separately connected to the actuator 70. Since the primary transmission function of the mobile transmission mechanism 100 is linear transmission, when multiple linear transmission mechanisms are provided, through the conversion of the functional component, such as when the functional component is a swinging member 350 or a pulling member 450, the functional component and the firing rod 130 can be combined to cause the actuator 70 to output a swinging or opening and closing motion in addition to linear motion.

[0100] It can be understood that the transmission mechanism of the combined transmission device 60 can include not only a combination of two of the above-mentioned movement, rotation, opening and closing, and swinging, but also a combination of three or four of the above-mentioned transmission mechanisms, so as to integrate more transmission mechanisms in one tool rod, and the transmission actions of each transmission mechanism are independent of each other and do not affect each other.

[0101] Please also refer to Figure 9 and Figure 10 , Figure 9 A schematic structural diagram of a swing drive mechanism and a swing transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 10 A schematic structural diagram of a clamping drive mechanism and a clamping transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown.

[0102] In this embodiment, the surgical instrument 1 includes a combined transmission device 60, a firing drive mechanism 10, a rotation drive mechanism 20, a swing drive mechanism 30 and a clamping drive mechanism 40. The combined transmission device 60 includes a moving transmission mechanism 100 driven by the firing drive mechanism 10, a rotating transmission mechanism 200 driven by the rotation drive mechanism 20, a swing transmission mechanism 300 driven by the swing drive mechanism 30 and a clamping transmission mechanism 400 driven by the clamping drive mechanism 40.

[0103] The moving transmission mechanism 100 is a linear transmission mechanism, which is used to be connected to the blade 73 for transmission and drive the blade 73 to move; the rotating transmission mechanism 200 is a rotating transmission mechanism, which is used to be connected to the actuator 70 for transmission and drive the actuator 70 to rotate; the swinging transmission mechanism 300 is a swinging transmission mechanism, which is used to be connected to the actuator 70 for transmission and drive the actuator 70 to swing; the clamping transmission mechanism 400 is an opening and closing transmission mechanism, which is used to be connected to the first clamp body 71 and drive the first clamp body 71 to rotate relative to the second clamp body 72 to achieve opening and closing.

[0104] As described above, when the combined transmission device 60 drives the actuator 70 to perform different actions except rotation, the movements of the sleeves of each transmission mechanism are independent of each other and do not affect each other. However, when the actuator 70 is driven to rotate, the movements of the sleeves of each transmission mechanism are related, and the transmission of the rotational action and the feeding action of the pipe are isolated.

[0105] In this embodiment, the mobile transmission mechanism 100 includes a firing nut 110 , a firing screw 120 , a first limiter and a firing rod 130 . The firing nut 110 is used to be connected to the firing drive mechanism 10 in a transmission manner. The firing nut 110 rotates around the first axis. The firing screw 120 is connected to the firing nut 110 in a transmission manner. The first limit member and the firing screw 120 form a non-rotating sliding fit to limit the firing screw 120 from rotating around the first axis. The firing screw 120 moves along the first axis under the drive of the firing nut 110. The firing rod 130 includes two opposite ends. One end of the firing rod 130 is connected to the firing screw 120 in a transmission manner. The firing rod 130 can rotate around the first axis relative to the firing screw 120, and the firing screw 120 can drive the firing rod 130 to move along the first axis. The other end of the firing rod 130 is used to be connected to the blade 73 of the actuator 70 in a transmission manner to drive the blade 73 to move along the first axis.

[0106] As described above, the firing nut 110 is used to receive and transmit rotational power to the firing screw 120, and is a rotational transmission component; the firing screw 120 converts the rotation of the firing nut 110 into linear movement, and is a motion conversion component; the first limiter limits the rotation of the firing screw 120, so that the firing screw 120 can move relative to the firing nut 110 but cannot rotate, thereby improving the effectiveness of the movement of the firing screw 120. In addition, the first limiter mechanically limits the rotation of the mobile conversion component, and by providing the firing rod 130, a rotatable transmission section is separated from the transmission path of the mobile transmission mechanism 100, which can prevent the rotation of the rotating transmission mechanism 200 from affecting the mobile transmission mechanism 100, without the need for complex decoupling operations. In this embodiment, the first limiter and the swinging screw 320 of the swinging transmission mechanism 300 are the same component. Integrating multiple functional components into one component can improve the structural compactness of the transmission assembly 60.

[0107] In this embodiment, the rotation transmission mechanism 200 includes a driven wheel 210, a self-rotating tube 220, and a base rod 230. The driven wheel 210, the self-rotating tube 220, and the base rod 230 are rotationally fixedly connected to each other, and the base rod 230 is rotationally fixedly connected to the actuator 70. The driven wheel 210 is used for transmission connection with the self-rotating drive mechanism 20 to receive the rotational power. The self-rotating tube 220 and the second movable member rotate along the first axis under the drive of the driven wheel 210, thereby driving the actuator 70 to rotate.

[0108] In this embodiment, the swing transmission mechanism 300 includes a swing nut 310, a swing screw 320, a swing limiter 330, a swing rod 340, and a swing member 350. The swing nut 310 is used for transmission connection with the swing drive mechanism 30 and rotates about a first axis under the drive of the swing drive mechanism 30. The swing limiter 330 forms a non-rotational sliding fit with the swing screw 320 to limit the swing screw 320 from rotating about the first axis. The swing screw 320 moves along the first axis under the drive of the swing nut 310, thereby converting the rotation of the swing nut 310 into the movement of the swing screw 320. The swing screw 320 is rotatably connected to the swing rod 340, and the swing rod 340 is transmission-coupled with the swing member 350 and swings under the drive of the swing rod 340. The swing member 350 is connected to the actuator 70, so that when the swing member 350 swings, it can be linked to the actuator 70 to swing.

[0109] As mentioned above, the swing nut 310 is used to connect and transmit rotational power to the swing screw 320, and is a rotational transmission component; the swing screw 320 converts the rotation of the swing nut 310 into linear movement, and is a motion conversion component; the swing limiter 330 limits the rotation of the swing screw 320, so that the swing screw 320 can move but cannot rotate relative to the swing nut 310, thereby improving the effectiveness of the movement of the swing screw 320. In addition, the swing limiter 330 mechanically limits the rotation of the moving conversion component, and by setting the swing rod 340, a rotatable transmission section is separated from the transmission path of the swing transmission mechanism 300, which can avoid the influence of the rotation of the rotary transmission mechanism 200 on the swing transmission mechanism 300 when it rotates, without the need for complicated decoupling operations.

[0110] In this embodiment, the clamping transmission mechanism 400 includes a clamping nut 410, a clamping screw 420, a clamping stopper 430, a clamping tube 440, and a pulling member 450. The clamping nut 410 is configured to be in transmission connection with the clamping drive mechanism 40 and to rotate about a first axis under the drive of the clamping drive mechanism 40. The clamping stopper 430 forms a non-rotating slidable fit with the clamping screw 420 to restrict the clamping screw 420 from rotating about the first axis. The clamping screw 420 moves along the first axis under the drive of the clamping nut 410, thereby converting the rotation of the clamping nut 410 into the movement of the clamping screw 420. The clamping screw 420 is rotatably connected to the clamping tube 440 and is transmission-connected to the first clamp body 71 through the clamping tube 440. The pulling member 450 is slidably fitted with the clamping tube 440, and the pulling member 450 is used to connect to the second clamp body 72. When the clamping nut 410 drives the clamping tube 440 to move relative to the pulling member 450, the first clamp body 71 rotates relative to the second clamp body 72, thereby realizing the opening and closing of the first clamp body 71 and the second clamp body 72.

[0111] As mentioned above, the clamping nut 410 is used to connect and transmit rotational power to the clamping screw 420, and is a rotational transmission component; the clamping screw 420 converts the rotation of the clamping nut 410 into linear movement, and is a motion conversion component; the clamping limiter 430 limits the rotation of the clamping screw 420, so that the clamping screw 420 can move but cannot rotate relative to the clamping nut 410, thereby improving the effectiveness of the movement of the clamping screw 420. In addition, the clamping limiter 430 mechanically limits the rotation of the moving conversion component, and by setting the clamping tube 440, a rotatable transmission section is separated from the transmission path of the clamping transmission mechanism 400, which can avoid the influence of the rotation of the rotating transmission mechanism 200 on the clamping transmission mechanism 400, and does not require complicated decoupling operations.

[0112] As mentioned above, the non-rotating sliding fit connection between the mutually nested shafts and tubes can be formed by means of keys and keyways. After the sleeves are sleeved together, the keyways on the corresponding sleeves are made to correspond to each other, and a limit key is inserted from the outer tube into the inner tube to limit the mutual rotation between the sleeves. By setting at least one of the keyways on the inner tube and the outer tube to be longer than the limit key, relative movement between the sleeves can be achieved. In order to form a better fixing effect for the limit member, one keyway can be set to be equal to the length of the limit key, and the other keyway can be set to be longer than the length of the limit key.

[0113] Please also refer to Figure 11 and Figure 12 , Figure 11 The figure shows the overall structure of the bracket provided by the embodiment of the present invention; Figure 12 Shown Figure 11 Schematic diagram of the decomposition structure.

[0114] The bracket 50 is used to carry and install the components of the surgical instrument 1, and is connected to the robotic arm to fix the entire surgical instrument 1 on the robotic arm. In some embodiments, the bracket 50 includes a base 51, a top seat 52, and a first connecting plate 53 and a second connecting plate 54. The top seat 52 and the base 51 are arranged approximately parallel and spaced apart and connected by the first connecting plate 53 and the second connecting plate 54. For example, the first connecting plate 53 and the second connecting plate 54 are supported between the top seat 52 and the base 51. The bracket 50 also includes a middle plate 55 and a support seat 56. The middle plate 55 is connected to the top seat 52 and spaced apart from the top seat 52. The support seat 56 is fixed to the base 51. The various components of the bracket 50 can be connected by screws, snap connections, or welding.

[0115] The surgical instrument 1 and the combined transmission device 60 of the present application will be described below in conjunction with their specific structures:

[0116] Figure 13 A schematic diagram of the assembly structure of the self-rotation drive mechanism of the surgical instrument provided by an embodiment of the present invention is shown; Figure 14 Shown Figure 13 Schematic diagram of the decomposition structure; Figure 15 A schematic diagram of the assembly structure of a rotary transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 16 Shown Figure 15 Schematic diagram of the decomposition structure.

[0117] Figure 13-16The figure shows the motion conversion portion of the self-rotating drive mechanism 20 and the rotation transmission mechanism 200 of this embodiment. The rotation transmission mechanism 200 includes a driven wheel 210 and a self-rotating tube 220. The self-rotating tube 220 is rotatably connected to the bracket 50. The driven wheel 210 is sleeved outside the self-rotating tube 220 and fixed to the self-rotating tube 220, capable of driving the self-rotating tube 220 to rotate together. The self-rotating drive mechanism 20 is a wire pulley transmission mechanism, including a self-rotating drive disc 21, a second transmission shaft 22, and a driving wheel 23. The self-rotating drive disc 21 is connected to the robot for rotation. The second transmission shaft 22 transmits the power of the self-rotating drive disc 21 to the wire pulley. The driven wheel 210 is also a wire pulley. As a driven wire pulley, the transmission line 24 is wound and pulled between the two wire pulleys, thereby realizing the self-rotating drive mechanism 20 driving the driven wheel 210 to rotate.

[0118] Exemplarily, the structures and assembly structures of the firing drive mechanism 10 and the mobile transmission mechanism 100 are as follows:

[0119] Figure 17 A schematic diagram of the assembly structure of a firing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 18 Shown Figure 17 Schematic diagram of the decomposition structure.

[0120] like Figure 17 and Figure 18 As shown, the firing drive disk 11 is fixedly connected to the first driving shaft 12 with screws; the lower surface of the bearing 13 fits with the bearing mounting surface of the firing drive disk 11; the first driving shaft 12 passes through the 2 bases 51 from the bottom, and the upper surface of the bearing 13 fits with the step surface of the bearing mounting position of the 2 bases 51; the first gear shaft 14 is fixedly connected to the first driving shaft 12 using a coupling 15; the top seat 52 is inserted into the first driving shaft 12 from the top; the bearing 16 is inserted into the first driving shaft 12 from the top, and the lower surface is flush with the step surface of the bearing mounting hole of the top seat 52, and the upper surface fits with the lower surface of the nut 17 installed on the first driving shaft 12.

[0121] Figure 19 A schematic diagram showing the assembly structure of a first transition gear of a firing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 20 Shown Figure 19 Schematic diagram of the decomposition structure.

[0122] like Figure 19 and Figure 20As shown, the bearing 18 is inserted into the first transition gear 19, and the lower bottom surface of the bearing 18 is flush with the bearing mounting step surface of the first transition gear 19; the first transition gear 19 is inserted into the fixed top seat 52, and the upper surface of the lower bearing 18 is flush with the step surface of the bearing mounting step hole of the top seat 52; the upper bearing 18 is inserted into the first transition gear 19 from the top, and its lower surface is flush with the step surface of the bearing mounting hole of the top seat 52, and the upper surface is limited by the retaining spring 191 installed on the first transition gear 19.

[0123] The swing limiter 330 is fixedly mounted on the top seat 52 and has a mounting hole thereon. The mounting hole is plugged into the swing screw 320, and the mounting hole is a non-rotating hole. Thus, the swing screw 320 is rotationally fixed to the bracket 50. A sliding key groove is provided on the swing screw 320, and the sliding key groove extends along the first axis. A fixed key groove 121 is provided on the firing screw 120. The firing screw 120 and the swing screw 320 are nested with each other, and the fixed key groove 121 is opposite to the sliding key groove 321. Then, the first rotation key 140 is inserted into the fixed key groove 121, and the first rotation key 140 extends into the sliding key groove 321. Thus, the swing screw 320 limits the rotation movement of the firing screw 120, but does not hinder the movement of the firing screw 120.

[0124] In order to ensure the installation stability of the firing nut 110 without affecting the installation of the swing screw 320, the bracket 50 also includes a middle plate 55, which is connected to the top seat 52 and spaced apart from the top seat 52. The first transition gear 19 is engaged with the firing nut 110. The firing nut 110 is mounted on the bracket 50 via a bearing 111, specifically on the middle plate 55. The bearing 111 is mounted in the bearing groove of the middle plate 55, and its inner side surface is flush with the step surface of the bearing groove of the middle plate 55. One end side surface of the bearing 111 is limited by a retaining spring 112 mounted on the firing nut 110, and the other end side surface of the bearing 111 is flush with the step surface of the movable firing member. The firing nut 110 and the firing screw 120 form a spiral pair, and the rotational motion of the firing nut 110 can be converted into linear motion of the firing screw 120.

[0125] The firing screw 120 and the firing rod 130 form a rotatable hook connection, and the firing rod 130 is provided with a base rod 230 on the outside, and the firing rod 130 and the base rod 230 form a key and key slot fit. A swing rod 340 is passed through the firing rod 130, and the firing rod 130 and the swing rod 340 form a key and key slot fit. The firing rod 130 is connected to the blade 73 through a cutter head linkage 150 that can slide relative to the base rod 230. Therefore, when the blade 73 is driven to move, it can slide relative to the adjacent nested swing rod 340, and the linear transmission is decoupled.

[0126] For example, the assembly and transmission structure of the rotation drive mechanism 20 and the rotation transmission mechanism 200 are as follows:

[0127] Please also refer to Figure 13-16 , the bearing 22 is inserted into the rotation drive disk 21 from the upper part, and the lower surface of the bearing 25 is in contact with the bearing mounting surface of the rotation drive disk 21; the second drive shaft 22 is inserted into the rotation drive disk 21 and the swing drive disk 31 is fixed as a whole with the rotation drive disk 21 and the swing drive disk 31 using screws; the rotation drive disk 21 and the swing drive disk 31 are installed into the base 51, and the upper surface of the bearing 25 is flush with the step surface of the bearing mounting hole of the base 51; the driving wheel 23 is inserted into the second drive shaft 22 from the upper part, and then fixed together with the second drive shaft 22 with a pressure block; the top seat 52 is inserted into the second drive shaft 22 from the upper part; the bearing 26 is inserted into the second drive shaft 22 from the upper part, and the lower surface of the inner ring of the bearing 26 is flush with the step surface of the second drive shaft 22, the lower surface of the outer ring of the bearing 26 is in contact with the step surface of the bearing mounting hole of the top seat 52, and the upper surface of the bearing 26 is limited by a nut 27 installed on the second drive shaft 22.

[0128] The self-rotating drive disk 21 is used to connect to the robotic arm and convert the robotic arm's power into rotational motion of the self-rotating drive disk 21. The rotational motion of the self-rotating drive disk 21 can be converted into rotational motion of the second transmission shaft 22. The rotational motion of the second transmission shaft 22 can be converted into rotational motion of the driving wheel 23. The driven wheel 210 (driven linear wheel), the second pressure block 240, the self-rotating tube 220 (tubular), and the bearing 250 of the rotation transmission mechanism 200 constitute a self-rotating system. The assembly formed by them is mounted on the base 51. The self-rotating tube 220 can rotate along its own axis, i.e., the first axis, without linear motion along the first axis. The driving wheel 23 and the driven wheel 210 are installed with a transmission line 24, such as a steel wire, to form a wire-wheel transmission structure. When the driving wheel 23 rotates, the self-rotating tube 220 is actuated to rotate.

[0129] See also Figure 4 and Figure 5 , shows the actuation and decoupling system of the clamping transmission mechanism 400, the clamping tube 440 and the rotation tube 220 are connected together using the first rotation key 260, the clamping tube 440 can move linearly along the axial direction of the rotation tube 220, but cannot rotate relative to the rotation tube 220 along the axis of the rotation tube 220, so that when the rotation tube 220 rotates, the clamping tube 440 will follow the rotation of the rotation tube 220; the clamping tube 440 and the clamping screw 420 are connected using a circular step, the clamping tube 440 has no linear movement relative to the clamping screw 420 in the axial direction, but the clamping tube 440 can rotate relative to the axial direction of the clamping screw 420, so that when the clamping tube 440 rotates, the clamping screw 420 will not rotate with it, thereby releasing the motion coupling between the rotation transmission mechanism 200 and the clamping transmission mechanism 400.

[0130] See also Figure 4 and Figure 5, shows the motion decoupling structure of the rotation transmission mechanism 200 and the swing transmission mechanism 300 of this embodiment. The self-rotating tube 220 and the base rod 230 are fixedly connected as one body using a first self-rotating key 260, so that the self-rotating motion of the self-rotating tube 220 can be transmitted to the self-rotation of the base rod 230; the base rod 230 and the swing rod 340 are connected using a second self-rotating key 270. The swing rod 340 can only move linearly along the axis of the base rod 230 and cannot rotate along the axis of the base rod 230. Therefore, the self-rotation of the base rod 230 can drive the self-rotation of the swing rod 340; the swing rod 340 and the swing screw 320 are connected using a cylindrical structure. There is no linear motion between the swing rod 340 and the swing screw 320 relative to the axis of the swing screw 320, but the swing rod 340 can rotate along the axis of the swing screw 320, thereby decoupling the motion between the rotation transmission mechanism 200 and the swing transmission mechanism 300.

[0131] See also Figure 5 , shows the motion decoupling structure of the rotation transmission mechanism 200 and the mobile transmission mechanism 100 of this embodiment. The base rod 230 and the firing rod 130 are connected together using a second rotation key 270. The firing rod 130 can only move linearly along the axis of the base rod 230 and cannot rotate along the axis of the base rod 230. Therefore, the rotation of the base rod 230 can drive the firing rod 130 to follow the rotation. The firing rod 130 and the firing screw 120 are connected using a cylindrical structure. There is no linear movement between the firing rod 130 and the firing screw 120 relative to the axis of the firing screw 120, but the firing rod 130 can rotate along the axis of the firing screw 120, thereby releasing the motion coupling between the rotation transmission mechanism 200 and the mobile transmission mechanism 100 of the firing motion system.

[0132] For example, the assembly and transmission structure of the swing drive mechanism 30 and the swing transmission mechanism 300 are as follows:

[0133] Figure 21 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 22 Shown Figure 21 Schematic diagram of the decomposition structure.

[0134] Please also refer to Figure 21 and Figure 22The bearing 32 is inserted into the swing drive disk 31 from the upper part, and the lower surface of the bearing 32 is in contact with the bearing mounting surface of the swing drive disk 31; the third drive shaft 33 is inserted into the swing drive disk 31 from the upper part to clamp the drive disk 41 and is fixed with screws; the swing drive disk 31 is installed into the base 51 from the lower part, and the upper surface of the bearing 32 is flush with the step surface of the bearing mounting hole of the base 51; the third gear shaft 34 and the third drive shaft 33 are fixed together using a coupling 35; the top seat 52 is inserted into the third gear shaft 34 from the upper part; the bearing 36 is inserted into the third gear shaft 34 from the upper part, and the lower surface of the inner ring of the bearing 36 is in contact with the bearing mounting surface of the third gear shaft 34, and the lower surface of the outer ring of the bearing 36 is in contact with the step surface of the bearing mounting hole of the top seat 52. The upper surface of the bearing 36 is limited by a nut 37 installed on the third gear shaft 34.

[0135] Figure 23 A schematic diagram of the assembly structure of the third transition gear of the swing drive mechanism of the surgical instrument provided by an embodiment of the present invention is shown; Figure 24 Shown Figure 23 Schematic diagram of the decomposition structure.

[0136] Please also refer to Figure 23 and Figure 24 The bearing 38 is inserted into the third transition gear and the third transition gear shaft 39 from the upper part, and the lower surface of the bearing 38 is in contact with the bearing mounting step surface of the third transition gear and the third transition gear shaft 39; the top seat 52 is inserted into the third transition gear and the third transition gear shaft 39 from the upper part; the bearing 38 is inserted into the third transition gear and the third transition gear shaft 39 from the upper part, and the lower surface of the inner ring of the bearing 38 is in contact with the bearing mounting surface of the third transition gear and the third transition gear shaft 39, and the lower surface of the outer ring of the bearing 38 is in contact with the step surface of the bearing mounting hole of the top seat 52, and the upper surface of the bearing 38 is limited by a retaining spring 391 installed on the third transition gear and the third transition gear shaft 39.

[0137] The swing nut 310 meshes with the gear on the third transition gear shaft 39. The swing nut 310 is mounted on the top seat 52 via a bearing 311. The swing nut 310 is inserted into the top seat 52 from the right, and the bearing 311 is inserted into the top seat 52 from the left. The left side of the inner ring of the bearing 311 mates with the bearing mounting surface of the swing nut 310, and the left side of the outer ring of the bearing 311 mates with the stepped surface of the bearing mounting hole of the top seat 52. The right side of the inner ring of the bearing 311 is limited by a retaining spring 312 mounted on the swing nut 310, thereby enabling the firing member to rotate relative to the bracket 50 under the drive of the swing drive mechanism 30. The swing screw 320 has a non-rotating section and a threaded section. The threaded section is inserted into the swing nut 310 and threadedly connected thereto, while the non-rotating section extends from the swing nut 310. The swing limiter 330 is provided with a slot that mates with the non-rotating section of the swing screw 320. The swing limiter 330 is fixed to the top seat 52 using screws, thereby securing the swing limiter 330 to the top seat 52 and limiting the rotation of the swing screw 320. The swing limiter 330 also includes a boss that can be used to restrain the right side of the outer ring of the bearing 311, thereby completing the installation of the bearing 311. In this embodiment, the swing screw 320 and the first limiter of the mobile transmission mechanism 100 are the same component.

[0138] like Figure 25 As shown, Figure 25 A partial cross-sectional structural diagram of a swing transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown.

[0139] The swing screw 320 forms a rotatable hook connection with the swing lever 340. The swing transmission mechanism 300 also includes a connecting rod 360, a first transmission portion 370, a second transmission member 380, and a connecting member 390. The swing lever 340 is connected to the first transmission portion 370 via the connecting rod 360. The second transmission member 380 is arranged parallel to the first transmission portion 370. One end of the second transmission member 380 is rotatably connected to the swing member 350. The other end of the second transmission member 380 is connected to the first transmission portion 370 via the connecting member 390, and each of the second transmission members 380 is rotatably connected to the connecting member 390. The connecting member 390 is arranged opposite the swing member 350. As a result, the first transmission member 370, the swinging member 350, the second transmission member 380, and the connecting member 390 are all rotatably connected at their connections, forming a parallelogram structure. When the connecting rod 360 drives the first transmission member 370 forward, the swinging member 350 swings, causing one end of the swinging member 350 to move forward and the other end to move backward. The second transmission member 380 moves backward, driving one end of the connecting member 390 forward and the other end to move backward. Compared to a single-axis transmission mechanism, the transmission structure of the swinging member 350 provides mutual support between the first transmission member 370, the swinging member 350, the second transmission member 380, and the connecting member 390, providing greater structural strength and facilitating better force transmission.

[0140] As mentioned above, one end of the connecting rod 360 is bent to form a plug-in key, the swing rod 340 is provided with a fixed key groove corresponding to the plug-in key, the firing rod 130 sleeved outside the swing rod 340 is provided with a sliding key groove, and the base rod 230 sleeved outside the swing rod 340 is provided with a sliding key groove. The connecting rod body is located between the base rod 230 and the outer tube 460, thereby achieving the goal that the movement of the connecting rod has no effect on the base rod 230 and the firing rod 130.

[0141] Exemplarily, the assembly and transmission structure of the clamping drive mechanism 40 and the clamping transmission mechanism 400 are as follows:

[0142] Figure 26 A schematic diagram of the assembly structure of a clamping drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 27 Shown Figure 26 Schematic diagram of the decomposition structure.

[0143] Please also refer to Figure 26 and Figure 27 The bearing 42 is inserted into the clamping drive disk 41 from the upper part, and the lower surface of the bearing 42 fits with the bearing mounting surface of the clamping drive disk 41; the fourth drive shaft 43 is inserted into the clamping drive disk 41 from the upper part and is fixed with screws; the clamping drive disk 41 is installed into the base 51 from the lower part, and the upper surface of the bearing 42 is flush with the step surface of the bearing mounting hole of the base 51; the fourth gear shaft 44 is inserted into the fourth drive shaft 43 from the upper part and is fixed together with the fourth drive shaft 43 using a pressure block; the top seat 52 is inserted into the fourth drive shaft 43 from the upper part; the bearing 45 is inserted into the fourth drive shaft 43 from the upper part, and the lower surface of the inner ring of the bearing 45 fits with the bearing mounting surface of the fourth drive shaft 43, and the lower surface of the outer ring of the bearing 45 fits with the step surface of the bearing mounting hole of the top seat 52. The upper surface of the bearing 45 is limited by a nut 46 installed on the fourth drive shaft 43.

[0144] like Figure 28 As shown, Figure 28A schematic cross-sectional view of the clamping and transmission mechanism of a surgical instrument provided by an embodiment of the present invention is shown. The bracket 50 also includes a support seat 56. The support seat 56 is cylindrical, with its bottom surface screwed to the base 51 and an open top surface. A clamping stopper 430 is inserted from above into the support seat 56 and secured together with screws. A clamping tube 440 is hooked from the side and inserted into the clamping screw 420 to form a rotatable connection. The clamping screw 420 is screwed into the clamping nut 410 from the top, and the clamping nut 410 is meshed with the fourth gear shaft 44; the bearing 411 is inserted into the clamping nut 410 from the bottom, and the upper surface of the bearing 411 is in contact with the bearing mounting surface of the clamping nut 410, and the lower surface of the bearing 411 is limited by the retaining ring 412 installed on the clamping nut 410; the clamping nut 410 is inserted into the support seat 56 from the top, and the lower surface of the outer ring of the bearing 411 is in contact with the bearing mounting surface of the support seat 56; the limiting pin is inserted into the support seat 56 from both sides, and the cylindrical surface of the limiting pin is in contact with the upper surface of the outer ring of the bearing 411, which is used to limit the upward movement of the bearing 411.

[0145] The clamping limiter 430 is fixedly mounted on the support base 56 using screws, and the support base 56 is fixedly mounted on the base 51, so that the clamping limiter 430 is fixed relative to the base 51. The clamping screw 420 is inserted into the clamping limiter 430 from the upper part, as shown in FIG. Figure X The limiting portion 431 of the clamping limiter 430 is a cylindrical feature provided on the clamping portion 432 thereof. The cylindrical feature cooperates with the circular hole feature of the clamping screw 420 to limit the rotational movement of the clamping screw 420 relative to the clamping limiter 430 .

[0146] The bracket 50 also includes a cover plate 57. The end of the base rod 230 has a step. The base rod 230 is fixed to the cover plate through a bearing 231. The outer ring of the bearing 231 is fixed to the cover plate 57, and the inner ring is fixed to the base rod 230. The base rod 230 is inserted into the bearing 231 from the top, and the boss at the end abuts against the end face of the bearing 231. The base rod 230 is fixed to the cover plate 57 by a retaining spring 232 at the bottom of the bearing 231. The cover plate 57 is connected to the clamping nut 410 by screws, thereby achieving the fixation of the base rod 230 relative to the bracket 50 in the direction of movement of the first axis, and the base rod 230 and the clamping nut 410 form a rotatable connection.

[0147] Figure 29 A schematic diagram of the exploded structure of the connection between the clamping transmission mechanism and the actuator of the surgical instrument provided by an embodiment of the present invention is shown; Figure 30 A schematic diagram of the exploded structure of a combined transmission device provided by an embodiment of the present invention is shown.

[0148] like Figure 29 and Figure 30As shown, the pulling member 450 is connected to the bracket 50 via the base rod 230. One end of the pulling member 450 is rotatably connected to the base rod 230 via a hook, and the other end of the pulling member 450 is connected to the second jaw body 72 of the actuator 70. The clamping screw 420 extends outside the bracket 50 through the clamping tube 440. The clamping tube 440 is fixed to the outer tube 460 via a clamping key, and the outer tube 460 is transmission-connected to the first jaw body 71. The second jaw body 72 is formed with an arcuate groove 721, and the first jaw body 71 is formed with a slider 711 that slidably cooperates with the arcuate groove 721. When the outer tube 460 drives the first jaw body 71 to move, the first jaw body 71 slides along the arcuate groove 721. The guiding effect of the arcuate groove 721 causes the first jaw body 71 to change its orientation, thereby moving it closer to or opening it toward the second jaw body 72.

[0149] In this embodiment, the combined transmission device 60 is located in the middle of the bracket 50, and the firing drive mechanism 10, the rotation drive mechanism 20, the swing drive mechanism 30, and the clamping drive mechanism 40 are located around the combined transmission device 60. It should be noted that the combined transmission device 60 is not located in the absolute middle of the bracket 50, but is located closer to the middle of the bracket 50 relative to the drive mechanisms, or is located within the boundary enclosed by the four transmission mechanisms. The four transmission mechanisms are arranged around the combined transmission device 60. In this way, the arrangement of the various drive mechanisms is more reasonable, and interference between the motion transmission of the various drive mechanisms and the combined transmission device 60 is effectively avoided.

[0150] In this embodiment, the firing drive mechanism 10 adopts a gear transmission drive structure, the rotation drive mechanism 20 adopts a wire pulley transmission drive structure; the swing drive mechanism 30 adopts a gear transmission drive structure; the clamping drive mechanism 40 adopts a gear transmission drive structure; the reasonable arrangement of the transmission structure is achieved through gear transmission and wire pulley transmission, and the structure of the surgical instrument 1 is more compact.

[0151] The following is an exemplary description of the specific structure of transmission coupling and decoupling between the various sleeve structures of the combined transmission device of this embodiment.

[0152] Figures 30-34 A schematic diagram of the exploded and partially exploded structure of a combined transmission device provided by an embodiment of the present invention is shown.

[0153] like Figures 30-34 As shown, the combined transmission device 60 is generally rod-shaped, with the various transmission mechanisms coaxially nested, and the firing member and conversion member of the same transmission mechanism nested adjacently to form a transmission coordination. For example, the firing nut 110, firing screw 120, driven wheel 210, and rotating tube 220 are nested with each other, with the firing nut 110 nested adjacent to the firing screw 120, and the driven wheel 210 nested adjacent to the rotating tube 220.

[0154] The specific nesting relationship is as follows: the swing screw 320 is a screw located at the innermost side of the sleeve structure of the combined transmission device 60, and its end forms a non-rotating fit with the swing limiter 330 on the top seat 52 of the bracket 50, and a swing nut 310 is sleeved on its outer portion near the top seat 52, and the swing nut 310 is rotatably connected to the top seat 52; the swing nut 310 forms a threaded fit with it, and the swing nut 310 drives the swing screw 320 to move when it rotates; the end of the swing screw 320 away from the top seat 52 is rotatably connected to the swing rod 340 through a hook structure; The outer sleeve of the movable screw 320 is provided with a firing screw 120, and the firing screw 120 and the swinging screw 320 form a sliding fit through the third rotation key 140; the firing screw 120 is provided with a first fixed key groove 121, and the swinging screw 320 is provided with a second sliding key groove 321, and the third rotation key 140 is fixed in the first fixed key groove 121 and inserted into the second sliding key groove 321, thereby realizing the non-rotating sliding fit between the firing screw 120 and the swinging screw 320; the swinging screw 320 serves as a limiting component of the firing screw 120 to prevent the firing screw 120 from rotating.

[0155] The firing screw 120 is externally threadedly connected to a firing nut 110, and the firing nut 110 is rotatably connected to the middle plate 55 of the bracket 50. When the firing nut 110 rotates, the firing screw 120 can move along the first axis; the end of the firing screw 120 away from the middle plate is rotatably connected to the firing rod 130 through a hook, and the firing rod 130 is sleeved outside the swing rod 340. A fixed key groove 131 is provided on the firing rod 130, and a sliding key groove 341 is provided on the swing rod 340. The second rotation key 270 is inserted into the third sliding key groove 341, and the second rotation key 270 extends into the third sliding key groove 341, thereby realizing a non-rotating sliding fit between the firing rod 130 and the swing rod 340, thereby realizing decoupling of the moving direction between the moving transmission mechanism 100 and the swinging transmission mechanism 300, and being able to move independently.

[0156] The firing nut 110 is provided with a base rod 230 on the outer sleeve, and the base rod 230 is rotatably but immovably connected to the support seat 56. A first sliding key groove 233 is provided on the base rod 230, and the second rotation key 270 is inserted into the first sliding key groove 233 to realize the sliding non-rotating connection between the base rod 230 and the firing rod 130 and the swing rod 340.

[0157] The base rod 230 is outer-circuited with a clamping screw 420, and the clamping screw 420 is outer-circuited with a clamping nut 410. The clamping limit piece 430 of the clamping transmission mechanism 400 is fixed on the support seat 56, and the clamping nut 410 is rotatably connected to the support seat 56. The clamping screw 420 and the clamping limit piece 430 form a slidable fit. Therefore, under the drive of the clamping nut 410, the clamping screw 420 can move along the first axis relative to the bracket 50. The clamping screw 420 is rotatably connected to the clamping tube 440 through a hook. The clamping tube 440 is provided with a fourth sliding key groove 441, and the base rod 230 is provided with a third fixed key groove 234. The first rotation key 260 is inserted into the third fixed key groove 234 and the fourth sliding key groove 441, so that the clamping tube 440 and the base rod 230 form a non-rotating slidable connection.

[0158] The clamping tube 440 is provided with a self-rotating tube 220, which is provided with a slide groove 221. The first self-rotating key 260 is inserted into the slide groove 221, thereby being fixed to the base rod 230 and forming a non-rotating slidable connection with the clamping tube 440. The clamping tube 440 is also provided with an outer tube 460, which is provided with a fifth fixed key groove 461. The clamping tube 440 is also provided with a fourth fixed key groove 442. The clamping key 470 fits in the fifth fixed key groove 461 and the fourth fixed key groove 442, thereby securing the outer tube 460 to the clamping tube 440.

[0159] As described above, the transmission process of the combined transmission device 60 of this embodiment driving the actuator 70 to move, rotate, swing and open and close is as follows:

[0160] When the firing nut 110 of the mobile transmission mechanism 100 rotates, it drives the firing screw 120 to move along the first axis. The firing screw 120 forms a non-rotating sliding fit with the swinging screw 320. The firing screw 120 is rotatably connected to the firing rod 130. The firing rod 130 forms a non-rotating sliding fit with the base rod 230 and the swinging rod 340. The firing screw 120 drives the blade 73 of the actuator 70 to move through the firing rod 130.

[0161] When the driven wheel 210 of the rotary transmission mechanism 200 rotates, it drives the rotating tube 220, the base rod 230, the outer tube 460, the firing rod 130, the swing rod 340, and the clamping tube 440 to rotate about the first axis. The outer tube 460 is connected to the actuator 70, driving the actuator 70 to rotate as a whole.

[0162] When the swing nut 310 of the swing transmission mechanism 300 rotates, it drives the swing screw 320 to move along the first axis, and the swing screw 320 forms a non-rotating sliding fit with the firing screw 120, and the swing screw 320 is rotatably connected to the swing rod 340; the swing rod 340 forms a non-rotating sliding fit with the firing rod 130 and the base rod 230, and the swing screw 320 drives the swing member 350 to swing through the swing rod 340, the connecting rod 360, and the first transmission member 370, and the swing member 350 is connected to the actuator 70, driving the actuator 70 to swing as a whole; the clamping of the clamping transmission mechanism 400 When the nut 410 rotates, it drives the clamping screw 420 to move along the first axis, and the clamping screw 420 is rotatably connected to the clamping tube 440; the clamping tube 440 forms a non-rotating sliding connection with the base rod 230 and the rotation tube 220 respectively, the clamping tube 440 is fixedly connected to the outer tube 460, the base rod 230 is rotatably connected to the pulling member 450, the outer tube 460 is connected to the first clamp body 71, and the pulling member 450 is connected to the second clamp body 72. When the outer tube 460 moves relative to the pulling member 450, it can link the first clamp body 71 to rotate relative to the second clamp body 72, thereby realizing the opening and closing of the actuator 70.

[0163] In other embodiments, the surgical instrument 1000 includes an actuator 70 for performing a surgical operation, a drive disc, a transmission mechanism, a self-rotating tube 220, and a clamping tube 440. The drive disc may be the self-rotating drive disc 21 described above, or may be a combined drive disc that can provide a combined driving force for multiple movements. The driving disk is used to connect with the mechanical arm of a robot and receive and convert the power of the mechanical arm into a rotational driving force. The transmission mechanism includes a driving wheel 23 and a driven wheel 210. The driving wheel 23 is connected to the driving disk, and the driven wheel 210 is transmission-connected to the driving wheel 23. The driven wheel 210 is tubular; the rotation tube 220 is sleeved into the driven wheel 210 and rotates with the driven wheel 210. The rotation tube 220 is provided with a slide groove 221; the clamping tube 440 is connected to the slide groove 221 through a first rotation key 260 to follow the rotation of the rotation tube 220 when the rotation tube 220 rotates. The first rotation key 260 can slide along the slide groove 221 to make the clamping tube 440 move axially relative to the rotation tube 220. The actuator 70 includes a clamp head. When the clamping tube 440 moves axially, the clamp head of the actuator 70 is driven to perform a clamping action. As described above, by setting the self-rotating tube 220 and the clamping tube 440 to be able to slide with each other, the clamping tube 440 can be made not to affect the self-rotating tube 220 or be unaffected by the self-rotating tube 220 when moving. The self-rotating tube 220 and the clamping tube 440 can transmit rotation through the cooperation of the key and the keyway, and then can drive the clamping tube and the actuator 70 to rotate together when the self-rotating tube 220 rotates.

[0164] The transmission mechanism is a wire wheel transmission mechanism, the driving wheel 23 is a driving wire wheel, the driven wheel 210 is a driven wire wheel, the driving wire wheel is connected to the driving disc, and the driven wire wheel is connected to the driving wire wheel through a wire transmission.

[0165] The surgical instrument 1000 also includes an outer tube 460, which is fixedly connected to the clamping tube 440 via a clamping key 470 so as to rotate and move axially with the clamping tube 440. When the outer tube 460 is extended axially, the actuator 70 is retracted into the outer tube 460 to clamp and close. When the outer tube 460 is retracted axially, the actuator 70 is exposed from the outer tube 460 to release the clamping action.

[0166] The surgical instrument also includes a threaded assembly, which includes a clamping nut 410 that receives the rotational driving force of the driving disk, and a clamping screw 420 threadedly connected to the clamping nut 410. The clamping screw 420 moves axially along the screw under the drive of the clamping nut 410. The clamping screw 420 is connected to the clamping tube 440 to drive the clamping tube 440 to move axially.

[0167] Furthermore, the clamping screw 420 is connected to the clamping tube 440 via a circular structure of a clamping stopper 430. The clamping tube 440 and the clamping screw 420 are isolated by the circular structure of the clamping stopper 430. The clamping tube 440 rotates within the circular structure of the clamping stopper 430. The exterior of the clamping screw 420 is further connected to two limiting posts on the circular structure of the clamping stopper 430 to restrict the clamping screw 420 from rotating with the clamping tube 440. The clamping nut 410 is fixedly connected to a gear that receives the rotational drive force from the drive disk and drives the clamping nut 410 to rotate. The circular structure of the clamping stopper 430 ensures that the rotation of the clamping tube 440 does not affect the clamping screw 420.

[0168] The surgical instrument 1000 also includes a base rod 230 and a swing rod 340. The base rod 230 is connected to the rotation tube 220 via a first rotation key 260 so that the base rod 230 rotates along with the rotation tube 220. The base rod 230 is connected to the swing rod 340 via a second rotation key 270 so that the swing rod 340 rotates along with the base rod 230. The swing rod 340 is used to drive the actuator 70 to swing.

[0169] Furthermore, one end of the swing rod 340 is connected to a swing screw 320 through a cylindrical structure so that the swing rod 340 can rotate around the swing screw 320 when it rotates. The other end of the swing rod 340 is connected to a parallelogram swing member (the parallelogram structure mentioned above). The swing screw 320 is threadedly connected to the swing nut 310. The swing nut 310 receives the rotational driving force of the drive disk and rotates. The swing screw 320 moves axially under the drive of the swing nut 310 to push the swing rod 340 to move axially. The parallelogram swing member is connected to the actuator 70. When the swing rod 340 moves axially, it drives the parallelogram swing member to swing to drive the actuator 70 to swing.

[0170] The surgical instrument 1000 also includes a firing rod 130 and a firing screw 120. The firing rod 130 is connected to the base rod 230 by a second rotation key 270 so as to follow the rotation of the base rod 230 when the base rod 230 rotates. The firing rod 130 and the firing screw 120 are connected by a cylindrical structure so that the firing rod 130 can rotate relative to the firing screw 120 when it rotates. The firing screw 120 is threadedly connected to a firing nut 110. The firing nut 110 receives the rotational driving force of the drive disk and rotates. The firing screw 120 moves axially under the drive of the firing nut 110 to push the firing rod 130 to move axially. The actuator 70 includes a blade 73 arranged in the pliers head, and the firing rod 130 pushes the blade 73 to move.

[0171] The transmission structure of the surgical instrument is arranged in a sleeve shape, the swing rod 340 is located inside the firing rod 130, and the firing rod 130 is located inside the base rod 230.

[0172] 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.

[0173] 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 comprising an actuator for performing surgery, characterized in that: It includes: A drive disk, the drive disk being used to connect to a robotic arm of a robot and receive and convert power from the robotic arm into a rotational drive force; A transmission mechanism, the transmission mechanism comprising a driving wheel and a driven wheel, the driving wheel being connected to the driving disc, the driven wheel being in transmission connection with the driving wheel, and the driven wheel being tubular; A self-rotating tube, which is sleeved onto the driven wheel and rotates along with the driven wheel, and is provided with a sliding groove; a clamping tube, the clamping tube being connected to the slide groove via a first rotation key so as to follow the rotation of the rotation tube when the rotation tube rotates, the first rotation key being slidable along the slide groove to enable the clamping tube to move axially relative to the rotation tube, the actuator comprising a clamp head, and the clamp head of the actuator being driven to perform a clamping action when the clamping tube moves axially; The surgical instrument also includes a firing rod, a firing screw and a base rod. The firing rod is connected to the base rod by a second rotation key so as to follow the rotation of the base rod when the base rod rotates. The firing rod is connected to the firing screw by a cylindrical structure so that the firing rod can rotate relative to the firing screw when it rotates. The firing screw is threadedly connected to a firing nut, and the firing nut receives the rotational driving force of the drive disk and rotates. The firing screw moves axially under the drive of the firing nut to push the firing rod to move axially. The actuator includes a blade arranged in the pliers head, and the firing rod pushes the blade to move.

2. The surgical instrument according to claim 1, wherein: It also includes an outer tube, which is fixedly connected to the clamping tube by a clamping key so as to rotate and move axially with the clamping tube. When the outer tube is extended axially, the actuator is retracted into the outer tube to clamp and close. When the outer tube is retracted axially, the actuator is exposed from the outer tube to release the clamping action.

3. The surgical instrument according to claim 1, wherein: It also includes a threaded assembly, which includes a clamping nut that receives the rotational driving force of the drive disk, and a clamping screw threadedly connected to the clamping nut. The clamping screw moves axially along the screw under the drive of the clamping nut, and the clamping screw is connected to the clamping tube to drive the clamping tube to move axially.

4. The surgical instrument according to claim 3, wherein: The clamping screw is connected to the clamping tube through a circular ring structure, and the clamping tube and the clamping screw are isolated by the circular ring structure. The clamping tube rotates within the circular ring structure, and the outside of the clamping screw is further connected to two limiting columns to limit the clamping screw from rotating with the clamping tube.

5. The surgical instrument according to claim 3, wherein: The clamping nut is fixedly connected to a gear, and the gear receives the rotational driving force of the driving disk to drive the clamping nut to rotate.

6. The surgical instrument according to claim 1, wherein: It also includes a swing rod, the base rod and the rotation tube are connected by the first rotation key so that the base rod follows the rotation of the rotation tube, the base rod and the swing rod are connected by the second rotation key so that the swing rod follows the rotation of the base rod, and the swing rod is used to drive the actuator to swing.

7. The surgical instrument according to claim 6, wherein: One end of the swing rod is connected to a swing screw through a cylindrical structure, so that the swing rod can rotate around the swing screw during its self-rotation, and the other end of the swing rod is connected to a parallelogram swing member, and the swing screw is threadedly connected to a drive nut, and the drive nut receives the rotational driving force of the drive disk and rotates. The swing screw moves axially under the drive of the drive nut to push the swing rod to move axially, and the parallelogram swing member is connected to the actuator, and when the swing rod moves axially, it drives the parallelogram swing member to swing, thereby driving the actuator to swing.

8. The surgical instrument according to claim 1, wherein: The transmission mechanism is a wire wheel transmission mechanism, the driving wheel is a driving wire wheel, the driven wheel is a driven wire wheel, the driving wire wheel is connected to the driving disc, and the driven wire wheel is connected to the driving wire wheel through a wire transmission.

9. The surgical instrument according to claim 6, wherein: The swing rod is located inside the firing rod, and the firing rod is located inside the base rod.

10. A surgical robot comprising a master operating device and a slave operating device, characterized in that: The slave operation device comprises the surgical instrument according to any one of claims 1 to 9.

Images