A type of openable surgical instrument and a minimally invasive surgical robot

Abstract

This invention discloses an opening and closing surgical instrument, comprising: a wrist support; a palm support; and a finger opening and closing assembly, wherein the finger opening and closing assembly is rotatably disposed at the other end of the palm support. The finger opening and closing assembly includes: a first opening and closing part and a second opening and closing part; a control assembly, including a finger operating part; and two sets of guide wheel assemblies. This invention allows the finger operating part to adjust the opening and closing position of the finger opening and closing assembly. The first and second guide wheel sets in the guide wheel assembly respectively support the movement of the first and second opening and closing parts on the finger opening and closing assembly. Simultaneously, since the two sets of guide wheel assemblies are centrally symmetrically arranged on both sides of the palm support, and the finger operating part is wound around the two sets of guide wheel assemblies in opposite directions on both sides, the length of the finger operating part remains constant during movement in all degrees of freedom, thus eliminating the need for a separate decoupling mechanism. This effectively improves the reliability of movement between the instruments.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202210002570.9, entitled "An Opening and Closing Surgical Instrument and a Minimally Invasive Surgical Robot", filed on January 4, 2022. Technical Field

[0002] This invention relates to the field of medical device technology, and in particular to an openable surgical instrument and a minimally invasive surgical robot. Background Technology

[0003] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0004] In robot-assisted minimally invasive surgery, a dedicated channel is typically established through a cannula. The surgeon then uses slender, minimally invasive surgical instruments to enter this channel and perform surgical procedures within the abdominal cavity. Among minimally invasive surgical instruments, those with clamping functions, such as needle holders, are essential and frequently used.

[0005] In the prior art, such as Chinese invention patent application with publication number CN112043389A, a surgical instrument with clamping function is disclosed. The end effector of the surgical instrument includes a first support, a second support, and an opening and closing part. The first support is mounted on the first support, and the opening and closing part is mounted on the second support. The surgical instrument also includes a first pair of cables and a second pair of cables for manipulating the opening, closing, yaw, and pitch movements of the end effector. Two pulley groups for guiding the first pair of cables and the second pair of cables are both set on the first support.

[0006] However, in one of the aforementioned surgical instruments with clamping function, the steel wire ropes 151A and 151B (which are essentially a single steel wire rope) on both sides move in the same direction when passing through the guide wheels on both sides. As a result, when the instrument moves around the AA' axis at the end, the steel wire ropes on both sides extend or shorten simultaneously. The length of the moving steel wire rope cannot remain constant, requiring an additional complex decoupling structure to coordinate. This results in low reliability of the movement in this patent and affects the surgical outcome. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies that require complex mechanisms for operation, resulting in low reliability of movement, and to propose an opening and closing surgical instrument.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] On one hand, the present invention provides an opening and closing surgical instrument, comprising:

[0010] A wrist brace, wherein the wrist brace is mounted on a support shaft;

[0011] A palm support, one end of which is rotatably connected to the wrist support;

[0012] A finger opening and closing assembly is rotatably disposed at the other end of the palm support, and the finger opening and closing assembly includes: a first opening and closing part and a second opening and closing part;

[0013] The first opening / closing part and the second opening / closing part are arranged to rotate relative to each other to realize the opening and closing movement between them;

[0014] The control component includes a finger operating part; the finger operating part is connected to the finger opening and closing component;

[0015] Two sets of guide wheel assemblies are symmetrically arranged on both sides of the palm support with the central axis of the palm support as the center of symmetry.

[0016] Optionally, the guide wheel assembly includes: a first guide wheel group and a second guide wheel group;

[0017] The first guide wheel group is disposed on the palm support, the second guide wheel group is coaxial with the rotation of the palm support and the wrist support, and a lateral spacing is provided between the first guide wheel group and the second guide wheel group.

[0018] The finger operating part is arranged around the first guide wheel group and the second guide wheel group to realize the movement support of the finger operating part through the guide wheel assembly;

[0019] The finger operating parts located on both sides of the palm support are symmetrically arranged around the central axis of the palm support, and the finger operating parts only contact one side of the first guide wheel group and the second guide wheel group to achieve the same range of motion on the finger operating parts, that is, the length is constant.

[0020] Optionally, the second guide wheel assembly includes two guide wheels, which are coaxial; the first guide wheel assembly includes:

[0021] The first guide wheel is disposed on one side of the palm support via a first guide shaft;

[0022] The second guide wheel is disposed on one side of the palm support via a second guide shaft, and the second guide wheel is disposed between the first guide wheel and the palm support;

[0023] The first guide shaft is eccentrically disposed on the second guide shaft, that is, the first guide wheel and the second guide wheel are disposed with their axes offset on the same straight line.

[0024] Optionally, the palm support is provided with supporting ear pieces opposite to each other, and the first opening and closing part and the second opening and closing part are disposed between the supporting ear pieces;

[0025] The first opening and closing part and the second opening and closing part have the same structure; the first opening and closing part includes:

[0026] An opening and closing seat, which is disc-shaped, is disposed between the two supporting lugs and is rotatably connected to one of the supporting lugs;

[0027] An opening and closing nozzle is disposed on the outer periphery of the opening and closing seat;

[0028] The first receiving hole is disposed on the opening and closing seat and is disposed along the circumference of the opening and closing seat. The first receiving hole is fixedly connected to the finger operating part.

[0029] The two opening and closing seats on the first opening and closing part and the second opening and closing part are coaxially rotatably connected, and the two first receiving holes are arranged opposite to each other.

[0030] Optionally, the finger operating part includes a first traction rope and a second traction rope;

[0031] Both the first traction rope and the second traction rope are fitted with connecting sleeves, and the two connecting sleeves are respectively interference-fitted with the two first receiving holes;

[0032] The first receiving hole is a rectangular through hole.

[0033] Optionally, the first traction rope is symmetrically arranged at the first receiving hole with the connecting sleeve as the center, and the two ends of the first traction rope are respectively wound around a guide wheel via the first guide wheel;

[0034] The second traction rope is symmetrically arranged at the first receiving hole with the connecting sleeve as the center, and the two ends of the second traction rope are respectively wound around the other guide wheel through the first guide wheel.

[0035] Optionally, the control component further includes: a palm operating unit;

[0036] The palm support is provided with a second receiving hole, which is arranged circumferentially along the rotation point of the palm support and the wrist support, and is connected to the palm operating part.

[0037] Optionally, the palm support is further provided with a guide groove, and the palm operating part is fixedly connected to the second receiving hole via the guide groove;

[0038] The second receiving hole is a stepped hole, and the guide groove is connected to the small hole in the stepped hole.

[0039] Optionally, there are two second receiving holes, which are arranged in the same circumferential direction and symmetrically arranged along the central axis of the palm support.

[0040] The palm operating part is fixedly connected to the two second receiving holes.

[0041] A minimally invasive surgical robot employs one of the aforementioned openable surgical instruments and further includes a main control console and a slave operating device. The main control console is electrically connected to the slave operating device, and the slave operating device is connected to the openable surgical instrument.

[0042] The present invention has at least the following beneficial effects:

[0043] This invention provides a finger operating part and a wrist operating part, as well as a guide wheel assembly, in its embodiments, allowing the finger operating part to adjust the opening and closing position of the finger opening and closing assembly. The first and second guide wheel groups in the guide wheel assembly respectively support the movement of the first and second opening and closing parts of the finger opening and closing assembly. Since the two sets of guide wheel assemblies are centrally symmetrically arranged on both sides of the palm support, and the finger operating part is wound around the two sets of guide wheel assemblies in opposite directions on both sides, the length of the finger operating part remains constant during movement in all degrees of freedom, thus eliminating the need for a separate decoupling mechanism. Therefore, this solves the technical problem of requiring a complex decoupling structure for coordination in existing technologies, effectively improving the reliability of movement between the various devices. Attached Figure Description

[0044] Figure 1 This is a schematic diagram (front view) of the overall structure of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0045] Figure 2 This is a schematic diagram (side view) of the overall structure of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0046] Figure 3 This is an exploded view of the overall structure of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0047] Figure 4 This is a schematic diagram of the palm support structure of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0048] Figure 5 This is a schematic diagram of the first guide wheel assembly of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0049] Figure 6 This is a schematic diagram of the connecting sleeve structure of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0050] Figure 7 This is a schematic diagram of the structure of the first opening and closing part of an opening and closing surgical instrument provided in Embodiment 1 of the present invention;

[0051] Figure 8 This is a schematic diagram of the first opening and closing part of an opening and closing surgical instrument provided in Embodiment 2 of the present invention.

[0052] The markings in the diagram are as follows:

[0053] 1. Support shaft;

[0054] 2. Wrist brace;

[0055] 3. Guide wheel assembly;

[0056] 31. First guide wheel assembly; 311. First guide wheel; 3111. First guide shaft; 3112. First connecting hole; 312. Second guide wheel; 3121. Second guide shaft; 3122. Second connecting hole; 32. Second guide wheel assembly;

[0057] 4. Finger opening and closing assembly; 41. First opening and closing part; 411. Opening and closing spout; 412. First receiving hole; 413. Opening and closing seat; 414. Connecting part; 415. Stop edge; 416. Arc-shaped transition part; 42. Second opening and closing part; 43. Reinforcing part;

[0058] 5. Palm support; 51. Support ear; 52. Second receiving hole; 521. Guide groove;

[0059] 6. Control components; 61. Finger operating unit; 611. First traction rope; 612. Second traction rope; 62. Palm operating unit; 63. Connecting sleeve. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0064] Example 1

[0065] Reference Figure 1-7 This is a type of opening and closing surgical instrument. In actual operation, opening and closing surgical instruments are not only used for clamping but also for cutting. Of course, the surgical instrument provided in this technical solution can also be used in the repair and modification of some precision instruments to perform clamping and replacement operations on tiny parts in precision instruments, which will not be described in detail here.

[0066] Specifically, the opening and closing surgical instrument includes: a support shaft 1, a wrist support 2, a palm support 5, a finger opening and closing assembly 4, an operating assembly, and two sets of guide wheel assemblies 3. The wrist support 2 is fixedly mounted on one end of the support shaft 1 and is used to support the entire opening and closing surgical instrument during operation. One end of the palm support 5 is rotatably connected to the wrist support 2 via a first rotating shaft (not shown in the figure) to facilitate range adjustment of the palm support 5 around the first rotating shaft. Two support ears 51 are symmetrically arranged on the other end of the palm support 5. The finger opening and closing assembly 4 is located between the two support ears 51 and is hinged to the two support ears 51 to enable the finger opening and closing assembly 4 to rotate around the hinged support ears 51. The control component 6 includes a finger operation part 61 and a palm operation part 62; the finger operation part 61 is connected to the finger opening and closing component 4 so that the finger operation part 61 can rotate the finger opening and closing component 4 around the rotation connection point with the support ear plate 51; the palm operation part 62 is connected to the palm support 5 and is used to drive the palm support 5 to rotate circumferentially around the first axis. Two sets of guide wheel assemblies 3 are centrally symmetrically arranged on both sides of the palm support 5, that is, the two sets of guide wheel assemblies 3 are centrally symmetrically arranged on both sides of the palm support 5, rather than being mirror symmetrical; the guide wheel assembly 3 includes a first guide wheel group 31 and a second guide wheel group 32. The second guide wheel group 32 is sleeved on the first rotating shaft. The outer circumferences of the first guide wheel group 31 and the second guide wheel group 32 are approximately tangent (since the first guide wheel group 31 is composed of two offset guide wheels, it can only be said to be approximately tangent, see below for details). The finger operation part 61 is sequentially orbited around the first guide wheel group 31 and the second guide wheel group 32, and the second guide wheel group 32 and the palm support 5 and the wrist support 2 are coaxially arranged at the rotation points, so as to realize the circumferential movement of the first guide wheel group 31 around the second guide wheel group 32. The palm operating unit 62 controls the rotation of the palm support 5 as a whole, and the finger operating unit 61 controls the rotation of the finger opening and closing assembly 4, thereby adjusting the opening and closing position of the finger opening and closing assembly 4. The wrist operating unit deflects the wrist support 2 as a whole to adjust its working position, thereby adjusting the working orientation of the finger opening and closing assembly 4. At the same time, the first guide wheel group 31 and the second guide wheel group 32 in the guide wheel assembly 3 respectively support the rotation of the first opening and closing part 41 and the second opening and closing part 42 on the finger opening and closing assembly 4, so that the first opening and closing part 41 and the second opening and closing part 42 do not interfere with each other during operation. Since the two sets of guide wheel assemblies 3 are centrally symmetrically arranged on both sides of the palm support 5, and the path of the finger operating unit 61 on both sides of the palm support 5 is also centrally symmetrical, that is, the winding path of the finger operating unit 61 on the two guide wheel assemblies 3 is opposite when viewed from the palm support 5 side, thus ensuring that the movement length of the finger operating unit 61 is constant, so that no additional decoupling mechanism is required. Therefore, this solves the technical problem of requiring additional complex decoupling structures for coordination in existing technologies. It effectively improves the motion reliability between various instruments.In this embodiment, the first guide wheel group 31 is arranged circumferentially around the second guide wheel group 32, and the finger operation part 61 is sequentially arranged around the first guide wheel group 31 and the second guide wheel group 32. When adjusting the wrist support 2, the first guide wheel group 31 can simultaneously drive the finger operation part 61 to move circumferentially around the outer periphery of the second guide wheel group 32, so as to facilitate the overall adjustment of the working position of the finger opening and closing component 4 through the wrist support 2. At the same time, it also ensures that after adjustment by the wrist support 2, the movement range of the finger operation parts 61 arranged around the two first guide wheel groups 31 is consistent.

[0067] It should also be noted that a lateral gap is provided between the first guide wheel group 31 and the second guide wheel group 32, meaning that they are not on the same straight line in the longitudinal direction (the direction of the slender axis of the surgical instrument is the longitudinal direction). Considering the structure of this embodiment where the finger operating part 61 is located in the middle of the finger opening and closing assembly 4, when the finger operating part 61 applies a pulling force to the finger opening and closing assembly 4, the force needs to be transmitted through the first guide wheel group 31 and the second guide wheel group 32. Since the surgical robot end effector in this embodiment is used in minimally invasive surgery, the precision and sensitivity requirements for instrument operation are high. In this embodiment, the transmission coefficient between the driving force of the finger operating part 61 and the force generated on the finger opening and closing assembly 4 directly affects the final sensitivity and precision of instrument use. Therefore, it is necessary to reduce the frictional resistance between the finger operating part 61 and the first guide wheel group 31 and the second guide wheel group 32. To this end, this embodiment has made the following design... Design: The main purpose is to reduce the friction between the finger operating part 61 and the first guide wheel group 31. Specifically, the first guide wheel group 31, which is located on the palm support 5, is offset to one side of the axis, and the inner edge of the first guide wheel group 31 roughly corresponds to the middle position of the second guide wheel group 32. Actual use has verified that this structure not only allows the finger operating part 61 to act on the middle position of the finger opening and closing component 4, making the overall end-effector structure subjected to balanced forces, but also allows the force transmission effect of the finger operating part 61 when passing through the first guide wheel group 31 to reach a more ideal state. This results in a more ideal state of precision and sensitivity during the use of the instrument end with this structure, meeting the requirements for use in a minimally invasive surgical environment.

[0068] The finger opening and closing assembly includes a first opening and closing part 41 and a second opening and closing part 42. The first opening and closing part 41 and the second opening and closing part 42 are disposed opposite to each other between two support lugs 51, and are rotatably connected to the two support lugs 51 respectively, and are coaxial. The first opening and closing part 41 and the second opening and closing part 42 have a symmetrical structure, meaning they are identical. Clamping between the first opening and closing part 41 and the second opening and closing part 42 is achieved by moving them about a direction opposite to the hinge point of the support lugs 51. The first opening and closing part 41 includes an opening and closing seat 413, an opening and closing mouth 411, and a first receiving hole 412. The opening and closing seat 413 is disposed between the two support lugs 51 and is rotatably connected to the support lugs 51. The first receiving hole 412 is provided on the opening and closing seat 413, and the first receiving hole 412 is coaxial with the hinge point of the support ear 51. The first receiving hole 412 is fixedly connected to the finger operation part 61 so that the finger operation part 61 drives the opening and closing seat 413 to rotate through the first receiving hole 412.

[0069] Please refer to Figure 7 Preferably, a retaining edge 415 is provided on the outer side of the opening and closing seat 413 (the direction facing away from the second opening and closing part 42 is called the outer side, and the direction facing the second opening and closing part 42 is called the inner side), while there is no retaining edge on the inner side. Please refer to... Figure 2 This design allows the finger operating part 61 to directly enter the first guide wheel assembly 31 without contacting the inner side of the opening and closing seat 413. If there were a retaining edge on the inner side, the finger operating part 61 would rub against the retaining edge during movement. This would affect the precision and sensitivity of the instrument's operation, and would also wear down the finger operating part 61 (generally, the material of the opening and closing seat 413 is harder than that of the finger operating part 61), affecting the instrument's lifespan. More seriously, tiny metal particles generated by friction during surgery could fall into the body, affecting the surgical outcome and endangering the patient's health. Of course, the above problems can be avoided if the finger operating part 61 enters the first guide wheel group 31 vertically on the opening and closing seat 413 without tilting. However, in reality, this arrangement cannot be completed in the confined space of the surgical instrument (since the first guide wheel group 31 is composed of two stacked guide wheels, the distance difference between the outer sides of the two guide wheels must be equal to the distance difference between the finger operating part 61 in the first opening and closing part 41 and the second opening and closing part 42. If the two guide wheels have the same diameter, the axle of the guide wheel stacked on the upper side cannot be arranged, and it will inevitably interfere with the finger operating part 61; if the two axles are set together, such as in this embodiment, the diameter of the guide wheel stacked on the upper side needs to be increased, but the existing instrument space cannot support this method).

[0070] In this embodiment, the opening / closing nozzle 411 is disposed on the opening / closing seat 413, and the opening / closing nozzle 411 moves circumferentially along the rotatable connection point between the opening / closing seat 413 and the supporting ear piece 51, so that the opening / closing seat 413 can drive the opening / closing nozzle 411 to move circumferentially around the rotatable connection point between the opening / closing seat 413 and the supporting ear piece 51. One side of the opening / closing nozzle 411 is a clamping surface, and the clamping surface is perpendicular to the radial direction of the axis connecting the opening / closing seat 413 and the supporting ear piece 51. Since the first opening / closing portion 41 and the second opening / closing portion 42 are disposed opposite each other between the two supporting ear pieces 51, the opening / closing seats 413 on the first opening / closing portion 41 and the second opening / closing portion 42 are coaxially rotatably connected, the two first receiving holes 412 are disposed opposite each other, and the two clamping surfaces are disposed opposite each other to form a clamping angle, thereby realizing the opening and closing clamping operation between the two clamping surfaces. Please refer to... Figure 7 To achieve a relative arrangement of the two clamping surfaces, the lower part of the opening / closing nozzle 411 needs to protrude beyond the opening / closing seat 413 in the axial direction. In this embodiment, the lower part of the opening / closing nozzle 411 is also provided with an arc-shaped transition portion 416, and the included angles formed by the continuous sides of the arc-shaped transition portion 416 are all obtuse angles, that is, the arc-shaped transition portion 416 has only obtuse angle transitions, without any acute or right angle transitions. Since the opening / closing nozzle 411 is usually used to hold suture needles in minimally invasive surgery, and sometimes the suture may get tangled in the lower protruding part of the opening / closing nozzle 411, making it difficult to remove. In this embodiment, the arc-shaped transition portion at the lower part of the opening / closing nozzle 411 can avoid the suture tangling situation, and even if tangling occurs, it is easy to remove the tangled suture. In this embodiment, the first receiving hole 412 is a rectangular through hole. Since the first opening and closing part 41 is a metal part, setting the first receiving hole 412 as a rectangular through hole facilitates the shaping and processing of the first receiving hole 412 (e.g., using conventional milling cutter cleaning and processing), and also facilitates the installation of the connecting sleeve 63 into the first receiving hole. In addition, by setting the first receiving hole 412 as a through hole, that is, by forming an open structure for the first receiving hole 412, it is not easy for dirt and grime to accumulate (during the operation, small pieces of human tissue may adhere to the surgical instruments), which facilitates the subsequent sterilization and disinfection of the instruments.

[0071] In this embodiment, preferably, the opening and closing seat 413 is disc-shaped, that is, the opening and closing nozzle 411 is disposed on the outer periphery of the opening and closing seat 413. In this case, the movement range of the opening and closing nozzle 411 is consistent, thus ensuring the reliability and stability of the clamping movement between the first opening and closing part 41 and the second opening and closing part 42. To enhance the clamping force and clamping strength at the clamping angle, reinforcing parts 43 are provided at the clamping surfaces of both the first opening and closing part 41 and the second opening and closing part 42. Through the combined action of the two sets of reinforcing parts 43, the clamping strength of the two clamping surfaces can be effectively guaranteed. Preferably, the reinforcing parts 43 are made of tungsten steel, which can effectively improve the clamping strength of the clamping surfaces and prevent insufficient clamping strength from affecting the reliability of the clamping movement.

[0072] In one embodiment, to ensure the working strength of the finger opening and closing assembly 4, the opening and closing seat 413 and the opening and closing nozzle 411 on the first opening and closing part 41 and the second opening and closing part 42 are both integrally formed structures, effectively ensuring the working strength of the opening and closing seat 413 and the opening and closing nozzle 411 during clamping operations. In this embodiment, preferably, the opening and closing seat 413 and the opening and closing nozzle 411 are made of stainless steel, which can effectively ensure surgical safety and facilitate processing.

[0073] The finger operation part 61 includes a first traction rope 611 and a second traction rope 612. A connecting sleeve 63 is fitted on both the first traction rope 611 and the second traction rope 612. The connecting sleeves 63 on the first traction rope 611 and the second traction rope 612 are respectively located in two first receiving holes 412, and the connecting sleeves 63 are interference-fitted with the first receiving holes 412 so that the first traction rope 611 and the second traction rope 612 are fixedly connected to two opening and closing seats 413 through the connecting sleeves 63 on them. The opening and closing seats 413 on the first opening and closing part 41 and the second opening and closing part 42 are controlled to rotate through the two ends of the first traction rope 611 and the second traction rope 612, so as to realize the opening and closing clamping of the two clamping angles by driving the first traction rope 611 and the second traction rope 612. In this embodiment, the connection relationship between the connecting sleeve 63 and the first traction rope 611 and the second traction rope 612 is described using the first traction rope 611 as an example. The connecting sleeve 63 is a thick-walled metal tube with a central hole in the middle, the diameter of which is slightly larger than the outer diameter of the first traction rope 611. The connecting sleeve 63 is located in the middle of the wire rope. The connecting sleeve 63 is pressed together with a tool, and a firm connection between the connecting sleeve 63 and the first traction rope 611 is achieved through the deformation of the connecting sleeve 63. The size of the first receiving hole 412 is slightly smaller than the length of the connecting sleeve 63. After the connecting sleeve 63 and the first traction rope 611 are fixed, the connecting sleeve 63 is hammered into the first receiving hole 412 to achieve a firm connection between the connecting sleeve 63 and the first receiving hole 412. In actual operation, in order to ensure the working strength of the finger operating part 61, the first traction rope 611 and the second traction rope 612 are made of steel.

[0074] The palm support 5 is provided with a second receiving hole 52. The second receiving hole 52 is coaxial with the hinge point of the palm support 5 and the wrist support 2. That is, the second receiving hole 52 moves circumferentially around the first rotating axis. The second receiving hole 52 is connected to the palm operating part 62 so that the palm operating part 62 drives the wrist support 2 to rotate as a whole through the second receiving hole 52. In this embodiment, the palm support 5 is provided with two second receiving holes 52, which are symmetrically arranged and coaxial with the hinge point of the palm support 5 and the wrist support 2. The palm operation part 62 consists of two traction ropes (not shown in the figure). A connecting sleeve 63 is sleeved on one end of each traction rope that is close to the other. The two connecting sleeves 63 are located in the two second receiving holes 52 respectively. The connecting sleeves 63 are interference-fitted with the second receiving holes 52, and the two traction ropes move in opposite directions. The two traction ropes drive the palm support 5 to rotate around the first axis through the connecting sleeves 63. The two traction ropes move in opposite directions to drive the palm support 5 to rotate around the first axis in both directions. This allows the palm operation part 62 to drive the palm support 5 to rotate as a whole, which in turn drives the finger opening and closing component 4 to adjust the clamping position. In this embodiment, the palm operating part 62 is a traction rope, with a connecting sleeve 63 sleeved in the middle. The connecting sleeve 63 is interference-fitted with the second receiving hole 52. The two ends of the traction rope move circumferentially along the first rotating shaft. The traction rope drives the palm support 5 to rotate around the first rotating shaft through the connecting sleeve 63, thereby indirectly driving the finger opening and closing assembly 4 to adjust the clamping position by rotating the palm support 5 as a whole through the palm operating part 62. The connection method between the traction rope and the connecting sleeve 63 on the palm operating part 62 is the same as the connection method between the first traction rope 611 and the connecting sleeve 63 in the aforementioned middle finger operating part 61. Furthermore, in order to ensure the connection stability and guidance between the traction rope and the palm support 5, the palm support 5 is also provided with a guide groove 521. The guide groove is distributed circumferentially around the first rotating shaft. The traction rope is adapted to the guide groove, and the traction rope can be guided through the guide groove. When adjusting the palm support 5, the situation of low operational reliability caused by the traction rope not being positioned is avoided.

[0075] Two sets of guide wheel assemblies 3 are symmetrically arranged around the center of the palm support 5. Taking one set of guide wheel assemblies 3 as an example, the guide wheel assembly 3 includes: a first guide wheel group 31 and a second guide wheel group 32. The first guide wheel group 31 includes: a first guide wheel 311 and a second guide wheel 312. The first guide wheel 311 is disposed on one side of the palm support 5 via a first guide shaft 3111. The second guide wheel 312 is disposed on one side of the palm support 5 via a second guide shaft 3121. Specifically, the first guide wheel 311 is eccentrically disposed on the second guide wheel 312, meaning that the first guide wheel 311 and the second guide wheel 312 are axially offset on the same straight line. Specifically, the diameters of the first connecting hole 3112 on the first guide wheel 311 and the second connecting hole 3122 on the second guide wheel 312 are different. That is, the axes of the first guide shaft 3111 and the second guide shaft 3121 are horizontally offset at the same height, so that the first guide wheel 311 and the second guide wheel 312 are offset by a certain distance in the horizontal direction, while remaining at the same height. The lower edges of the first guide wheel 311 and the second guide wheel 312 are flush, allowing the first traction rope 611 and the second traction rope 612 to enter the first guide wheel 311 and the second guide wheel 312 from almost the same height after exiting the second guide wheel assembly 32. Simultaneously, the side edges of the first guide wheel 311 and the second guide wheel 312 are staggered, allowing the first traction rope 611 and the second traction rope 612 to enter the opening and closing seats on the first opening and closing part 41 and the second opening and closing part 42 without interference. The identical outer diameter ensures that the wrap angles of the two finger wire ropes are approximately the same, thus achieving non-interference between the first traction rope 611 and the second traction rope 612. In this embodiment, a set of second guide wheel groups 32 includes two coaxially arranged guide wheels. The two guide wheels are coaxial with the palm and the rotation point of the wrist support 2, that is, both guide wheels are sleeved on the first rotating shaft. The first guide wheel 311 and the second guide wheel 312 move circumferentially along the two guide wheels, respectively. That is, when adjusting the wrist support 2, the first guide wheel 311 and the second guide wheel 312 on the first guide wheel group 31 rotate along the outer periphery of the second guide wheel group 32, and at the same time drive the finger operation part 61 to move circumferentially around the outer periphery of the second guide wheel group 32, so as to facilitate the overall adjustment of the working position of the finger opening and closing component 4 through the wrist support 2. At the same time, it also ensures that after adjustment by the wrist support 2, the movement range of the finger operation parts 61 around the two first guide wheel groups 31 is consistent.Meanwhile, because the first guide wheel 311 and the second guide wheel 312 are offset by a certain distance in the horizontal direction but are at the same height, it can effectively ensure that the first traction rope 611 and the second traction rope 612 on the finger operation part 61 do not interfere with each other. At the same time, the two guide wheels in the second guide wheel group 32 guide the first traction rope 611 and the second traction rope 612 respectively, effectively avoiding the first rotating shaft from affecting the first traction rope 611 and the second traction rope 612, and further ensuring the reliability of the movement of the first traction rope 611 and the second traction rope 612.

[0076] In one optional embodiment, the opening and closing surgical instrument includes an instrument box (not shown in the figure). The instrument box contains three sets of rotating shafts, arranged symmetrically in pairs. The first set of rotating shafts is connected to both ends of the palm operating part 62, controlling the feed amount of the traction ropes at both ends of the palm operating part 62. This allows for indirect control of the rotational positions of the palm support 5 and wrist support 2 via the palm operating part 62. The second set of rotating shafts is connected to both ends of the first traction rope 611, similarly controlling the feed length of both ends of the first traction rope 611 to deflect the first opening and closing part 41. The third set of rotating shafts similarly controls the deflection of the second opening and closing part 42. In other words, the rotation of the first opening and closing part 41 and the second opening and closing part 42 is achieved through the second and third sets of rotating shafts. This allows the clamping angle formed by the first opening and closing part 41 and the second opening and closing part 42 to perform the opening and closing operation. In this embodiment, the support shaft 1 is hollow to allow the first traction rope 611, the second traction rope 612, and the palm operation part 62 to extend out.

[0077] In this embodiment, in order to ensure the reliability of the clamping movement between the first opening and closing part 41 and the second opening and closing part 42, the two opening and closing seats 413 on the first opening and closing part 41 and the second opening and closing part 42 are connected and rotated together to reduce the mutual influence of the two opening and closing seats 413 on rotation and ensure smooth rotation, so as to further improve the reliability of the movement of the opening and closing seats 413 on the first opening and closing part 41 and the second opening and closing part 42.

[0078] In this embodiment, during actual installation, one end of the first traction rope 611 and the second traction rope 612 passes through the two guide wheels on the second guide wheel assembly 32, and then passes between the first guide wheel assembly 31 and the second guide wheel assembly 32, respectively. The first traction rope 611 and the second traction rope 612 pass through the first guide wheel 311 and the second guide wheel, respectively, and are fixedly connected to the first opening and closing part 41 and the second opening and closing part 42 by the connecting sleeve 63. Since the two sets of guide wheel assemblies 3 are symmetrically arranged on the palm support 5, the first traction rope 611 and the second traction rope 612 pass through the first guide wheel assembly 31 and the second guide wheel assembly 32 in opposite directions. That is, the first traction rope 611 on the first opening and closing seat 413 is symmetrical about the hinge point between the opening and closing seat 413 and the supporting ear plate 51. Under this condition, it is ensured that no matter how the first traction rope 611 moves, the working length distance between the two ends of the first traction rope 611 is equal. The second traction rope 612 on the second opening and closing part 42 is handled similarly. This ensures that no matter how the opening and closing seat 413 rotates, both the first traction rope 611 and the second traction rope 612 can drive the opening and closing parts 41 and 42 to the opening and closing mouth 411 for clamping. Therefore, no additional complex mechanisms are needed for assistance.

[0079] The working principle of the technical solution provided in this embodiment:

[0080] By pulling the first traction rope 611 and the second traction rope 612 in opposite directions, the opening and closing seats 413 on the first opening and closing part 41 and the second opening and closing part 42 are moved closer and closer together. The angle of the clamping angle formed by the two opening and closing seats 413 gradually decreases, thus completing the clamping work. In this actual operation, it is only necessary to control the amount of wire entering at both ends of the first traction rope 611 and the second traction rope 612, that is, to control the length of both ends of the first traction rope 611 and the second traction rope 612, to control the clamping angle and clamping range of the opening and closing seats 411. In this operation, the amount of wire entering at both ends of the first traction rope 611 and the second traction rope 612 can be controlled simultaneously to complete the clamping work, or the clamping work can be completed by controlling the amount of wire entering at either end of the first traction rope 611 or the second traction rope 612.

[0081] When the working position of the finger opening and closing assembly 4 needs to be adjusted simultaneously, the first traction rope 611 and the second traction rope 612 simultaneously control the amount of wire fed towards the same end. At this time, the two opening and closing seats 413 move towards one end simultaneously, and the two opening and closing mouths 411 are tilted at one end. When clamping is required, only the first opening and closing part 41 or the second opening and closing part 42 can be controlled to move away from the tilted end. That is, one of the first opening and closing part 41 or the second opening and closing part 42 is fixed, and the other controls the amount of wire fed to reduce the angle of clamping.

[0082] In this embodiment, the palm support 5 can also be adjusted as a whole via the palm operation unit 62, which indirectly adjusts the clamping position of the finger opening and closing component 4. Specifically, by controlling the two ends of the traction rope on the palm operation unit 62, the traction rope, through the wire input at both ends, drives the palm support 5 to rotate around the first rotating axis. At this time, the clamping position of the finger opening and closing component 4 on the palm support 5 can be adjusted as a whole.

[0083] Example 2

[0084] Reference Figure 8 This embodiment uses extra-large needle clamps, therefore there are slight differences in the size and structure of the opening and closing mouth 411, while everything else is the same as in Embodiment 1. Specifically, a connecting part 414 is provided at the connection between the opening and closing seat 413 and the opening and closing mouth 411. The connecting part 414 is located on the side of the first receiving hole 412 away from the reinforcing part 43 to enhance the connection between the opening and closing mouth 411 and the opening and closing seat 413, and also to enhance the connection stability between the first receiving hole 412 and the first traction rope 611 and the second traction rope 612. In this embodiment, when the two opening and closing mouths 411 are clamping, the reaction force on the two opening and closing mouths 411 is directed outward. By providing the connecting part 414, the connection between the opening and closing mouth 411 and the opening and closing seat 413 is effectively enhanced, ensuring the reliability of the movement of the first opening and closing part 41 and the second opening and closing part 42 during clamping.

[0085] Example 3

[0086] The opening nozzles 411 on the first opening / closing part 41 and the second opening / closing part 42 are replaced with scissors. The two scissors are connected to the two opening / closing seats 413 respectively, and the cutting surfaces of the two scissors are arranged to cross each other, so that the two cutting surfaces can complete the cutting work by rotating the opening / closing seat 413. Everything else is the same as in Embodiment 1. In this embodiment, the first opening / closing part 41 and the second opening / closing part 42 are electrocoagulation scissors.

[0087] Example 4

[0088] A minimally invasive surgical robot employs an openable surgical instrument as described in Embodiments 1, 2, and 3, and further includes a main control console (not shown in the figure) and a slave operating device (not shown in the figure). The main control console and the slave operating device are electrically connected, and the slave operating device is connected to the openable surgical instrument. The operator sends commands through the main control console to instruct the slave operating device to operate the surgical instrument to perform surgical procedures. The main control console and the slave operating device are prior art and will not be described in detail here.

[0089] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An openable and closable surgical instrument, characterized by comprising: include: A finger opening and closing assembly, comprising: a first opening and closing part and a second opening and closing part; the first opening and closing part and the second opening and closing part include an opening and closing seat and an opening and closing nozzle, the first opening and closing part and the second opening and closing part are connected by the opening and closing seat and rotate relative to each other to realize the opening and closing movement of the opening and closing nozzle; the first opening and closing part and the second opening and closing part have the same structure. The control component includes a finger operating part; the finger operating part is connected to the finger opening and closing component; It also includes a wrist support and a palm support, wherein guide wheel assemblies are provided on both sides of the palm support and with the central axis of the palm support as the center of symmetry; The guide wheel assembly includes: a first guide wheel group and a second guide wheel group; The first guide wheel group is disposed on the palm support, the second guide wheel group is coaxial with the rotation of the palm support and the wrist support, and a lateral spacing is provided between the first guide wheel group and the second guide wheel group. The finger operating part is arranged around the first guide wheel group and the second guide wheel group to realize the movement support of the finger operating part through the guide wheel assembly; The finger operating parts located on both sides of the palm support are symmetrically arranged around the central axis of the palm support, and the finger operating parts only contact one side of the first guide wheel group and the second guide wheel group to achieve the same range of motion on the finger operating parts, that is, the length is constant.

2. An openable surgical instrument according to claim 1, wherein The lower part of the opening and closing nozzle protrudes from the opening and closing seat in the axial direction; an arc-shaped transition part is provided at the position opposite to the upper part of the opening and closing seat at the lower part of the opening and closing nozzle.

3. An openable surgical instrument according to claim 2, wherein The included angles formed by the continuous edges of the arc-shaped transition section are all obtuse angles.

4. An openable surgical instrument according to any one of claims 1-3, characterized in that The wrist support is mounted on a support shaft, one end of the palm support is rotatably connected to the wrist support, and the finger opening and closing assembly is rotatably mounted on the other end of the palm support.

5. An openable surgical instrument according to claim 4, wherein The palm support is provided with supporting ear pieces opposite to each other, and the first opening and closing part and the second opening and closing part are disposed between the supporting ear pieces. The opening and closing seat is disc-shaped and is disposed between the two supporting lugs and rotatably connected to one of the supporting lugs. The opening and closing nozzle is disposed on the outer periphery of the opening and closing seat. The opening and closing seat is provided with a first receiving hole, which is disposed along the circumference of the opening and closing seat and is fixedly connected to the finger operating part.

6. An openable surgical instrument according to claim 1, wherein The second guide wheel assembly includes two guide wheels, which are coaxial. The first guide wheel assembly includes: The first guide wheel is disposed on one side of the palm support via a first guide shaft; The second guide wheel is disposed on one side of the palm support via a second guide shaft, and the second guide wheel is disposed between the first guide wheel and the palm support; The first guide shaft is eccentrically disposed on the second guide shaft, that is, the first guide wheel and the second guide wheel are disposed with their axes offset on the same straight line.

7. An openable surgical instrument according to claim 5, wherein The finger operating part includes a first traction rope and a second traction rope; Both the first traction rope and the second traction rope are fitted with connecting sleeves, and the two connecting sleeves are respectively interference-fitted with the two first receiving holes; The first receiving hole is a rectangular through hole.

8. An openable surgical instrument according to claim 7, wherein The first traction rope is symmetrically arranged at the first receiving hole with the connecting sleeve as the center, and the two ends of the first traction rope are respectively wound around a guide wheel via a first guide wheel; The second traction rope is symmetrically arranged at the first receiving hole with the connecting sleeve as the center, and the two ends of the second traction rope are respectively wound around the other guide wheel through the first guide wheel.

9. A minimally invasive surgical robot, characterized in that, The openable surgical instrument according to any one of claims 1-8 further includes a main control unit and a slave operating device, wherein the main control unit is electrically connected to the slave operating device and the slave operating device is connected to the openable surgical instrument.

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