Control mechanism of surgical instrument and surgical robot

Abstract

The application discloses a control mechanism of surgical instrument and a surgical robot. The control mechanism of surgical instrument is connected with an execution mechanism of surgical instrument, and is used for controlling the opening and closing of a clamp assembly of the execution mechanism. The control mechanism of surgical instrument comprises a base, an operation assembly, a first transmission assembly and a lever. The operation assembly is connected with the execution mechanism. The first transmission assembly is arranged on the base and can rotate under the action of a driving mechanism. The first end of the lever is connected with the first transmission assembly to follow the rotation of the first transmission assembly and to lift and lower, the second end is connected with an operation part, and the non-end part is pivotally connected with the base to form a fulcrum. When the first end rises, the clamp assembly tends to open. Conversely, the clamp assembly tends to close. According to the control mechanism of surgical instrument, the structure is simple, manual operation is facilitated, and the installation and cleaning of an ultrasonic knife are facilitated.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a control mechanism for a surgical instrument and a surgical robot. Background Technology

[0002] In minimally invasive surgery, surgeons often need to manually cut, dissect, and suture tissue. To reduce the workload of surgeons and minimize bleeding or wound size, ultrasonic scalpels are increasingly being used in shell surgery. Their principle typically involves converting or transmitting ultrasonic energy into biological tissue through surgical instruments, producing physiological effects. The generated heat is then used to cauterize or cut the tissue. For example, in some ultrasonic scalpel surgical instruments, the generator produces high-frequency electrical energy, and the transducer uses piezoelectric or electromagnetic compressive materials to convert this high-frequency energy into mechanical vibrations, which are then amplified and transmitted to the end effector to achieve cauterization or cutting.

[0003] However, the current surgical robots and ultrasonic scalpels have complex structures that are not conducive to manual operation in special situations.

[0004] Therefore, a control mechanism for surgical instruments and a surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above-mentioned problems, a first aspect of the present invention provides a control mechanism for a surgical instrument, connected to an actuator of the surgical instrument, for controlling the opening and closing of a clamping assembly of the actuator.

[0007] The control mechanism of the surgical instrument includes:

[0008] Base;

[0009] An operating component is connected to the actuator;

[0010] A first transmission assembly is disposed on the base, the first transmission assembly is used to dock with the drive mechanism, and is configured to rotate under the action of the drive mechanism;

[0011] A lever, the first end of which is connected to the first transmission assembly to move up and down in response to the rotation of the first transmission assembly, the second end of which is opposite to the first end and is connected to the operating assembly, and the non-ends of the lever are pivotally connected to the base to form a fulcrum.

[0012] When the first end of the lever rises, the clamp assembly tends to open;

[0013] When the first end of the lever descends, the clamp assembly tends to clamp.

[0014] Optionally, the first transmission assembly includes a first transmission disk and a rotating rod, the rotating rod having a thread, the first transmission disk being rotatably connected to the lower side of the base, the rotating rod being fixedly connected to the upper side of the first transmission disk, and the first end of the lever acting on the rotating rod;

[0015] The base has a front end and a rear end that are opposite to each other, wherein the second instrument assembly is disposed near the front end and the first transmission disk is disposed near the rear end, and the rear end of the base is provided with a notch to expose the first transmission disk.

[0016] Optionally, the base is further provided with a support seat, and the upper end of the rotating rod is pivotally connected to the support seat.

[0017] Optionally, the top of the rotating rod is provided with a manual control part, the support base has an opening corresponding to the manual control part, and the control mechanism of the surgical instrument also has a housing, the housing is covered by the base, and the housing has through holes corresponding to the manual control part and the opening.

[0018] Optionally, the first end of the lever has a first connecting portion, which is configured as a recess to accommodate the rotating rod. The thread on the rotating rod is configured as a mating portion, which is connected to a connector on the first connecting portion, so that the first connecting portion can rise or fall along the spiral mating portion as the rotating rod rotates.

[0019] Optionally, the rotating rod is constructed as a screw, and the control mechanism of the surgical instrument further includes a lifting assembly, which is threadedly engaged with the screw to move up and down in response to the rotation of the screw. The first end of the lever is connected to the screw through the lifting assembly.

[0020] Optionally, the first end of the lever has a first connecting portion, and the lifting assembly includes a mating portion corresponding to the first connecting portion. The mating portion and the first connecting portion are movably connected so that the lever has a horizontal movement allowance.

[0021] Optionally, one of the mating portion and the first connecting portion is configured as a convex portion and the other is configured as a concave portion, wherein the convex portion and the concave portion are adapted to each other;

[0022] One of the mating parts and the first connecting part has an oblong hole on one side, and the other has a connector on one side. The connector extends into the oblong hole to form a hinge. The length direction of the oblong hole intersects the vertical direction to form a horizontal movement allowance.

[0023] Optionally, the connector is constructed as a cylindrical rod or a bearing, so that the connector can slide or roll in the oblong hole.

[0024] Optionally, a connecting rod is further provided between the mating part and the first connecting part, and both the mating part and the first connecting part are hinged to the connecting rod.

[0025] Optionally, the mating part is provided with a first toothed part arranged vertically, and the first connecting part is provided with a second toothed part. The second toothed part is constructed as an arc with the fulcrum of the lever as the center, and the second toothed part is engaged with the first toothed part.

[0026] Optionally, the support base is provided with a guide groove extending vertically, and the mating part extends from the guide groove.

[0027] Optionally, the control mechanism of the surgical instrument further includes a second transmission assembly, which is used to interface with the drive mechanism and is configured to rotate under the action of the drive mechanism;

[0028] The second transmission component is connected to the actuator to drive the actuator to rotate together.

[0029] Optionally, the second transmission assembly includes a second transmission disk and a first gear, the second transmission disk being disposed on the lower side of the base, and the first gear being fixedly connected to the upper side of the second transmission disk;

[0030] The actuator is connected to a second gear, which meshes with the first gear.

[0031] Optionally, the operating component includes an operating part, the outer periphery of which has a slot portion disposed circumferentially;

[0032] The second end of the lever is provided with a second connecting portion, the second connecting portion at least partially surrounds the operating portion, the second connecting portion has an extension portion, the extension portion at least partially extends into the slot portion, and the size of the extension portion is adapted to the size of the slot portion, so that the second connecting portion and the operating portion can pivot vertically and the operating portion can rotate.

[0033] Optionally, the second connecting portion includes a first arm and a second arm spaced apart from each other, the operating portion is located between the first arm and the second arm, and the first arm has a first extension, the second arm has a second extension, and both the first extension and the second extension at least partially extend into the slot portion; or

[0034] The second connecting portion is constructed as an annular portion, which surrounds the operating portion. The annular portion has an extension portion arranged circumferentially, and the extension portion extends into the slot portion.

[0035] Optionally, the operating component further includes:

[0036] A traction unit is connected to the actuator, and an operating unit is sleeved outside the traction unit so that the operating unit can move up and down relative to the traction unit.

[0037] A limiting part is provided at the top of the traction part and located on the upper side of the operating part;

[0038] An elastic element is sleeved outside the traction part and located between the limiting part and the operating part.

[0039] Optionally, the lifting assembly is provided with a sensing element, and the base is provided with a sensing device. The sensing device is used to sense the position of the sensing element, and the position of the sensing element corresponds to the state of the clamp assembly.

[0040] Optionally, the sensing element is configured as a pressure block, and the sensing device has a pressure switch. When the pressure block presses against the pressure switch, the clamping assembly clamps.

[0041] Optionally, the surgical instrument is configured as an ultrasonic scalpel, the blade and the clamp head of the ultrasonic scalpel forming the clamp assembly.

[0042] The control mechanism of the surgical instrument according to the present invention utilizes a lever structure to transmit power between rotational and lifting movements. The structure is relatively simple, with low failure rate and low cost. The transmission redundancy is small, which is beneficial for precise control of the ultrasonic scalpel clamping. Furthermore, the position of the first transmission plate is far from the ultrasonic scalpel, which is beneficial for manual operation of the first transmission plate and facilitates the installation and cleaning of the ultrasonic scalpel.

[0043] A second aspect of the present invention provides a surgical robot, including a control mechanism for the surgical instruments described in the first aspect.

[0044] The surgical robot according to the present invention can achieve similar technical effects to the control mechanism of the surgical instrument described in the first aspect. Attached Figure Description

[0045] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0046] In the attached image:

[0047] Figure 1 This is a schematic diagram of the control mechanism of a surgical instrument according to a preferred embodiment of the present invention;

[0048] Figure 2 A three-dimensional structural schematic diagram of the control mechanism of a surgical instrument according to a first preferred embodiment of the present invention;

[0049] Figure 3 for Figure 2 A three-dimensional structural diagram of the control mechanism of surgical instruments from another perspective;

[0050] Figure 4 for Figure 2 A top view of the control mechanism of surgical instruments;

[0051] Figure 5 for Figure 2 A side view of the control mechanism of a surgical instrument.

[0052] Figure 6 for Figure 2 A cross-sectional schematic diagram of the control mechanism of a surgical instrument.

[0053] Figure 7 This is a three-dimensional structural schematic diagram of the control mechanism of a surgical instrument according to a second preferred embodiment of the present invention;

[0054] Figure 8 for Figure 7 A side view of the control mechanism of a surgical instrument.

[0055] Figure 9 for Figure 7 A cross-sectional schematic diagram of the control mechanism of surgical instruments; and

[0056] Figure 10 This is a three-dimensional structural diagram of the control mechanism of a surgical instrument according to a third preferred embodiment of the present invention.

[0057] Explanation of reference numerals in the attached figures:

[0058] 100: Control mechanism of surgical instruments; 101: Housing; 102: Through hole

[0059] 110: Base; 111: Recess; 112: Sleeve

[0060] 113: Front-end; 114: Back-end; 115: Pivot point.

[0061] 120: First instrument assembly; 121: Cutting head; 122: Pliers head.

[0062] 130: Second instrument assembly; 131: Traction unit; 132: Operating unit

[0063] 133: Limiting part; 134: Elastic element; 135: Second gear

[0064] 136: Slot section; 140: First transmission assembly; 141: First transmission disc.

[0065] 142 / 342: Rotating rod; 143: Manual control unit; 150: Second transmission assembly.

[0066] 151: Second transmission disc; 152: First gear; 160: Lifting assembly

[0067] 161 / 261 / 361: Mating part; 162: Waist-shaped hole; 163: Sensing element

[0068] 264: First tooth-shaped part; 170: Support seat; 171: Support leg.

[0069] 172: Guide groove; 173: Opening; 180: Lever component

[0070] 181 / 281 / 381: First connecting part; 182: Second connecting part; 183: First arm part

[0071] 184: Second arm section; 185: First extension section; 186: Second extension section

[0072] 187: Through slot; 188 / 388: Connector; 289: Second toothed part

[0073] 190: Sensing device; 191: Pressure switch; 103: Transducer interface Detailed Implementation

[0074] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0075] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0076] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0077] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0078] Now, refer to the appendix Figure 1-10 An exemplary embodiment of the present invention will be described in more detail below. Wherein, Figures 2 to 6 A first preferred embodiment of the present invention is shown. Figures 7 to 9 A second preferred embodiment of the invention is shown. Figure 10 A third preferred embodiment of the present invention is shown.

[0079] First preferred embodiment

[0080] refer to Figures 1 to 6This invention relates to a control mechanism 100 for a surgical instrument. The surgical instrument has an actuator comprising a first instrument assembly 120, a second instrument assembly 130, and a clamping assembly. One of the first instrument assembly 120 and the second instrument assembly 130 is fixed, while the other is movable vertically. When one of the first instrument assembly 120 and the second instrument assembly 130 rises, the clamping assembly tends to clamp; when one of the first instrument assembly 120 and the second instrument assembly 130 falls, the clamping assembly tends to open. Furthermore, the second instrument assembly 130 does not have a circumferential degree of freedom relative to the first instrument assembly 120. That is, the second instrument assembly 130 and the first instrument assembly 120 are also configured to rotate together.

[0081] For example, in this embodiment, the surgical instrument can be an ultrasonic scalpel. The first instrument assembly 120 includes a scalpel shaft and a fixed sleeve. The scalpel shaft is a long, solid rod with a blade head 121 at its bottom end. The fixed sleeve is fixed to the scalpel shaft by a pin. The scalpel shaft is used to connect to a transducer to transfer energy to the blade head 121. The second instrument assembly 130 can be a traction sleeve, which can be fitted between the scalpel shaft and the fixed sleeve, or fitted outside the fixed sleeve. Furthermore, a vertically extending oblong hole is provided on the traction sleeve, and a pin is inserted into this oblong hole to restrict the scalpel shaft and the traction sleeve from having axial freedom, thereby enabling the scalpel shaft, fixed sleeve, and traction sleeve to rotate together axially. The pin and the oblong hole provide space for the traction tube to move up and down relative to the scalpel shaft. In this embodiment, a clamp head 122 is pivotally connected to the bottom end of the second instrument assembly 130. The non-clamping end of the clamp head 122 is pivotally connected to the fixed sleeve and the traction sleeve, respectively, so that the descent or ascent of the traction sleeve can drive the clamp head 122 to open and close relative to the blade head, thereby realizing the opening and clamping of the clamp head 122 and the blade head 121 when the second instrument assembly 130 rises or falls. It is easy to understand that the clamp head 122 and the blade head 121 form the aforementioned clamping assembly.

[0082] The control mechanism 100 of the surgical instrument includes a base 110, a housing 101, an operating component, a first transmission component 140, a lifting component 160, a lever component 180, and a second transmission component 150.

[0083] The housing 101 is disposed on the base 110, which has a front end 113 and a rear end 114. A sleeve 112 is disposed on the base 110, near the front end 113. The surgical instrument (ultrasonic scalpel) is disposed within the sleeve 112 and passes through the base 110. A transducer interface 103 is provided on the housing 101. Figure 1 As shown, the transducer wiring can be connected to the first instrument assembly 120 (blade) of the surgical instrument through the transducer interface 103.

[0084] The operating component is disposed on top of the first instrument assembly 120 and / or the second instrument assembly 130. In this embodiment, the operating component is disposed on top of the second instrument assembly 130.

[0085] The second transmission assembly 150 is disposed near the sleeve 112 and includes a second transmission disk 151 and a first gear 152. The second transmission disk 151 is located on the lower side of the base 110, and the first gear 152 is fixedly connected to the upper side of the second transmission disk 151, and the two are coaxial. The second transmission disk 151 is used to interface with the drive mechanism, and can drive the first gear 152 to rotate together under the action of the drive mechanism. A second gear 135 is fixedly connected to the outer periphery of the second instrument assembly 130, and it meshes with the first gear 152. Therefore, the second instrument assembly 130 can rotate in response to the rotation of the second transmission assembly 150, thereby driving the first instrument assembly 120 to rotate together.

[0086] The first transmission assembly 140 is disposed near the rear end 114 of the base 110. It includes a first transmission disk 141 and a rotating rod 142. The first transmission disk 141 is rotatably disposed on the bottom side of the base 110 and is used to dock with the drive mechanism. The rotating rod 142 is fixedly connected to the upper side of the first transmission disk 141 and the two are coaxial. The two can be constructed as a single piece or connected separately. Thus, the first transmission disk 141 can drive the rotating rod 142 to rotate together under the driving action of the drive mechanism.

[0087] Preferably, the rotating rod 142 is constructed as a screw with external threads. The lifting assembly 160 is correspondingly provided with internal threads and is sleeved on the screw to form a threaded engagement. A support seat 170 is also provided on the base 110, which is provided corresponding to the first transmission assembly 140. In other words, the support seat 170 is located above the rotating rod 142, and the upper end of the rotating rod 142 is pivotally connected to the support seat 170. Preferably, the support seat 170 and the rotating rod 142 are connected by a bearing. A guide groove 172 is provided on the side of the support seat 170, and the guide groove 172 extends vertically. A mating part 161 extending outward from the guide groove 172 is provided on the side of the lifting assembly 160, so that when the rotating rod 142 rotates, the lifting assembly 160 can move up and down instead of rotating with it. Exemplarily, the support seat 170 includes a plurality of legs 171 connected to the base 110, such as the three legs 171 in this embodiment. The gap between the two legs 171 forms the aforementioned guide groove 172.

[0088] The lever 180 has a first end and a second end opposite to the first end. The first end connects to a mating portion 161 of the lifting assembly 160 to move up and down with the lifting assembly 160. The second end connects to an operating assembly. The non-operating end of the lever 180 is pivotally connected to the base 110. Thus, the pivot point between the lever 180 and the base 110 forms a fulcrum for the lever structure, such that when the first end of the lever 180 rises, the second instrument assembly 130 descends. The clamp assembly tends to open, i.e., the clamp head 122 pivots in the opening direction. When the first end of the lever 180 descends, the second instrument assembly 130 rises, and the clamp assembly tends to clamp, i.e., the clamp head 122 pivots in the closing direction.

[0089] Preferably, the lever 180 has a through groove 187 in its middle, and the base 110 has a fulcrum portion 115 that extends into the through groove 187 and is pivotally connected to the side of the through groove 187. In an embodiment not shown, the lever 180 may not have the through groove 187; instead, the top of the fulcrum portion 115 may fork to form a recess to accommodate the lever 180 and be pivotally connected to the side of the lever 180.

[0090] refer to Figure 3 Since the forceps 122 and the blade 121 need to be manually closed before installing or removing the ultrasonic scalpel from the surgical robot, a notch 111 is preferably provided at the rear end 114 of the base 110 to expose the first transmission plate 141, so that the user can directly operate the first transmission plate 141 to control the opening and closing of the forceps 122.

[0091] To further facilitate manual operation by the user, it is preferable to provide a manual control unit 143 at the top of the rotating rod 142. Figure 2 and Figure 4 (As shown). For example, the manual control unit 143 can be a pattern, hole, slotted screw, Phillips screw, etc., that mates with a tool. Correspondingly, the support base 170 has an opening 173, and the housing 101 above the opening 173 has a through hole 102 (as shown). Figure 1 (As shown). Thus, the user can operate the manual control unit 143 by using a tool through the through hole 102 of the housing and the opening 173 of the support base 170, thereby directly controlling the rotation of the rotating rod 142 to control the opening and closing of the clamp assembly.

[0092] The following will combine Figure 6 The connection structure between the lever 180 and the lifting assembly 160 is described in detail. The first end of the lever 180 has a first connecting portion 181, which is concave. Correspondingly, the mating portion 161 forms a convex shape relative to the lifting assembly 160. Furthermore, the convex mating portion 161 is accommodated within the concave first connecting portion 181.

[0093] A waist-shaped hole 162 is provided on the side of the mating part 161. This waist-shaped hole 162 can be a through hole 102 penetrating the mating part 161, or it can be a blind hole respectively provided on both sides of the mating part 161. Furthermore, the length direction of the waist-shaped hole 162 intersects the vertical direction to form a horizontal movement allowance. Preferably, the length direction of the waist-shaped hole 162 is located on a horizontal plane. Connecting members 188 are respectively provided inwardly on the two concave branches of the first connecting part 181, and the connecting members 188 on the two branches extend inwardly into the corresponding waist-shaped holes 162 to form a hinge, allowing the connecting members 188 to move within the waist-shaped holes 162. Therefore, when the lifting assembly 160 moves up and down, the first connecting part 181 can smoothly and synchronously rise and fall without being jammed. Preferably, the connecting member 188 can be a cylindrical rod or a bearing, etc.

[0094] The following will combine Figure 2 , Figure 4 , Figure 5 and Figure 6 The connection structure between the lever 180 and the operating component will be described in detail below. The operating component includes a traction part 131, an operating part 132, a limiting part 133, and an elastic element 134.

[0095] Specifically, the traction unit 131 is connected to the top of the second instrument assembly 130. Preferably, the traction unit 131 is sleeved outside the second instrument assembly 130 to provide a channel for the transducer's wiring to be connected to the second instrument assembly 130.

[0096] The operating part 132 is sleeved outside the traction part 131, and the operating part 132 is configured to move up and down relative to the traction part 131, for example, by sliding. The top end of the traction part 131 is provided with an outwardly protruding limiting part 133, and an elastic member 134 is disposed between the operating part 132 and the limiting part 133, and preferably connected to both, to provide an elastic force to the operating part 132 that tends to move downwards. For example, the elastic member 134 can be a compression spring. Thus, when the clamping head 122 and the cutting head 121 are clamped, but the second end of the lever 180 still has an upward tendency, the structure formed by the operating part 132, the limiting part 133, and the elastic member 134 can form a buffer to protect the cutting head 121 from damage due to over-clamping.

[0097] The operating part 132 has a circumferentially arranged slot 136 on its outer periphery. A second connecting part 182 is provided at the second end of the lever member 180, which at least partially surrounds the operating part 132. Furthermore, the second connecting part 182 has an extension that at least partially extends into the slot 136, and the size of the extension is adapted to the size of the slot 136, so that the second connecting part 182 can drive the second instrument assembly 130 to move up and down without affecting the joint rotation of the first instrument assembly 120 and the second instrument assembly 130.

[0098] Specifically, the second connecting portion 182 includes a first arm portion 183 and a second arm portion 184 spaced apart from each other, which are configured in a forked, claw-like, or bow-like shape, etc., to clamp the operating portion 132 between the first arm portion 183 and the second arm portion 184. Furthermore, the first arm portion 183 is provided with a first extension portion 185 extending toward the second arm portion 184, and the second arm portion 184 is provided with a second extension portion 186 extending toward the first arm portion 183. Both the first extension portion 185 and the second extension portion 186 extend into the slot portion 136. This allows for stable lifting and lowering of the second instrument assembly 130.

[0099] Please refer to the following. Figure 4 To facilitate knowing whether the clamping assembly is clamped, a sensing device 190 is preferably provided on the base 110. Correspondingly, a sensing element 163 is provided on the lifting assembly 160, which is located on the side of the lifting assembly 160 and between the two support legs 171. The sensing device 190 is used to sense the position of the sensing element 163, wherein the position of the sensing element 163 corresponds to the state of the clamp head 122 and the blade head 121.

[0100] For example, the sensing device 190 may be a displacement sensor, and a specific height that the sensing element 163 has descended may indicate that the clamping assembly has clamped.

[0101] In this embodiment, the sensing element 163 is configured as a pressure block, and the sensing device 190 has a pressure switch 191 located directly below the pressure block. When the pressure block presses against the pressure switch 191, it indicates that the clamping head 122 and the cutting head 121 have been clamped.

[0102] The control mechanism 100 of the surgical instrument according to the present invention utilizes a lever structure to transmit power between rotational and lifting movements. This design is relatively simple, with a low failure rate and low cost. The low redundancy in the transmission facilitates precise control of the ultrasonic scalpel clamping. Furthermore, the position of the first transmission plate 141, far from the ultrasonic scalpel, facilitates manual operation of the first transmission plate 141, aiding in the installation and removal of the ultrasonic scalpel.

[0103] Another aspect of the present invention relates to a surgical robot (not shown) that includes the control mechanism 100 of the aforementioned surgical instruments and can achieve similar technical effects.

[0104] Second Implementation Method

[0105] The second preferred embodiment of the present invention is a variation of the first preferred embodiment. Except for the first connecting portion 281 and the mating portion 261, the control mechanism 200 of the surgical instrument in the second preferred embodiment has a structure and / or configuration similar to that of the control mechanism 100 of the surgical instrument in the first preferred embodiment. Therefore, elements having substantially the same function as those in the first preferred embodiment will be numbered the same here, and for the sake of brevity, will not be described in detail and / or illustrated further.

[0106] refer to Figure 7 and Figure 8 The mating part 261 has a first toothed portion 264 on the side facing the lever member 180. This first toothed portion 264 extends vertically to form a rack-like structure. The first connecting portion 281 of the first lever member 180 has a second toothed portion 289 on the side facing the lifting assembly 160. This second toothed portion 289 is constructed in an arc shape, with the fulcrum of the lever member 180 as its center. Therefore, the second toothed portion 289 can be considered as part of a gear centered at the fulcrum. Furthermore, the first toothed portion 264 and the second toothed portion 289 mesh with each other so that when the lifting assembly 160 rises and falls, it can drive the first connecting portion 281 of the lever member 180 to rise and fall together.

[0107] The control mechanism of the surgical instrument according to the present invention utilizes a lever structure to transmit power between rotational and lifting movements. This design is relatively simple, with a low failure rate and low cost. Furthermore, the position of the first transmission plate is far from the ultrasonic scalpel, facilitating manual operation of the first transmission plate and aiding in the installation and removal of the ultrasonic scalpel.

[0108] Third Implementation Method

[0109] The third preferred embodiment of the present invention is a variation of the first preferred embodiment. Except for the rotating rod 342, the mating part 361, the first connecting part 381, and the connecting member 388, the control mechanism 100 of the surgical instrument in the second preferred embodiment has a structure and / or construction similar to the control mechanism 300 of the surgical instrument in the first preferred embodiment. Therefore, elements having substantially the same function as those in the first preferred embodiment will be numbered the same here, and for the sake of brevity, will not be described in detail and / or illustrated further.

[0110] refer to Figure 10In the third embodiment, instead of a lifting assembly 160, a fitting portion 361 extending circumferentially and spirally is provided on the rotating rod 342. The first connecting portion 381 at the first end of the lever member 180 is recessed to accommodate the rotating rod 342. Furthermore, a connecting member 388 is provided on the first connecting portion 381, which connects to the fitting portion 361, so that the first connecting portion 381 can rise or fall along the spiral fitting portion 361 as the rotating rod 342 rotates.

[0111] Specifically, in this embodiment, the mating portion 361 can be configured as a spiral groove, and the connecting member 388 can be configured as a cylinder extending into the spiral groove, with a connecting member 388 provided at each of the two branches of the first connecting portion 381. This allows the first connecting portion 381 to rise or fall stably. In this embodiment, the horizontal displacement of the first connecting portion 381 is offset by tolerance design of the mating portion 361, or the spiral groove or thread.

[0112] The control mechanism of the surgical instrument according to the present invention utilizes a lever structure to transmit power between rotational and lifting movements. This design is relatively simple, with a low failure rate and low cost. Furthermore, the position of the first transmission plate is far from the ultrasonic scalpel, facilitating manual operation of the first transmission plate and aiding in the installation and cleaning of the ultrasonic scalpel.

[0113] Fourth Implementation Method

[0114] The fourth preferred embodiment of the present invention is a variation of the first preferred embodiment. The difference between it and the first preferred embodiment is that:

[0115] A connector 188 is provided on the side of the mating part 161, and a waist-shaped hole 162 is provided on the side of the first connecting part 181 opposite to the connector 188.

[0116] Fifth Implementation Method

[0117] The fifth preferred embodiment of the present invention is a variation of the first preferred embodiment. The difference between it and the first preferred embodiment is that:

[0118] A connecting rod is also provided between the mating part 161 and the first connecting part 181, and both of them are hinged to the first connecting part 181 and the connecting rod, so that the mating part 161 and the first connecting part 181 are hinged through the connecting rod, thereby giving the lever 180 a range of movement in the horizontal direction.

[0119] Sixth Preferred Implementation

[0120] The six preferred embodiments of the present invention are variations of the first preferred embodiment. The difference between them and the first preferred embodiment is that:

[0121] The second connecting portion 182 is constructed as an annular portion, which surrounds the operating portion 132. Alternatively, the annular portion surrounds the operating portion 132. The annular portion has a circumferentially extending portion that extends into the slot portion 136. This makes the transmission of the lever 180 to the second instrument assembly 130 more stable.

[0122] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0123] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. The present invention is not limited to the above embodiments. Many variations and modifications can be made according to the teachings of the present invention, and all such variations and modifications fall within the scope of protection claimed by the present invention.

Claims

1. A control mechanism for a surgical instrument, connected to the actuator of the surgical instrument, for controlling the opening and closing of a clamp assembly of the actuator, characterized in that, The control mechanism includes: Base; An operating component is connected to the actuator; A first transmission assembly is disposed on the base. The first transmission assembly is used to dock with the drive mechanism and is configured to rotate under the action of the drive mechanism. The first transmission assembly includes a rotating rod with threads. A lifting assembly, which is threadedly engaged with the rotating rod to move up and down in response to the rotation of the rotating rod; A lever is provided, the first end of which is connected to the rotating rod in the first transmission assembly via the lifting assembly to move up and down with the rotation of the first transmission assembly. The second end of the lever, opposite to the first end, is connected to the operating assembly. The non-ends of the lever are pivotally connected to the base to form a fulcrum. The first end of the lever has a first connecting portion. The lifting assembly includes a mating portion corresponding to the first connecting portion. One of the mating portion and the first connecting portion is convex, and the other is concave. The convex portion and the concave portion are adapted to each other. One of the mating portion and the first connecting portion has a waist-shaped hole on its side, and the other has a connecting member on its side. The connecting member extends into the waist-shaped hole to form a hinge. The length direction of the waist-shaped hole intersects the vertical direction, so that the lever has a horizontal movement margin relative to the lifting assembly. When the first end of the lever rises, the clamping assembly tends to open. When the first end of the lever descends, the clamp assembly tends to clamp.

2. The control mechanism for the surgical instrument according to claim 1, characterized in that, The first transmission assembly further includes a first transmission disk, which is rotatably connected to the lower side of the base, and the rotating rod is fixedly connected to the upper side of the first transmission disk; The base has a front end and a rear end that are opposite to each other, wherein the second instrument assembly is disposed near the front end and the first transmission disk is disposed near the rear end, and the rear end of the base is provided with a notch to expose the first transmission disk.

3. The control mechanism for surgical instruments according to claim 2, characterized in that, The base is also provided with a support seat, and the upper end of the rotating rod is pivotally connected to the support seat.

4. The control mechanism for the surgical instrument according to claim 3, characterized in that, The top of the rotating rod is provided with a manual control part, the support base has an opening corresponding to the manual control part, the control mechanism of the surgical instrument also has a housing, the housing is covered by the base, and the housing has through holes corresponding to the manual control part and the opening.

5. The control mechanism for the surgical instrument according to claim 1, characterized in that, The rotating rod is constructed as a screw.

6. The control mechanism for the surgical instrument according to claim 1, characterized in that, The connector is constructed as a cylindrical rod or a bearing, so that the connector can slide or roll in the oblong hole.

7. The control mechanism for the surgical instrument according to claim 1, characterized in that, A connecting rod is also provided between the mating part and the first connecting part, and both the mating part and the first connecting part are hinged to the connecting rod.

8. The control mechanism for the surgical instrument according to claim 3, characterized in that, The support base is provided with a guide groove extending vertically, and the mating part extends out from the guide groove.

9. The control mechanism of the surgical instrument according to any one of claims 1-8, characterized in that, The control mechanism of the surgical instrument further includes a second transmission component, which is used to interface with the drive mechanism and is configured to rotate under the action of the drive mechanism. The second transmission component is connected to the actuator to drive the actuator to rotate together.

10. The control mechanism for the surgical instrument according to claim 9, characterized in that, The second transmission assembly includes a second transmission disk and a first gear. The second transmission disk is disposed on the lower side of the base, and the first gear is fixedly connected to the upper side of the second transmission disk. The actuator is connected to a second gear, which meshes with the first gear.

11. The control mechanism for the surgical instrument according to claim 10, characterized in that, The operating component includes an operating part, and the outer periphery of the operating part has a slot portion disposed along the circumferential direction. The second end of the lever is provided with a second connecting portion, the second connecting portion at least partially surrounds the operating portion, the second connecting portion has an extension portion, the extension portion at least partially extends into the slot portion, and the size of the extension portion is adapted to the size of the slot portion, so that the second connecting portion and the operating portion can pivot vertically and the operating portion can rotate.

12. The control mechanism for the surgical instrument according to claim 11, characterized in that, The second connecting portion includes a first arm portion and a second arm portion spaced apart from each other, the operating portion is located between the first arm portion and the second arm portion, and the first arm portion has a first extension portion and the second arm portion has a second extension portion, both the first extension portion and the second extension portion extending at least partially into the slot portion; or The second connecting portion is constructed as an annular portion, which surrounds the operating portion. The annular portion has an extension portion arranged circumferentially, and the extension portion extends into the slot portion.

13. The control mechanism for the surgical instrument according to claim 11, characterized in that, The operating components also include: A traction unit is connected to the actuator, and an operating unit is sleeved outside the traction unit so that the operating unit can move up and down relative to the traction unit. A limiting part is provided at the top of the traction part and located on the upper side of the operating part; An elastic element is sleeved outside the traction part and located between the limiting part and the operating part.

14. The control mechanism of the surgical instrument according to any one of claims 1-8, characterized in that, The lifting assembly is equipped with a sensing element, and the base is equipped with a sensing device. The sensing device is used to sense the position of the sensing element, and the position of the sensing element corresponds to the state of the clamp assembly.

15. The control mechanism of the surgical instrument according to claim 14, wherein the sensing element is configured as a pressure block, the sensing device has a pressure switch, and the clamping assembly clamps when the pressure block presses the pressure switch.

16. The control mechanism for the surgical instrument according to any one of claims 1-8, characterized in that, The surgical instrument is constructed as an ultrasonic scalpel, and the blade and clamp head of the ultrasonic scalpel form the clamp assembly.

17. A surgical robot, characterized in that, Includes the control mechanism of the surgical instrument as described in any one of claims 1-16.

Images