Compact continuum surgical tools and surgical robotic systems

Abstract

The present disclosure relates to the field of medical devices, specifically a compact continuum surgical tool and a surgical robotic system. The surgical tool comprises a plurality of sliders, an arm comprising at least one distal continuum segment, and an end instrument disposed distally of the distal continuum segment. The slider includes a connection interface disposed thereon for coupling with an external device and receiving drive from the external device. The distal continuum segment comprises a plurality of distal structural bones, a distal base plate, a distal stop plate, and a distal spacer disposed between the distal base plate and the distal stop plate. The distal ends of the plurality of distal structural bones are fixedly connected to the distal stop plate, and the distal structural bones are slidably passed through the distal spacer plate and the distal base plate. The proximal ends of the distal structural bones are directly or indirectly connected to the slider, and the slider is configured to push and / or pull the plurality of distal structural bones under the received drive. By externalizing the drive mechanism and / or the transmission mechanism for transmitting the drive, the surgical tool can be miniaturized and lightweight.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a compact continuum surgical tool and a surgical robot system. Background Art

[0002] Minimally invasive surgery, with its many advantages, such as minimal trauma and rapid recovery, has become increasingly widely used in clinical surgery. In a surgical robotic system, the surgical tool is typically mounted on a robotic arm. A servo motor is installed on the robotic arm, and a connecting adapter is provided between the robotic arm and the surgical tool. This adapter transmits torque and load in real time. A transmission mechanism is installed on the surgical tool to convert the rotational motion input by the motor into linear motion, thereby controlling the surgical tool and performing surgical operations on different parts of the body by controlling the surgical actuator at the end of the surgical tool.

[0003] During surgery, part of the robotic arm comes into direct contact with surgical tools and is easily contaminated due to its proximity to the surgical site. Furthermore, the drive module of the robotic arm cannot be sterilized using conventional methods such as steam, autoclave, or chemicals. A sterile protective cover extending from the connector adapter is typically used to isolate the non-sterile robotic arm and sterile surgical tools from the operating environment.

[0004] Existing connector adapters primarily transmit rotational torque. Frequent rotation of surgical tools can easily cause redundant sterile protective covers to become entangled or droop, or even become entangled, obstructing and restricting the tool's movement. Furthermore, surgical tools require a transmission mechanism to convert rotational motion into linear motion, which can make them larger, making them difficult to carry and assemble. Summary of the Invention

[0005] The present disclosure provides a surgical tool, comprising:

[0006] a plurality of sliders, each including a connection interface disposed on the slider, the connection interface being configured to couple with an external device and receive a drive from the external device;

[0007] An arm body, the arm body comprising at least one distal continuum segment, the distal continuum segment comprising a plurality of distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate;

[0008] The distal ends of the plurality of distal structural bones are fixedly connected to the distal stop plate, the distal structural bones are slidably passed through the at least one distal spacer plate and the distal base plate, the proximal ends of the distal structural bones are directly or indirectly connected to the slider, and the slider is used to push and / or pull the plurality of distal structural bones under the received drive; and

[0009] The end instrument is arranged at the distal end of the distal stop disk.

[0010] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0011] at least one robotic arm, the robotic arm comprising at least one drive mechanism and at least one drive interface, the at least one drive mechanism being configured to drive the at least one drive interface to move;

[0012] At least one surgical tool as described in any embodiment of the present disclosure; and

[0013] At least one connection adapter, the connection adapter is used to be detachably connected to the robotic arm and the surgical tool, the connection adapter includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the surgical tool, and the second interface is used to couple with the drive interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0015] FIG1( a ) shows a schematic structural diagram of a surgical tool according to some embodiments of the present disclosure;

[0016] FIG1( b ) shows a schematic structural diagram of an arm according to some embodiments of the present disclosure;

[0017] Figure 2 A schematic diagram showing the internal structure of the proximal end of a surgical tool according to some embodiments of the present disclosure is shown;

[0018] Figure 3 A schematic diagram showing the structure of the proximal portion of a surgical tool according to some embodiments of the present disclosure is shown;

[0019] Figure 4 A schematic structural diagram showing a proximal portion of a surgical tool coupled to an external device according to some embodiments of the present disclosure;

[0020] Figure 5 A schematic diagram showing the structure of the slider and the distal structural bone distribution according to some embodiments of the present disclosure;

[0021] FIG6( a ) shows a schematic structural diagram of a proximal continuum segment according to some embodiments of the present disclosure;

[0022] FIG6( b ) shows another schematic structural diagram of the distribution of the slider and the proximal continuum segments according to some embodiments of the present disclosure;

[0023] Figure 7 Schematic diagrams showing the structure of distal continuum segments according to other embodiments of the present disclosure;

[0024] Figure 8 A structural block diagram of a surgical robot system according to some embodiments of the present disclosure is shown;

[0025] Figure 9 A schematic diagram showing the exploded structure of a connection interface, a transmission member, and a drive interface according to some embodiments of the present disclosure is shown;

[0026] Figure 10 A front view showing a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;

[0027] Figure 11 A schematic diagram showing the structure of a connection adapter in a folded state according to some embodiments of the present disclosure is shown;

[0028] Figure 12 A schematic diagram showing the assembly structure of a connection adapter and a surgical tool according to some embodiments of the present disclosure is shown;

[0029] Figure 13 A rear view of a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0030] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0031] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of this disclosure. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the near part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the far end or the front end, the front part. Those skilled in the art will understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0033] Figures 1(a) and 1(b) respectively illustrate a schematic structural diagram of a surgical tool 30 and an arm according to some embodiments of the present disclosure. As shown in Figure 1(a), the surgical tool 30 may include a plurality of sliders 33, an arm including at least one distal continuum segment 31, and an end instrument 32 disposed distally of the distal continuum segment 31. As shown in Figure 1(b), the distal continuum segment 31 may include a plurality of distal structural bones 312, a distal base plate 313, a distal stop plate 311, and at least one distal spacer plate 314 disposed between the distal base plate 313 and the distal stop plate 311. The distal ends of the multiple distal structural bones 312 are fixedly connected to the distal stop disk 311. The distal structural bones 312 can slide through at least one distal spacer disk 314 and the distal base disk 313. The proximal ends of the distal structural bones 312 are directly or indirectly connected to the slider 33. The slider 33 is used to push and / or pull the multiple distal structural bones 312 under the received drive to achieve bending of the distal continuum structure segment 31. By providing the continuum structure segment, the load capacity of the surgical tool can be increased and the flexibility of movement can be increased. As shown in Figures 1(a) and 1(b), the arm body can also include a proximal portion 39. For example, the proximal portion 39 can be a rigid or flexible tubular body.

[0034] In some embodiments, multiple distal structural bones 312 can be distributed circumferentially around the distal stop plate 311, distal base plate 313, and distal spacer plates 314, for example, evenly spaced, regularly spaced, or unevenly spaced. The distal spacer plates 314 are spaced between the distal base plate 313 and the distal stop plate 311. The end instrument 32 is fixedly mounted distal to the distal stop plate 311. The distal continuum segment 31 bends, thereby driving the end instrument 32 to bend.

[0035] Among them, the end instrument 32 may include an end effector or an endoscope. The end effector may include, for example, separation forceps, grasping forceps, scissors, electric hooks, bipolar grasping forceps, single-stage curved scissors, needle holders, clip appliers, drainage tubes or suction devices, etc. The endoscope may include, for example, at least one imaging unit and a lighting unit, etc. The multiple sliders 33 may include a connection interface 331 provided on the slider 33, and the connection interface 331 is used to couple with an external device and receive drive from the external device. For example, the external device may include a drive interface, and the connection interface 331 is directly or indirectly coupled to the drive interface to receive drive from the external device. By externalizing the drive mechanism and / or externalizing the transmission mechanism that transmits the drive, the miniaturization and lightweight of the surgical tool can be achieved.

[0036] In some embodiments, as shown in FIG1( a ), the surgical tool 30 may further include a housing 35 for accommodating at least one slider 33. The housing 35 includes at least one housing window (e.g., housing window 3531 ), and a connection interface 331 of the at least one slider 33 is located in the at least one housing window. For example, the housing 35 may be located at the proximal end of the surgical tool 30, and the at least one slider 33 may be slidably disposed within the housing 35, with the connection interface 331 of the slider 33 protruding from the housing window of the housing 35.

[0037] Figure 2 FIG. 2 shows a schematic diagram of the proximal internal structure of a surgical tool 30 according to some embodiments of the present disclosure. Figure 2 As shown, in some embodiments, at least one slide rail 36 may be provided in the housing 35. At least one slider 33 is provided on the at least one slide rail 36, and the slide rail 36 makes the movement of the slider 33 more stable and reliable. It should be understood that the connection interface 331 is provided with a coupling structure, such as a coupling groove, a coupling protrusion, a side section, etc. The structure of the connection interface on each slider can be the same or different. For example, the interface can be an irregular cylindrical shape (e.g., including a side section), a cylindrical shape or a truncated cone shape, etc. By providing interfaces with different structures, assembly can be facilitated.

[0038] In some embodiments, Figure 3 FIG. 1 shows a schematic structural diagram of a proximal portion of a surgical tool 30 according to some embodiments of the present disclosure. Figure 4 A schematic diagram showing the structure of the proximal portion of the surgical tool 30 coupled to an external device according to some embodiments of the present disclosure. Figure 3 The deformable film of one of the housing windows in FIG. 1 is shown (shown by shadow), and the deformable films of the housing windows in other drawings are not shown. Figure 3As shown, the surgical tool 30 may further include at least one deformable membrane 37. The deformable membrane 37 is sealingly disposed on the housing 35 to cover at least one housing window (e.g., housing windows 3531, 3521). It should be understood that the circumference of the deformable membrane 37 can be sealed and connected (e.g., welded, bonded, etc.) to the housing 35, and by covering at least one housing window, an effective barrier is formed between the first side (e.g., the inside) and the second side (e.g., the outside) of the housing 35, such as a sterile barrier that blocks bacteria. The connection interface 331 is sealingly connected to the deformable membrane 37 and is used to receive drive through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be integrally formed, welded, or bonded with the deformable membrane 37 so that there is no gap between the connection between the connection interface 331 and the deformable membrane 37, so as to seal and isolate the sterile area from the sterile area.

[0039] It should be understood by those skilled in the art that the sealing setting or sealing connection in the present disclosure means that the connection is sealed to form a barrier, such as a sterile barrier for blocking bacteria, a dust barrier for blocking dust, etc. The connection interface 331 of at least one slider 33 is used to transmit power between the connection interface 331 and the drive interface of the external device through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be used to move under the drive of the drive interface of the external device. Figure 4 As shown, the drive interface of the external device can be connected to the transmission member 300 via the connecting rod 23, and the transmission member 300 drives the connection interface 331 (or 331c) to move. Because the deformable membrane 37 is deformable, the drive interface allows the connection interface 331 to move, thereby transmitting the drive interface's drive (e.g., linear drive) to the connection interface 331. The connection interface 331 drives the slider 33 to move, thereby pushing and / or pulling the structural bone (e.g., the proximal structural bone 342 and the distal structural bone 312). The structure is simple and easy to operate.

[0040] Those skilled in the art will appreciate that motion may include various forms of motion, such as movement parallel to the window plane, movement perpendicular to the window plane, or a combination of the two. Motion may include, for example, linear motion, curved motion, etc. In some embodiments of the present disclosure, linear motion is used as an example for description, but this does not constitute any limitation of the present disclosure.

[0041] In some embodiments, the deformable membrane 37 comprises a sheet-like membrane that conforms to the shape of the housing 35. The sheet-like membrane is sealingly disposed on the inner or outer surface of the housing 35 to cover at least one housing window. For example, if the housing 35 is cuboidal and each side panel is rectangular, the deformable membrane 37 may be a rectangular sheet-like membrane that conforms to each side panel. The deformable membrane is connected to the circumferential edge of each side panel so that the deformable membrane 37 is attached to the surface of each side panel to cover the multiple housing windows on each side panel.

[0042] In some embodiments, the deformable membrane 37 includes at least one sheet-like membrane corresponding to at least one housing window, and the at least one sheet-like membrane is respectively sealed with the housing to cover the at least one housing window. It should be understood that the at least one housing window can be rectangular, polygonal, or other shapes. The deformable membrane 37 can include a sheet-like membrane that matches the number of housing windows, and the shape of the sheet-like membrane can match the shape of each housing window. Each sheet-like membrane is respectively connected to the circumferential edge of each housing window to cover each housing window.

[0043] The deformable membrane can be made of various deformable materials, such as an elastic membrane. For example, the deformable membrane can include a rubber membrane (e.g., a TPU membrane) or a plastic membrane. The deformable membrane can extend and retract with the linear motion of the transmission member to ensure that the transmission member does not tear or damage the deformable membrane during movement.

[0044] In some embodiments, as Figure 3 and Figure 4 As shown, the at least one housing window may include at least one first housing window 3531 located on the first side of the housing 35 and at least one second housing window (not shown) located on the second side of the housing 35. Figure 3 As shown, the housing 35 may be a cubic structure. The housing 35 may include an upper side plate 351, a lower side plate 352, a left side plate 353 and a right side plate ( Figure 3 For example, the first shell window 3531 and the second shell window (not shown) are respectively provided on the left side plate 353 and the right side plate (not shown). Figure 3 As shown, four first housing windows 3531 are provided on the left side plate 353. At least one slider 33 may include at least one slider 33a and at least one slider 33b (eg, Figure 5 As shown). The connection interface 331 of at least one slider 33a is located in at least one first housing window 3531, and the connection interface 331 of at least one slider 33b is located in at least one second housing window. In some embodiments, as Figure 3 and Figure 4As shown, the at least one housing window may further include a third housing window 3521 located on a third side of the housing (e.g., the lower side plate 352), and the at least one slider 33 may further include a slider 33c, with a connection interface 331c of the slider 33c located in the third housing window 3521. It will be understood by those skilled in the art that the terms left, right, upper, and lower as used herein are for the convenience of indicating relative positional relationships and should be broadly interpreted. Other nomenclatures, such as top, bottom, front, and rear, may also be used.

[0045] The at least one first housing window 3531 may include one or more first housing windows located on the left side panel 353, such as a group of first housing windows. The at least one second housing window may include one or more second housing windows located on the right side panel, such as a group of second housing windows. The at least one third housing window 3521 may include one or more third housing windows located on the lower side panel 352, such as a group of third housing windows. In some embodiments, taking the slider 33a as an example, the connection interfaces 331 of multiple sliders 33a may be located in the same first housing window 3531, or multiple connection interfaces 331 of a slider 33a may be located in the same first housing window 3531.

[0046] In some embodiments, the first housing window 3531 and the at least one slider 33a and the second housing window and the at least one slider 33b can be distributed in a mirror-symmetrical manner. It should be understood that a group of first housing windows 3531 and a group of second housing windows can each include a plurality of spaced windows, and a group of third housing windows 3521 can include a single housing window. Figure 3 As shown, each slider may include a connection interface 331. Figure 3 As shown, there are four first housing windows 3531 and four sliders 33a, respectively, with the connection interface 331 of each slider 33a located within the corresponding first housing window 3531. There are four second housing windows and four sliders 33b, respectively, with the connection interface 331 of each slider 33b located within the corresponding second housing window. The four first housing windows 3531 and the connection interfaces of the slider 33a are mirror-symmetrically distributed with the four second housing windows and the connection interfaces of the slider 33b along the direction of linear movement (e.g., the length direction of the housing 35 or the surgical tool 30). This facilitates the coordinated driving of the connection interfaces 331 located within the first housing window 3531 and the second housing window. The above numbers are merely examples, and it should be understood that the number of first housing windows 3531 and second housing windows can also be one, two, five, etc. The number of connection interfaces 331 located in the same housing window can also be two, three, etc. The number of housing windows and connection interfaces 331 can be adjusted according to the number of interfaces on the external device to be driven.

[0047] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include at least one limiting structure 38 disposed on the first side and / or the second side. For example, at least one limiting structure 38 is disposed on the outer side of the left side panel 353 and / or the right side panel. It should be understood that the inner side of the left side panel and the right side panel refers to the side facing each other when the left side panel 353 and the right side panel are disposed relative to each other. The outer side of the left side panel and the right side panel refers to the side facing away from each other when the left side panel and the right side panel are disposed relative to each other. Figure 3 As shown, the limiting structure 38 can be a groove, and the inner side of the external device (such as the connecting adapter 10) is provided with a limiting protrusion (such as Figure 11 The limiting structure engages with the limiting protrusion to limit the movement of the surgical tool 30 along the linear movement direction (for example, the length direction of the left plate 353 or the right plate). Those skilled in the art will understand that Figure 3 The limiting structure shown is only an exemplary embodiment, and other structures may be used, such as protrusions, magnetic attraction structures, etc.

[0048] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include a balancing valve 355 disposed on the housing 35. The balancing valve 355 may be used to maintain internal and external air pressure balance during sterilization of the surgical tool. In actual use, the balancing valve may be removed.

[0049] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include a handle 356 provided on the housing 35. For example, the handle 356 may be located outside the upper side plate 351 of the housing 35 for the operator to hold so as to facilitate installation or removal of the surgical tool on or from an external device.

[0050] In some embodiments, as Figure 4 As shown, the surgical tool 30 may further include at least one communication interface 357 disposed on the housing 35. For example, the at least one communication interface 357 may form a communication connection between the inside and outside of the lower plate 352 of the surgical tool. For example, the outside of the housing 35 of the surgical tool 30 is connected to an external device, and the at least one communication interface 357 may be used to communicate with the external device to form a communication connection between the inside of the housing 35 of the surgical tool 30 and the external device on the outside. Figure 4 As shown, the lower side plate 352 may be provided with a plurality of communication interfaces 357 arranged at intervals. The external device may be provided with a plurality of communication contacts (eg Figure 10After the external device is installed, the multiple communication interfaces 357 are connected to the communication contacts to establish a communication connection between the surgical tool 30 and the external device. Those skilled in the art will appreciate that the assembler can determine whether the surgical tool 30 and the external device are properly installed by determining whether the communication contacts are connected to the communication interfaces 357. The communication contacts and communication interfaces 357 can also be used to read parameter information from or write parameter information to the surgical tool 30 or the external device.

[0051] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include an electrode interface 358 or a fiber optic interface (not shown) disposed on the housing 35. For example, the electrode interface 358 may provide a conductive path for an electrical energy tool, such as a monopolar or bipolar coagulation or electro-cutting tool. The fiber optic interface may provide a path for endoscopic imaging or illumination when the distal end instrument of the surgical tool is an endoscope.

[0052] Figure 5 Schematic diagram showing the distribution of the slider and the distal structural bone 312 according to some embodiments of the present disclosure. Figure 5 As shown, the proximal ends of at least a portion of the distal structural bones 312 are directly fixedly connected to the sliders 33 (e.g., sliders 33a and / or sliders 33b). The driving mechanism drives (e.g., linear motion) the sliders 33a and / or sliders 33b to move, thereby pushing and pulling the multiple distal structural bones 312 to achieve bending of the distal continuum segment 31. The multiple distal structural bones 312 can be circumferentially spaced along the distal stop plate 311. Two distal structural bones 312 positioned opposite each other can be fixedly connected to two sliders 33 positioned to move synchronously in opposite directions. By driving the two sliders 33 to move linearly at the same speed in opposite directions, the two distal structural bones 312 positioned opposite each other (e.g., centrally symmetrically) can be pushed and pulled in a coordinated manner to drive the bending of the distal continuum segment 31.

[0053] FIG6( a ) shows a schematic structural diagram of a proximal continuum segment 34 according to some embodiments of the present disclosure, and FIG6( b ) shows a schematic structural diagram of the distribution of a slider and a proximal continuum segment 34 according to some embodiments of the present disclosure. The proximal continuum segment 34 in FIG6( b ) is shown schematically, and its specific structure is not shown. In some embodiments, as shown in FIG6( a ) and FIG6( b ), the surgical tool 30 may further include at least one proximal continuum segment 34. The proximal continuum segment 34 includes a plurality of proximal structural bones 342, a proximal stop disc 341, a proximal base disc 343, and at least one proximal spacer disc 344 disposed between the proximal base disc 343 and the proximal stop disc 341. The proximal ends of the multiple proximal structural bones 342 are fixedly connected to the proximal stop disk 341. The multiple proximal structural bones 342 are slidably connected to at least one proximal spacer disk 344 and the proximal base disk 343. The distal ends of the proximal structural bones 342 are fixedly connected to or integrally formed with the proximal ends of corresponding distal structural bones in the multiple distal structural bones 312. Those skilled in the art will appreciate that the proximal base disk 343 can be fixedly disposed, for example, fixedly disposed on the support 500, or can be integrally formed with the support 500. The proximal ends of the multiple proximal structural bones 342 can be distributed along the circumference of the proximal stop disk 341 and fixedly connected to the proximal stop disk 341. For example, the proximal structural bones 342 can be evenly spaced or unevenly spaced symmetrically along the circumference of the proximal stop disk 341. The distal ends of the multiple proximal structural bones 342 can pass through the proximal base disk 343 and slide relative to the proximal base disk 343.

[0054] In some embodiments, the number of distal structural bones 312 can be the same as the number of proximal structural bones 342. The distal ends of the multiple distal structural bones 312 are fixedly connected to the distal stop plate 311, and the proximal ends of the multiple distal structural bones 312 are fixedly connected or integrally formed with the distal ends of the multiple proximal structural bones 342. In some embodiments, the number of distal structural bones 312 can be greater than the number of proximal structural bones 342.

[0055] In some embodiments, as shown in FIG6( a ), the proximal continuum segment 34 further includes a plurality of proximal driving structural bones 345 . The proximal ends of the proximal driving structural bones 345 are fixedly connected to the proximal stop disc 341 . The proximal driving structural bones 345 pass through at least one proximal spacer disc 344 and the proximal base disc 343 , and the distal ends are fixedly connected to sliders (e.g., sliders 33 a and 33 b ). For example, the plurality of proximal driving structural bones 345 may be circumferentially spaced along the proximal base disc 343 and the proximal stop disc 341 . Two opposing proximal driving structural bones 345 may be respectively fixedly connected to a pair of adjacent sliders in the axial direction (or the longitudinal direction of the surgical tool). By driving the pair of sliders to move linearly at the same speed in opposite directions, the two opposing proximal driving structural bones 345 are cooperatively pushed and pulled to drive the proximal continuum segment 34 to bend, thereby driving the proximal continuum segment 34 to bend the distal continuum segment 31 . In some embodiments, as shown in FIG6( a ), the diameter of the proximal drive structural bone 345 can be larger than the proximal structural bone 342 to prevent the proximal drive structural bone 345 from breaking during pushing and pulling. It should be understood that the diameter of the proximal drive structural bone 345 can also be equal to or smaller than the diameter of the proximal structural bone 342.

[0056] Thus, a pair of sliders 33 performing opposite linear motions can push and pull a pair of proximal driving structural bones 345 (for example, a pair of centrally symmetrical driving structural bones) connected thereto, thereby driving the proximal continuum segment 34 to bend in the direction of one of the pair of proximal driving structural bones 345. Since the length of the structural bones (for example, the proximal structural bone 342 and the distal structural bone 312) remains unchanged during the driving process, the distal continuum segment 31 can be driven by the proximal continuum segment 34 to bend in the opposite, same or other related directions along a certain proportional relationship.

[0057] It should be understood that the aforementioned proportional relationship can be determined based on the distribution radius of the structural bones in the proximal continuum segment 34 and the distal continuum segment 31. For example, the curvature ratio of the proximal continuum segment 34 and the distal continuum segment 31 is inversely proportional to the distribution radius of the corresponding structural bones in each segment (in this embodiment, the structural bones in the proximal continuum segment 34 and the distal continuum segment 31 are distributed circumferentially, which can be distributed on a circle or a polygonal circumference, and can be uniformly or non-uniformly distributed, without limitation herein). During application, the distribution radius of the structural bones in the proximal continuum segment 34 and the distal continuum segment 31 can be adjusted to meet actual curvature ratio requirements.

[0058] It should be understood that the structural bones in the present disclosure (e.g., the proximal structural bone 342 and / or the distal structural bone 312) may comprise thin elastic rods or tubes made of a superelastic material, such as a nickel-titanium alloy. Spacer discs (e.g., the proximal spacer disc 344 and the distal spacer disc 314) are provided to radially support the structural bones, thereby ensuring that the structural bones remain parallel during bending and deformation, preventing instability during push-pull bending motions and increasing the motion accuracy and stability of the continuum segments.

[0059] Figure 7 FIG. 3 is a schematic diagram showing the structure of the distal continuum segment 31 according to some other embodiments of the present disclosure. In some embodiments, the surgical tool 30 may include a plurality of distal continuum segments 31, such as Figure 7 The distal continuum structure section 31a and the distal continuum structure section 31b are shown. Figure 7 As shown, the distal continuum segment 31a includes a plurality of distal structural bones 312a, a distal stop plate 311a, a distal base plate 313a, and at least one distal spacer plate 314a disposed between the distal base plate 313a and the distal stop plate 311a. Figure 7 As shown, the distal continuum segment 31b includes a plurality of distal structural bones 312b, a distal stop disc 311b, a distal base disc 313b and at least one distal spacer disc 314b disposed between the distal base disc 313b and the distal stop disc 311b.

[0060] The multiple distal continuum segments 31 can be driven in various ways, such as directly by the slider 33, by the proximal continuum segment 34, or a combination of the two. For example, the distal continuum segment 31a can be driven directly by the slider 33. The distal ends of the multiple distal structural bones 312a are fixedly connected to the distal stop plate 311a and pass through at least one distal spacer plate 314a and the distal base plate 313a. The proximal ends are fixedly connected to the slider 33a and / or the slider 33b. The distal continuum segment 31b can be driven by a proximal continuum segment 34 (e.g., the proximal continuum segment 34 shown in FIG6( a )). The distal ends of the plurality of distal structural bones 312b are fixedly connected to the distal stop disk 311b. The plurality of distal structural bones 312b slide through the distal stop disk 311a, at least one distal spacer disk 314a, and the distal base disk 313a. The proximal ends are fixedly connected to or integrally formed with the distal ends of the plurality of proximal structural bones 342a. The proximal drive structural bone 345 passes through at least one proximal spacer disk 344 and the proximal base disk 343. The distal end is fixedly connected to the slider 33a and / or the slider 33b.

[0061] The drive mechanism (e.g. Figure 8The driving mechanism 21 is shown coupled to the slider 33 to push and pull the distal structural bone 312a to drive the distal continuum segment 31a to bend. The driving mechanism 21 and the slider 33 can be coupled to push and pull the proximal driving structural bone 345 to drive the proximal continuum segment 34 to bend, thereby driving the distal continuum segment 31b to bend via the proximal continuum segment 34. In this way, the movement flexibility of the distal continuum segment 31b can be maintained by driving the proximal continuum segment 34, and the overall complexity and size of the surgical tool 30 can be reduced by directly driving the distal structural bone 312a. It should be understood that the driving mechanism 21 and the slider 33 can also be coupled to directly push and pull the distal structural bone 312b to drive the distal continuum segment 31b to bend, and the driving mechanism 21 and the slider 33 can be coupled to drive the proximal continuum segment 34 to bend, thereby driving the distal continuum segment 31a to bend.

[0062] In some embodiments, the end instrument 32 may include an end effector, and the surgical tool 30 may further include at least one actuator drive wire (not shown). The distal end of the at least one actuator drive wire is connected to the end effector, and the proximal end of the actuator drive wire is fixedly connected to the slider 33c. The slider 33c drives the actuator drive wire to push and / or pull to achieve the opening and closing of the end effector, thereby completing the corresponding surgical operation, such as clamping, grasping, cutting, etc.

[0063] Figure 8 FIG. 1 shows a structural block diagram of a surgical robot system 1 according to some embodiments of the present disclosure. Figure 9 FIG. 2 shows a schematic diagram of the exploded structure of the connection interface 331, the transmission member 300 and the drive interface 211 according to some embodiments of the present disclosure. Figure 8 As shown, the surgical robot system 1 includes at least one robotic arm 20, at least one connecting adapter 10 and at least one surgical tool 30 in any embodiment of the present disclosure. In some embodiments, the robotic arm 20 may include a driving mechanism 21 located at the end, and the connecting adapter 10 is detachably connected to the end of the robotic arm 20 or to the driving mechanism 21. The proximal portion of the surgical tool 30 is detachably connected to the connecting adapter 10. The robotic arm 20 is connected to the surgical tool 30 through the connecting adapter 10, and the drive (e.g., linear motion) of the driving mechanism 21 is transmitted to the surgical tool 30 through the connecting adapter 10 to drive the surgical tool 30 to bend and the end effector 32 to open and close.

[0064] like Figure 8 and Figure 9As shown, the drive mechanism 21 may include at least one drive interface 211, which may receive power via the connecting rod 23. The connection adapter 10 includes at least one transmission member 300. The transmission member 300 includes an interface 310 and an interface 320. The interface 310 is configured to couple with the connection interface 331 of the surgical tool 30, and the interface 320 is configured to couple with the drive interface 211.

[0065] Figure 10 FIG. 2 shows a front view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 11 A schematic diagram of the structure of the connection adapter 10 in a folded state according to some embodiments of the present disclosure is shown. For the convenience of explanation, Figure 11 The shadow representing the second deformable film 200 is omitted, and only the transmission member 300 is retained. In some embodiments, Figure 10 and Figure 11 As shown, the connection adapter 10 may include an adapter substrate 100, at least one second deformable film 200, and at least one transmission member 300. The adapter substrate 100 includes at least one transmission window (e.g., transmission windows 111, 121, and 131), and the adapter substrate 100 is detachably connected to the robotic arm 20 and the surgical tool 30, respectively. The at least one second deformable film 200 is sealingly disposed on the adapter substrate 100 to cover the at least one transmission window. The at least one transmission member 300 is sealingly disposed on the second deformable film 200 and is located in the at least one transmission window. The transmission member 300 includes an interface 310 located on a first side of the second deformable film 200 and an interface 320 located on a second side of the second deformable film 200. The at least one transmission member 300 is used to drive the linear motion of the connection interface 331 by deforming the at least one second deformable film 200 under the linear drive of the drive interface 211. The connection interface 331 drives the linear motion of the slider 33 by deforming the at least one deformable film 37.

[0066] like Figure 10 and Figure 11 As shown, at least one transmission window may include a first transmission window 111 and a second transmission window 121. Figure 11 As shown, in some embodiments, the adapter substrate 100 may be in a U-shape or may be folded to form a U-shape. The adapter substrate 100 may include a left substrate 110, a right substrate 120, and a middle substrate 130. For example, a first transmission window 111 and a second transmission window 121 may be provided on the left substrate 110 and the right substrate 120, respectively. In some embodiments, at least one transmission window may include a third transmission window 131, and the third transmission window 131 may be provided on the middle substrate 130. For example, Figure 9 and Figure 11As shown, the transmission member 300 may include interfaces 310 and 320 located at both ends and fixedly connected, and coupling structures are respectively provided on the interfaces 310 and 320. The coupling structure of the interface 310 of the transmission member 300 may include a protrusion, the connection interface 331 may include a corresponding groove, the interface 320 of the transmission member 300 may include a groove, and the drive interface 211 may include a corresponding protrusion. The protrusion engages with the groove to achieve coupling between the robot arm drive interface 211 and the surgical tool connection interface 311 through the transmission member 300. The above is only an example, and one of the interface and the drive interface of the transmission member 300 may be a protrusion and the other may be a groove. Alternatively, the transmission member and the drive interface may also be other structures that can be connected to each other.

[0067] Figure 12 FIG. 1 shows a schematic diagram of the assembly structure of the connection adapter 10 and the surgical tool 30 according to some embodiments of the present disclosure. Figure 12 As shown, the proximal end of the surgical tool 30 can be moved in a direction perpendicular to the central base plate 130 of the connecting adapter 10 (eg Figure 12 The surgical tool 30 is installed in the connection adapter 10, and the lower side plate 352 of the surgical tool 30 abuts against the middle substrate 130 of the adapter substrate 100. The communication contacts 140 on the middle substrate 130 are in communication connection with the communication interface 357. The proximal outer side of the surgical tool 30 is provided with an opening extending in the longitudinal direction, and further includes a connection interface (e.g., a connector) exposed from the opening and capable of translating along the opening. Figure 3 and Figure 9 The left and right substrates 110 and 120 of the connection adapter 10 are provided with interfaces 310 on their inner sides. The interfaces 310 are coupled to the connection interfaces 331 via the coupling structure on the connection interfaces 331 to drivably connect the surgical tool 30 to the connection adapter 10. The proximal outer side of the surgical tool 30 is provided with a limiting structure (e.g., a position limiting structure) perpendicular to the direction of the central substrate 130 of the connection adapter 10. Figure 3 The limiting structure 38 shown in the figure) is provided on the inner side of the left substrate 110 and / or the right substrate 120 with at least one limiting portion 170 protruding from the surface of the left substrate 110 and / or the right substrate 120, and the limiting structure 38 is engaged with the limiting portion 170 to limit the movement of the surgical tool 30 along the length direction, so as to detachably connect the surgical tool 30 to the connection adapter 10.

[0068] like Figure 10 As shown, in some embodiments, at least one grounding pin 150 is further provided on the adapter substrate 100. Two grounding pins 150 may be provided on the middle substrate 130. By providing the grounding pins, static electricity can be prevented from damaging the components of the system. Figure 11As shown, in some embodiments, at least one connecting structure, such as a connecting protrusion 180, is provided on the outer side of the left substrate 110 and / or the right substrate 120. The connecting protrusion 180 is used to engage with the groove on the robot arm 20. By engaging the connecting protrusion with the groove, the adapter substrate 100 and the robot arm 20 are detachably connected. In some embodiments, as Figure 11 As shown, shielding portions 190 extending outward from the substrate surface are further provided on the outer sides of the left substrate 110 and / or the right substrate 120. These shielding portions 190 are used to shield the portion of the transmission member 300 exposed outside the substrate. The provision of these shielding portions creates a space for linear movement of the transmission member 300 between the outer side of the adapter substrate 100 and the robotic arm 20 after the adapter substrate 100 and the robotic arm 20 are mounted.

[0069] Figure 13 FIG. 2 shows a reverse view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 13 As shown, in some embodiments, at least one connecting adapter 10 further includes a sterile protective film 400. The sterile protective film 400 is sealed to the periphery of the adapter base 100 and extends outward. It should be understood that the adapter base 100 can be in the shape of a U or a foldable sheet. The sterile protective film 400 is circumferentially connected to the adapter base 100, for example, by welding or bonding, and extends outward to cover at least a portion of the robotic arm 20. It should be understood that the sterile protective film 400 can be a TPU film to facilitate sterilization during the manufacturing process and to achieve medical grade material. The adapter base 100 can be made of plastic to facilitate connection with the sterile protective film 400 and the second deformable film 200. It should be understood that the extended sterile protective film 400 can be adapted to the shape of the portion of the robotic arm 20 to be covered. By covering the robotic arm 20 with the sterile protective film 400, the surgical tool 30 can be isolated from the robotic arm 20, isolating the sterile side from the sterile side, thereby meeting the requirements of the operating environment.

[0070] The deformable membrane 37 covers at least one housing window of the surgical tool 30, forming a sterile barrier that effectively blocks bacteria between the outer side (sterile side) and the inner side (possibly the infected side) of the surgical tool 30. The deformable membrane 200 covers at least one transmission window, forming a sterile barrier that effectively blocks bacteria between the inner and outer sides of the connector adapter 10. This double barrier further ensures the barrier effect. A sterile protective membrane 400 covers the drive mechanism 21 and the robotic arm 20, forming a sterile barrier that effectively blocks bacteria between the portion of the robotic arm proximal to the surgical tool 30 and the surgical tool 30, thereby providing a sterile surgical operating environment and preventing bacterial contamination of the surgical tool. At least one transmission member 300 is disposed on the second deformable membrane 200. By deforming the second deformable membrane 200, the drive (e.g., linear drive) on the first side of the connector adapter 10 is transmitted via the transmission member 300 to the second side of the connector adapter 10, thereby directly transmitting various motions, such as linear motion. Through the deformation of the deformable membrane 37, the driving interface of the external device is allowed to drive the connection interface to move, so as to push and / or pull the structural bone, thereby driving the surgical tools to perform various operations, making the structure simple and easy to operate.

[0071] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical tool, characterized in that: include: at least one slider, the slider comprising a connection interface provided on the slider, the connection interface being configured to couple with an external device and receive a drive from the external device to drive the slider to move linearly; An arm body, the arm body comprising at least one distal continuum segment, the distal continuum segment comprising a plurality of distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate; The distal ends of the plurality of distal structural bones are fixedly connected to the distal stop plate, the distal structural bones are slidably passed through the at least one distal spacer plate and the distal base plate, the proximal ends of the distal structural bones are directly or indirectly connected to the slider, and the slider is used to push and / or pull the plurality of distal structural bones under the received drive; and The end instrument is arranged at the distal end of the distal stop disk.

2. The surgical tool according to claim 1, wherein: Also includes: The housing is used to accommodate the at least one slider, wherein the housing comprises at least one housing window, and the connection interface of the at least one slider is located in the at least one housing window.

3. The surgical tool according to claim 2, wherein: Also includes: At least one deformable membrane is sealingly arranged on the shell and is used to cover the at least one shell window, wherein the connection interface is sealingly connected to the deformable membrane and is used to receive drive through deformation of the at least one deformable membrane.

4. The surgical tool according to claim 3, wherein: The deformable membrane comprises a sheet-like membrane adapted to the shape of the housing, and the sheet-like membrane is sealingly disposed on the inner surface or the outer surface of the housing to cover the at least one housing window; or The deformable membrane includes at least one sheet-shaped membrane corresponding to the at least one housing window, and the at least one sheet-shaped membrane is sealed and connected to the housing to cover the at least one housing window.

5. The surgical tool according to claim 2, wherein: The at least one shell window includes at least one first shell window located on the first side of the shell and at least one second shell window located on the second side of the shell, the at least one slider includes at least one first slider and at least one second slider, the connection interface of the at least one first slider is located in the at least one first shell window, and the connection interface of the at least one second slider is located in the at least one second shell window.

6. The surgical tool according to claim 5, wherein: The at least one housing window further includes a third housing window located on a third side of the housing. The at least one slider further includes a third slider. The connection interface of the third slider is located in the third housing window.

7. The surgical tool according to claim 6, wherein: The end instrument includes an end effector, and the surgical tool further includes at least one effector drive wire, the distal end of the effector drive wire is connected to the end effector, and the proximal end of the effector drive wire is fixedly connected to the third slider.

8. The surgical tool according to claim 5, wherein: The surgical tool further includes at least one limiting structure disposed on the first side and / or the second side.

9. The surgical tool according to claim 5, wherein: Also includes: A proximal continuum segment, the proximal continuum segment comprising a plurality of proximal structural bones, a proximal stop disk, a proximal base disk, at least one proximal spacer disk disposed between the proximal base disk and the proximal stop disk, and a plurality of proximal driving structural bones, the proximal ends of the plurality of proximal structural bones being fixedly connected to the proximal stop disk, the plurality of proximal structural bones being slidably connected to the at least one proximal spacer disk and the proximal base disk, the proximal ends of the proximal driving structural bones being fixedly connected to the proximal stop disk, the proximal driving structural bones passing through the at least one proximal spacer disk and the proximal base disk, and the distal ends of the proximal driving structural bones being fixedly connected to the first slider and / or the second slider; as well as The at least one distal continuum segment comprises: A first distal continuum segment comprises a plurality of first distal structural bones, a first distal stop plate, a first distal base plate, and at least one first distal spacer plate disposed between the first distal base plate and the first distal stop plate, wherein distal ends of the plurality of first distal structural bones are fixedly connected to the first distal stop plate and pass through the at least one first distal spacer plate and the first distal base plate, and proximal ends of the plurality of first distal structural bones are fixedly connected to the first slider and / or the second slider; as well as The second distal continuum structure comprises a plurality of second distal structural bones, a second distal stop plate, a second distal base plate and at least one second distal spacer plate arranged between the second distal base plate and the second distal stop plate. The distal ends of the plurality of second distal structural bones are fixedly connected to the second distal stop plate, the plurality of second distal structural bones slide through the first distal stop plate, the at least one first distal spacer plate and the first distal base plate, and the proximal ends are fixedly connected to the distal ends of the plurality of proximal structural bones or formed as one piece.

10. The surgical tool according to any one of claims 2 to 9, characterized in that: Also includes: a balancing valve, disposed on the housing; and / or a handle, disposed on the housing; and / or The communication interface is arranged on the housing.

11. The surgical tool according to any one of claims 2 to 9, characterized in that: At least one slide rail is provided in the housing, and the at least one sliding block is arranged on the at least one slide rail.

12. The surgical tool according to any one of claims 1 to 9, characterized in that: Also includes: at least one proximal continuum segment, the proximal continuum segment comprising a plurality of proximal structural bones, a proximal stop disc, a proximal base disc, and at least one proximal spacer disc disposed between the proximal base disc and the proximal stop disc; The proximal ends of the multiple proximal structural bones are fixedly connected to the proximal stop plate, the multiple proximal structural bones are slidably connected to the at least one proximal spacer plate and the proximal base plate, and the distal ends of the proximal structural bones are fixedly connected or integrally formed with the proximal ends of corresponding distal structural bones among the multiple distal structural bones.

13. The surgical tool according to claim 12, wherein: The proximal ends of at least a portion of the plurality of distal structural bones are fixedly connected to the slider; and / or The proximal continuum segment further comprises: A plurality of proximal drive structural bones, wherein the proximal ends of the proximal drive structural bones are fixedly connected to the proximal stop disk, the proximal drive structural bones pass through the at least one proximal spacer disk and the proximal base disk, and the distal ends are fixedly connected to the slider.

14. A surgical robot system, characterized in that: include: at least one robotic arm, the robotic arm comprising at least one drive mechanism and at least one drive interface, the at least one drive mechanism being configured to drive the at least one drive interface to move; At least one surgical tool according to any one of claims 1 to 13; as well as At least one connection adapter, the connection adapter is used to be detachably connected to the robotic arm and the surgical tool, the connection adapter includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the surgical tool, and the second interface is used to couple with the drive interface.

15. The surgical robot system according to claim 14, wherein: The connection adapter comprises: an adapter base plate, comprising at least one transmission window, wherein the adapter base plate is detachably connected to the robotic arm and the surgical tool respectively; at least one second deformable membrane, sealingly disposed on the adapter substrate and configured to cover the at least one transmission window; At least one transmission member is sealed on the second deformable membrane and located in the at least one transmission window, the transmission member includes a first interface located on the first side of the second deformable membrane and a second interface located on the second side of the second deformable membrane, and the at least one transmission member is used to drive the linear movement of the connecting interface through the deformation of the at least one second deformable membrane under the linear drive of the driving interface, thereby driving the linear movement of the slider.

16. The surgical robot system according to claim 15, characterized in that: The at least one connection adapter further comprises a sterile protective membrane, which is sealedly connected to the circumference of the adapter base plate and extends outwardly along the circumference to cover the robotic arm.

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