Surgical instrument transmission structure and surgical system

Abstract

This patent relates to a surgical instrument transmission structure and a surgical system. The surgical instrument transmission structure includes: an instrument rod, which is used to install the end tool of the surgical instrument; a first transmission rod, the angle between the first transmission rod and the instrument rod is greater than 0 degrees and less than 180 degrees; a first connector, connecting the instrument rod and the first transmission rod; the first transmission rod can be driven to rotate with its own axis as the rotation axis, and through the first connector, drive the instrument rod to rotate with its own axis as the rotation axis. The first transmission rod and the instrument rod of this patent are set at an angle, so that the position of the instrument rod is outside the field of view shielding range of the instrument box or the driving component, which is convenient for intuitive observation of the state of the surgical area.

Description

Technical Field

[0001] This patent relates to the field of medical equipment technology, and in particular to a surgical instrument transmission structure and a surgical system. Background Art

[0002] With the development and progress of science and technology, the concept of "minimally invasive" has penetrated into various fields of surgery. In addition to laparoscopy and thoracoscopy, there are other methods, such as microsurgery, which is widely used in hand surgery. The development of minimally invasive surgery represents a significant revolution in contemporary medicine. Through continuous research and development, it will provide safer, more accurate and efficient treatment options for patients around the world.

[0003] With the development of science and technology, robotic medical assistance technology has provided greater convenience for surgical operations. Robotic assistance technology can facilitate doctors' operations. Minimally invasive surgical robots have greatly increased the flexibility of surgical operations, allowing doctors to perform more delicate operations. Minimally invasive surgical robots are generally composed of a doctor's console and a surgical arm system, in which the surgical arm system is generally composed of multiple holding arms and a mirror holding arm. The holding arm is used to clamp surgical instruments and complete corresponding actions according to the doctor's instructions. The holding arm is equipped with an instrument drive box.

[0004] However, there are still some problems with surgical robots in the prior art. For example, the instrument box of the surgical robot may block the field of view of the surgical area, making it inconvenient to observe the surgical area or obtain image information of the surgical area. Summary of the invention

[0005] In order to solve or at least partially solve the above technical problems, this patent provides a surgical instrument transmission structure and a surgical system.

[0006] A first aspect of the present invention discloses a surgical instrument transmission structure, comprising:

[0007] Instrument rod, used to mount the end tool of the surgical instrument;

[0008] A first transmission rod, wherein the angle formed by the first transmission rod and the instrument rod is greater than 0 degrees and less than 180 degrees;

[0009] A first connector, connecting the instrument rod and the first transmission rod;

[0010] The first transmission rod can be driven to rotate with its own axis as the rotation axis, and through the first connector, drive the instrument rod to rotate with its own axis as the rotation axis.

[0011] Optionally, in the surgical instrument transmission structure as described above, the first connector includes:

[0012] Connection section, including:

[0013] The first segment is connected to the first transmission rod.

[0014] The second segment is connected to the instrument rod;

[0015] The limiting tube comprises a first straight tube portion, a curved tube portion and a second straight tube portion which are arranged in sequence; the first transmission rod is connected to the first straight tube portion, the instrument rod is connected to the second straight tube portion, and the first section and the second section are at least partially located in the curved tube portion;

[0016] When the first segment rotates following the first transmission rod, it is guided and constrained by the curved tube portion, so that the second segment drives the instrument rod to rotate.

[0017] Optionally, in the above-mentioned surgical instrument transmission structure, two opposite first hinge parts are provided on the first segment;

[0018] The second segment is provided with two opposite second hinged parts;

[0019] The connecting section also includes: a connecting piece, which has four connecting parts evenly distributed along the circumferential direction, and the four connecting parts are respectively hinged to each of the first hinged part and the second hinged part.

[0020] Optionally, in the surgical instrument transmission structure as described above, a through hole is provided on the connecting member, and the through hole is used for allowing a driving wire of the end tool to pass through.

[0021] Optionally, in the surgical instrument transmission structure as described above, the first segment and the second segment both have a flexible cylindrical structure consisting of a multi-layer corrugated side wall.

[0022] Optionally, the surgical instrument transmission structure as described above further includes:

[0023] A first sleeve is disposed in the first straight tube portion and sleeved on the first transmission rod and / or the first segment;

[0024] The first sleeve is configured to be fixedly provided in the axial direction of the first straight tube portion and to be rotatable in the circumferential direction of the first straight tube portion.

[0025] Optionally, in the surgical instrument transmission structure as described above, the first sleeve is sleeved on the first segment;

[0026] The portion of the first segment extending out of the first sleeve is key-connected to the first transmission rod;

[0027] The transmission structure also includes: a first limiter, connected to the first segment, for limiting the proximal position of the spring tube wrapped on the driving wire of the end tool;

[0028] The second limiting member is connected to the distal end of the instrument rod and is used to limit the distal position of the spring tube wrapped on the driving wire of the terminal tool.

[0029] Optionally, the surgical instrument transmission structure as described above further includes:

[0030] A second sleeve is disposed in the second straight tube portion and sleeved on the instrument rod and / or the second segment;

[0031] The second sleeve is configured to be fixedly arranged in the axial direction of the second straight tube portion and to be freely rotatable in the circumferential direction of the second straight tube portion;

[0032] The second sleeve includes:

[0033] A sleeve portion and an end cover portion connected to the sleeve portion, the end cover portion being connected to an end surface of the second straight pipe portion, and the sleeve portion extending into the second straight pipe portion;

[0034] The sleeve portion is connected to the instrument rod and / or the second segment by threads;

[0035] The first segment is integrally formed on the first transmission rod, and the second segment is integrally formed on the instrument rod.

[0036] Optionally, in the surgical instrument transmission structure as described above, the angle formed by the first transmission rod and the instrument rod is greater than 0 degrees and less than 45 degrees.

[0037] Optionally, the surgical instrument transmission structure as described above further includes:

[0038] A base, wherein an inclined platform is arranged on the base, and an inclination angle of the inclined platform and an angle formed by the first transmission rod and the instrument rod are complementary to each other;

[0039] Limit block, installed on the inclined platform;

[0040] The bearing is sleeved on the first transmission rod, and the bearing is clamped between the limit block and the tilting platform.

[0041] Optionally, the surgical instrument transmission structure as described above further includes:

[0042] A drive shaft is vertically disposed on the base and located beside the inclined platform;

[0043] The driving cable is wound around the driving shaft and the first transmission rod, so that the first transmission rod is driven to rotate by the rotation of the driving shaft.

[0044] Optionally, the surgical instrument transmission structure as described above further includes:

[0045] A second transmission rod, wherein an angle between the second transmission rod and the first transmission rod is greater than 0 degrees and less than 180 degrees;

[0046] A second connector, connecting the second transmission rod and the first transmission rod;

[0047] The second transmission rod can be driven to rotate with its own axis as the rotation axis, and drive the first transmission rod to rotate with its own axis as the rotation axis through the second connector.

[0048] A second aspect of the present invention discloses a surgical system, comprising:

[0049] The surgical instrument transmission structure described in the first aspect above, wherein the surgical instrument transmission structure is provided with an end tool of the surgical instrument;

[0050] The image acquisition device is directed toward the direction of the instrument rod and is used to acquire the surgical field of view.

[0051] Compared with the prior art, this patent has the following technical effects:

[0052] The first transmission rod of this patent can be tilted to the bottom plane of the driving component or the instrument box when the length is limited. Under this premise, the instrument rod forms a certain angle with the first transmission rod and is connected and transmitted through the first transmission device, so that the instrument rod can be outside the field of view shielding range of the driving component or the instrument box at a top-down angle, which is beneficial for the image acquisition device to obtain a clear image above the surgical area, and also beneficial for the surgical operator to directly observe the surgical area with the naked eye, which is beneficial to improve surgical efficiency and reduce surgical risks. In the curved pipe portion of the limit tube of this patent, the first segment and the second segment are connected by a connector to achieve a rigid connection. The first segment can drive the second segment to rotate synchronously through the connector. Compared with a flexible connection, it can achieve precise start and stop control of the rotational movement of the end tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the implementation of this patent, the following is a brief introduction to the relevant drawings. It can be understood that the drawings described below are only used to illustrate some implementations of this patent, and ordinary technicians in this field can also obtain many other technical features and connection relationships not mentioned in this article based on these drawings.

[0054] Figure 1 It is a three-dimensional schematic diagram of a surgical instrument transmission structure according to an embodiment of the present patent;

[0055] Figure 2 It is a partial cross-sectional schematic diagram of a part of a surgical instrument transmission structure in an embodiment of the present patent;

[0056] Figure 3 It is a cross-sectional schematic diagram of another part of a surgical instrument transmission structure according to an embodiment of the present patent;

[0057] Figure 4 It is a partial cross-sectional schematic diagram of a first connector of a surgical instrument transmission structure according to an embodiment of the present patent;

[0058] Figure 5 It is a schematic diagram of a transmission structure of a surgical instrument with a flexible cylindrical structure according to an embodiment of the present patent;

[0059] Figure 6 It is a partial exploded schematic diagram of a surgical instrument transmission structure according to an embodiment of the present patent;

[0060] Figure 7 It is a three-dimensional schematic diagram of a base of a surgical instrument transmission structure in an embodiment of the present patent;

[0061] Figure 8 It is another three-dimensional schematic diagram of a base of a surgical instrument transmission structure according to an embodiment of the present patent;

[0062] Fig. 9 It is a three-dimensional schematic diagram of another surgical instrument transmission structure of an embodiment of this patent.

[0063] Description of reference numerals:

[0064] A. Transmission structure of surgical instruments;

[0065] 1. Equipment rod;

[0066] 2. The first transmission rod;

[0067] 3. A first connector;

[0068] 31. connection joint; 311. first segment; 3111. first hinged portion; 312. second segment; 3121. second hinged portion; 313. connection member; 3131. connection portion; 314. through hole;

[0069] 32, limit tube; 321, first straight tube portion; 322, curved tube portion; 323, second straight tube portion;

[0070] 4. The first sleeve;

[0071] 5. second sleeve; 51. sleeve portion; 52. end cover portion;

[0072] 6. The first limiter;

[0073] 7. The second limiter;

[0074] 8. Base; 81. Inclined platform;

[0075] 9. Limit block;

[0076] 100. Bearings;

[0077] 110. Drive shaft;

[0078] 120, drive cable;

[0079] 130, second transmission rod;

[0080] 140. A second connector;

[0081] 150. Flexible cylindrical structure. DETAILED DESCRIPTION

[0082] The following will be combined with the drawings in the embodiments of this patent to clearly and completely describe the scheme in the embodiments of this patent. Obviously, the described embodiments are only part of the embodiments in this patent, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0083] Implementation Method 1

[0084] The inventors have found that in the robotic arms of today's surgical robot systems, the instrument rod is usually vertically arranged below the drive component or instrument box. However, the drive component or instrument box itself has a certain volume. During the operation, the drive component or instrument box above may affect the image acquisition device's field of view when acquiring images from above the surgical area, or block the operator's line of sight, which is not conducive to improving the efficiency of the operation. In order to solve the above problems, the first embodiment of this patent discloses a surgical instrument transmission structure A, specifically, see Figure 1 As shown, the surgical instrument transmission structure A includes:

[0085] An instrument rod 1, used for mounting the end tool of the surgical instrument;

[0086] A first transmission rod 2, wherein the angle between the first transmission rod 2 and the instrument rod 1 is greater than 0 degrees and less than 180 degrees;

[0087] A first connector 3, connecting the instrument rod 1 and the first transmission rod 2;

[0088] The first transmission rod 2 can be driven to rotate with its own axis as the rotation axis, and through the first connector 3, drive the instrument rod 1 to rotate with its own axis as the rotation axis.

[0089] After being driven, the first transmission rod 2 of the surgical instrument transmission structure A starts to rotate around its own rotation axis, and transmits its own rotational motion to the instrument rod 1 through the first connector 3. The instrument rod 1 rotates synchronously around its own axis to drive the surgical instrument to rotate.

[0090] In this embodiment, the angle between the first transmission rod 2 and the instrument rod 1 is greater than 0 degrees and less than 180 degrees, so that the end of the instrument rod 1 can be located outside the projection of the instrument box or the driving component in the vertical direction, that is, the end of the instrument rod 1 and the surgical area where the end of the instrument rod 1 is located can be adjusted to be outside the visual shielding area of ​​the instrument box or the transmission component. This setting reduces the shielding of the surgical area by the instrument box and the driving component, making the visual field of the surgical area wider, facilitating the observation of the surgical area or obtaining image information, and facilitating the image acquisition device to obtain a clear picture of the surgical area from above the surgical area, which is conducive to improving surgical efficiency, shortening surgical time, and increasing surgical safety.

[0091] Compared with the prior art, the surgical instrument transmission structure A provided above has the following technical effects:

[0092] The instrument rod 1 and the first transmission rod 2 are connected by the first connector 3, so that the first transmission rod 2 can transmit its own rotational motion to the instrument rod 1 through the first connector 3, and the instrument rod 1 rotates synchronously around its own axis, thereby driving the surgical instrument to rotate for surgical operations; and the angle between the first transmission rod 2 and the instrument rod 1 is limited to a range greater than 0 degrees and less than 180 degrees, so that the end of the instrument rod 1 and the surgical area where the end of the instrument rod 1 is located can be located outside the line of sight shielding area of ​​the instrument box or the transmission component, reducing the obstruction of the surgical area by the instrument box and the driving component, making the field of view of the surgical area wider, facilitating the observation of the surgical area or obtaining image information, facilitating the image acquisition device to obtain a clear picture of the surgical area from above the surgical area, and facilitating improving surgical efficiency, shortening surgical time, and increasing surgical safety.

[0093] It is worth mentioning that, depending on the different rotating mechanisms provided in the first connector 3, the angle formed by the first transmission rod 2 and the instrument rod 1 can range from 0 to 180 degrees. For example, when the rotating mechanism provided in the first connector 3 is only one universal joint, the instrument rod 1 can rotate relative to the first transmission rod 2 in a range of 0 to 45 degrees. When the rotating mechanism provided in the first connector 3 is two universal joints, the instrument rod 1 can rotate relative to the first transmission rod 2 in a range of 0 to 90 degrees. Similarly, when the rotating mechanism provided in the first connector 3 is multiple universal joints, the instrument rod 1 can rotate relative to the first transmission rod 2 in a range of 0 to 180 degrees. The provision of multiple rotating mechanisms can expand the range of positions that the surgical instruments at the end of the instrument rod 1 can reach.

[0094] In addition, it should be noted that the connection between the first transmission rod 2 and the first connector 3 and the connection between the first connector 3 and the instrument rod 1 can be in various forms according to different design and installation conditions. For example:

[0095] In some embodiments, the connection between the instrument rod 1 and the first transmission rod 2 and the first connector 3 can be connected by a connection structure. In other words, corresponding holes and connectors 313 for connection are provided at the connection, and the matching of the instrument rod 1, the first transmission rod 2 and the first connector 3 is achieved by inserting the connector 313 into the holes and restricting the axial rotation between the instrument rod 1 and the first transmission rod 2. The connection method by the connection structure provided as above is simple in structure and has the advantage of convenient disassembly and assembly. The staff can easily remove the connection between the instrument rod 1 and the first transmission rod 2 and perform maintenance.

[0096] In some other embodiments, the connection between the instrument rod 1 and the first transmission rod 2 and the first connector 3 may also be a key connection, so that the first transmission rod 2 can drive the first connector 3 and the instrument rod 1 connected to the first connector 3 to rotate by its own rotation, and transmit the rotational force at the same time. The key connection structure is simple, and only needs to set a key and a connection groove at the connection between the first connector 3 or the instrument rod 1 corresponding to the first connector 3, which is convenient for disassembly and assembly, replacement and maintenance.

[0097] In some embodiments, the angle between the instrument rod 1 and the first transmission rod 2 is further limited to better adapt to the structural characteristics of the connector 313 in the adopted connection method. Specifically, the angle between the first transmission rod 2 and the instrument rod 1 of the surgical instrument transmission structure A is greater than 0 degrees and less than 45 degrees. In order to adapt to the structural characteristics of the connector 313 and the first hinge 3111 and the second hinge 3121, and to consider the visual field shielding of the surgical area by the instrument box or the driving component, the angle between the first transmission rod 2 and the instrument rod 1 can be set to 0 to 45 degrees according to the specific situation. When the angle between the instrument rod 1 and the first transmission rod 2 is greater than 45 degrees, it is possible that the first hinge 3111 and the second hinge 3121 interfere with each other during the rotation process, resulting in inability to rotate. If it is still necessary to rotate at an angle above 45 degrees, the size of the first hinge 3111 and the second hinge 3121 needs to be reduced, but this will cause the structural strength of the first hinge 3111 and the second hinge 3121 to be lowered, which will reduce the reliability of the structure. Therefore, setting the angle between the first transmission rod 2 and the instrument rod 1 between 0 degrees and 45 degrees can more reasonably adapt to the structural characteristics of the various components.

[0098] The first embodiment of the present patent also discloses a surgical system, comprising:

[0099] As described above, the surgical instrument transmission structure A is provided with a surgical instrument end tool;

[0100] The image acquisition device (not shown) is directed toward the direction of the instrument rod 1 and is used to acquire the surgical field of view.

[0101] The surgical system includes a surgical instrument transmission structure A and an image acquisition device. The surgical instrument transmission structure A is provided with an end tool for installing the surgical instrument, namely the aforementioned instrument rod 1. The instrument rod 1 is equipped with the surgical instrument and delivers the surgical instrument to the surgical area. The image acquisition device can be arranged outside the surgical instrument transmission structure A and points in the direction indicated by the instrument rod 1 to acquire the surgical field of view of the surgical area. Compared with the transmission structure in the prior art, the instrument rod 1 of the surgical instrument transmission structure A of this embodiment is outside the field of view shielding area of ​​the transmission component or the instrument box, which reduces the field of view blind area around the surgical area, and the image acquisition device can acquire the image of the surgical area more conveniently and comprehensively.

[0102] Implementation Method 2

[0103] During surgery, in order to improve the safety of the surgery, high requirements are placed on the stability and accuracy of the moving parts of the surgical instrument. The second embodiment discloses a surgical instrument transmission structure A and a surgical system. This embodiment is a further improvement based on the first embodiment, and the improvement lies in that the structure of the first connector 3 is further limited so that the rotational movement of the first transmission rod 2 can be effectively and stably transmitted to the instrument rod 1, and the stability and accuracy of the movement of the instrument rod 1 are ensured. Figure 2 As shown, the first connector 3 of the surgical instrument transmission structure A includes:

[0104] The connection section 31 comprises:

[0105] The first segment 311 is connected to the first transmission rod 2.

[0106] The second segment 312 is connected to the instrument rod 1;

[0107] The limiting tube 32 includes a first straight tube portion 321, a curved tube portion 322, and a second straight tube portion 323 which are arranged in sequence; the first transmission rod 2 is connected to the first straight tube portion 321, the instrument rod 1 is connected to the second straight tube portion 323, and the first segment 311 and the second segment 312 are at least partially located in the curved tube portion 322;

[0108] When the first segment 311 rotates following the first transmission rod 2 , it is guided and constrained by the curved tube portion 322 , so that the second segment 312 drives the instrument rod 1 to rotate.

[0109] It should be noted that the first segment 311 is used to connect with the first transmission rod 2, that is, the first connector 3 is connected to the first transmission rod 2 through the first segment 311, and the connection relationship between the first connector 3 and the first transmission rod 2 has been mentioned in the above embodiment and will not be described in detail here. Similarly, the second segment 312 is used to connect with the instrument rod 1, that is, the first connector 3 is connected to the instrument rod 1 through the second segment 312, and the connection relationship between the first connector 3 and the instrument rod 1 has been mentioned in the above embodiment and will not be described in detail here.

[0110] In some embodiments, Figure 2 As shown, the first segment 311 is located in the first straight tube portion 321, and at least partially extends from the first straight tube portion 321 into the curved tube portion 322; the second segment 312 is located in the second straight tube portion 323, and at least partially extends from the second straight tube portion 323 into the curved tube portion 322; the first segment 311 and the second segment 312 located in the curved tube portion 322 are connected to each other. Therefore, in this embodiment, the first straight tube portion 321 corresponding to the first segment 311 is used to radially limit the first segment 311 and thereby determine the rotation axis of the first segment 311; the second straight tube portion 323 is the same. The curved tube portion 322 is used to connect the first straight tube portion 321 and the second straight tube portion 323, and thereby limit the positions of the two so that a certain angle is formed between the rotation axes of the first segment 311 and the second segment 312. Since the first segment 311 is used to connect with the first transmission rod 2, and the second segment 312 is used to connect with the instrument rod 1, the curved tube portion 322 not only defines the positions of the first straight tube portion 321 and the second straight tube portion 323, but also indirectly defines the angle between the first transmission rod 2 and the instrument rod 1. In other words, the angle between the first transmission rod 2 and the instrument rod 1 is determined by the curved tube portion 322. Therefore, when the first segment 311 rotates, the curved tube portion 322 can guide the first segment 311 to transfer the rotational motion to the second segment 312 in another axial direction, so that the first segment 311 can rotate around a fixed rotation axis within the tube wall of the curved tube portion 322, and at the same time, the first segment 311 can drive the second segment 312 to rotate around a fixed rotation axis, and the instrument rod 1 can rotate synchronously driven by the second segment 312.

[0111] In addition, it is worth mentioning that the first transmission rod 2 is connected to the first straight tube portion 321, and the instrument rod 1 is connected to the second straight tube portion 323. Specifically, in some embodiments, Figure 4As shown, the first transmission rod 2 at least partially extends into the first straight tube portion 321 and is connected to the first segment 311 in the first straight tube portion 321, so that the first straight tube portion 321 can radially limit the first transmission rod 2, thereby enabling the first transmission rod 2 to rotate with its fixed rotation axis, thereby improving the stability and accuracy of the rotation of the first transmission rod 2. Similarly, the instrument rod 1 at least partially extends into the second straight tube portion 323 and is connected to the second segment 312 in the second straight tube portion 323, so that the second straight tube portion 323 can radially limit the instrument rod 1, thereby enabling the first transmission rod 2 to rotate with its fixed rotation axis, thereby improving the stability and accuracy of the rotation of the instrument rod 1. It should be noted that the first transmission rod 2 is connected to the first straight tube portion 321, and its purpose is to limit the rotation of the first transmission rod 2 through the connection between the first transmission rod 2 and the first straight tube portion 321, so as to ensure the rotation stability of the first transmission rod 2; the same applies to the instrument rod 1.

[0112] By means of the first connector 3 and the limiting tube 32 arranged as above, the first transmission rod 2 can transmit its own rotational movement to the instrument rod 1 through the first segment 311 and the second segment 312, and the rotation axis of the first transmission rod 2, the first segment 311, the second segment 312 and the instrument rod 1 is limited by the limiting tube 32, so that the driving force from the driving structure can be transmitted from the first transmission rod 2 to the instrument rod 1 at a changed angle to drive the surgical instrument to perform surgical operations.

[0113] In some embodiments, the connection between the first segment 311 and the second segment 312 may be a rigid connection, so that the rotational motion of the first segment 311 can be synchronously transmitted to the second segment 312. For example, see Figures 2 to 4 As shown, two opposite first hinge parts 3111 are provided on the first segment 311 of the surgical instrument transmission structure A;

[0114] The second segment 312 is provided with two opposite second hinge parts 3121;

[0115] The connecting section 31 further includes: a connecting member 313 , wherein the connecting member 313 has four connecting portions 3131 evenly distributed along the circumferential direction, and the four connecting portions 3131 are respectively hinged to each of the first hinged portions 3111 and the second hinged portions 3121 .

[0116] The two first hinged parts 3111 are relatively arranged on the first segment 311, and the two second hinged parts 3121 are relatively arranged on the second segment 312. At the same time, the two first hinged parts 3111 are connected to two relatively connecting parts 3131 on the connecting member 313, and the two second hinged parts 3121 are connected to the other two relatively connecting parts 3131 on the connecting member 313. The four connecting parts 3131 are evenly distributed along the circumference of the connecting member 313, that is, the four connecting parts 3131 can be distributed in a cross shape. When the first segment 311 is driven to rotate by the first transmission rod 2, the first segment 311 drives the connecting member 313 to rotate through the two first hinged parts 3111, and the connecting member 313 continues to drive the two second hinged parts 3121 to rotate, so that the second segment 312 rotates, and drives the instrument rod 1 to rotate, so as to realize the transmission of the rotational driving force.

[0117] In some embodiments, see Figure 4 As shown, a through hole 314 is provided on the connecting piece 313 of the surgical instrument transmission structure A, and the through hole 314 is used for the driving wire of the end tool to pass through.

[0118] The through hole 314 on the connecting member 313 can be used for a driving wire to pass through, and the driving wire can drive the end tool to move. The size of the through hole 314 is suitable for the driving wire.

[0119] It should be noted that the drive wire is also called a rope or tendon, which is used in a wire drive mechanism. The wire drive mechanism has flexible arrangement and occupies a small space. It is suitable for transmission occasions with narrow space and requiring multiple drive degrees of freedom. The drive wire can flexibly control the end tool for precise surgical operations.

[0120] In some other embodiments, the first segment 311 and the second segment 312 may also be connected in a flexible manner, and the flexible connection can protect the internal structure and improve the structural reliability and stability. Figure 4 and 5 As shown, the first segment 311 and the second segment 312 of the surgical instrument transmission structure A both have a flexible cylindrical structure 150 formed by a multi-layer corrugated side wall.

[0121] The first segment 311 and the second segment 312 both have a flexible cylindrical structure 150 formed by a multi-layer corrugated side wall. The flexible structure is used to protect the first hinge 3111 and the second hinge 3121, as well as the driving wire passing through the first hinge 3111, the second hinge 3121 and the connecting member 313.

[0122] Implementation Method 3

[0123] This embodiment is a further improvement based on the second embodiment. This embodiment also proposes a surgical instrument transmission structure A and a surgical system, and proposes a first sleeve 4 for limiting the first transmission rod 2 and / or the first segment 311 inside the pipeline, and a first limiter 6 and a second limiter 7 for limiting the sleeve sleeved on the drive wire. The arrangement of these limiter structures is conducive to the stable transmission of driving force inside the pipeline. Specifically,

[0124] See also Figure 6 As shown, the surgical instrument transmission structure A also includes:

[0125] The first sleeve 4 is disposed in the first straight tube portion 321 and sleeved on the first transmission rod 2 and / or the first segment 311;

[0126] The first sleeve 4 is arranged to be fixed in the axial direction of the first straight tube portion 321 and to be rotatable in the circumferential direction of the first straight tube portion 321 .

[0127] The first sleeve 4 is disposed in the first straight tube portion 321 and is fixed relative to the axial direction of the first pipe. The first sleeve 4 can rotate freely in the circumferential direction, that is, it can rotate around its own axis. Depending on the specific situation, the first sleeve 4 can be configured on the first transmission rod 2, or on the first segment 311. When the first sleeve 4 is long enough, it can be configured on both the first transmission rod 2 and the first segment 311. The first sleeve 4 can prevent the components sleeved therein from radially offsetting.

[0128] The first sleeve 4 has the following technical effects:

[0129] When the first transmission rod 2 and the first segment 311 move, the first sleeve 4 can assist in fixing the position to prevent the direction from being deviated due to vibration; Reduce friction and wear: When the first straight tube and the first segment 311 and / or the first transmission rod 2 move relative to each other, the first sleeve 4 can reduce direct friction and wear, protect the first segment 311 and / or the first transmission rod 2, and help extend the service life of the surgical instrument transmission structure A. Save energy: By reducing friction, the first sleeve 4 can also reduce energy loss. Reduce noise: Setting the first sleeve 4 can reduce the noise generated when the first transmission rod 2 or the first segment 311 rotates.

[0130] For example, see Figure 4 and Figure 6 As shown, the first sleeve 4 of the surgical instrument transmission structure A is sleeved on the first segment 311;

[0131] The portion of the first segment 311 extending out of the first sleeve 4 is key-connected to the first transmission rod 2;

[0132] The surgical instrument transmission structure A also includes: a first limiter 6 connected to the first segment 311, used to limit the proximal position of the spring tube wrapped on the driving wire of the end tool;

[0133] The second limiting member 7 is connected to the distal end of the instrument rod 1 and is used to limit the distal position of the spring tube wrapped on the driving wire of the end tool.

[0134] The first sleeve 4 is sleeved on the first segment 311, and the portion of the first segment 311 extending out of the first sleeve 4 is key-connected with the first transmission rod 2. Specifically, a protruding structure can be provided at the portion of the first segment 311 extending out of the first sleeve 4, and a groove can be provided at the corresponding portion where the first transmission member is connected to the first segment 311, and the groove cooperates with the protruding structure to limit the relative rotation between the first segment 311 and the first transmission rod 2, so that the first segment 311 can be driven by the first transmission rod 2 to rotate synchronously.

[0135] The first limiter 6 is arranged at one end of the first segment 311 axially away from the first hinged portion 3111. A limiting hole is provided on the first limiter 6, which can limit the proximal position of the spring tube wrapped on the end tool drive wire, that is, the spring tube wrapped around the drive wire is arranged from the limiting hole, so that the spring tube will not escape from the limiting hole; in addition, it is necessary to set a second limiter 7 at the distal end of the instrument rod 1 to correspond to the first limiter 6, and limit the spring tube to a position between the first limiter 6 and the second limiter 7, and the distal position is close to the end tool installation position of the instrument rod 1. The spring tube is arranged between the first limiter 6 and the second limiter 7 to prevent the drive wire from being excessively twisted. In addition, it can also prevent the drive wire from moving excessively, causing the moving parts of the end tool to move beyond the range.

[0136] In some preferred embodiments, see Figure 4 and Figure 6 As shown, the surgical instrument transmission structure A also includes:

[0137] The second sleeve 5 is disposed in the second straight tube portion 323 and sleeved on the instrument rod 1 and / or the second segment 312;

[0138] The second sleeve 5 is configured to be fixedly disposed in the axial direction of the second straight tube portion 323 and freely rotatable in the circumferential direction of the second straight tube portion 323;

[0139] The surgical instrument transmission structure A may also be provided with a second sleeve 5, which is provided in the second straight tube portion 323. Depending on the specific situation, the second sleeve 5 may be arranged on the instrument rod 1, or on the second segment 312, so that the rotation axis of the instrument rod 1 or the second segment 312 is limited within the second sleeve 5. The second sleeve 5 may also be provided at the connection between the first transmission rod 2 and the first segment 311 to prevent the instrument rod 1 and the second segment 312 from radially offsetting at the same time.

[0140] Similar to the first sleeve 4, the second sleeve 5 has the following technical effects:

[0141] When the instrument rod 1 and the second segment 312 move, the second sleeve 5 can assist in fixing the position to prevent directional deviation due to vibration; reduce friction and wear: when there is relative movement between the second straight tube and the second segment 312 and / or the instrument rod 1, the second sleeve 5 reduces direct friction and wear, protects the second segment 312 and / or the instrument rod 1, and helps to extend the service life of the surgical instrument transmission structure A. Save energy: By reducing friction, the second sleeve 5 can also reduce energy loss. Reduce noise: Setting the second sleeve 5 can reduce the noise generated when the instrument rod 1 or the second segment 312 rotates.

[0142] In addition, the second sleeve 5 comprises:

[0143] The sleeve portion 51 and the end cover portion 52 connected to the sleeve portion 51, the end cover portion 52 is connected to the end surface of the second straight tube portion 323, and the sleeve portion 51 extends into the second straight tube portion 323;

[0144] The sleeve portion 51 is connected to the instrument rod 1 and / or the second segment 312 by threads;

[0145] The first segment 311 is integrally formed on the first transmission rod 2 , and the second segment 312 is integrally formed on the instrument rod 1 .

[0146] The sleeve portion 51 of the second sleeve 5 can extend into the second straight tube portion 323, and the circumferential surface of the sleeve portion 51 cooperates with the inner wall of the second straight tube portion 323, so that the second straight tube portion 323 can define the rotation axis of the second sleeve 5. The end cover portion 52 is connected to the end surface of the second straight tube portion 323 to limit the axial movement of the second sleeve 5.

[0147] In some embodiments, the first segment 311 may also be integrally formed on the first transmission rod 2, and the second segment 312 may also be integrally formed on the instrument rod 1. The integrally formed structure is relatively stable and reliable, and helps to stably transmit the driving force.

[0148] Implementation Method 4

[0149] This embodiment is a further improvement based on the first, second or third embodiment. This embodiment provides structures such as a base 8 and an inclined platform 81, which provide a structural basis for the inclined setting of the first transmission rod 2. The drive shaft 110 and the drive cable 120 provide a flexible driving force for the rotation of the first transmission rod 2. Specifically,

[0150] See also Figure 7 and Figure 8 As shown, the transmission structure of the surgical instrument transmission structure A also includes:

[0151] A base 8, on which an inclined platform 81 is disposed, wherein an inclination angle of the inclined platform 81 and an angle formed by the first transmission rod 2 and the instrument rod 1 are complementary to each other;

[0152] The limit block 9 is installed on the inclined platform 81;

[0153] The bearing 100 is sleeved on the first transmission rod 2 , and the bearing 100 is clamped between the limit block 9 and the tilting platform 81 .

[0154] The tilting platform 81 is arranged on the base 8, and the first transmission rod 2 can be arranged through the tilting platform 81 and has the same tilting direction as the tilting platform 81. The tilting angle of the tilting platform 81 relative to the base 8 and the angle formed by the first transmission rod 2 and the instrument rod 1 are complementary to each other, so that the direction of the instrument rod 1 can be perpendicular to the base 8, so that the instrument rod 1 can vertically reach the skin of the surgical area for surgery.

[0155] The bearing 100 is sleeved on the first transmission rod 2 and is clamped between the limit block 9 and the tilting platform 81. On the one hand, the rotation axis of the first transmission rod 2 can be limited within the tilting platform 81 and in the same direction as the tilting platform 81; on the other hand, the bearing 100 can reduce the friction of the first transmission rod 2 rotating in the tilting platform 81, reduce friction loss, and extend the service life of components.

[0156] See also Figure 8 As shown, the surgical instrument transmission structure A also includes:

[0157] The driving shaft 110 is vertically arranged on the base 8 and is located beside the inclined platform 81;

[0158] The driving cable 120 is wound around the driving shaft 110 and the first transmission rod 2 , so that the first transmission rod 2 is driven to rotate by the rotation of the driving shaft 110 .

[0159] The drive shaft 110 is vertically arranged on the base 8, the tilting platform 81 and the first transmission rod 2 in the tilting platform 81 are tilted relative to the base 8 at a certain angle, and the drive shaft 110 and the first transmission rod 2 are transmitted through the drive cable 120, and the drive cable 120 can convert the rotational driving force of the drive shaft 110 in the vertical direction into the rotational driving force of the first transmission rod 2 in the tilting direction. The wire drive mechanism structure can keep the driver with a larger mass away from the end actuator, and the reasonable arrangement of the rope can reduce the inertia of the end actuator. In addition, the geometric space occupied by the wire drive is small, which can reduce the space occupied by the wire drive structure.

[0160] Implementation Method 5

[0161] This embodiment provides a surgical instrument transmission structure and a surgical system using the transmission structure. This embodiment is an improvement made based on the first, second and third embodiments, and adds a second transmission rod 130 and a second connector 140 to reduce the shielding of the instrument box on the instrument rod 1. Figures 7 to 9 As shown, the surgical instrument transmission structure A also includes:

[0162] A second transmission rod 130, wherein the angle between the second transmission rod 130 and the first transmission rod 2 is greater than 0 degrees and less than 180 degrees;

[0163] A second connector 140, connecting the second transmission rod 130 and the first transmission rod 2;

[0164] The second transmission rod 130 can be driven to rotate around its own axis as the rotation axis, and drive the first transmission rod 2 to rotate around its own axis as the rotation axis through the second connector 140 .

[0165] This embodiment adds a second transmission rod 130 and a second connector 140 to the surgical instrument transmission structure A on the basis of the previous embodiment. One end of the second transmission rod 130 is connected to the driving mechanism, and the other end is connected to the first transmission rod 2 through the second connector 140. The second transmission rod 130 can be driven by the driving mechanism and drive the first transmission rod 2 to rotate around its own axis through the second connector 140, so that the first transmission rod 2 drives the instrument rod 1 to rotate through the first connector 3, so that the end instrument tool can rotate.

[0166] The provision of the second transmission rod 130 and the second connector 140 can further expand the range of movement of the instrument rod 1 in space, and can enable the instrument rod 1 to reach various positions in the surgical area in a more flexible manner.

[0167] The second transmission rod 130 and the instrument box can be arranged vertically or at an angle. When the second transmission rod 130 and the instrument box are arranged vertically, the second transmission rod 130 and the drive shaft 110 are parallel to each other.

[0168] At this time, there are two ways to drive the second transmission rod 130. One way is to use the driving cable 120 for line drive, and the driving cable 120 connects the second transmission rod 130 and the driving shaft 110, and transmits the rotational motion of the driving shaft 110 to the second transmission rod 130 to drive the second transmission rod 130 to rotate. The use of the driving cable 120 for line drive has a simple structure, stable transmission, and no vibration and impact. In essence, the driving method used in this embodiment is the same as the driving method in the fourth embodiment.

[0169] Another way is to use gear meshing for transmission. Specifically, mutually meshing gears (not shown) can be set on the second transmission rod 130 and the drive shaft 110. When the drive shaft 110 rotates, the meshing gears can drive the second transmission rod 130 to rotate around its own axis. Gear transmission has high transmission efficiency. Compared with linear transmission, gear transmission has high precision and good reliability, and can work in relatively harsh environments.

[0170] In other embodiments, the second transmission rod 130 can be set at an angle to the instrument box. In this state, the second transmission rod 130 can be driven by the drive cable 120, and the drive cable 120 can flexibly convert the rotational motion on the drive shaft 110 into the rotational motion of the second transmission rod 130 in another axial direction. The second transmission rod 130 is set at an angle to the instrument box. Under the premise that the instrument rod 1 is at the same distance from the outside of the instrument box, compared with the vertical setting, the angle between the first transmission rod 2 and the second transmission rod 130 can be larger, that is, the axis between the first transmission rod 2 and the second transmission rod 130, and the axis between the first transmission rod 2 and the instrument rod 1 can be closer to the colinear position, which can reduce the load on the first connector 3 and the second connector 140 and reduce the structural strength requirements. In addition, the second transmission rod 130 is tilted outward, which can make the second transmission rod 130, the first transmission rod 2 and the instrument rod 1 exposed to a wider position outside the shielding range of the instrument box, increase the surgical field of view, and facilitate observation of the surgical area or acquisition of surgical area image information.

[0171] Finally, it should be noted that ordinary technicians in this field can understand that in order to make readers better understand this patent, the implementation methods of this patent propose many technical details. However, even without these technical details and various changes and modifications based on the above-mentioned implementation methods, the technical solutions claimed for protection by the claims of this patent can be basically realized. Therefore, in practical applications, various changes can be made to the above-mentioned implementation methods in form and details without departing from the spirit and scope of this patent.

Claims

1. A surgical instrument transmission structure, characterized in that: include: Instrument rod, used to mount the end tool of the surgical instrument; A first transmission rod, wherein the angle formed between the first transmission rod and the instrument rod is greater than 0 degrees and less than 180 degrees; A first connector, connecting the instrument rod and the first transmission rod; The first transmission rod can be driven to rotate with its own axis as the rotation axis, and through the first connector, drive the instrument rod to rotate with its own axis as the rotation axis; The first connector comprises: Connection section, including: The first segment is connected to the first transmission rod, A second segment connected to the instrument rod; The limiting tube comprises a first straight tube portion, a curved tube portion, and a second straight tube portion which are arranged in sequence; the first transmission rod is connected to the first straight tube portion, the instrument rod is connected to the second straight tube portion, and the first segment and the second segment are at least partially located in the curved tube portion; When the first segment rotates following the first transmission rod, it is guided and constrained by the curved tube portion, so that the second segment drives the instrument rod to rotate.

2. The surgical instrument transmission structure according to claim 1, characterized in that: The first segment is provided with two opposite first hinged parts; The second segment is provided with two opposite second hinged parts; The connection section further includes: a connection member having four connection parts evenly distributed along the circumferential direction, and the four connection parts are respectively hinged to each of the first hinge part and the second hinge part.

3. The surgical instrument transmission structure according to claim 2, characterized in that: The connecting piece is provided with a through hole, and the through hole is used for the driving wire of the end tool to pass through.

4. The surgical instrument transmission structure according to claim 2, characterized in that: The first segment and the second segment each have a flexible cylindrical structure consisting of a multi-layer corrugated side wall.

5. The surgical instrument transmission structure according to claim 1, characterized in that: Also includes: A first sleeve, disposed in the first straight tube portion and sleeved on the first transmission rod and / or the first segment; The first sleeve is configured to be fixedly provided in the axial direction of the first straight tube portion and to be rotatable in the circumferential direction of the first straight tube portion.

6. The surgical instrument transmission structure according to claim 5, characterized in that: The first sleeve is sleeved on the first segment; The portion of the first segment extending out of the first sleeve is key-connected to the first transmission rod; The surgical instrument transmission structure further includes: a first limiter, connected to the first segment, for limiting the proximal position of the spring tube wrapped on the driving wire of the end tool; The second limiting member is connected to the distal end of the instrument rod and is used to limit the distal position of the spring tube wrapped on the driving wire of the end tool.

7. The surgical instrument transmission structure according to claim 1, characterized in that: Also includes: A second sleeve is disposed in the second straight tube portion and sleeved on the instrument rod and / or the second segment; The second sleeve is configured to be fixedly arranged in the axial direction of the second straight tube portion and freely rotatable in the circumferential direction of the second straight tube portion; The second sleeve comprises: A sleeve portion and an end cover portion connected to the sleeve portion, wherein the end cover portion is connected to an end surface of the second straight tube portion, and the sleeve portion extends into the second straight tube portion; The sleeve portion is connected to the instrument rod and / or the second segment via threads; The first segment is integrally formed on the first transmission rod, and the second segment is integrally formed on the instrument rod.

8. The surgical instrument transmission structure according to claim 1, characterized in that: The angle formed by the first transmission rod and the instrument rod is greater than 0 degree and less than 45 degrees.

9. The surgical instrument transmission structure according to claim 1, characterized in that: The surgical instrument transmission structure also includes: A base, wherein an inclined platform is provided on the base, and an inclination angle of the inclined platform and an angle formed by the first transmission rod and the instrument rod are complementary to each other; A limit block, mounted on the inclined platform; A bearing is sleeved on the first transmission rod, and the bearing is clamped between the limit block and the tilting platform.

10. The surgical instrument transmission structure according to claim 9, characterized in that: The surgical instrument transmission structure also includes: A drive shaft is vertically disposed on the base and located beside the inclined platform; The driving cable is wound around the driving shaft and the first transmission rod, so that the first transmission rod is driven to rotate by the rotation of the driving shaft.

11. The surgical instrument transmission structure according to any one of claims 1 to 10, characterized in that: Also includes: A second transmission rod, wherein the angle between the second transmission rod and the first transmission rod is greater than 0 degrees and less than 180 degrees; a second connector, connecting the second transmission rod and the first transmission rod; The second transmission rod can be driven to rotate with its own axis as the rotation axis, and drive the first transmission rod to rotate with its own axis as the rotation axis through the second connector.

12. A surgical system, characterized in that: include: The surgical instrument transmission structure according to any one of claims 1 to 11, wherein the surgical instrument transmission structure is provided with an end tool of the surgical instrument; The image acquisition device is directed toward the direction of the instrument rod and is used to acquire the surgical field of view.

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