End effector for anastomat of endoscopic surgery robot and execution method of end effector

Abstract

The invention relates to the technical field of medical instruments, and aims to solve the technical problems that the position and the angle of a tissue layer are inconvenient to accurately find, cutting and suturing actions cannot be completed at the same time and the like. In order to solve the technical problem, the invention provides the end effector for the anastomat of the endoscopic surgery robot and the execution method of the end effector. The terminal execution assembly comprises a first execution part and a second execution part which can be opened and closed; the third power part drives the outer pipe to move along the X axis so as to achieve opening and closing of the first execution piece and the second execution piece. The fourth power part drives the inner pipe to rotate so as to realize 360-degree rotation of the tail end execution assembly around the X axis; the second power part drives the push-pull rod to move along the X-axis so as to change the included angle between the tail end execution assembly and the pipe body. The first power part drives the blade body to move along the X-axis so as to achieve the cutting action. The angle can be conveniently adjusted, and an operator can conveniently and tightly sew a tissue layer close to the cut position of the tissue layer.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an end effector of a laparoscopic surgical robot stapler and an implementation method thereof. Background Art

[0002] With the continuous development of current medical technology, minimally invasive surgical technology has made remarkable progress, and robotic technology has gradually been applied to the medical field. People use surgical robots to assist doctors in performing minimally invasive surgeries, achieving surgical treatment of various tissues and organs of patients, and making up for the deficiencies of traditional minimally invasive surgeries. As an auxiliary surgical tool for laparoscopic surgical robots, the end effector of a laparoscopic surgical robot stapler is mainly placed on the robotic arm of the bedside mechanical system. Compared with traditional tissue cutting and suturing techniques, the end effector of the stapler has high stability, reduces the hand tremors of traditional minimally invasive surgeries, effectively intervenes in the patient's body, helps doctors complete surgeries efficiently, improves surgical precision and efficiency, reduces the incidence of complications, alleviates the patient's pain, and is conducive to the rapid recovery of the patient after surgery.

[0003] Currently, there are various auxiliary surgical tools for surgical robot cutting and suturing. Although they have received certain recognition in terms of stability, safety, and feasibility, it cannot be ignored that they still have various limitations and deficiencies. Most of the end effectors of the robotic arm systems most widely used in today's medical field adopt wrist-type end-executing instruments that simulate the movements of human hands and have multiple degrees of freedom. Such wrist-type end-executing instruments can reach parts that are difficult for human hands to reach and can complete tricky and complex operations inside the human body. However, this type of end effector is not convenient for accurately finding the position and angle of tissue layers inside the human body, cannot perform cutting and suturing actions simultaneously, the patient has more bleeding, the cutting and suturing take a long time and are inefficient. Secondly, the transmission parts of the existing wrist-type end effectors mainly adopt structures such as cables, pulleys, and shafts to drive the gripper to rotate, open, and close. The stiffness of the entire device mainly comes from the tension of the cables. When the end effector is subjected to a large force, the cable tension will increase rapidly. When the force reaches a certain level, if the cable breaks, the entire device will be damaged and unable to perform medical surgical operations. Therefore, if the cable breaks during the surgery, it will not only affect the doctor's operation but also pose a danger to the patient's life. Summary of the Invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the above problems existing in the prior art.

[0005] To solve the above technical problems, the present invention provides an end effector of a laparoscopic surgical robot stapler, including: An end execution component, including a first execution member and a second execution member that can be opened and closed; The power assembly includes a first power unit, a second power unit, a third power unit, and a fourth power unit; The tube body has the X axis as its axis; the tube body includes an outer tube and an inner tube connected coaxially; both ends of the outer tube are respectively connected to the second actuator and the third power unit; the third power unit drives the outer tube to move along the X axis to realize the opening and closing of the first actuator and the second actuator; the end of the inner tube is rotatably connected to the end effector assembly, and the front end is connected to the fourth power unit; the fourth power unit drives the inner tube to rotate to realize the 360° rotation of the end effector assembly around the X axis; The intermediate connection assembly includes a push-pull rod disposed in the outer tube. The end of the push-pull rod is rotatably connected to the end effector assembly, and the front end is connected to the second power unit; the second power unit drives the push-pull rod to move along the X axis to change the angle between the end effector assembly and the tube body; The blade assembly includes a blade body slidably connected in the inner tube; both ends of the blade body are respectively connected to the end effector assembly and the first power unit; the first power unit drives the blade body to move along the X axis to realize the cutting action.

[0006] In an embodiment of the present invention, there are two push-pull rods, and the two push-pull rods are symmetrically disposed on both sides of the end effector assembly; the ends of the two push-pull rods are respectively rotatably connected to the end effector assembly; the front ends of the two push-pull rods are respectively connected to the second power unit, and the second power unit drives the two push-pull rods to move in opposite directions.

[0007] In an embodiment of the present invention, the intermediate connection assembly further includes an inner tube joint, a first connecting member, and a push-pull rod gasket; the inner tube joint is connected to the end of the inner tube; the first connecting member is rotatably connected to the end of the first actuator; the push-pull rod gasket and the inner tube joint are rotatably connected to both sides of the first connecting member through a first connecting shaft; the push-pull rod is rotatably connected between the push-pull rod gasket and the first connecting member through a second connecting shaft; the axis of the second connecting shaft is parallel to the axis of the first connecting shaft.

[0008] In an embodiment of the present invention, the present application further includes a blade track disposed on one side of the intermediate connection assembly; the end of the blade track is movably connected to the first actuator, and the front end of the blade track is connected to the inner tube; a cutting channel is provided on the blade track, and the blade body moves in the cutting channel. In some embodiments, the end of the blade track is connected to the first connecting member, and the front end of the blade track is connected to the inner tube joint.

[0009] In an embodiment of the present invention, a protrusion is formed on one side of the inner tube joint protruding outward from its side, and the push-pull rod is disposed on one side of the protrusion.

[0010] In one embodiment of the present invention, the second power unit includes a second power member, a second transmission member, and a bending rack; the output end of the second power member is connected to the input end of the second transmission member; the front end of the bending rack is connected to the output end of the second transmission member, and the second power member drives the bending rack to move along the X axis; the end of the bending rack is connected to the push rod. In some embodiments, the second transmission member includes a first spur gear coaxially connected to the second power member, and the bending rack meshes with the first spur gear.

[0011] In one embodiment of the present invention, the end of the bending rack is connected to the push rod through a bending fixture; the bending fixture includes an outer ring and an inner ring rotatably connected to the outer ring; an outer tube is slidably connected to the inner ring, and a notch is provided on the outer tube; a fourth protrusion is provided on one of the inner wall of the inner ring and the outer wall of the push rod, and a fourth groove is provided on the other; at the notch, the fourth protrusion cooperates with the fourth groove.

[0012] In one embodiment of the present invention, the third power unit includes a third power member, a third transmission member, and a closing rack; the output end of the third power member is connected to the input end of the third transmission member, the output end of the third transmission member is connected to the closing rack, and the closing rack is connected to the front end of the outer tube; the third power member drives the outer tube to move along the X axis with the closing rack.

[0013] In one embodiment of the present invention, the fourth power unit includes a fourth power member and a fourth transmission member; the output end of the fourth power member is coaxially connected to the input end of the fourth transmission member, and the output end of the fourth transmission member is coaxially connected to the front end of the inner tube.

[0014] In one embodiment of the present invention, the first power unit includes a first power member, a first transmission member, and a cutting rack; the output end of the first power member is coaxially connected to the input end of the first transmission member, the output end of the first transmission member is connected to the cutting rack, and the cutting rack is connected to the front end of the blade body; the first power member drives the blade body to move along the X axis with the cutting rack for cutting.

[0015] In one embodiment of the present invention, the present application further includes a control end electrically connected to the power assembly; the control end is used to control the operation of at least one of the first power unit, the second power unit, the third power unit, and the fourth power unit.

[0016] The present invention also provides an operating method for the end effector of a laparoscopic surgical robot stapler, including: the end effector assembly rotates around the X axis in cooperation with the change of the angle between the end effector assembly and the tube body to adjust the direction and angle of the end effector assembly to find the clamping position and angle of the tissue layer; Controlling the opening and closing of the first actuator and the second actuator to clamp the tissue layer; Controlling the cutting action of the blade body to cut the tissue layer; The end effector rotates around the X axis to cooperate with the change in the angle between the end effector and the tube body, so as to change the direction and angle of the end effector and suture the tissue layer.

[0017] The above technical solution of the present invention has the following advantages compared with the prior art: For the end effector of the laparoscopic surgical robot stapler described in the present invention, its convenient angle adjustment enables the operator to closely suture the tissue layer near the cut of the tissue layer with less bleeding, shorter time consumption and higher efficiency. It directly drives the corresponding components to move or rotate through the power component to achieve the corresponding actions. It can not only clamp, cut and suture the tissue layer at the same time, but also be reused, eliminating the potential risk of instrument paralysis caused by cable breakage; in addition, it also avoids the problem of reduced instrument stiffness caused by cable slack, which can bring a safer and less traumatic operation to the patient. Description of the Drawings

[0018] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to the specific embodiments of the present invention and in conjunction with the drawings, where: Figure 1 is a schematic structural diagram of an end effector of a laparoscopic surgical robot stapler in a preferred embodiment of the present invention; Figure 2 is Figure 1 a schematic structural diagram of the intermediate connection component in the end effector of the laparoscopic surgical robot stapler; Figure 3 is Figure 1 a connection schematic diagram of the push-pull rod, the inner tube joint and the first connecting piece in the end effector of the laparoscopic surgical robot stapler; Figure 4 is Figure 1 a connection schematic diagram of the push-pull rod and the push-pull rod gasket in the end effector of the laparoscopic surgical robot stapler; Figure 5 is Figure 1 an exploded view of the first connecting piece, the inner tube joint and the blade track in the end effector of the laparoscopic surgical robot stapler; Figure 6 is Figure 1 an exploded view of the inner tube and the inner tube joint in the end effector of the laparoscopic surgical robot stapler; Figure 7 is Figure 1 a connection schematic diagram of components such as the blade assembly, the push-pull rod, the inner tube joint, and the first connecting piece in the end effector of the laparoscopic surgical robot stapler; Figure 8 is Figure 1 a connection schematic diagram of the power component and the tube body in the end effector of the laparoscopic surgical robot staplerFigure 1 ; Figure 9 is Figure 1 Schematic diagram of the connection between the power component and the tube body in the end effector of the laparoscopic surgical robot stapler Figure 2 ; Figure 10 is Figure 1 Schematic diagram of the connection between the push-pull rod and the bending fixture in the end effector of the laparoscopic surgical robot stapler Figure 1 ; Figure 11 is Figure 1 Schematic diagram of the connection between the push-pull rod and the bending fixture in the end effector of the laparoscopic surgical robot stapler Figure 2 ; Figure 12 is Figure 1 Schematic diagram of the connection between the power component and the tube body in the end effector of the laparoscopic surgical robot stapler Figure 3 ; Figure 13 is Figure 1 Schematic diagram of the connection between the power component and the tube body in the end effector of the laparoscopic surgical robot stapler Figure 4 ; Figure 14 is Figure 1 Schematic diagram of the connection between the power component and the tube body in the end effector of the laparoscopic surgical robot stapler Figure 5 ; Figure 15 is Figure 1 Schematic diagram of the connection between the end effector component and the opening and closing structure in the end effector of the laparoscopic surgical robot stapler Figure 1 ; Figure 16 is Figure 1 Schematic diagram of the connection between the end effector component and the opening and closing structure in the end effector of the laparoscopic surgical robot stapler Figure 2 ; Figure 17 is Figure 1 Schematic diagram of the connection between the end effector component and the opening and closing structure in the end effector of the laparoscopic surgical robot stapler Figure 3 ; Figure 18 is Figure 1 The first and second actuators of the end effector of the laparoscopic surgical robot stapler are closed; Figure 19 is Figure 1 The first and second actuators of the end effector of the laparoscopic surgical robot stapler are open; Figure 20 is Figure 1 Schematic diagram of the connection between the blade component and the power component in the end effector of the laparoscopic surgical robot stapler; Figure 21 Yes Figure 1 The end - effector assembly in the end - effector of the laparoscopic surgical robot stapler rotates counterclockwise; Figure 22 Yes Figure 1 The end - effector assembly in the end - effector of the laparoscopic surgical robot stapler rotates clockwise.

[0019] Explanation of the reference numerals in the accompanying drawings of the specification: 100, end - effector assembly; 110, first actuator; 111, arc - shaped chute; 120, second actuator; 121, sliding groove; 200, power assembly; 210, first power part; 211, first power member; 212, cutting rack; 213, sixth straight gear; 214, seventh straight gear; 220, second power part; 221, second power member; 222, bending rack; 223, first straight gear; 224, second straight gear; 230, third power part; 231, third power member; 232, closing rack; 233, third straight gear; 240, fourth power part; 241, fourth power member; 242, fourth straight gear; 243, fifth straight gear; 244, first helical gear; 245, second helical gear; 300, tube body; 310, outer tube; 311, notch; 320, inner tube; 321, first groove; 322, first protrusion; 400, intermediate connection assembly; 410, push - pull rod; 410a, first push - pull rod; 410b, second push - pull rod; 420, in - tube joint; 421, protrusion; 430, first connecting member; 440, push - pull rod gasket; 450, connecting pin; 460, first connecting shaft; 470, second connecting shaft; 480, blade track; 481, cutting channel; 482, second protrusion; 483, third protrusion; 484, second groove; 485, third groove; 500, blade assembly; 510, blade body; 520, main rod; 521, fifth groove; 522, fifth protrusion; 530, cutter head; 531, slider; 600, bending fixture; 610, outer ring; 620, inner ring; 621, fourth protrusion; 622, fourth groove; 700, fixed connecting member; 710, holding end; 720, clamp connecting member; 730, linear bearing; 800, opening - closing structure; 810, hinge shaft; 820, driving block; 830, sleeve member; 831, body; 832, hole groove; 900, X - axis. Detailed implementation manners

[0020] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments cited do not limit the present invention.

[0021] "Front end" is usually used to refer to the end of the end effector away from the patient; "end" is usually used to refer to the end of the end effector close to the patient;.

[0022] Refer to Figures 1 to 22 As shown, an end effector of a laparoscopic surgical robot stapler according to an embodiment of the present invention includes: An end execution assembly 100, including an openable and closable first execution member 110 and a second execution member 120; A power assembly 200, including a first power unit 210, a second power unit 220, a third power unit 230, and a fourth power unit 240; A tube body 300, with the X axis 900 as the axis; the tube body 300 includes an outer tube 310 and an inner tube 320 connected coaxially; both ends of the outer tube 310 are respectively connected to the second execution member 120 and the third power unit 230; the third power unit 230 drives the outer tube 310 to move along the X axis to realize the opening and closing of the first execution member 110 and the second execution member 120 (hereinafter referred to as: action one); the end of the inner tube 320 is movably connected to the end execution assembly 100, and the front end is connected to the fourth power unit 240; the fourth power unit 240 drives the inner tube 320 to rotate to realize the rotation of the end execution assembly 100 around the X axis (hereinafter referred to as: action two); An intermediate connection assembly 400, including a push-pull rod 410 disposed in the outer tube 310, the end of the push-pull rod 410 is rotatably connected to the end execution assembly 100, and the front end is connected to the second power unit 220; the second power unit 220 drives the push-pull rod 410 to move along the X axis to change the angle between the end execution assembly 100 and the tube body 300 (hereinafter referred to as: action three); A blade assembly 500, including a blade body 510 slidably connected in the inner tube 320; both ends of the blade body 510 are respectively connected to the end execution assembly 100 and the first power unit 210; the first power unit 210 drives the blade body 510 to move along the X axis to realize the cutting action (hereinafter referred to as: action four).

[0023] The operating method of the end effector of the laparoscopic surgical robot stapler is as follows: The end effector assembly 100 rotates around the X axis in coordination with the change of the angle between the end effector assembly 100 and the tube body 300, so as to adjust the direction and angle of the end effector assembly 100 to find the clamping position and angle of the tissue layer; control the opening and closing of the first actuator 110 and the second actuator 120 to clamp the tissue layer; control the cutting action of the blade body 510 to cut the tissue layer; the end effector assembly 100 rotates around the X axis in coordination with the change of the angle between the end effector assembly 100 and the tube body 300 to change the direction and angle of the end effector assembly 100 and suture the tissue layer.

[0024] Specifically, in this embodiment, the power assembly 200 can respectively achieve the opening and closing of the first actuator 110 and the second actuator 120, the 360° rotation of the end effector assembly 100 around the X axis, the change of the angle between the end effector assembly 100 and the tube body 300, and the cutting action. Among them, the 360° rotation of the end effector assembly 100 around the X axis and the change of the angle between the end effector assembly 100 and the tube body 300 are convenient for adjusting the angle, position and direction of the device, so that the device can quickly, accurately and optimally align with the tissue layer in terms of angle and direction. Subsequently, adjust the opening and closing of the first actuator 110 and the second actuator 120 to clamp the tissue layer, and then perform the cutting action to cut the tissue layer. Then, perform the 360° rotation action of the end effector assembly 100 around the X axis and the action of changing the angle between the end effector assembly 100 and the tube body 300, so as to facilitate the adjustment of the angle of this application and enable the operator to closely suture the tissue layer near the cut of the tissue layer, with less bleeding, shorter time consumption and higher efficiency.

[0025] In addition, in this application, the power assembly 200 drives the outer tube 310 to move to achieve the opening and closing of the first actuator 110 and the second actuator 120; it drives the inner tube 320 to rotate through the power assembly 200 to achieve the 360° rotation of the end effector assembly 100 around the X axis; it drives the push-pull rod 410 to move to change the angle between the end effector assembly 100 and the tube body 300; it drives the blade body 510 to move to achieve the cutting action. It can be seen that this application directly drives the corresponding components to move or rotate through the power assembly 200 to achieve the corresponding actions. It can not only clamp, cut and suture the tissue layer at the same time, but also be reused, eliminating the potential risk of instrument paralysis caused by cable breakage; in addition, it also avoids the problem of reduced instrument stiffness caused by cable slack, and can bring a safer and less traumatic operation to the patient.

[0026] Further, there are two push rods 410, and the two push rods 410 (for example, the first push rod 410a and the second push rod 410b) are symmetrically arranged on both sides of the end effector assembly 100; the ends of the two push rods 410 are respectively rotatably connected to the end effector assembly 100; the front ends of the two push rods 410 are respectively connected to the second power unit 220, and the second power unit 220 drives the two push rods 410 to move in opposite directions. Specifically, the two push rods 410 synchronously pull the end effector assembly 100 from both sides of the end effector assembly 100 in opposite directions, so that the end effector assembly 100 can rotate more stably and reliably relative to the pipe body 300 to change the included angle between the end effector assembly 100 and the pipe body 300.

[0027] Further, referring to Figures 2 to 6 The intermediate connection assembly 400 further includes an in-pipe joint 420, a first connecting member 430, and a push rod gasket 440; the in-pipe joint 420 is connected to the end of the inner pipe 320; the first connecting member 430 is rotatably connected to the end of the first actuator 110. In some possible implementation manners, the first actuator 110 is connected to the first connecting member 430 through a connecting pin 450; the push rod gasket 440 and the in-pipe joint 420 are rotatably connected to both sides of the first connecting member 430 through a first connecting shaft 460; the push rod 410 is rotatably connected between the push rod gasket 440 and the first connecting member 430 through a second connecting shaft 470; the axis of the second connecting shaft 470 is parallel to the axis of the first connecting shaft 460. In some possible implementation manners, the first connecting shaft 460 is connected to the in-pipe joint 420. In some embodiments, the second connecting shaft 470 is connected to the push rod gasket 440. When there are two push rods 410, there are also two second connecting shafts 470. Each push rod 410 is hinged to the first connecting member 430 through a second connecting shaft 470. The two second connecting shafts 470 are symmetrically arranged on both sides of the first connecting shaft 460. In some possible implementation manners, one of the in-pipe joint 420 and the inner pipe 320 is provided with a first groove 321, and the other is provided with a first protrusion 322, and the first protrusion 322 cooperates with the first groove 321 to realize the connection between the in-pipe joint 420 and the inner pipe 320.

[0028] Further, referring to Figures 1 to 7This application also includes a blade track 480 provided on one side of an intermediate connection component 400 (for example, a push rod gasket 440); the end of the blade track 480 is movably connected to the first actuator 110, and the front end of the blade track 480 is connected to the inner tube 320; a cutting channel 481 is provided on the blade track 480, and the blade body 510 moves in the cutting channel 481. In some embodiments, the end of the blade track 480 is connected to the first connection member 430, and the front end of the blade track 480 is connected to the inner tube joint 420. In some possible implementation manners, second protrusions 482 and third protrusions 483 are respectively provided at both ends on one side of the blade track 480, a second groove 484 is provided on the first connection member 430, and a third groove 485 is provided on the inner tube joint 420. The second protrusions 482 and the third protrusions 483 are respectively matched with the second groove 484 and the third groove 485. Specifically, the blade track 480 in this embodiment guides the forward and backward movement of the blade body 510, can ensure the accuracy of the cutting position, and is convenient for rapid cutting.

[0029] Since the space for the push rod 410 to move back and forth in the inner tube 320 is relatively large, the push rod 410 will shake when moving back and forth, affecting the operating stability. To solve this problem, further, refer to Figures 1 to 7 , a protrusion 421 is formed on the inner tube joint 420 to protrude outward from one side thereof, and the push rod 410 is provided on one side of the protrusion 421. Specifically, the provided protrusion 421 in this embodiment can restrict, constrain and guide the push rod 410, thereby improving the operating stability and reliability.

[0030] In some comparative embodiments, a cable is used for transmission to control corresponding actions. After the end effector is used for a long time, the transmission cable will become loose, and the stiffness of the instrument will be significantly reduced, seriously affecting the accuracy of the surgical operation and easily causing surgical accidents. To solve this problem, the first power unit 210, the second power unit 220, the third power unit 230 and the fourth power unit 240 of this application are implemented by the following structure.

[0031] Further, refer to Figures 1 to 9, the second power unit 220 includes a second power member 221, a second transmission member, and a bending rack 222; the output end of the second power member 221 is connected to the input end of the second transmission member; the front end of the bending rack 222 is connected to the output end of the second transmission member, and the second power member 221 drives the bending rack 222 to move along the X axis; the end of the bending rack 222 is connected to the push rod 410. In some embodiments, the second transmission member includes a first spur gear 223 coaxially connected to the second power member 221, and the bending rack 222 meshes with the first spur gear 223. In some embodiments, when there are two push rods 410, there are also two bending racks 222, and the bending racks 222 correspond to the push rods 410 one by one; the second transmission member includes a first spur gear 223 and a second spur gear 224. The first spur gear 223 is coaxially connected to the second power member 221. The second spur gear 224 meshes with the first spur gear 223, and the two bending racks 222 are symmetrically meshed on both sides of the second spur gear 224.

[0032] Specifically, when the second power member 221 operates, it drives the first spur gear 223 and the second spur gear 224 to rotate, thereby driving the bending teeth to move back and forth along the X axis, and further causing the push rod 410 to move back and forth. Since the end of the push rod 410 is connected to the end effector assembly 100, and the end effector assembly 100 is rotationally connected to the tube body 300, the push rod 410 pulls the end effector assembly 100 to make the end effector assembly 100 rotate clockwise or counterclockwise relative to the tube body 300 (see Figures 21 to 22 ). In this way, during the doctor's operation, the doctor's operation requirements can be fully met, and the doctor can accurately adjust the rotation angle of the end effector according to the actual situation during the operation to facilitate the smooth progress of the operation.

[0033] Furthermore, referring to Figures 1 to 11 , the end of the bending rack 222 is connected to the push rod 410 through a bending clamp 600; the bending clamp 600 includes an outer ring 610 and an inner ring 620 rotatably connected in the outer ring 610; the outer tube 310 is slidably connected in the inner ring 620, and a notch 311 is provided on the outer tube 310; on the inner wall of the inner ring 620 and the outer wall of the push rod 410, one of them is provided with a fourth protrusion 621 and the other is provided with a fourth groove 622; at the notch 311, the fourth protrusion 621 cooperates with the fourth groove 622. Specifically, the bending clamp 600 in this embodiment supports the tube body 300 and can also realize the connection between the power assembly 200 and the push rod 410.

[0034] Furthermore, referring to Figures 1 to 12, the third power unit 230 includes a third power member 231, a third transmission member, and a closing rack 232. The output end of the third power member 231 is connected to the input end of the third transmission member, the output end of the third transmission member is connected to the closing rack 232, and the closing rack 232 is connected to the front end of the outer tube 310; the third power member 231 drives the outer tube 310 to move along the X axis with the closing rack 232. In some embodiments, the third transmission member includes a third spur gear 233, the third spur gear 233 is coaxially connected to the third power member 231, and the third spur gear 233 meshes with the closing rack 232. In some embodiments, the closing rack 232 is connected to the outer tube 310 through a fixing connector 700; the fixing connector 700 includes a gripping end 710 and a clamp connector 720; the clamp connector 720 is connected to the outer wall of the outer tube 310, one end of the gripping end 710 is connected to one side of the clamp connector 720, and the other end is connected to the closing rack 232.

[0035] Specifically, when the third power member 231 operates, it drives the third transmission member (the third spur gear 233) to rotate, thereby driving the outer tube 310 to move back and forth with the closing rack 232. The outer tube 310 is also connected to the second actuator 120, the second actuator 120 is movably connected to the first actuator 110, and the end of the outer tube 310 is connected to the first actuator 110. Therefore, the forward and backward movement of the outer tube 310 can cause the first actuator 110 and the second actuator 120 to open and close (see Figures 18 to 19 ).

[0036] Since there is a situation of uneven driving force during the process of the closing rack 232 moving back and forth to push the outer tube 310. To solve this problem, in some embodiments of the present application, the fixing connector 700 further includes two linear bearings 730, and the two linear bearings 730 are respectively arranged on both sides of the clamp connector 720. The linear bearings 730 of the present application make the force more uniform when the closing rack 232 is pushed, avoiding the problem of forward jamming caused by uneven force.

[0037] Further, see Figures 1 to 13, the fourth power unit 240 includes a fourth power component 241 and a fourth transmission component; the output end of the fourth power component 241 is coaxially connected to the input end of the fourth transmission component, and the output end of the fourth transmission component is coaxially connected to the front end of the inner tube 320. For a compact layout, in some embodiments, the axis of the input end of the fourth transmission component is perpendicular to the axis of the output end of the fourth transmission component. In some possible implementation manners, the fourth transmission component includes a fourth spur gear 242, a fifth spur gear 243, a first helical gear 244, and a second helical gear 245. The output end of the fourth power component 241 is coaxially connected to the fourth spur gear 242, the fourth spur gear 242 meshes with the fifth spur gear 243, the fifth spur gear 243 is coaxially connected to the first helical gear 244, and the first helical gear 244 meshes with the second helical gear 245. Among them, the rotation axes of the fourth spur gear 242, the fifth spur gear 243, and the first helical gear 244 are parallel. The rotation axis of the fourth spur gear 242 is perpendicular to the rotation axis of the second helical gear 245.

[0038] Specifically, when the fourth power component 241 works, it drives the fourth transmission component (the fourth spur gear 242, the fifth spur gear 243, the first helical gear 244, and the second helical gear 245) to rotate, thereby driving the inner tube 320 coaxially connected to the output end of the fourth transmission component to rotate. Since the end of the inner tube 320 is connected to the end effector assembly 100, it can drive the end effector assembly 100 to rotate around the X axis. Thus, the direction of the end effector can be controlled by the power component 200 at the proximal end, and the end effector can rotate 360° in all directions according to the doctor's needs. During the operation, the doctor can adjust the instrument direction according to the needs, which is extremely beneficial to the smooth operation of the operation and ensures the accuracy and efficiency of the operation.

[0039] It should be noted that the first power component 211, the second power component 221, the third power component 231, and the fourth power component 241 can each be a motor.

[0040] During the actual operation of this application, the motor mainly plays a core driving role. The motor drives the corresponding gears and racks to operate efficiently by outputting stable and continuous power. When the gears and racks are driven by the motor, they will drive the movement of a series of related parts inside the entire device. During the operation, this application can complete various related actions (Action One, Action Two, Action Three, Action Four) of the end effector assembly 100 in the human body according to the doctor's operation requirements. In this way, the success rate of the operation is greatly improved, which not only provides better quality and reliable treatment for patients, but also brings guarantee for the patient's recovery.

[0041] The first power unit 210, the second power unit 220, the third power unit 230, and the fourth power unit 240 of the present application each have unique functions and operating modes, and they also influence and cooperate with each other. During the movement of the entire device, according to the requirements of surgical operation steps, the doctor can independently operate a certain power unit among the four power units, and precisely control a single movement structure according to the actual situation to meet the surgical needs. In addition, during complex surgical procedures, the four power units can cooperate with each other to jointly complete higher-difficulty surgical operations. It can be seen that the power assembly 200 of the present application uses a motor, a driving gear, and a rack drive, which is more accurate, efficient, and compact compared to a cable drive. During the doctor's use, the stability and safety of the entire device are better.

[0042] Further, referring to Figures 1 to 14 , the first power unit 210 includes a first power member 211, a first transmission member, and a cutting rack 212; the output end of the first power member 211 is coaxially connected to the input end of the first transmission member, the output end of the first transmission member is connected to the cutting rack 212, and the cutting rack 212 is connected to the front end of the blade body 510; the first power member 211 drives the blade body 510 to move along the X axis with the cutting rack 212 to perform cutting. In some embodiments, the first transmission member includes a sixth spur gear 213 and a seventh spur gear 214. The sixth spur gear 213 is coaxially connected to the output end of the first power member 211, and the seventh spur gear 214 meshes with the sixth spur gear 213. The seventh spur gear 214 also meshes with the cutting rack 212.

[0043] Specifically, in this embodiment, the first power member 211 controls the forward and backward movement of the cutting rack 212, thereby realizing precise control of the forward and backward movement of the blade body 510, and further enabling a more efficient and safer surgery.

[0044] In some possible implementation manners, referring to Figures 1 to 17, the first actuator 110 and the second actuator 120 are connected by an opening and closing structure 800. The opening and closing structure 800 includes a hinge shaft 810, a driving block 820, a sleeve member 830, etc. Arc-shaped sliding grooves 111 are respectively provided on both sides of the first actuator 110, and the arc-shaped sliding grooves 111 extend in the X direction. Hinge shafts 810 are respectively provided on both sides of the second actuator 120. The hinge shafts 810 are arranged in the arc-shaped sliding grooves 111 to realize the hinge connection between the first actuator 110 and the second actuator 120. The sleeve member 830 is sleeved on the front end of the end effector assembly 100, and the sleeve member 830 is connected to the end of the outer tube 310. The sleeve member 830 includes a body 831 and a hole groove 832 provided on the body 831. A sliding groove 121 is provided on the second actuator 120, and the driving block 820 is arranged at the front end of the sliding groove 121 and protrudes outward. The driving block 820 is located in the hole groove 832, and the body 831 is located in the sliding groove 121. When the outer tube 310 moves back and forth, it will drive the sleeve member 830 to move back and forth. When the sleeve member 830 moves towards the end, the end face of the body 831 abuts against the end face of the sliding groove 121, thereby driving the second actuator 120 to be adjusted from the open state to the closed state (see Figure 18 ). When the sleeve member 830 moves towards the front end, the front end face of the body 831 abuts against the driving block 820, thereby driving the second actuator 120 to be adjusted from the closed state to the open state (see Figure 19 ).

[0045] In some embodiments, see Figure 20 , the blade assembly 500 further includes a main rod 520, and the main rod 520 is slidably connected to the inner tube 320; the front end of the main rod 520 is connected to the cutting rack 212, and the end of the main rod 520 is connected to the front end of the blade body 510. In some possible implementation manners, one of the main rod 520 and the blade body 510 is provided with a fifth groove body 521, and the other is provided with a fifth protrusion 522, and the fifth protrusion 522 cooperates with the fifth groove body 521 to realize the connection between the main rod 520 and the blade body 510.

[0046] In some embodiments, the blade assembly 500 further includes a tool head 530 connected to the end of the blade body 510, and a slider 531 is provided on the tool head 530; a sliding groove cooperating with the slider 531 is provided on the first actuator 110 or the second actuator 120, and the sliding groove extends along the X axis. Specifically, in this embodiment, the sliding connection between the tool head 530 and the end effector assembly 100 is realized through the cooperation between the slider 531 and the sliding groove.

[0047] In some embodiments, the first power member 211, the second power member 221, the third power member 231, and the fourth power member 241 are arranged in a rectangular shape. Specifically, such an arrangement is more compact and reduces the volume of the present application.

[0048] In some embodiments, the power assembly 200 further includes a housing (not shown in the figure), and the first power unit 210, the second power unit 220, the third power unit 230, and the fourth power unit 240 are disposed in the housing. The clamp connector 720 is connected to the housing. The bending fixture 600 is connected to the housing.

[0049] Further, the present application further includes a control end (not shown in the figure) electrically connected to the power assembly 200; the control end is configured to control the operation of at least one of the first power unit 210, the second power unit 220, the third power unit 230, and the fourth power unit 240. In some embodiments, the control end includes a button control member (not shown in the figure), so that the control of the first power unit 210, the second power unit 220, the third power unit 230, and the fourth power unit 240 can be achieved by controlling the button control member, which is more convenient for the operator to operate and more convenient to use.

[0050] The present application is placed on the robotic arm to complete endoscopic surgeries in departments such as hepatobiliary surgery, digestive surgery, thoracic surgery, gynecology, and pediatrics. It can simultaneously complete cutting and suturing actions during the surgery, improving the surgical efficiency. Moreover, the invention also proposes the use of a motor to drive gears, racks, etc., which is safer, more accurate, and more stable compared to the transmission mechanism of the traditional robotic arm end effector.

[0051] Obviously, the above embodiments are merely examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A laparoscopic surgical robot stapler end effector, characterized in that: include: The end effector assembly comprises a first effector and a second effector that can be opened and closed; A power assembly, comprising a first power unit, a second power unit, a third power unit and a fourth power unit; A tube body, with the X axis as the axis; the tube body comprises an outer tube and an inner tube connected coaxially; the two ends of the outer tube are respectively connected to the second actuator and the third power unit; the third power unit drives the outer tube to move along the X axis to realize the opening and closing of the first actuator and the second actuator; the end of the inner tube is movably connected to the end actuator assembly, and the front end is connected to the fourth power unit; the fourth power unit drives the inner tube to rotate, so as to realize the rotation of the end actuator assembly around the X axis; The intermediate connection assembly comprises a push-pull rod disposed in the outer tube, the end of the push-pull rod being rotatably connected to the end actuator assembly and the front end being connected to the second power unit; the second power unit drives the push-pull rod to move along the X-axis to change the angle between the end actuator assembly and the tube body; The blade assembly includes a blade body slidably connected to the inner tube; the two ends of the blade body are respectively connected to the end execution assembly and the first power unit; the first power unit drives the blade body to move along the X-axis line to achieve a cutting action.

2. The laparoscopic surgical robot stapler end effector according to claim 1, characterized in that: There are two push-pull rods, which are symmetrically arranged on both sides of the end actuator; the ends of the two push-pull rods are respectively rotatably connected to the end actuator; the front ends of the two push-pull rods are respectively connected to the second power unit, and the second power unit drives the two push-pull rods to move in opposite directions.

3. The laparoscopic surgical robot stapler end effector according to claim 1, characterized in that: The intermediate connection assembly also includes an in-tube joint, a first connecting member and a push-pull rod gasket; the in-tube joint is connected to the end of the inner tube; the first connecting member is rotatably connected to the end of the first actuator; the push-pull rod gasket and the in-tube joint are rotatably connected to both sides of the first connecting member via a first connecting shaft; the push-pull rod is rotatably connected between the push-pull rod gasket and the first connecting member via a second connecting shaft; the axis of the second connecting shaft is parallel to the axis of the first connecting shaft.

4. The laparoscopic surgical robot stapler end effector according to claim 3, characterized in that: A protrusion is formed on the inner pipe joint protruding outward from one side thereof, and the push-pull rod is arranged on one side of the protrusion.

5. The laparoscopic surgical robot stapler end effector according to claim 1, characterized in that: The second power unit includes a second power member, a second transmission member and a curved rack; the output end of the second power member is connected to the input end of the second transmission member; the front end of the curved rack is connected to the output end of the second transmission member, and the second power member drives the curved rack to move along the X-axis line; the end of the curved rack is connected to the push-pull rod.

6. The laparoscopic surgical robot stapler end effector according to claim 5, characterized in that: The end of the bent rack is connected to the push-pull rod through a bending clamp; the bending clamp includes an outer ring and an inner ring rotatably connected to the outer ring; the outer tube is slidably connected to the inner ring, and a notch is provided on the outer tube; the inner wall of the inner ring and the outer wall of the push-pull rod, one of which is provided with a fourth protrusion and the other is provided with a fourth groove; at the notch, the fourth protrusion cooperates with the fourth groove.

7. The laparoscopic surgical robot stapler end effector according to claim 1, characterized in that: The third power unit includes a third power member, a third transmission member and a closed rack; the output end of the third power member is connected to the input end of the third transmission member, the output end of the third transmission member is connected to the closed rack, and the closed rack is connected to the front end of the outer tube; the third power member drives the outer tube to move along the X-axis line with the closed rack.

8. The laparoscopic surgical robot stapler end effector according to claim 1, characterized in that: The fourth power unit includes a fourth power member and a fourth transmission member; the output end of the fourth power member is coaxially connected to the input end of the fourth transmission member, and the output end of the fourth transmission member is coaxially connected to the front end of the inner tube.

9. The laparoscopic surgical robot stapler end effector according to claim 1, characterized in that: The first power unit includes a first power member, a first transmission member and a cutting rack; the output end of the first power member is coaxially connected to the input end of the first transmission member, the output end of the first transmission member is connected to the cutting rack, and the cutting rack is connected to the front end of the blade body; The first power member drives the blade body to move along the X-axis with the cutting rack to perform cutting.

10. A method for executing an end effector of a stapler of a laparoscopic surgical robot, characterized in that: include: The end effector rotates around the X-axis to match the change in the angle between the end effector and the tube body, so as to adjust the direction and angle of the end effector to find the clamping position and angle of the tissue layer; Controlling the opening and closing of the first actuator and the second actuator to clamp the tissue layer; Control the cutting action of the blade body to cut the tissue layer; The end effector assembly rotates around the X-axis to coordinate with the change of the angle between the end effector assembly and the tube body, so as to change the direction and angle of the end effector assembly and suture the tissue layer.

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