Surgical tool and surgical robot system

Abstract

The invention relates to the field of medical instruments, and discloses a surgical tool and a surgical robot system. The tool comprises an arm body and a joint mechanism. The arm body comprises a far end, the joint mechanism is arranged at the far end of the arm body, and the at least one driving rod extends out of the far end of the arm body in a sealed mode, is connected with the joint mechanism and is used for driving the joint mechanism. An integral sealing structure is formed by the driving rod and the arm body, so that the interior of the arm body is kept sealed and is separated from an external joint mechanism under the condition that the movement of the driving rod is not influenced, body fluid is prevented from entering the interior of the arm body, and repeated cleaning and disinfection of surgical tools are facilitated.

Description

Technical Field

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

[0002] In minimally invasive medical procedures, surgical tools are usually used, and surgical tools include various surgical instruments, such as endoscopes, clamps, cutting tools or needle holders. Surgical instruments are usually installed at the distal end of the surgical tool. The surgical instrument is inserted directly or through a cannula into a small incision or natural orifice of the patient, and then the corresponding surgical operation is completed.

[0003] Generally, a driving transmission mechanism is provided on the surgical tool. For example, a wire driving assembly connects the distal end of the wire to the surgical instrument and the proximal end passes through the arm body and is connected to the input end of the motor, so as to convert the rotational motion input by the motor into a linear push-pull motion of the wire, thereby controlling the surgical instrument at the distal end of the surgical tool to perform surgical operations at different parts. Since the wire rope has to pass through the arm body of the surgical tool and then be connected to the driving motor, the stroke is long, and the wire is likely to become loose, affecting the driving accuracy.

[0004] In addition, the driving transmission mechanism at the distal end of the traditional surgical tool is an open structure, exposed outside, and it is relatively difficult to clean and disinfect, which is likely to cause problems such as secondary pollution and infection. Summary of the Invention

[0005] In some embodiments, the surgical tool includes:

[0006] An arm body including a distal end;

[0007] A joint mechanism provided on the distal end of the arm body; and

[0008] At least one driving rod sealingly extending from the distal end of the arm body, the at least one driving rod being connected to the joint mechanism for driving the joint mechanism.

[0009] In some embodiments, the present disclosure further provides a surgical robot system, including:

[0010] A mobile station including at least one robotic arm; and

[0011] At least one surgical tool as described in any embodiment of the present disclosure, the at least one surgical tool being detachably provided at the distal end of the robotic arm. Description of the Drawings

[0012] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present disclosure. The accompanying drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other embodiments can also be obtained based on the content of the embodiments of the present disclosure and these accompanying drawings.

[0013] Figure 1 Schematic structural diagram of a surgical tool according to some embodiments of the present disclosure;

[0014] Figure 2 Side view of a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0015] Figure 3 Schematic structural diagram of a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0016] Figure 4 Schematic structural diagram of the connection between a drive rod and an arm body according to some embodiments of the present disclosure;

[0017] Figure 5 Schematic structural diagram of a drive rod according to some embodiments of the present disclosure;

[0018] Figure 6 Schematic longitudinal sectional view of a drive rod according to some embodiments of the present disclosure;

[0019] Figure 7 Schematic diagram of a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0020] Figure 8 Schematic structural diagram of a wrist joint assembly according to some embodiments of the present disclosure;

[0021] Figure 9 Schematic structural diagram of a jaw joint assembly according to some embodiments of the present disclosure;

[0022] Figure 10 Schematic structural diagram of a distal instrument and a wrist joint rotation mechanism in a state according to some embodiments of the present disclosure;

[0023] Figure 11 Schematic structural diagram of a distal instrument and a wrist joint rotation mechanism in another state according to some embodiments of the present disclosure;

[0024] Figure 12 Schematic structural diagram of the cooperation between a slider and a loop drive wire according to some embodiments of the present disclosure;

[0025] Figure 13Schematic structural diagram of the arm body of a continuum surgical tool according to some embodiments of the present disclosure;

[0026] Figure 14 Schematic partial structural diagram of a continuum surgical tool according to some embodiments of the present disclosure;

[0027] Figure 15 Schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure. Detailed implementation manners

[0028] To make the technical problems solved by the present disclosure, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0029] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part, the rear end, or the rear part, and the end close to the surgical patient is defined as the distal end, the distal part, the front end, or the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, and can also be used for other non-medical devices.

[0030] Figure 1 、 Figure 2 and Figure 3 respectively show the schematic structural diagram and the schematic partial structural diagram of the surgical tool 1000 according to some embodiments of the present disclosure. Among them, for the sake of clear illustration, Figure 2 the arm body 100 in Figure 3 is not shown, and the joint mechanism 300 in Figures 1 - 3As shown, the surgical tool 1000 may include an arm body 100, a joint mechanism 300, and at least one drive rod 240. The arm body 100 may include a distal end 180, and the joint mechanism 300 is disposed on the distal end 180 of the arm body 100. The joint mechanism 300 may include any movable joint, such as a hinge joint, a pulley joint, a gear joint, etc. At least one drive rod 240 extends out of the distal end 180 of the arm body 100 in a sealed manner, and at least one drive rod 240 is connected to the joint mechanism 300 for driving the joint mechanism 300. It should be understood that extending out in a sealed manner may mean that the drive rod 240 extends out of the surface of the distal end 180 of the arm body 100 and maintains a sealed connection with the distal end 180 during movement. It should be understood that in the present disclosure, the distal end 180 should be interpreted broadly, and the sealed connection with the distal end 180 may refer to a direct sealed connection with the surface of the distal end 180 of the arm body 100 or an indirect sealed connection with the distal end 180 of the arm body 100, such as a sealed connection with the surface of other components disposed on the distal end 180 of the arm body 100. For example, it may be a sealed connection with the surface of the mounting disk disposed on the distal end 180 of the arm body 100, or a sealed connection with the inner surface of the bracket 140 (as shown in Figure 2 shown) disposed at the distal end of the arm body 100. The surface of the distal end 180 may be a flat surface or an uneven surface. In this way, the drive rod 240 and the arm body 100 can form an integral sealed structure. Without affecting the movement of the drive rod 240, the inside of the arm body 100 is kept sealed and isolated from the external joint mechanism 300 to prevent body fluids, bacteria, and viruses from the patient from entering the inside of the arm body 100 through pores during the operation, so as to facilitate the repeated cleaning and disinfection of the surgical tool.

[0031] Figure 4 FIG. shows a schematic structural view of the connection between the drive rod 240 and the arm body 100 according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 3 and Figure 4 shown, at least one drive rod 240 may include one or more drive rods. Each drive rod 240 may extend out of the distal end 180 of the arm body 100 in a sealed manner respectively. For example, the drive rod 240 may include various drive wires for realizing pulling and / or pushing, such as nitinol wires, steel wires, flexible rods, rigid rods, etc.

[0032] In some embodiments, the joint mechanism 300 may include at least one joint component. At least one drive rod 240 is respectively connected to at least one joint component. At least one drive rod 240 extends through the arm body 100. The proximal end is used to receive a pushing or pulling motion to drive the at least one joint component to open and close and / or rotate. In some embodiments, the joint mechanism may further include an end effector 200. The end effector 200 is disposed at the distal end of the joint mechanism 300. At least one drive rod 240 can drive the joint mechanism 300 to drive the end effector 200 to open and close and / or rotate. In some embodiments, as Figure 1 shown, the arm body 100 may include a distal end and a proximal end. The joint mechanism 300 is disposed at the distal end of the arm body 100. At least one joint component is disposed between the end effector 200 and the distal end of the arm body 100 and is connected to the end effector 200 for driving the end effector 200 to open and close or rotate. It should be understood that the at least one joint component may include one or more joint components. By disposing the joint mechanism 300 at the distal end of the arm body 100, the pointing of the end effector 200 can be changed to meet more surgical operation requirements.

[0033] It should be understood that the end effector 200 may include an end effector, an endoscope or other instruments. The end effector may include, for example, dissecting forceps, grasping forceps, scissors, bipolar grasping forceps, single-stage curved scissors, needle holders, clip appliers, etc. The endoscope may include, for example, at least one imaging unit and a lighting unit, etc. Other instruments may include, for example, an electric hook, a drainage tube or a suction device, etc.

[0034] In some embodiments, as Figure 3 and Figure 4 shown, at least one drive rod 240 may include multiple drive rods, and at least one joint component may include multiple joint components. The multiple drive rods 240 are spaced apart and the distal ends respectively extend out of the distal end 180 of the arm body 100 in a sealed manner and are respectively connected to the multiple joint components. It should be understood that the multiple drive rods 240 being spaced apart can avoid interference with each other to independently drive the multiple joint components. It should be understood that by providing the multiple drive rods 240 to drive the multiple joint components to move, the joint mechanism 300 can move in multiple degrees of freedom. For example, the opening and closing degree of freedom, multiple rotational degrees of freedom, etc.

[0035] Figure 5 and Figure 6 respectively show a schematic structural diagram and a longitudinal cross-sectional diagram of the drive rod 240 according to some embodiments of the present disclosure. In some embodiments, as Figure 5 and Figure 6As shown, the drive rod 240 may include a rod body 245 and a seal 130. The distal end of the seal 130 is sealingly connected to the distal end of the rod body 245, and the proximal end of the seal 130 is sealingly connected to the distal end 180 of the arm body 100 to isolate at least a portion of the rod body 245 and the interior of the arm body 100 from the joint mechanism 300. It should be understood that at least a portion of the rod body 245 may include the portion of the rod body 245 wrapped by the seal 130. For example, the seal 130, the rod body 245, and the arm body 100 form an integral sealing structure, and the distal end of the rod body 245 extends out of the seal 130 to be connected to the joint mechanism 300 and is used to drive the unsealed joint mechanism 300.

[0036] In some embodiments, as Figure 5 and Figure 6 shown, the distal end of the seal 130 (e.g., the left side as shown in Figure 5 and Figure 6 shown) may be sealingly sleeved on the distal end of the rod body 245 of the drive rod 240, and the proximal end (e.g., the right side as shown in Figure 5 and Figure 6 shown) is sealingly arranged on the distal end 180 of the arm body 100. At least a portion of the seal 130 is deformable, and the rod body 245 extends through the seal 130. In this way, in the case of the movement of the rod body 245 (e.g., reciprocating telescopic movement), the seal 130 can deform adaptively, which can not only achieve sealing but also does not affect the movement of the rod body 245. It should be understood that deformable includes but is not limited to deforming by providing redundant parts, pleated parts, or the material itself can stretch and deform. At least a portion of the seal 130 being deformable may be that a portion of the seal 130 along the axial or radial direction is deformable, or the entire seal 130 can be deformed. In some embodiments, at least a portion of the seal 130 may include an elastically stretchable material, such as rubber or thermoplastic elastomer, etc., or a flexible material, such as plastic, non-woven fabric, etc.

[0037] In some embodiments, at least a portion between the distal end and the proximal end of the seal 130 is used to expand and contract with the movement of the rod body 245 to isolate the arm body 100 from the joint mechanism 300. In this way, it is possible to prevent body fluids, bacteria, and viruses from the patient during the operation from entering the interior of the arm body 100, which is convenient for the repeated cleaning and disinfection of the surgical tools.

[0038] In some embodiments, the seal 130 may include an axial portion 131 at the distal end and a radial portion 132 at the proximal end. The distal end of the axial portion 131 may be sealingly sleeved on the distal end of the rod body 245, and the radial portion 132 is sealingly disposed at the distal end of the arm body 100 in the circumferential direction (e.g., in the circumferential direction of the axial portion 131 or the circumferential direction of the radial portion 132). For example, it may be sealingly connected to the proximal end of the bracket 140. It should be understood that the axial portion 131 and the radial portion 132 may be integrally formed or sealingly connected. The axial portion 131 may be a main body portion extending axially, and the radial portion 132 may be a flange portion extending radially outward. In some embodiments, the axial portion 131 of the seal 130 may be cylindrical. In some embodiments, a smooth transition section may be provided at the connection between the axial portion 131 and the radial portion 132. By providing the radial portion 132 to increase the contact surface with the distal end of the arm body 100, it is convenient for the sealing connection with the arm body 100. By forming a continuous sealing surface, a better sealing effect can be achieved.

[0039] In some embodiments, the axial portion 131 and the radial portion 132 of the seal 130 may be integrally formed, and the radial portion 132 may further include a flange at the proximal end. The flange is used for sealing connection with the distal end of the arm body 100. It should be understood that the longitudinal cross-sections of the axial portion 131 and the radial portion 132 may jointly form a shape similar to an "L", "J", or "U", etc.

[0040] By providing the deformable seal 130, an integral sealing structure can be formed between the drive rod 240 and the arm body 100, avoiding body fluid from entering the interior of the arm body 100. During cleaning and disinfection, the end of the surgical tool does not need to be disassembled, and repeated cleaning and disinfection of the forceps head can be achieved, which can reduce or avoid secondary infection caused by body fluid entering the interior of the arm body 100. Those skilled in the art can understand that the sealing connection can be achieved in various suitable ways. For example, it can be sealingly connected by bonding, thermoplastics, clamps, etc.

[0041] In some embodiments, as Figure 5 shown, the drive rod 240 may further include at least one snap ring 133. The seal 130 may be cylindrical. Through the snap ring 133, the distal end of the seal 130 can be sealingly clamped to the distal end of the rod body 245, such as on the outer peripheral surface. It should be understood that the proximal end of the seal 130 can be sealingly connected to the distal end of the arm body 100 by bonding, thermoplastics, clamps, etc. The provision of the snap ring 133 can further ensure the sealing between the seal 130 and the rod body 245. The risk of the seal 130 slipping during telescopic movement is reduced.

[0042] Figure 7 Shows a partial structural schematic diagram of the surgical tool 1000 according to some embodiments of the present disclosure. Among them, for the sake of clear illustration,Figure 7 The middle support 140 is partially hidden. In some embodiments, such as Figure 7 shown, the joint assembly may include at least one loop drive wire 230. At least one loop drive wire 230 forms at least one loop on at least one joint assembly respectively. The distal ends of at least one drive rod 240 are respectively connected to at least one loop drive wire 230, and the proximal ends pass through the arm body 100 for pushing or pulling at least one loop drive wire 230. It should be understood that the loop drive wire 230 may include a drive wire forming a closed loop, such as a nitinol wire, a steel wire rope, a cable, a belt structure, a chain structure, etc. The loop drive wire 230 may be distributed along the joint assembly and wound around the joint assembly. In some embodiments, the drive rod 240 may be a rod-shaped or tubular structure drive wire composed of nitinol wire. For example, the number of joint assemblies may be one or more, the number of loop drive wires 230 may be one or more, and the number of drive rods 240 may be one or more. It should be understood that the number of joint assemblies may be the same as the number of loop drive wires 230 and drive rods 240, or one joint assembly may include multiple loop drive wires 230.

[0043] By connecting the drive rod through the arm body to a drive device (such as a motor), it is possible to avoid the situation that the steel wire rope connected to the joint assembly has a long stroke due to passing through the arm body and is prone to loosening. And by driving with one nitinol wire instead of two steel wire ropes, the drive structure can be simplified and the driving accuracy can be increased.

[0044] In some embodiments, such as Figure 2 shown, the joint assembly may further include a support 140. The support 140 is fixedly arranged at the distal end of the arm body 100, and the end effector 200 is arranged at the distal end of the support 140. It should be understood that the support 140 may be composed of multiple connecting rods or plate-like structures (such as a distal plate, a proximal plate or a side plate, etc.) for accommodating or supporting the joint mechanism 300.

[0045] Figure 8 Shows a schematic structural diagram of a wrist joint assembly 310 according to some embodiments of the present disclosure. In some embodiments, such as Figure 7 and Figure 8 shown, at least one joint assembly may include at least one wrist joint assembly 310, at least one loop drive wire 230 of the wrist joint assembly 310 may include a loop wrist joint drive wire 231, and at least one drive rod 240 may include a wrist joint drive rod 241.

[0046] Such as Figure 7As shown, the wrist joint assembly 310 may include a wrist joint base 311 and a wrist joint rotation mechanism 312. The wrist joint base 311 is fixedly disposed at the distal end of the bracket 140. The wrist joint rotation mechanism 312 is rotatably disposed on the wrist joint base 311 and is connected to the looped wrist joint drive wire 231, and is configured to rotate about a first axis (e.g., an axis parallel to the first pin 330) when the wrist joint drive rod 241 drives the looped wrist joint drive wire 231. For example, the wrist joint rotation mechanism 312 may be pivotally connected to the wrist joint base 311 through the first pin 330, and the first axis may be a rotation axis along the length direction of the first pin 330. The wrist joint drive rod 241 is configured to push or pull the looped wrist joint drive wire 231 under the received drive, so as to drive the wrist joint rotation mechanism 312 to rotate about the first axis in a plane perpendicular to the first axis through the looped wrist joint drive wire 231. It should be understood that there may be one or more wrist joint assemblies 310, and multiple wrist joint assemblies 310 may move independently of each other. For example, multiple wrist joint assemblies 310 may include two independent wrist joint assemblies with perpendicular rotation axes. By providing the wrist joint assembly 310, the bending of the end effector 200 of the surgical tool can be achieved, increasing the movement flexibility.

[0047] Figure 9 FIG. shows a schematic structural view of a jaw joint assembly 350 according to some embodiments of the present disclosure. In some embodiments, as Figure 7 and Figure 9 shown, at least one joint assembly may include a jaw joint assembly 350. The end effector 200 may include a first jaw 210 and a second jaw 220. At least one looped drive wire 230 of the jaw joint assembly 350 may include at least one looped jaw joint drive wire 232, and at least one drive rod 240 may include at least one jaw joint drive rod 242.

[0048] As Figure 7 and Figure 9As shown, the jaw joint assembly 350 may further include a jaw joint opening and closing mechanism 351. The jaw joint opening and closing mechanism 351 is disposed on the wrist joint rotation mechanism 312 and is connected to at least one looped jaw joint drive wire 232. The first jaw 210 and the second jaw 220 are disposed on the jaw joint opening and closing mechanism 351. The jaw joint opening and closing mechanism 351 is configured to rotate with the wrist joint rotation mechanism 312 and, when at least one jaw joint drive rod 242 drives at least one looped jaw joint drive wire 232, drive the first jaw 210 and / or the second jaw 220 to open and close about a second axis (e.g., an axis parallel to the second pin 340). It should be understood that the jaw joint opening and closing mechanism 351 may be pivotally connected to the wrist joint rotation mechanism 312 through the second pin 340, and the second axis may be a rotation axis along the length direction of the second pin 340. For example, the jaw joint drive rod 242 is configured to push or pull the looped jaw joint drive wire 232 under the received drive, so as to drive the jaw joint opening and closing mechanism 351 through the looped jaw joint drive wire 232 to rotate about the second axis in a plane perpendicular to the second axis, so as to drive the first jaw 210 and / or the second jaw 220 to open and close in a plane perpendicular to the second axis. In some embodiments, the second axis may be perpendicular to the first axis.

[0049] It should be understood that the movement of the jaw joint opening and closing mechanism 351 and the movement of the wrist joint rotation mechanism 312 may be independently controlled or may be cooperatively controlled. For example, when the wrist joint rotation mechanism 312 rotates, the jaw joint opening and closing mechanism 351 may drive the first jaw 210 and / or the second jaw 220 to open and close. Or, when the wrist joint rotation mechanism 312 does not rotate, the jaw joint opening and closing mechanism 351 may drive the first jaw 210 and / or the second jaw 220 to open and close. It should be understood that in the present disclosure, the jaws should be broadly interpreted and may include the tool heads of any opening and closing tools, including but not limited to, clamp tools, scissor tools, and the like. Those skilled in the art can understand that in some embodiments, the end effector 200 is not an openable and closable instrument, such as an endoscope, an electric hook, etc., and at least one joint assembly may not include the jaw joint assembly 350.

[0050] Figure 10 and Figure 11 respectively show schematic structural diagrams of the end effector 200 and the wrist joint rotation mechanism 312 in different states according to some embodiments of the present disclosure. For simplicity of description, Figure 10 and Figure 11 do not show the looped drive wire 230. Among them, Figure 10 the first jaw 210 and the second jaw 220 of the end effector 200 in are in an open state, and the wrist joint rotation mechanism 312 is in a non-rotating state (e.g., the central longitudinal axis of the jaw base 3122 and the central longitudinal axis of the wrist joint base 311 are substantially on the same axis). Figure 11The first jaw 210 and the second jaw 220 of the end effector 200 are in a closed state, and the wrist joint rotation mechanism 312 is in a rotating state (for example, the central longitudinal axis of the jaw base 3122 forms an angle with the central longitudinal axis of the wrist joint base 311). The above is only an example. Specifically, the jaw joint opening / closing mechanism 351 and the wrist joint rotation mechanism 312 can be controlled according to actual needs to achieve operations in different states.

[0051] In some embodiments, such as Figure 7 and Figure 8 shown, the wrist joint rotation mechanism 312 may include a wrist joint rotating body 3121 and a jaw base 3122. The wrist joint rotating body 3121 is rotatably connected to the wrist joint base 311 (for example, by a pivot connection). The jaw base 3122 is disposed on the wrist joint rotating body 3121. The wrist joint rotating body 3121 may include a rotating wheel capable of rotating about a first axis, and the jaw base 3122 is fixedly connected to the rotating wheel to rotate along with the rotating wheel.

[0052] In some embodiments, such as Figure 8 shown, the jaw base 3122 may include a first jaw bracket 3122a and a second jaw bracket 3122b. The first jaw bracket 3122a and the second jaw bracket 3122b may be symmetrically disposed on the wrist joint rotating body 3121. For example, the first jaw bracket 3122a and the second jaw bracket 3122b may extend distally along a direction perpendicular to the plane where the rotation axis (for example, the first axis) of the wrist joint rotating body 3121 is located. A receiving space is formed between the first jaw bracket 3122a and the second jaw bracket 3122b, which can be used to receive the jaw joint opening / closing mechanism 351.

[0053] In some embodiments, such as Figure 8 shown, the jaw base 3122 may further include a connecting plate 3122c. The first actuator bracket 3122a and the second actuator bracket 3122b are symmetrically disposed, and the connecting plate 3122c is fixedly disposed between the first jaw bracket 3122a and the second jaw bracket 3122b to fixedly connect the first jaw bracket 3922a and the second jaw bracket 3922b together. The connecting plate 3122c is integrally formed with or fixedly connected to the wrist joint rotating body 3121.

[0054] In some embodiments, such as Figure 7 shown, looped wrist joint drive wire guiding holes 3111 and looped jaw joint drive wire guiding holes 3112 are respectively provided on the wrist joint bases 311 on both sides of the wrist joint rotating body 3121, and the looped wrist joint drive wire 231 and the looped jaw joint drive wire 232 can respectively pass through the looped wrist joint drive wire guiding hole 3111 and the looped jaw joint drive wire guiding hole 3112.

[0055] In some embodiments, as Figure 8 shown, the wrist joint assembly 310 may further include a wrist fixed pulley 313. The wrist fixed pulley 313 is rotatably disposed on the bracket 140 (e.g., by a pivot connection). The distal end of the looped wrist joint drive wire 231 is wound around the wrist joint rotating body 3121, and the proximal end is wound around the wrist fixed pulley 313. It should be understood that the wrist joint rotating body 3121 and the wrist fixed pulley 313 may include wire grooves circumferentially arranged, and the distal end of the looped wrist joint drive wire 231 is wound in the wire groove of the wrist joint rotating body 3121, and the proximal end is wound in the wire groove of the wrist fixed pulley 313 to form a closed loop. The wrist joint drive rod 241 may be connected to the looped wrist joint drive wire 231 between the distal end and the proximal end of the looped wrist joint drive wire 231. The wrist joint drive rod 241 pushes or pulls the looped wrist joint drive wire 231 to drive the looped wrist joint drive wire 231 to reciprocate in the closed loop, so as to drive the wrist joint rotating body 3121 to rotate forward and backward, and further drive the jaw base 3122 to complete a rotational movement in a plane perpendicular to the rotation axis of the wrist joint rotating body 3121.

[0056] In some embodiments, as Figure 7 and Figure 9 shown, the jaw joint opening and closing mechanism 351 may include at least one jaw rotating body (e.g., Figure 7 the first jaw rotating body 3511 and the second jaw rotating body 3512 shown). At least one jaw rotating body is fixedly connected to the first jaw 210 and / or the second jaw 220 and is rotatably connected to the jaw base 3122. The jaw joint assembly 350 may further include a first set of steering pulleys 352, a second set of steering pulleys 353, and at least one jaw fixed pulley (e.g., the first jaw fixed pulley 354, the second jaw fixed pulley 355). The first set of steering pulleys 352 and the second set of steering pulleys 353 are respectively rotatably connected to the jaw base 3122, e.g., by a pivot connection. It should be understood that the jaw rotating body may include a rotating wheel. The jaw rotating body may be fixedly connected to the jaw or integrally formed. At least one jaw fixed pulley is rotatably disposed on the bracket 140, and the distal end of at least one looped jaw joint drive wire 232 is wound around at least one jaw rotating body, bypasses the first set of steering pulleys 352 and the second set of steering pulleys 353, and the proximal end is wound around at least one jaw fixed pulley. By providing multiple sets of steering pulleys, the steering of the looped jaw joint drive wire 232 is changed to change the rotation direction of the jaw rotating body.

[0057] In some embodiments, as Figures 7 - 9As shown, the first set of deflection pulleys 352 and the second set of deflection pulleys 353 can be rotatably connected to the connecting plate 3122c. The first set of deflection pulleys 352 and the second set of deflection pulleys 353 can be symmetrically arranged on both sides of the connecting plate 3122c. In some embodiments, at least one jaw rotating body can include a jaw rotating body connected to one of the first jaw 210 and the second jaw 220, and the other of the first jaw 210 and the second jaw 220 is fixedly arranged on the jaw base 3122. At least one looped jaw joint drive wire 232 includes a looped jaw joint drive wire, and at least one jaw fixed pulley includes a jaw fixed pulley. In this way, the opening and closing of one jaw relative to the other jaw can be realized.

[0058] In some embodiments, as Figures 7 - 9 shown, the pulleys of the first set of deflection pulleys 352 and the second set of deflection pulleys 353 located at the proximal end can be coaxially arranged with the wrist joint rotating mechanism 312. For example, the pulleys of the first set of deflection pulleys 352 and the second set of deflection pulleys 353 located at the proximal end can be pivotally connected to the wrist joint base 311 through the first pin 330. This can simplify the structure of the joint mechanism and make the structure at the end of the surgical tool more compact.

[0059] In some embodiments, as Figure 7 and Figure 9As shown, at least one clamp rotating body may include a first clamp rotating body 3511 and a second clamp rotating body 3512. The first clamp rotating body 3511 is fixedly connected to the first clamp head 210 and rotatably connected to the clamp head base 3122. The second clamp rotating body 3512 is fixedly connected to the second clamp head 220 and rotatably connected to the clamp head base 3122. At least one clamp fixed pulley includes a first clamp fixed pulley 354 and a second clamp fixed pulley 355, which are respectively rotatably arranged on the bracket 140. At least one clamp joint driving rod 242 may include a first clamp joint driving rod 2421 and a second clamp joint driving rod 2422. At least one looped clamp joint driving wire 232 includes a first looped clamp joint driving wire 2321 and a second looped clamp joint driving wire 2322. The first clamp joint driving rod 2421 may be connected to the first looped clamp joint driving wire 2321 for driving the first looped clamp joint driving wire 2321 to reciprocate. The second clamp joint driving rod 2422 may be connected to the second looped clamp joint driving wire 2322 for driving the second looped clamp joint driving wire 2322 to reciprocate. The distal end of the first looped clamp joint driving wire 2321 winds around the first clamp rotating body 3511, bypasses the first set of steering pulleys 352 and the second set of steering pulleys 353, and the proximal end winds around the first clamp fixed pulley 354. The distal end of the second looped clamp joint driving wire 2322 winds around the second clamp rotating body 3512, bypasses the first set of steering pulleys 352 and the second set of steering pulleys 353, and the proximal end winds around the second clamp fixed pulley 355. It should be understood that the structure of the clamp fixed pulley may be similar to the structure of the wrist fixed pulley. In some embodiments, the first clamp fixed pulley 354 and the second clamp fixed pulley 355 may be located at different positions along the axis of the bracket 140. It should be understood that the rotation axes of the first clamp rotating body 3511 and the second clamp rotating body 3512 are coaxial or parallel. By providing two clamp rotating bodies, the opening and closing of the two clamp heads can be realized.

[0060] Figure 12 FIG. shows a schematic structural diagram of the slider 150 cooperating with the looped driving wire 230 according to some embodiments of the present disclosure. In some embodiments, as Figure 7 and Figure 12 shown, the joint mechanism 300 may further include at least one slider 150 and at least one guiding mechanism 160. At least one slider 150 is fixedly connected to at least one looped driving wire 230 respectively. At least one guiding mechanism 160 is fixedly arranged axially along the distal end of the arm body 100 between the distal end of the end effector 200 and the distal end of the arm body 100. The slider 150 is slidably connected to the guiding mechanism 160, and the slider 150 is used to linearly move along the guiding mechanism 160 under the drive of the driving rod 240. For example, as Figure 7 shown, at least one guiding mechanism 160 may be arranged inside the bracket 140 and fixedly connected to the bracket 140.

[0061] In some embodiments, the guiding mechanism 160 may include guide rods. Corresponding through holes 1502 are provided on the slider 150, and the guide rods pass through the corresponding through holes 1502 to enable the slider 150 to linearly move along the guide rods. In some embodiments, the guiding mechanism 160 may include guide rails. Corresponding sliding grooves are provided on the slider 150, and the slider 150 is slidably disposed on the guide rails through the sliding grooves to enable the slider 150 to linearly move along the guide rails. The above are only examples and are not limited thereto. The guiding mechanism 160 may also include any other structure that can achieve guiding. It should be understood that the number of sliders 150 may be the same as the number of driving rods 240, and the number of guiding mechanisms 160 may be the same as or different from the number of sliders 150.

[0062] In some embodiments, as Figure 8 and Figure 9 shown, at least one slider 150 may include a wrist joint slider 151 and at least one jaw joint slider 152. The wrist joint slider 151 may be fixedly connected to the looped wrist joint driving wire 231, and at least one jaw joint slider 152 may be respectively fixedly connected to at least one looped jaw joint driving wire 232. The distal end of the wrist joint driving rod 241 is fixedly connected to the wrist joint slider 151, and the distal ends of at least one jaw joint driving rod 242 are respectively fixedly connected to at least one jaw joint slider 152. The proximal ends of the wrist joint driving rod 241 and at least one jaw joint driving rod 242 are for receiving push or pull driving to respectively drive the wrist joint slider 151 and at least one jaw joint slider 152 to reciprocate linearly along the corresponding guiding mechanism 160. In some embodiments, the wrist joint slider 151 and the jaw joint slider 152 (for example, one of the jaw joint sliders 152) may be disposed on the same guiding mechanism 160, as Figure 7 shown, which can reduce the number of guiding mechanisms to simplify the structure and facilitate the miniaturization and lightweight of the surgical tool.

[0063] As Figure 7 and Figure 12 shown, the slider 150 may include a main body 1501 and through holes 1502 and connection holes (not shown) provided on the main body 1501. The distal end of the driving rod 240 may include a connection head 246 for cooperating with the connection hole. The proximal end of the connection head 246 may be fixedly connected to the distal end of the rod body 245 of the driving rod 240, such as by clamping or welding. The distal end of the connection head 246 may be fixedly connected to the connection hole. The main body 1501 of the slider 150 may be fixedly connected to the looped driving wire 230. By providing the connection hole and the connection head 246, the driving rod 240 can be more convenient for processing and assembly.

[0064] In some embodiments, the distal instrument 200 may be scissors. The proximal end of the drive rod 240 may be connected to a power supply device, and the distal instrument 200 is energized through the drive rod 240 and the joint mechanism 300 to form a single-stage surgical tool for performing operations such as electric shearing and electric cutting. In some embodiments, the distal instrument 200 may be a clamping tool (e.g., including a first jaw 210 and a second jaw 220), the drive rod 240 may include multiple drive rods (e.g., a first jaw joint drive rod 2421 and a second jaw joint drive rod 2422), the first jaw joint drive rod 2421 and the second jaw joint drive rod 2422 are respectively connected to the power supply device, and the first jaw joint drive rod 2421 and the second jaw joint drive rod 2422 are insulated from each other. The first jaw joint drive rod 2421 and the first jaw 210 form a first conductive path, and the second jaw joint drive rod 2422 and the second jaw 220 form a second conductive path. The first conductive path and the second conductive path are insulated from each other to form a bipolar surgical tool for performing operations such as electrocoagulation.

[0065] In some embodiments, the distal end of the drive rod 240 may include an insulating coating for insulating the drive rod 240 from the distal instrument 200. It should be understood that the proximal end of the drive rod 240 may be energized, and the insulating coating insulates the distal end of the drive rod 240 from the slider 150 to prevent the slider 150 from conducting electricity, thereby preventing the distal instrument 200 from forming a path through the slider 150 and the drive rod 240. It should be understood that an insulating member may also be provided between the distal end of the arm body 100 and the joint mechanism 300 to insulate the arm body 100 from the distal instrument 200. In this way, a passive surgical tool, such as a tissue grasping forceps that is not energized, can be formed.

[0066] In some embodiments, the arm body 100 may include a rigid segment arm body. Alternatively, the arm body 100 may include a deformable arm body. For example, the arm body 100 may include a rigid arm body at the proximal end and a deformable arm body at the distal end. It should be understood that the deformable arm body may include an articulated arm body (e.g., a snake bone structure arm body), a flexible arm body (e.g., a flexible tube), and a continuum arm body, etc.

[0067] Figure 13 A schematic structural diagram of the arm body of a continuum surgical tool according to some embodiments of the present disclosure is shown. In some embodiments, the arm body 100 of the continuum surgical tool may include a continuum structure arm body. For simplicity of illustration, the arm body 100 only shows a schematic structural diagram including a single distal continuum segment 110. As Figure 13As shown, the continuum structure arm body may include at least one distal continuum segment 110. The distal continuum segment 110 may include multiple distal structural bones 111, a distal base plate 112, a distal stop plate 113, and at least one distal spacer plate 114 disposed between the distal base plate 112 and the distal stop plate 113. The distal ends of the multiple distal structural bones 111 are fixedly connected to the distal stop plate 113. The multiple distal structural bones 111 slidably pass through at least one distal spacer plate 114 and the distal base plate 112. The proximal ends of the multiple distal structural bones 111 are used to receive pushing or pulling driving forces to drive the movement of the distal continuum segment 110. It should be understood that the multiple distal structural bones 111 may be distributed at radially opposite positions. By cooperatively pushing or pulling two relatively positioned structural bones, the distal continuum segment 110 can be driven to bend. It should be understood that the number of structural bones is not limited herein and can be adjusted according to the actual load that the surgical tool needs to bear. The reliability and load capacity of the arm body 100 of the surgical tool 1000 can be improved through the continuum structure arm body. For example, in the case where one structural bone breaks, it does not affect the movement of the arm body 100, improving the safety of the surgical tool 1000.

[0068] In some embodiments, the distal stop plate 113 may be fixedly connected to the proximal end of the joint mechanism 300 of the surgical tool 1000. For example, the distal base plate 112, at least one distal spacer plate 114, and the distal stop plate 113 may be spaced apart. Corresponding through holes spaced circumferentially are respectively provided on each plate. The multiple distal structural bones 111 may slidably pass through the through holes on the distal spacer plate 114 and the distal base plate 112. In some embodiments, the shapes of the distal base plate 112, the distal stop plate 113, and the distal spacer plate 114 may be suitable structures such as annular structures and disc-shaped structures, and the cross-sections may be various shapes such as circular, rectangular, and polygonal. The multiple distal spacer plates 114 are spaced apart to enhance the stability of the multiple distal structural bones 111 when being pushed or pulled. It should be understood that the distal structural bones 111 may include elastic thin rods or thin tubes made of superelastic materials, such as nickel-titanium alloy materials. Those skilled in the art can understand that the number of distal spacer plates 114 included in the distal continuum segment 110 can be any suitable number and is not limited herein. It should be understood that the number of distal continuum segments 110 may also be two or more. By driving the bending of the multiple distal continuum segments 110, the bending of the arm body in multiple degrees of freedom can be achieved to increase the flexibility of the arm body.

[0069] It should be understood that the distal continuum segment 110 can be deformed by pushing or pulling the distal structural bone 111 through a driving device. For example, the driving device bends the distal continuum segment 110 by driving the distal structural bone 111. In some embodiments, the driving device may include a linear motion mechanism, a driving segment (such as a proximal continuum segment), or a combination of both. The linear motion mechanism can be connected to the distal structural bone 111 of one or more distal continuum segments 110 to push or pull the distal structural bone 111, thereby driving one or more distal continuum segments 110 to bend. The driving segment may include a fixed disk and multiple proximal structural bones, with one end of the multiple proximal structural bones fixedly connected to the fixed disk. The other ends of the multiple proximal structural bones of the driving segment are connected or integrally formed with the multiple distal structural bones 111 to bend the distal continuum segment 110 by bending the driving segment.

[0070] Figure 14 A partial structural schematic diagram of a continuum surgical tool according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 14 shown, the surgical tool 1000 may further include at least one transmission mechanism 500. The at least one transmission mechanism 500 is respectively connected to the proximal end of at least one driving rod 240 for pushing or pulling the at least one driving rod 240. In some embodiments, the transmission mechanism 500 may include a lead screw 510 and a nut 520 connected to the lead screw 510. The lead screw 510 is used to connect to the motor of the driving device, and the nut 520 is connected to the proximal end of the driving rod 240. By driving the lead screw 510 to rotate through the motor, the nut 520 can be driven to linearly move along the lead screw 510 to push and pull the driving rod 240. It should be understood that the number of transmission mechanisms can be adjusted according to the number of driving rods 240.

[0071] In some embodiments, as Figure 14 shown, the transmission mechanism 500 may further include a double-headed screw 530 and a pair of nuts 540 connected to the double-headed screw 530. The double-headed screw 530 can be respectively connected to the nuts 540, and the nuts 540 can be connected to the distal structural bone 111 of the distal continuum segment 110 or the proximal structural bone of the driving segment. When the double-headed screw 530 is driven to rotate, the nuts 540 can be driven to linearly move in opposite directions at the same speed to achieve coordinated pushing and pulling of two structural bones to drive the distal continuum segment 110 to bend. It should be understood that multiple transmission mechanisms 500 can be a combination of a lead screw and a double-headed screw. The above is only an example, and it should be understood that the transmission mechanism can include any mechanism capable of achieving linear motion.

[0072] Some embodiments of the present disclosure also provide a surgical robot system. Figure 15 A structural schematic diagram of a surgical robot system 10 according to some embodiments of the present disclosure is shown. As Figure 15As shown, the surgical robot system 10 may include a mobile station 11 and a surgical tool (such as the surgical tool 1000) according to any one of some embodiments of the present disclosure. The mobile station 11 may include at least one robotic arm 101, and the surgical tool 1000 is detachably disposed at the distal end of the robotic arm 101. It should be understood that the robotic arm 101 may include a plurality of movable joints and linkages, having a plurality of degrees of freedom. The surgical tool (e.g., the surgical tool 1000) is detachably disposed at the distal end of the robotic arm 101, and the robotic arm 101 is used to adjust the position and posture of the end of the surgical tool (e.g., the end effector 200).

[0073] In some embodiments, the surgical robot system 10 may further include a main control cart 12. The mobile station 11 and the main control cart 12 may be connected by a wired transmission or a wireless transmission method. During the surgery, the user controls the surgical tool and / or the imaging tool (such as an endoscope) included in the mobile station 11 by operating the master operator 1201 included in the main control cart 12 to perform operations. The mobile station 11 is usually located on the patient side and performs surgical operations on the patient in response to the control instructions of the main control cart 12. In some embodiments, the user can also control the opening and closing of the jaws of the surgical tool 1000 (such as the first jaw 210 and / or the second jaw 220) or control the rotation of the wrist joint assembly 310 by operating the master operator 1201 to drive the movement of the end effector 200 of the surgical tool 1000.

[0074] In some embodiments, the mobile station 11 of the surgical robot system 10 may further include at least one driving device 102. At least one driving device 102 may be disposed between at least one surgical tool (such as the surgical tool 1000) and at least one robotic arm 101. As Figure 15 shown, the mobile station 11 may include a single robotic arm 101, and a plurality of driving devices 102 may be disposed on the robotic arm 101. Those skilled in the art can understand that the mobile station 11 may also include a plurality of robotic arms, and one or more driving devices may be disposed on each robotic arm, which is not specifically limited herein. Those skilled in the art can understand that the surgical robot 10 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0075] Note that the above are only exemplary embodiments of the present disclosure and the applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments. Without departing from the concept of the present disclosure, more other equivalent embodiments may be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical tool, characterized in that: include: The arm body, including the distal end; A joint mechanism, arranged on the distal end of the arm body; as well as At least one driving rod is sealed and extends out from the distal end of the arm body. The at least one driving rod is connected to the joint mechanism and is used to drive the joint mechanism.

2. The surgical tool according to claim 1, characterized in that: The joint mechanism includes at least one joint assembly, and the at least one driving rod is respectively connected to the at least one joint assembly. The at least one driving rod extends through the arm body, and the proximal end is used to receive pushing or pulling movements to drive the at least one joint assembly to open and close and / or rotate.

3. The surgical tool according to claim 2, characterized in that: The at least one driving rod comprises a plurality of driving rods, and the at least one joint assembly comprises a plurality of joint assemblies. The plurality of driving rods are arranged at intervals, and their distal ends respectively extend out from the distal end seals of the arm body and are respectively connected to the plurality of joint assemblies.

4. The surgical tool according to claim 1, characterized in that: The driving rod includes a rod body and a seal, wherein the distal end of the seal is sealedly connected to the distal end of the rod body, and the proximal end of the seal is sealedly connected to the distal end of the arm body to isolate at least a portion of the rod body and the interior of the arm body from the joint mechanism.

5. The surgical tool according to claim 4, characterized in that: The distal sealing sleeve of the seal is arranged at the distal end of the rod body, and the proximal sealing is arranged on the distal end of the arm body. At least a part of the seal is deformable for extending and retracting with the movement of the drive rod, and the rod body extends through the seal.

6. The surgical tool according to claim 5, characterized in that: The sealing member comprises an axial portion at the distal end and a radial portion at the proximal end. The distal sealing sleeve of the axial portion is arranged at the distal end of the driving rod, and the radial portion is arranged at the distal end of the arm body in a circumferential sealing manner.

7. The surgical tool according to claim 6, characterized in that: The axial portion of the seal is cylindrical, and the radial portion of the seal includes a flange located at the proximal end, and the flange is used for sealing connection with the distal end of the arm body.

8. The surgical tool according to claim 1, characterized in that: Also includes: At least one transmission mechanism is respectively connected to the proximal end of the at least one driving rod and is used to push or pull the at least one driving rod.

9. The surgical tool according to claim 2, characterized in that: The joint assembly comprises: at least one loop drive wire, forming at least one loop on the at least one joint component, The distal end of the at least one driving rod is respectively connected to the at least one loop driving wire of the at least one joint assembly, and is used to push or pull the at least one loop driving wire.

10. The surgical tool according to claim 9, characterized in that: The joint assembly also includes: A bracket, fixedly arranged at the distal end of the arm body; The at least one joint assembly includes at least one wrist joint assembly, the at least one loop drive wire of the wrist joint assembly includes a loop wrist joint drive wire, the at least one drive rod includes a wrist joint drive rod, and the wrist joint assembly further includes: A wrist joint base, fixedly disposed at the distal end of the support; and The wrist joint rotating mechanism is rotatably arranged on the wrist joint base and connected to the loop wrist joint driving wire, and is used for rotating around the first axis when the wrist joint driving rod drives the loop wrist joint driving wire.

11. The surgical tool according to claim 10, characterized in that: The joint mechanism also includes: An end instrument is arranged at the distal end of the joint mechanism, and the end instrument comprises a first clamp head and a second clamp head; The at least one joint assembly comprises a pliers joint assembly, the at least one loop drive wire of the pliers joint assembly comprises at least one loop pliers joint drive wire, the at least one drive rod comprises at least one pliers joint drive rod, and the pliers joint assembly further comprises: The clamp joint opening and closing mechanism is arranged on the wrist joint rotation mechanism and is connected to the at least one loop clamp joint driving wire. The first clamp head and the second clamp head are arranged on the clamp joint opening and closing mechanism. The clamp joint opening and closing mechanism is used to rotate with the wrist joint rotation mechanism and is used to drive the first clamp head and / or the second clamp head to open and close around the second axis when the at least one clamp joint driving rod drives the at least one loop clamp joint driving wire.

12. The surgical tool according to claim 11, characterized in that: The wrist joint rotation mechanism comprises: A wrist joint rotating body, rotatably connected to the wrist joint base; and A clamp head base is arranged on the wrist joint rotating body; The wrist joint assembly also includes a wrist fixed pulley, which is rotatably arranged on the bracket. The distal end of the loop wrist joint drive wire is wound around the wrist joint rotating body for connection, and the proximal end is wound around the wrist fixed pulley.

13. The surgical tool according to claim 12, characterized in that: The clamp joint opening and closing mechanism comprises: At least one tongs rotating body, fixedly connected to the first tongs head and / or the second tongs head and rotatably connected to the tongs head base; The clamp joint assembly also includes: A first set of steering pulleys and a second set of steering pulleys are rotatably connected to the clamp head base respectively; and at least one clamp pulley rotatably disposed on the support; The distal end of the at least one loop clamp joint driving wire is wound around the at least one clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the at least one clamp fixed pulley.

14. The surgical tool according to claim 13, characterized in that: The at least one clamp swivel comprises: a first clamp rotating body and a second clamp rotating body, wherein the first clamp rotating body is fixedly connected to the first clamp head and is rotatably connected to the clamp head base, and the second clamp rotating body is fixedly connected to the second clamp head and is rotatably connected to the clamp head base; The at least one clamp pulley comprises a first clamp pulley and a second clamp pulley, which are respectively fixedly arranged on the bracket; The at least one loop clamp joint drive wire includes a first loop clamp joint drive wire and a second loop clamp joint drive wire, the distal end of the first loop clamp joint drive wire is wound around the first clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the first clamp fixed pulley, the distal end of the second loop clamp joint drive wire is wound around the second clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the second clamp fixed pulley.

15. The surgical tool according to claim 9, characterized in that: The joint mechanism also includes: at least one slider, each fixedly connected to the at least one loop drive wire; and At least one guide mechanism is fixedly arranged at the distal end of the arm body along the axial direction of the distal end of the arm body, the slider is slidably connected to the guide mechanism, and the slider is used to move linearly along the guide mechanism under the drive of the drive rod.

16. The surgical tool according to claim 1, characterized in that: The arm body comprises a rigid segment arm body; or The arm body comprises a deformable arm body.

17. The surgical tool according to claim 16, characterized in that: The deformable arm body comprises a continuum arm body, and the continuum arm body comprises: At least one distal continuum segment, the distal continuum segment comprising a plurality of distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate; The distal ends of the multiple distal structural bones are fixedly connected to the distal stop plate, the multiple distal structural bones can slidably pass through the at least one distal spacer plate and the distal base plate, and the proximal ends of the multiple distal structural bones are used to receive push or pull drive to drive the distal continuum segment movement.

18. A surgical robot system, characterized in that: include: a mobile station including at least one robotic arm; as well as At least one surgical tool as described in any one of claims 1-17, wherein the at least one surgical tool is detachably disposed at the distal end of the at least one robotic arm.

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