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 surgical tool comprises an arm body, a joint mechanism arranged at the far end of the arm body and at least one driving rod. The joint mechanism comprises at least one joint assembly, each joint assembly comprises at least one loopback driving wire which is connected with the at least one joint assembly, at least one loopback is formed on the joint assembly, the far end of the driving rod is connected with the loopback driving wires, and the near end of the driving rod penetrates through the arm body and is used for receiving driving to push or pull the loopback driving wires. And the at least one joint assembly is driven to open, close and / or rotate. The driving rod penetrates through the arm body to be connected with the driving device, the situation that due to the fact that a steel wire rope connected with the joint assembly penetrates through the arm body, the stroke is long, and loosening is prone to occurring can be avoided, one driving rod drives one loopback driving wire to replace driving of two steel wire ropes, the driving structure can be simplified, and the driving accuracy can be improved.

Description

Technical Field

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

[0002] In minimally invasive medical procedures, surgical tools are usually used, and the surgical tools include various surgical actuators, such as forceps, cutting tools or needle holders, etc. The surgical actuator is usually installed at the distal end of the surgical tool. The surgical actuator is inserted directly or through a cannula into a small incision or natural orifice of a 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 pulley assembly connects the distal end of a wire to the surgical actuator and the proximal end passes through the arm body and is connected to the input end of a 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 actuator 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, which easily causes the wire to become loose and affects the driving accuracy. Summary of the Invention

[0004] In some embodiments, a surgical tool includes:

[0005] An arm body, the arm body including a distal end and a proximal end;

[0006] A joint mechanism, provided at the distal end of the arm body;

[0007] The joint mechanism includes at least one joint component, the joint component includes at least one loop drive wire, and the at least one loop drive wire respectively forms at least one loop on the joint component; and

[0008] At least one drive rod, the distal ends of the at least one drive rod are respectively connected to the at least one loop drive wire, the at least one drive rod passes through the arm body, and the proximal end is used to receive drive to push or pull the at least one loop drive wire so as to drive the at least one joint component.

[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, and the at least one surgical tool is 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 drawings required for the description of the embodiments of the present disclosure. The 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 according to the content of the embodiments of the present disclosure and these 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 diagram of a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0016] Figure 4 Schematic diagram of an internal partial structure of a surgical tool according to some embodiments of the present disclosure;

[0017] Figure 5 Schematic structural diagram of a wrist joint assembly according to some embodiments of the present disclosure;

[0018] Figure 6 Schematic structural diagram of a jaw joint assembly according to some embodiments of the present disclosure;

[0019] Figure 7 Schematic structural diagram of a distal instrument and a wrist joint rotation mechanism in a state according to some embodiments of the present disclosure;

[0020] Figure 8 Schematic structural diagram of a distal instrument and a wrist joint rotation mechanism in another state according to some embodiments of the present disclosure;

[0021] Figure 9 Schematic structural diagram of the cooperation between a slider and a loop drive wire according to some embodiments of the present disclosure;

[0022] Figure 10 Schematic longitudinal sectional structure diagram of a drive rod according to some embodiments of the present disclosure;

[0023] Figure 11 Schematic structural diagram of the arm body of a continuum surgical tool according to some embodiments of the present disclosure;

[0024] Figure 12 Schematic diagram of a partial structure of a continuum surgical tool according to some embodiments of the present disclosure;

[0025] Figure 13A schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure is shown. Detailed implementation manners

[0026] 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.

[0027] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and 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 should not be construed as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be construed 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 internal communication of 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.

[0028] Figure 1 、 Figure 2 、 Figure 3 and Figure 4 respectively show a schematic structural diagram and a partial structural diagram of a 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 the joint mechanism 300 in Figure 4 the bracket 140 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 a proximal end, 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. In some embodiments, as Figure 4 shown, the joint mechanism 300 may include at least one joint component, and the joint component includes at least one loop drive wire 230. At least one loop drive wire 230 forms at least one loop on the joint component respectively. At least one drive rod 240 extends from the distal end 180 of the arm body 100, and the distal ends of at least one drive rod 240 are respectively connected to at least one loop drive wire 230. At least one drive rod 240 extends through the arm body 100, and the proximal end is used to receive drive to push or pull at least one loop drive wire 230, so as to drive at least one joint component, such as driving at least one joint component to open and close and / or rotate.

[0029] 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 component and wound around the belt drive component of the joint component. 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. In some embodiments, the drive rod 240 may be a rod-shaped or tubular structure drive wire composed of nitinol wires. In some embodiments, the number of joint components 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 components may be consistent with the number of loop drive wires 230 and drive rods 240, or one joint component may include multiple loop drive wires 230.

[0030] In some embodiments, at least one drive rod 240 may include multiple drive rods, and the multiple drive rods 240 are arranged at intervals. The distal ends respectively extend from the distal end 180 of the arm body 100 and are fixedly connected to the multiple loop drive wires 230 respectively. It should be understood that the lengths of the multiple drive rods 240 extending from the distal end 180 may be the same, or partially the same, or partially different. It should be understood that the multiple drive rods 240 arranged at intervals can avoid interference with each other to independently drive multiple joint components. It should be understood that by arranging multiple drive rods 240 to drive the movement of multiple joint components, the movement of the joint mechanism 300 in multiple degrees of freedom can be realized. For example, the opening and closing degree of freedom, multiple rotational degrees of freedom, etc.

[0031] By connecting the driving rod 240 to the transmission mechanism and the driving device (such as a motor) through the arm body 100, it is possible to avoid the long stroke caused by the steel wire rope connected to the joint assembly passing through the arm body, which is prone to loosening. By driving the loop driving wire with a nitinol wire instead of driving two steel wire ropes, the driving structure can be simplified and the driving accuracy can be increased.

[0032] In some embodiments, such as Figure 1 and Figure 2 shown, the joint mechanism 300 may further include an end effector 200. The end effector 200 is disposed at the distal end of the joint mechanism 300, and at least one driving rod 240 can drive the joint mechanism 300 to drive the end effector 200 to open and close and / or rotate.

[0033] In some embodiments, at least one joint assembly is disposed between the distal end of the end effector 200 and 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 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, such as Figure 2 shown, the joint mechanism 300 may further include a bracket 140. The bracket 140 is fixedly disposed at the distal end of the arm body 100, and the end effector 200 is disposed at the distal end of the bracket 140. It should be understood that the bracket 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.

[0035] Figure 5 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 4 and Figure 5 shown, at least one joint assembly may include at least one wrist joint assembly 310, at least one loop driving wire 230 of the wrist joint assembly 310 may include a loop wrist joint driving wire 231, and at least one driving rod 240 may include a wrist joint driving rod 241.

[0036] Such as Figure 4As 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 (for example, 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 by a 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, bending of the end effector 200 of the surgical tool can be achieved, increasing the movement flexibility.

[0037] Figure 6 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 4 and Figure 6 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.

[0038] As Figure 4 and Figure 6As 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.

[0039] 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.

[0040] Figure 7 and Figure 8 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 7 and Figure 8 do not show the looped drive wire 230. Among them, Figure 7 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 8The 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 (e.g., 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, according to actual requirements, the jaw joint opening / closing mechanism 351 and the wrist joint rotation mechanism 312 can be controlled to achieve operations in different states.

[0041] In some embodiments, such as Figure 4 and Figure 5 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 (e.g., by a pivot connection). The jaw base 3122 is provided on the wrist joint rotating body 3121. The wrist joint rotating body 3121 may include a rotating wheel that can rotate about a first axis, and the jaw base 3122 is fixedly connected to the rotating wheel to rotate with the rotating wheel.

[0042] In some embodiments, such as Figure 5 shown, the jaw base 3122 may include a first jaw support 3122a and a second jaw support 3122b. The first jaw support 3122a and the second jaw support 3122b may be symmetrically provided on the wrist joint rotating body 3121. For example, the first jaw support 3122a and the second jaw support 3122b may extend distally along a direction perpendicular to the plane where the rotation axis (e.g., the first axis) of the wrist joint rotating body 3121 is located. A receiving space is formed between the first jaw support 3122a and the second jaw support 3122b, which can be used to receive the jaw joint opening / closing mechanism 351.

[0043] In some embodiments, such as Figure 5 shown, the jaw base 3122 may further include a connecting plate 3122c. The first actuator support 3122a and the second actuator support 3122b are symmetrically arranged, and the connecting plate 3122c is fixedly provided between the first jaw support 3122a and the second jaw support 3122b to fixedly connect the first jaw support 3922a and the second jaw support 3922b together. The connecting plate 3122c is integrally formed or fixedly connected with the wrist joint rotating body 3121.

[0044] In some embodiments, such as Figure 4 shown, on the wrist joint bases 311 on both sides of the wrist joint rotating body 3121, there are respectively provided a looped wrist joint drive wire guiding hole 3111 and a looped jaw joint drive wire guiding hole 3112, 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.

[0045] In some embodiments, as Figure 5 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 provided circumferentially. 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. 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.

[0046] In some embodiments, as Figure 4 and Figure 6 shown, the jaw joint opening and closing mechanism 351 may include at least one jaw rotating body (e.g., Figure 4 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. 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.

[0047] In some embodiments, as Figures 4 - 6As shown, the first set of turning pulleys 352 and the second set of turning pulleys 353 can be rotatably connected to the connecting plate 3122c. The first set of turning pulleys 352 and the second set of turning pulleys 353 can be symmetrically arranged on both sides of the connecting plate 3122c. In some embodiments, at least one clamp rotating body can include a clamp rotating body connected to one of the first clamp head 210 and the second clamp head 220, and the other of the first clamp head 210 and the second clamp head 220 is fixedly arranged on the clamp head base 3122. At least one looped clamp joint drive wire 232 includes one looped clamp joint drive wire, and at least one clamp fixed pulley includes one clamp fixed pulley. In this way, the opening and closing of one clamp head relative to the other clamp head can be realized.

[0048] In some embodiments, as Figures 4 - 6 shown, the pulleys at the proximal end in the first set of turning pulleys 352 and the second set of turning pulleys 353 can be coaxially arranged with the wrist joint rotating mechanism 312. For example, the pulleys at the proximal end in the first set of turning pulleys 352 and the second set of turning pulleys 353 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.

[0049] In some embodiments, as Figure 4 and Figure 6As 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.

[0050] Figure 9 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 4 and Figure 9 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. For example, the slider 150 may be fixedly connected to the looped driving wire 230 through the connecting block 260. 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 arm body 100. The slider 150 is slidably connected to the guiding mechanism 160. 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 4 shown, at least one guiding mechanism 160 may be arranged in the bracket 140 and fixedly connected to the bracket 140.

[0051] In some embodiments, the guiding mechanism 160 may include guide rods. The slider 150 is provided with corresponding through holes, such as through hole 1502, and the guide rods pass through the corresponding through holes to enable the slider 150 to linearly move along the guide rods. In some embodiments, the guiding mechanism 160 may include guide rails. The slider 150 is provided with corresponding sliding grooves, and the slider 150 is slidably arranged 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 capable of realizing 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.

[0052] In some embodiments, such as Figure 5 and Figure 6 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 used to receive pushing or pulling drives to respectively drive the wrist joint slider 151 and at least one jaw joint slider 152 to reciprocally linearly move 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 arranged on the same guiding mechanism 160, as Figure 4 shown, which can reduce the number of guiding mechanisms to simplify the structure and facilitate the miniaturization and lightweight of the surgical tool.

[0053] Figure 10 Show a longitudinal sectional structural schematic diagram of the driving rod 240 according to some embodiments of the present disclosure. As Figure 9 and Figure 10 shown, the slider 150 may include a main body 1501 and a through hole 1502 and a connection hole (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.

[0054] In some embodiments, the drive rod 240 may further include 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. The distal end of the rod body 245 extends out of the seal 130 and is connected to the joint mechanism 300 and is used to drive the unsealed joint mechanism 300.

[0055] It should be understood that 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 (for example, reciprocating telescopic movement), the seal 130 can be adaptively deformed, 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 be stretched and deformed. 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.

[0056] By providing the deformable seal 130, the drive rod 240 and the arm body 100 can form an integral sealing structure to prevent 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 carried out in various suitable ways. For example, it can be sealingly connected by adhesion, thermoplastic molding, clamping, etc.

[0057] In some embodiments, such as Figure 10As shown, 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. For example, the distal end of the axial portion 131 may be sealingly clamped to the outer peripheral surface of the distal end of the rod body 245 by a clamp 133. 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. 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 flanging at the proximal end. The flanging is used for sealing connection with the distal end of the arm body 100. It should be understood that the longitudinal sections of the axial portion 131 and the radial portion 132 may jointly form a shape similar to an "L", "J", or "U", etc. By providing the radial portion 132 to increase the contact surface with the distal end of the arm body 100, it is convenient for sealing connection with the arm body 100. By forming a continuous sealing surface, a better sealing effect can be achieved.

[0058] In some embodiments, the distal end of the drive rod 240 may include an insulating coating, which is used to insulate the drive rod 240 from the end effector 200. It should be understood that the proximal end of the drive rod 240 may be charged. 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 end effector 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 end effector 200.

[0059] 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 (such as a snake bone structure arm body), a flexible arm body (such as a flexible tube), and a continuum arm body, etc.

[0060] Figure 11A schematic structural view 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 view including one distal continuum segment 110. As Figure 11 shown, the continuum structure arm body may include at least one distal continuum segment 110, and 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, and the proximal ends of the multiple distal structural bones 111 are used to receive pushing or pulling driving 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, and by cooperatively pushing or pulling two structurally opposite bones, the distal continuum segment 110 can be driven to bend. It should be understood that the number of structural bones is not limited here 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 is broken, it does not affect the movement of the arm body 100, improving the safety of the surgical tool 1000.

[0061] 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, and corresponding through holes spaced circumferentially are respectively provided on each plate, and 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 a ring structure, a disk structure, etc., and the cross-section may be various shapes such as a circle, a rectangle, a polygon, etc. 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 here. It should be understood that the number of distal continuum segments 110 may also be two or more, and by driving multiple distal continuum segments 110 to bend, the arm body can be bent in multiple degrees of freedom to increase the flexibility of the arm body.

[0062] 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.

[0063] Figure 12 FIG. shows a partial structural schematic diagram of a continuum surgical tool according to some embodiments of the present disclosure. In some embodiments, as Figure 12 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 ends 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 a driving device (such as the driving device 102), 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.

[0064] In some embodiments, as Figure 12 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.

[0065] Some embodiments of the present disclosure also provide a surgical robot system. Figure 13 FIG. shows a structural schematic diagram of a surgical robot system 10 according to some embodiments of the present disclosure. AsFigure 13 As 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, and the surgical tool (for example, 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 (such as the end effector 200).

[0066] 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 (such as the first jaw 210 and / or the second jaw 220) of the surgical tool 1000 by operating the master operator 1201, or control the rotation of the wrist joint assembly 310 to drive the movement of the end effector 200 of the surgical tool 1000.

[0067] 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 13 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.

[0068] Note that the above are only exemplary embodiments of the present disclosure and the technical principles applied. 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 detail through the above embodiments, the present disclosure is not limited to the above embodiments only. 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: An arm body, the arm body comprising a distal end and a proximal end; A joint mechanism, arranged at the distal end of the arm body; The joint mechanism comprises at least one joint assembly, the joint assembly comprises at least one loop drive wire, and the at least one loop drive wire forms at least one loop on the joint assembly respectively; as well as At least one driving rod, the distal end of the at least one driving rod is respectively connected to the at least one loop driving wire, the at least one driving rod passes through the arm body, and the proximal end is used to receive drive to push or pull the at least one loop driving wire to drive the at least one joint component.

2. The surgical tool according to claim 1, characterized in that: The joint mechanism 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 arranged at the distal end of the bracket; 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.

3. The surgical tool according to claim 2, 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.

4. The surgical tool according to claim 3, 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, and the proximal end is wound around the wrist fixed pulley.

5. The surgical tool according to claim 4, 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.

6. The surgical tool according to claim 5, 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 rotatably disposed on the bracket respectively; 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 two clamp fixed pulleys.

7. The surgical tool according to claim 1, 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.

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 3, characterized in that: The distal end of the driving rod comprises an insulating coating, and the insulating coating is used to insulate the driving rod from the end instrument.

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

11. The surgical tool according to claim 10, 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.

12. 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 1-11, wherein the at least one surgical tool is detachably disposed at the distal end of the robotic arm.

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