Surgical instrument and surgical robot

Abstract

The invention discloses a surgical instrument and a surgical robot. The surgical instrument comprises a shell, a driving disc, a stopping piece, a first indicating part and a second indicating part. The shell comprises a seat body. The driving disc is rotatably arranged on the seat body around the rotating axis. The stop piece is movably connected to the driving disc between a locking position and an unlocking position. The stopper is axially movable relative to the drive disk. The stop is co-rotatable with the drive reel about the axis of rotation. The first indicating part is fixedly arranged relative to the driving disc. And the first indicating part can rotate along with the driving disc. At least part of the surface of the first indicating part can be exposed out of the shell. The second indicating part is located in the shell. The second indicating part is used for indicating the position of the first indicating part. The stopping piece located at the locking position stops the driving disc from rotating. The stopper in the unlocked position allows the drive disk to rotate. A user can conveniently know the service life of the surgical instrument.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more particularly to a surgical instrument and a surgical robot. Background Art

[0002] Surgical instruments usually have a service life or a number of uses. The performance such as the safety and reliability of surgical instruments is guaranteed within the corresponding service life or number of uses. In the related art, when the radio frequency identification (RFID) information of a surgical instrument is not read by a dedicated reader, the service life or the number of uses of the surgical instrument cannot be intuitively known. If it is necessary to record or know the usage of the surgical instrument, the number of times used or the remaining number of uses needs to be manually recorded on the instrument, such as making marks like "zheng" characters, or querying in a dedicated database. Among them, the method of manually recording on the surgical instrument is not reliable enough, and the process of querying from the database is relatively cumbersome. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. The Summary of the Invention section of the present application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] To at least partially solve the above problems, a first aspect of the present application provides a surgical instrument for use in a surgical robot, the surgical instrument comprising:

[0005] A housing, the housing including a base;

[0006] A drive disk rotatably disposed on the base about a rotation axis;

[0007] A stopper movably connected to the drive disk between a locked position and an unlocked position, the stopper being axially movable relative to the drive disk parallel to the rotation axis, the stopper being capable of rotating together with the drive disk about the rotation axis;

[0008] A first indicating portion fixedly disposed relative to the drive disk, the first indicating portion being capable of rotating together with the drive disk, at least a portion of a surface of the first indicating portion being exposed from the housing;

[0009] A second indicating portion located in the housing, the second indicating portion being configured to indicate the position of the first indicating portion;

[0010] Wherein, when the stopper is in the locking position, the stopper is circumferentially clamped to the seat body with the rotation axis as the center, and the seat body blocks the rotation of the stopper and the driving disc.

[0011] When the stopper is in the unlocking position, the stopper disengages from the seat body, and the stopper and the driving disc can rotate relative to the seat body.

[0012] For the surgical instrument according to the first aspect of the present application, the state of the driving disc is adjusted by setting a stopper. The stopper in the locking position can be blocked from rotating together with the driving disc by the seat body, and the stopper in the unlocking position can rotate relative to the seat body together with the driving disc. By providing a first indicating portion fixedly arranged relative to the driving disc and a second indicating portion located on the housing, the position of the first indicating portion is indicated by the second indicating portion, so that it is convenient for the user to intuitively know the service life of the surgical instrument according to the position of the first indicating portion. When the surgical instrument is in the state after being disassembled from the surgical robot, by moving the stopper to the locking position, the position of the driving disc can be maintained, thereby preventing the driving disc from changing its position randomly due to misoperation, and further contributing to ensuring the accuracy and stability of the life indication function.

[0013] Optionally, the driving disc includes a through hole axially penetrating therethrough, and the through hole is arranged offset from the rotation axis.

[0014] The stopper includes:

[0015] A column portion, the column portion is axially movably inserted through the through hole, and the column portion is configured to drive the stopper to move towards the unlocking position when a force along the axial direction is applied, so as to allow the driving disc to rotate.

[0016] Optionally, the column portion of the stopper in the locking position does not protrude from the outer surface of the driving disc along the axial direction.

[0017] Optionally, the seat body includes a first stopper portion.

[0018] The stopper includes:

[0019] A second stopper portion, the second stopper portion is arranged corresponding to the first stopper portion, and the second stopper portion of the stopper in the locking position is connected to the first stopper portion to block the rotation of the driving disc.

[0020] Optionally, one of the first stopper portion and the second stopper portion is configured as a protrusion, and the other of the first stopper portion and the second stopper portion is configured as a notch.

[0021] Optionally, at least one of the first stop portion and the second stop portion is circumferentially spaced along a circumference centered on the rotation axis.

[0022] Optionally, the drive disk includes two of the through holes, and the two through holes are circumferentially spaced along a circumference centered on the rotation axis;

[0023] The stopper includes two of the column portions, and each column portion is provided in one-to-one correspondence with each of the through holes.

[0024] Optionally, the surgical instrument further includes:

[0025] A spring, the spring being connected to the stopper to apply an elastic force toward the locking position to the stopper.

[0026] Optionally, the seat body is provided with a connection hole;

[0027] The stopper is movably disposed in the connection hole along an axial direction parallel to the rotation axis;

[0028] The drive disk is disposed in the connection hole, and the drive disk is closer to the outside of the seat body than the stopper in the axial direction.

[0029] Optionally, the first indicating portion is disposed on the drive disk;

[0030] The second indicating portion is disposed on the seat body.

[0031] Optionally, the nominal number of uses of the surgical instrument is n times, one of the first indicating portion and the second indicating portion includes n first marking portions, the other of the first indicating portion and the second indicating portion includes one second marking portion, the n first marking portions are equidistantly arranged along the circumference of the drive disk, and when the stopper is in the locking position, the second marking portion is correspondingly arranged with any one of the n first marking portions.

[0032] Optionally, the n first marking portions are located on an outer surface of the drive disk along an axial direction parallel to the rotation axis and facing outward.

[0033] Optionally, the stopper is configured as a disk.

[0034] In a second aspect of the present application, there is provided a surgical robot, the surgical robot including:

[0035] The above-mentioned surgical instrument;

[0036] Aseptic adapter, the aseptic adapter is detachably connected to the seat body, the stopper is in the unlocked position when the surgical instrument is connected to the aseptic adapter, the aseptic adapter includes a transmission disk, and the transmission disk is drivingly connected to the drive disk; and

[0037] Instrument driver, the instrument driver is detachably connected to the aseptic adapter, the instrument driver includes a drive motor and an output disk, and the output disk is connected to the output shaft of the drive motor and the transmission disk.

[0038] The surgical robot according to the second aspect of the present application can facilitate the disassembly and assembly of the surgical instrument, the aseptic adapter, and the instrument driver. Moreover, the stopper is in the unlocked position when the surgical instrument is connected to the aseptic adapter. At this time, if the instrument driver and the aseptic adapter are connected, power can be transmitted to the drive disk by starting the drive motor through the transmission connection of the output disk, the transmission disk, and the drive disk, so that the surgical instrument can perform corresponding actions.

[0039] Optionally, the drive disk includes a through hole and a first centering groove, the through hole is arranged offset from the rotation axis, the rotation axis passes through the first centering groove, the stopper includes a column portion, and the column portion is movably inserted through the through hole along a direction parallel to the rotation axis;

[0040] On the surface of the transmission disk facing the drive disk along the axial direction, a first transmission protrusion and a first centering protrusion are provided. The first transmission protrusion is adapted to be inserted into the through hole, and the first transmission protrusion inserted into the through hole abuts against the column portion and moves the stopper to the unlocked position. The first transmission protrusion is adapted to be inserted into the first centering groove.

[0041] Optionally, on the surface of the transmission disk facing the output disk along the axial direction, a second transmission groove and a second centering groove are provided. The second transmission groove is arranged corresponding to the first transmission protrusion along the axial direction, and the second centering groove is arranged corresponding to the first centering protrusion along the axial direction;

[0042] On the surface of the output disk facing the transmission disk along the axial direction, a second transmission protrusion and a second centering protrusion are provided. The second transmission boss is adapted to be inserted into the second transmission groove, and the second centering protrusion is adapted to be inserted into the second centering groove. Description of the Drawings

[0043] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments and descriptions of the present application are shown in the drawings to explain the principles of the present application. In the drawings,

[0044] Figure 1Schematic diagram of a surgical robot according to a preferred embodiment of the present application;

[0045] Figure 2 Structural schematic diagram of a robotic arm system according to a preferred embodiment of the present application;

[0046] Figure 3 Partial perspective view of a surgical instrument according to a preferred embodiment of the present application;

[0047] Figure 4 Exploded schematic diagram of a surgical instrument, a sterile adapter, and an instrument driver according to a preferred embodiment of the present application;

[0048] Figure 5 For Figure 4 A cross-sectional view of the connection structure of the surgical instrument, the sterile adapter, and the instrument driver shown;

[0049] Figure 6 For Figure 4 Another cross-sectional view of the connection structure of the surgical instrument, the sterile adapter, and the instrument driver shown;

[0050] Figure 7 For Figure 4 Cross-sectional view of the connection structure of the surgical instrument and the sterile adapter shown;

[0051] Figure 8 For Figure 4 Cross-sectional view of the seat body of the surgical instrument in;

[0052] Figure 9 For Figure 4 Schematic diagram of the stopper structure of the surgical instrument in; and

[0053] Figure 10 For Figure 4 Bottom view of the surgical instrument in.

[0054] Explanation of reference numerals:

[0055] 100: Surgical instrument 110: Rear-end mechanism

[0056] 111: Housing 112: Seat body

[0057] 112a: Second indication part 112b: Connection hole

[0058] 112c: First stopper part 112d: First clamping part

[0059] 113: Driving disk 113a: Through hole

[0060] 113b: First centering groove 113c: First indication part

[0061] 115: Stopper 115a: Second stopper part

[0062] 115b: Column part 115c: Through hole

[0063] 116: Spring 120: Main pipeline

[0064] 200: Sterile adapter 210: Transmission disc

[0065] 211: First transmission protrusion 212: First centering protrusion

[0066] 213: Second transmission groove 214: Second centering groove

[0067] 215: Second clamping part 300: Instrument driver

[0068] 310: Output disc 311: Second transmission protrusion

[0069] 312: Second centering protrusion 320: Driving motor

[0070] 500: Surgical robot 510: Control system

[0071] 520: Imaging system 530: Manipulator system

[0072] 531: Adjusting arm 532: Operating arm

[0073] 533: Instrument holding arm 534: Column

[0074] 535: Handle 536: Base

[0075] AX: Axis of rotation Detailed implementation mode

[0076] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present application, some technical features well known in the art are not described.

[0077] In order to thoroughly understand the embodiments of the present application, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0078] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present application. The singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they specify the presence of the stated features, wholes, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0079] The ordinal numbers such as "first" and "second" cited in the present application are only identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in the present application are only for the purpose of illustration and are not limitations.

[0080] The expressions such as "parallel" / "perpendicular" and similar ones used in the present application include absolute parallel / perpendicular relationships and substantially parallel / perpendicular relationships (for example, relationships within a range of -5° to +5° from absolute parallel / perpendicular), which can achieve equivalent effects.

[0081] Hereinafter, the specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which show representative embodiments of the present application and do not limit the present application.

[0082] As Figure 1 and Figure 2 shown, the present invention provides a surgical robot 500 for remotely manipulating to perform a surgery. The surgical robot 500 can also be referred to as a medical system or a medical robot. The surgical robot 500 may include a control system 510, an imaging system 520 and a robotic arm system 530, and the three can communicate with each other.

[0083] The control system 510 is also referred to as a doctor's console or a control device. The control system 510 has a display unit for displaying a surgical instrument 100 or an endoscopic environment, a control mechanism for a doctor to operate, an armrest, etc. The display unit is provided with an observation window for the doctor to observe. The control mechanism is configured to perform various actions, and these actions correspond to the actions of the surgical instrument 100 or the endoscope. The armrest is for placing the doctor's arm. In addition, on the doctor's console, there are also other control switches that are convenient for the hands or feet to touch or press, used for performing various functional operations to complete human-machine interaction.

[0084] The imaging system 520 has a display screen, an endoscope controller, system electronics, an image processor, etc. Thus, the internal organs of the patient can be presented to the operator more clearly.

[0085] The robotic arm system 530, also known as the para-patient robotic arm system 530, is disposed beside the patient. A surgical instrument 100 or an endoscope is provided at the distal end thereof for performing various surgical operations on the patient. The robotic arm system 530 may include at least one robotic arm. The robotic arm has a plurality of connecting arms. Two adjacent connecting arms are connected by a joint and relatively move with a specific degree of freedom, so that the end of the robotic arm can achieve movements with multiple degrees of freedom. A tool holding arm 533 is mounted at the end of the robotic arm, and the surgical instrument 100 is detachably mounted on the tool holding arm 533. The tool holding arm 533 may be referred to as an instrument support frame or an instrument arm. An instrument drive module is provided on the tool holding arm 533 to drive the end effector of the surgical instrument 100 to perform actions such as insertion, clamping, hooking, cutting, shoveling, etc.

[0086] Refer to Figure 3 , the surgical instrument 100 may include three parts, namely a rear end mechanism 110, a main pipeline 120 extending from the rear end mechanism to the front end, and an end effector (not shown) including a wrist mechanism (not shown) at the front end of the main pipeline. Usually, the rear end mechanism is driven by an instrument driver 300 through the movement of multiple cables in the main pipeline 120, thereby driving the wrist mechanism.

[0087] In some cases, a single robotic arm may include an adjustment arm 531, an operating arm 532, and a tool holding arm 533. The surgical instrument 100 or the endoscope is detachably mounted on the tool holding arm 533. During the operation, a part of the main pipeline and the wrist mechanism of the surgical instrument 100 are passed through tissues such as the chest and abdominal walls to replace the human hand for the operation. Two adjacent linkages in the adjustment arm 531 are pivotally connected by a rotating joint. In addition, a rotating joint is also provided between the adjustment arm 531 and the operating arm 532 to achieve pivotal connection. Before operating the robotic arm system 530 for the operation, it is necessary to first operate the adjustment arm 531 to make the tool holding arm 533 reach the designated position, and then lock the rotating joint of the adjustment arm 531. During the operation, the operating arm 532 is remotely controlled to complete the operation, and at the same time, the rotating joint of the adjustment arm 531 is locked to prevent relative rotation between the linkages of the adjustment arm 531 during the operation.

[0088] In one example, referring to the figure, the robotic arm system 530 includes a base 536. A column 534 and a handle 535 are provided on the base 536. The column 534 includes at least one set of lifting mechanisms (not labeled). For example, the column 534 may include four sets of lifting mechanisms, and each set of lifting mechanisms corresponds to a robotic arm. The operator can assist in moving the base 536 through the handle 535.

[0089] The inventors found that in the related art, it is very inconvenient to determine the service life of the surgical instrument 100 by manually recording the number of uses or the remaining number of uses on the instrument, or by querying in a dedicated database.

[0090] To solve the above technical problems, the present application provides a surgical instrument 100 and a surgical robot 500. The surgical instrument 100 is adapted to be directly or indirectly connected to the instrument driver 300. For example, the surgical instrument 100 can be directly mounted on the instrument driver 300. For another example, the surgical instrument 100 can be mounted on the instrument driver 300 through a sterile adapter 200, that is, a sterile adapter 200 is added between the surgical instrument 100 and the instrument driver 300.

[0091] The following will refer to Figures 1 to 10 the examples shown to detail the surgical instrument 100 and the surgical robot 500 according to the present application.

[0092] Referring to Figures 3 to 10 , the present application provides a surgical instrument 100 for use in a surgical robot 500. The surgical instrument 100 according to the present application may include a housing 111, a drive disk 113, a stopper 115, a first indicating portion 113c, and a second indicating portion 112a. The housing 111 may include a base body 112. The drive disk 113 is rotatably disposed on the base body 112 about a rotation axis AX. The stopper 115 is movably connected to the drive disk 113 between a locked position and an unlocked position. The stopper 115 is movable relative to the drive disk 113 along an axial direction parallel to the rotation axis AX. The stopper 115 is capable of rotating together with the drive disk 113 about the rotation axis AX. The first indicating portion 113c is fixedly disposed relative to the drive disk 113. The first indicating portion 113c is capable of rotating together with the drive disk 113. At least a part of the surface of the first indicating portion 113c can be exposed outside the housing 111. The second indicating portion 112a is located in the housing 111. The second indicating portion 112a is used to indicate the position of the first indicating portion 113c.

[0093] Wherein, when the stopper 115 is in the locked position (as shown in Figure 4 and Figure 6 ), the stopper 115 is circumferentially clamped to the base body 112 about the rotation axis AX. At this time, the base body 112 blocks the rotation of the stopper 115 and the drive disk 113. When the stopper 115 is in the unlocked position (as shown in Figure 5 and Figure 7 ), the stopper 115 disengages from the base body 112. At this time, the stopper 115 and the drive disk 113 can rotate relative to the base body 112.

[0094] The surgical instrument 100 is configured such that:

[0095] When the surgical instrument 100 is mounted to the instrument driver 300, the stopper 115 is in the unlocked position; when the surgical instrument 100 is detached from the instrument driver 300, the stopper 115 is in the locked position.

[0096] For the surgical instrument 100 according to the present application, by providing the stopper 115 to adjust the state of the drive disk 113, the stopper 115 in the locked position can be prevented from rotating together with the drive disk 113 by the seat body 112, and the stopper 115 in the unlocked position can rotate relative to the seat body 112 together with the drive disk 113. By providing the first indicating portion 113c fixedly relative to the drive disk 113 and the second indicating portion 112a located on the housing 111, the position of the first indicating portion 113c is indicated by the second indicating portion 112a, so that it is convenient for the user to intuitively know the service life of the surgical instrument 100 according to the position of the first indicating portion 113c. When the surgical instrument 100 is in a state after being detached from the surgical robot 500, by moving the stopper 115 to the locked position, the position of the drive disk 113 can be maintained, thereby preventing the drive disk 113 from randomly changing its position due to misoperation, which helps to ensure the accuracy and stability of the life indication function.

[0097] As Figures 5 to 7 and Figure 10 shown, for example, the drive disk 113 may include a through hole 113a axially penetrating therethrough. The through hole 113a is arranged offset from the rotation axis AX. The stopper 115 may include a column portion 115b. The column portion 115b is axially movably inserted through the through hole 113a. The column portion 115b may be configured to drive the stopper 115 to move toward the unlocked position when a force is applied axially, to allow the drive disk 113 to rotate. The column portion 115b here can be understood as a trigger structure for passively adjusting the stopper 115 to the unlocked position. After the column portion 115b is axially forced and moves to the unlocked position, the stopper 115 is disengaged from the seat body 112, thereby allowing the drive disk 113 to rotate under the action of an external driving force, and further enabling the surgical instrument 100 to be used. When the drive disk 113 rotates, the stopper 115 rotates together with the drive disk 113.

[0098] Continuing to refer to Figures 5 to 7 、 Figure 9 and Figure 10 , further, the drive disk 113 may include two through holes 113a. The two through holes 113a are circumferentially spaced apart. The distances of the two through holes 113a from the rotation axis AX may be the same or different. Correspondingly, the stopper 115 may include two column portions 115b. Each column portion 115b is provided in one-to-one correspondence with each through hole 113a.

[0099] In other examples not shown, only one through hole 113a may be provided in the drive disk 113. Correspondingly, the stopper 115 may only include one column portion 115b.

[0100] Refer to Figure 4 and Figure 6 , in one example, the column portion 115b of the stopper 115 located at the locking position does not protrude axially from the outer surface of the drive disk 113. A corresponding convex structure may be provided on the transmission disk 210 of the sterile adapter 200 to form a plug-in fit with the through hole 113a of the drive disk 113. In the state where the surgical instrument 100 is connected to the sterile adapter 200, the column portion 115b is pushed by the convex structure during the process of inserting into the through hole 113a, and then the stopper 115 is pushed to the unlocking position.

[0101] In another example not shown, the column portion 115b of the stopper 115 located at the locking position protrudes axially from the outer surface of the drive disk 113. In this way, during the process of engaging the drive disk 113 of the surgical instrument 100 with the transmission disk 210 of the sterile adapter 200, the stopper 115 can be pushed by the transmission disk 210 and move towards the unlocking position. Here, the transmission disk 210 may not be provided with a convex structure for abutting against the column portion 115b separately, or the axial dimension of the convex structure can be effectively reduced.

[0102] In yet another example, the structure on the drive disk 113 for adaptively connecting to the transmission disk 210 to transmit torque is set as a through vacancy portion. The column portion 115b is movably inserted through the vacancy portion. The advantages on the one hand are that the column portion 115b of the stopper 115 does not need to protrude from the surface of the drive disk 113, and the stopper 115 can still be lifted when the surgical instrument 100 is docked with the existing sterile adapter 200, so as to move towards the unlocking position. The advantages on the other hand are that it prevents the drive disk 113 from being randomly rotated due to accidental touch after the surgical instrument 100 is detached from the surgical robot 500, thus helping to ensure that the position of the drive disk 113 remains unchanged in the detached state.

[0103] Refer to Figures 5 to 7 and Figure 9 , for example, the seat body 112 may include a first stopper portion 112c. The stopper 115 may include a second stopper portion 115a. The second stopper portion 115a is arranged corresponding to the first stopper portion 112c. The second stopper portion 115a of the stopper 115 located at the locking position is connected to the first stopper portion 112c, and the second stopper portion 115a and the first stopper portion 112c form a limit fit in the circumferential direction centered on the rotation axis AX to prevent the drive disk 113 from rotating relative to the seat body 112.

[0104] Continue to refer toFigures 5 to 7 and Figure 9 Further, one of the first stop portion 112c and the second stop portion 115a is configured as a protrusion, and the other of the first stop portion 112c and the second stop portion 115a is configured as a notch. Here, through the plug-in fit between the protrusion and the notch, the wall surface of the notch generates a block in the rotational direction on the protrusion, so as to prevent the relative movement between the stop member 115 and the seat body 112 in the circumferential direction.

[0105] In Figures 5 to 7 and Figure 9 In the example shown, the first stop portion 112c is configured as a notch such as a groove, and the second stop portion 115a is configured as a protrusion. The protrusion extends in a direction parallel to or close to the rotation axis AX.

[0106] Referring again to Figures 5 to 7 and Figure 9 Further, at least one of the first stop portion 112c and the second stop portion 115a is arranged at intervals in the circumferential direction centered on the rotation axis AX.

[0107] Further, the protrusion structure in the first stop portion 112c and the second stop portion 115a can be set to at least one, and the notch structure in the first stop portion 112c and the second stop portion 115a can be set to multiple. Wherein the number of notches should be an integer multiple of the protrusions. During the process of locking → rotating (unlocking) → locking of the second stop portion 115a, preferably any one of the protrusions is sequentially matched with the adjacent notches. In this way, it is convenient for the driving disk 113 to be limited after rotating to a corresponding angle, rather than being limited after the driving disk 113 rotates a full circle, which is also beneficial for determining the service life of the surgical instrument 100 in combination with relevant marking means. When both the first stop portion 112c and the second stop portion 115a are provided with two or more, the stop member 115 located at the locking position can more reliably and stably prevent the driving disk 113 from rotating relative to the seat body 112.

[0108] Further, the number of notches should be an integer multiple of the nominal number of uses of the surgical instrument. The nominal number of uses is the initial service life of the surgical instrument. Preferably, the number of notches is equal to the nominal number of uses of the surgical instrument.

[0109] In Figure 8 In the example shown, ten first stop portions 112c are provided. In Figure 9 In the example shown, ten second stop portions 115a are provided.

[0110] In other examples not shown, only one through hole 113a of the driving disk 113 can also be provided. Correspondingly, the stop member 115 can only include one column portion 115b.

[0111] Refer to Figures 5 to 7 In addition, the surgical instrument 100 may further include a spring 116. The spring 116 is connected to the stopper 115 to apply an elastic force toward the locking position to the stopper 115. When the spring 116 is provided, by applying the elastic force to the stopper 115 through the spring 116, the stopper 115 can be automatically moved to the locking position. This can prevent the drive disk 113 from rotating arbitrarily due to misoperation after the surgical instrument 100 is detached from the surgical robot 500.

[0112] Refer to Figures 5 to 7 and Figure 8 For example, the seat body 112 is provided with a connection hole 112b. The stopper 115 is movably disposed along the axial direction parallel to the rotation axis AX in the connection hole 112b. The drive disk 113 is disposed in the connection hole 112b. The drive disk 113 is closer to the outside of the seat body 112 than the stopper 115 in the axial direction. That is, when the drive disk 113 is installed in the connection hole 112b, a receiving space is formed by enclosing the inner wall of the drive disk 113 and the connection hole 112b, and the stopper 115 is located in the receiving space. During assembly, the stopper 115 can be assembled in the connection hole 112b first, and then the drive disk 113 can be assembled, or the stopper 115 and the drive disk 113 can be assembled together first and then installed in the connection hole 112b.

[0113] Refer to Figure 10 In addition, the surgical instrument 100 may further include a first indicating portion 113c and a second indicating portion 112a. The first indicating portion 113c is provided on the drive disk 113. The second indicating portion 112a is provided on the seat body 112. The second indicating portion 112a is used to indicate the position of the first indicating portion 113c. By indicating the position of the first indicating portion 113c through the second indicating portion 112a, it is convenient to know the service life of the surgical instrument 100.

[0114] Further, the nominal number of uses of the surgical instrument 100 is recorded as n times. One of the first indicating portion 113c and the second indicating portion 112a includes n first marking portions. The other of the first indicating portion 113c and the second indicating portion 112a includes a second marking portion. The n first marking portions are arranged at equal intervals along the circumference of the drive disk 113. Correspondingly, at least one of the above-mentioned first stopper portion 112c and the second stopper portion 115a is provided with n pieces and arranged at equal intervals along the circumference. When the stopper 115 is in the locking position, the second marking portion is correspondingly arranged with any one of the n first marking portions. In this way, the user can know the remaining service life of the surgical instrument 100 according to which one of the n first marking portions the second marking portion corresponds to.

[0115] Further, the n first marking portions are located on the axially outward surface of the drive disk 113 along a direction parallel to the rotation axis AX. In a disassembled state of the surgical instrument 100, a user can know the service life of the surgical instrument 100 by observing the state of the drive disk 113.

[0116] In Figure 10 the example shown, n is equal to 10. The first marking portion includes a total of 10 digits from 0 to 9, and graduation marks corresponding to the positions of the respective digits. Here, the graduation marks are in a V-shaped structure or a triangular structure, and the pointed corner portions of the V-shaped structure or the triangular structure face the center of the drive disk 113. The second marking portion is an arrow mark, and the arrow of the arrow mark points radially of the drive disk 113 along the drive disk 113. When the surgical instrument 100 is in a state of never being used, the digit 0 in the first marking portion of the drive disk 113 is aligned with the second marking portion, thereby indicating that the surgical instrument 100 is new and has thus been used. After the surgical instrument 100 is used once, the drive disk 113 rotates one position. At this time, the digit 9 in the first marking portion of the drive disk 113 is aligned with the second marking portion, thereby indicating that the remaining service life of the surgical instrument 100 is 9 times. And so on.

[0117] In other examples, the above-mentioned graduation marks are not limited to a V-shaped structure or a triangular structure. It may also be, for example, the scale lines of a clock. The graduation marks may include not only the portions corresponding to the digits, but may also include graduation marks located between adjacent digits. The second marking portion is not limited to a practical arrow mark.

[0118] In other examples not shown, the first indicating portion 113c may not be provided on the drive disk 113, but on another component fixedly connected to the drive disk 113. The first indicating portion 113c includes n digits related to the number of uses. At the same time, an observation hole is provided in the housing 111, and the observation hole is correspondingly provided with respect to the portion of the first indicating portion 113c where the digits are provided. When the drive disk 113 rotates, it can drive this component to rotate and display the number of uses to the user through the observation hole, so as to facilitate the user to intuitively know the service life of the surgical instrument 100. Compared with this example, the above technical means of providing the first indicating portion 113c on the drive disk 113 is simpler in structure.

[0119] Referring to Figures 5 to 7 and Figure 9 , for example, the stopper 115 may be configured as a disk. By configuring the stopper 115 as a disk, interference with the seat body 112 can occur during the rotation of the stopper 115 with the drive disk 113.

[0120] In Figure 9 the example shown, the stopper 115 is provided with a through hole 115c. The through hole 115c is used for passing through a shaft connected to the drive disk 113.

[0121] Referring to Figures 1 to 10 Figures 1 to 10 , the present application also provides a surgical robot 500. The surgical robot 500 may include the above-mentioned surgical instrument 100, sterile adapter 200, and instrument driver 300. The sterile adapter 200 is detachably connected to the seat body 112. The stopper 115 is in the unlocked position when the surgical instrument 100 is connected to the sterile adapter 200. The sterile adapter 200 may include a transmission disk 210. The transmission disk 210 is drivingly connected to the drive disk 113 to transmit power between the transmission disk 210 and the drive disk 113. The instrument driver 300 is detachably connected to the sterile adapter 200. The instrument driver 300 may include a drive motor 320 and an output disk 310. The output disk 310 is connected to the output shaft of the drive motor 320 and the transmission disk 210. When the drive motor 320 is started, power is output to the output disk 310 through the output shaft, and then the power is transmitted through the cooperation between the output disk 310 and the transmission disk 210, and further transmitted to the drive disk 113 through the cooperation between the transmission disk 210 and the drive disk 113. Since the stopper 115 is in the unlocked position when the surgical instrument 100 is connected to the sterile adapter 200, starting the drive motor 320 can drive the drive disk 113 to rotate.

[0122] According to the surgical robot 500 of the present application, it is convenient to disassemble and assemble the surgical instrument 100, sterile adapter 200, and instrument driver 300. Moreover, the stopper 115 is in the unlocked position when the surgical instrument 100 is connected to the sterile adapter 200. At this time, if the instrument driver 300 and the sterile adapter 200 are connected, power can be transmitted to the drive disk 113 through the driving connection of the output disk 310, transmission disk 210, and drive disk 113 by starting the drive motor 320, so that the surgical instrument 100 can perform corresponding actions.

[0123] Referring to Figures 4 to 7 Figures 4 to 7 , further, the stopper 115 is in the locked position when the surgical instrument 100 is detached from the sterile adapter 200. This can prevent the drive disk 113 from rotating randomly due to misoperation when the surgical instrument 100 is detached from the sterile adapter 200.

[0124] Continuing to refer to Figures 4 to 7, for example, the drive disk 113 may include a through hole 113a and a first centering groove 113b. The through hole 113a is arranged offset from the rotation axis AX. The rotation axis AX passes through the first centering groove 113b. The stopper 115 may include a column portion 115b. The column portion 115b is movably inserted through the through hole 113a in a direction parallel to the rotation axis AX. On the surface of the transmission disk 210 facing the drive disk 113 in the axial direction, a first transmission protrusion 211 and a first centering protrusion 212 are provided. The first transmission protrusion 211 is adapted to be inserted into the through hole 113a. The first transmission protrusion 211 inserted into the through hole 113a abuts against the column portion 115b and moves the stopper 115 to the unlocking position. The first transmission protrusion 211 is adapted to be inserted into the first centering groove 113b. Since the through hole 113a is arranged offset from the rotation axis AX, in the state where the first transmission protrusion 211 is inserted into the through hole 113a, torque can be transmitted between the transmission disk 210 and the drive disk 113 through the cooperation of the first transmission protrusion 211 and the through hole 113a. Through the cooperation of the first centering protrusion 212 and the first centering groove 113b, the coaxiality between the transmission disk 210 and the drive disk 113 can be ensured, and the positioning operation between the sterile adapter 200 and the surgical instrument 100 can also be facilitated.

[0125] Refer to Figure 4 , optionally, the seat body 112 is provided with a first clamping portion 112d. The sterile adapter 200 is provided with a second clamping portion 215 adapted to the first clamping portion 112d. The sterile adapter 200 and the surgical instrument 100 are clamped through the clamping cooperation between the second clamping portion 215 and the first clamping portion 112d.

[0126] Refer to Figures 4 to 7 , further, on the surface of the transmission disk 210 facing the output disk 310 in the axial direction, a second transmission groove 213 and a second centering groove 214 are provided. The second transmission groove 213 is arranged corresponding to the first transmission protrusion 211 in the axial direction. The second centering groove 214 is arranged corresponding to the first centering protrusion 212 in the axial direction. On the surface of the output disk 310 facing the transmission disk 210 in the axial direction, a second transmission protrusion 311 and a second centering protrusion 312 are provided. The second transmission boss is adapted to be inserted into the second transmission groove 213. The second centering protrusion 312 is adapted to be inserted into the second centering groove 214. Through the cooperation of the second transmission boss and the second transmission groove 213, torque can be transmitted between the output disk 310 and the transmission disk 210. Through the cooperation of the second centering protrusion 312 and the second centering groove 214, the coaxiality between the output disk 310 and the transmission disk 210 can be ensured, and the positioning operation between the sterile adapter 200 and the instrument driver 300 can also be facilitated.

[0127] For the surgical robot 500 according to the present application, when applying the above surgical instrument 100, in combination with the functions achieved by the first indicating portion 113c and the second indicating portion 112a of the surgical instrument 100, after each use, the instrument driver 300 can drive the driving disk 113 to rotate one grid. The usage times marked on the driving disk 113 change correspondingly by one grid. The user can intuitively see the number of times the surgical instrument 100 has been used or the remaining available usage times, without the need to manually draw a "positive" character on the instrument for recording. In terms of understanding the service life of the surgical instrument 100, it is more convenient and helps to improve the user experience. By adopting the above technical means, by using the idle driving disk 113 of the surgical instrument 100 and the idle motor of the instrument driver 300, the recording or marking of the usage times of the surgical instrument 100 can be achieved. The driving disk 113 of the surgical instrument 100 can be driven when the surgical instrument 100 is installed on the instrument driver 300. And, the driving disk 113 of the surgical instrument 100 cannot be manually rotated or is difficult to be manually rotated when the surgical instrument 100 is removed from the instrument driver 300.

[0128] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present application. The terms used herein are only for the purpose of describing specific implementation purposes and are not intended to limit the present application. Terms such as "arranged" that appear herein can mean that one component is directly attached to another component or that one component is attached to another component through an intermediate component. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0129] The present application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of illustration and example, and are not intended to limit the present application within the scope of the described embodiments. Those skilled in the art can understand that according to the teachings of the present application, more variations and modifications can be made, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A surgical instrument, applied to a surgical robot, characterized in that, The surgical instrument includes: a housing, the housing including a base body, a drive disk rotatably disposed on the base body about a rotation axis; a stopper movably connected to the drive disk between a locking position and an unlocking position, the stopper being axially movable relative to the drive disk parallel to the rotation axis, and the stopper being capable of rotating together with the drive disk about the rotation axis; a first indicating portion fixedly disposed relative to the drive disk, the first indicating portion being capable of rotating together with the drive disk, and at least a part of a surface of the first indicating portion being exposed from the housing; and a second indicating portion located in the housing, the second indicating portion being configured to indicate the position of the first indicating portion, wherein when the stopper is in the locking position, the stopper is circumferentially clamped to the base body about the rotation axis, and the base body blocks the rotation of the stopper and the drive disk, when the stopper is in the unlocking position, the stopper disengages from the base body, and the stopper and the drive disk are capable of rotating relative to the base body.

2. The surgical instrument according to claim 1, wherein the drive disk includes a through hole axially penetrating therethrough, the through hole being offset from the rotation axis, the stopper includes: a column portion axially movably passing through the through hole, the column portion being configured to drive the stopper toward the unlocking position when a force along the axial direction is applied thereto to allow the drive disk to rotate.

3. The surgical instrument according to claim 2, wherein the column portion of the stopper in the locking position does not axially protrude from an outer surface of the drive disk.

4. The surgical instrument according to claim 2, wherein the base body includes a first stopping portion, the stopper includes: a second stopping portion correspondingly arranged with the first stopping portion, and the second stopping portion of the stopper in the locking position is connected to the first stopping portion to prevent the drive disk from rotating.

5. The surgical instrument according to claim 4, wherein one of the first stopping portion and the second stopping portion is configured as a protrusion, and the other of the first stopping portion and the second stopping portion is configured as a notch.

6. The surgical instrument according to claim 4, wherein at least one of the first stopping portion and the second stopping portion is circumferentially spaced about the rotation axis.

7. The surgical instrument according to claim 2, wherein the drive disk includes two through holes circumferentially spaced about the rotation axis; the stopper includes two column portions, and each column portion is correspondingly arranged with each through hole.

8. The surgical instrument according to claim 1, wherein the surgical instrument further includes: a spring connected to the stopper to apply an elastic force toward the locking position to the stopper.

9. The surgical instrument according to claim 1, characterized in that: The seat body is provided with a connecting hole; The stopper is movably disposed in the connecting hole along an axial direction parallel to the rotation axis; The driving disk is disposed in the connecting hole, and the driving disk is closer to the outside of the seat body than the stopper in the axial direction.

10. The surgical instrument according to any one of claims 1 to 9, characterized in that: The first indicator is disposed on the driving disk; The second indicating portion is disposed on the seat.

11. The surgical instrument according to claim 10, characterized in that, The surgical instrument has a nominal usage number of n times, one of the first indicating portion and the second indicating portion includes n first marking portions, the other of the first indicating portion and the second indicating portion includes a second marking portion, the n first marking portions are arranged at equal intervals along the circumferential direction of the driving disk, and when the stopper is located in the locking position, the second marking portion is arranged corresponding to any one of the n first marking portions.

12. The surgical instrument according to claim 11, characterized in that: The n first marking portions are located on a surface of the driving plate facing outward along an axial direction parallel to the rotation axis.

13. The surgical instrument according to claim 1 or 2, characterized in that, The stopper is configured as a disc.

14. A surgical robot, characterized in that, The surgical robot comprises: A surgical instrument according to any one of claims 1 to 13; a sterile adapter, the sterile adapter being detachably connected to the seat body, the stopper being located in an unlocked position when the surgical instrument is connected to the sterile adapter, the sterile adapter comprising a transmission disk, the transmission disk being transmission-connected to the drive disk; and An instrument driver is detachably connected to the sterile adapter, the instrument driver comprising a drive motor and an output disk connected to an output shaft of the drive motor and the transmission disk.

15. The surgical robot according to claim 14, characterized in that: The driving disk comprises a through hole and a first centering groove, wherein the through hole is staggered with the rotation axis, and the rotation axis passes through the first centering groove, and the stopper comprises a column portion, and the column portion is movably penetrated through the through hole in a direction parallel to the rotation axis; A first transmission protrusion and a first centering protrusion are provided on the surface of the transmission disk axially facing the driving disk, the first transmission protrusion is adapted to be inserted into the through hole, the first transmission protrusion inserted into the through hole abuts against the column portion and moves the stopper to the unlocking position, and the first transmission protrusion is adapted to be inserted into the first centering groove.

16. The surgical robot according to claim 15, characterized in that: A second transmission groove and a second centering groove are provided on a surface of the transmission disc facing the output disc in the axial direction, wherein the second transmission groove is provided corresponding to the first transmission protrusion in the axial direction, and the second centering groove is provided corresponding to the first centering protrusion in the axial direction; The surface of the output disk facing the drive disk along the axial direction is provided with a second drive projection and a second centering projection. The second drive projection is adapted to be inserted into the second drive groove, and the second centering projection is adapted to be inserted into the second centering groove.

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