Surgical instrument, slave operation equipment and surgical robot

Abstract

The invention provides a surgical instrument, slave operation equipment and a surgical robotic.The surgical instrument comprises a driver, an end effector and a long shaft connected between the driver and the end effector, and the driver comprises a shell and a driving structure arranged in the shell; the near end of the long shaft is connected with the shell, the far end of the long shaft is connected with the end effector, a driving cable connecting the driving structure and the end effector is arranged in the long shaft in a penetrating mode, a liquid inlet is formed in the shell, a flow guide structure communicated with the liquid inlet is arranged in the shell, and the liquid inlet is communicated with the liquid inlet. The flow guide structure comprises an outlet end extending into the long shaft, the liquid inlet is higher than the outlet end in the axial direction of the long shaft, the flow guide structure is arranged in the shell to directly feed flushing fluid into the long shaft, it is guaranteed that the far end of the long shaft can be effectively flushed under enough pressure, and the long shaft can be effectively flushed. The whole structure is simple, convenient and efficient, and the flushing effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument for minimally invasive surgery, a slave operating device having the surgical instrument, and a surgical robot having the slave operating device. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes, along with related equipment. It offers numerous advantages, including minimal trauma, minimal pain, and rapid recovery. With technological advancements, robotic minimally invasive surgery has matured and is widely used. After cleaning and disinfection, surgical instruments are mounted on the robotic arm, which then guides the surgical procedure.

[0003] In existing structures, surgical instruments generally include a driver, a long shaft, and an end effector. The driver is connected to a drive device within a robotic arm, and a drive cable connecting the driver and the end effector is routed through the long shaft, allowing the robotic arm to drive the end effector to perform surgical operations. However, when flushing and cleaning surgical instruments, the flushing fluid is typically injected into the driver. Due to the slender structure of the long shaft, the flushing fluid often has difficulty reaching the distal end of the long shaft due to insufficient pressure, making it impossible to effectively flush the distal end of the long shaft. Summary of the Invention

[0004] In view of this, a surgical instrument, an operating device and a surgical robot are provided that can effectively flush the distal end of a long axis.

[0005] The present invention provides a surgical instrument, comprising a driver, an end effector, and a long shaft connected between the driver and the end effector, the driver comprising a shell and a driving structure arranged in the shell, the proximal end of the long shaft is connected to the shell, and the distal end of the long shaft is connected to the end effector, a driving cable connecting the driving structure and the end effector is passed through the long shaft, a first liquid inlet and a second liquid inlet are provided on the shell, the first liquid inlet connects the inner and outer spaces of the shell, the fluid for flushing the interior of the shell enters the shell through the first liquid inlet, flows out from the shell after flushing the interior of the shell to form a first flushing path; the fluid for flushing the long shaft enters the guide structure through the second liquid inlet and then enters the long shaft, and is discharged from the distal end of the long shaft after flushing the long shaft to form a second flushing path, and the first flushing path and the second flushing path are independent of each other.

[0006] In one embodiment, the first liquid inlet and the second liquid inlet are located at the top of the housing.

[0007] In one embodiment, the flow-guiding structure includes an outlet end extending into the long axis, and the second liquid inlet is higher than the outlet end in the axial direction of the long axis.

[0008] In one embodiment, a sealing structure for gas sealing is provided in the long shaft. When the fluid enters the long shaft through the guide structure and flows toward the distal end, the sealing structure is opened by the fluid. When there is no flushing, the sealing structure is in a closed state.

[0009] In one embodiment, the flow guiding structure includes a first flow guiding tube and a first joint connecting the inlet end of the first flow guiding tube and the liquid inlet, the outlet end of the first flow guiding tube is connected to a second joint, and the second joint includes a fluid outlet facing the long axis.

[0010] In one embodiment, the second connector is a standard adapter, and the second connector further includes a fluid inlet oriented perpendicularly to the direction of the fluid outlet, and the fluid inlet is plugged into the outlet end of the first flow guide tube.

[0011] In one embodiment, the fluid outlet of the second connector is connected to a second flow guiding tube, and a distal end of the second flow guiding tube extends along the long axis to a distal end thereof.

[0012] In one embodiment, an opening is formed on the wall of the second flow guiding tube. When the flushing fluid flows along the second flow guiding tube toward the distal end of the long shaft, part of the fluid enters the long shaft through the opening for flushing.

[0013] In one embodiment, a one-way valve is provided in the proximal end or the distal end of the long shaft. The one-way valve is kept closed when the surgical instrument is in normal use and is opened when the surgical instrument is flushed.

[0014] In one embodiment, a porous tube is sleeved on the wrist of the end effector, and perforations are formed on the tube wall of the porous tube, and flushing fluid enters the wrist through the perforations for flushing.

[0015] In one embodiment, the liquid inlet includes a first liquid inlet and a second liquid inlet, the first liquid inlet is connected to the inner and outer spaces of the shell, and the second liquid inlet is connected to the guide structure.

[0016] The present invention also provides a slave operating device, comprising at least one robotic arm, wherein the robotic arm comprises multiple joints and a robotic arm, wherein the multiple joints are linked to achieve multiple degrees of freedom of movement of the robotic arm, and the above-mentioned surgical instrument is detachably mounted on the robotic arm.

[0017] In one embodiment, the robotic arm comprises a robotic arm body and an instrument mounting frame slidable on the robotic arm body, and the surgical instrument is mounted on the instrument mounting frame.

[0018] In one embodiment, a trocar is fixed to the distal end of the arm, and during surgery, the surgical instrument passes through the trocar and enters the human body.

[0019] The present invention also provides a surgical robot comprising a main operating console and the above-mentioned slave operating device, wherein the slave operating device performs surgical operations on a human body according to instructions from the main operating console.

[0020] In one embodiment, the master operating console and the slave operating device are wirelessly connected.

[0021] In one embodiment, the master operation console and the slave operation device are connected by wire.

[0022] Compared with the existing technology, the surgical instrument of the operating device of the surgical robot of the present invention is equipped with a diversion structure in its shell to deliver the flushing fluid directly into the long axis, ensuring that there is sufficient pressure to effectively flush the distal end of the long axis. The overall structure is simple, convenient and efficient, and the flushing effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of a slave operating device of an embodiment of a surgical robot according to the present invention.

[0024] Figure 2 Schematic diagram of a first embodiment of the surgical instrument of the present invention.

[0025] Figure 3 for Figure 2 Schematic diagram of the internal structure of the surgical instrument shown.

[0026] Figure 4 FIG. 1 is a schematic diagram of a second embodiment of a surgical instrument according to the present invention.

[0027] Figure 5 for Figure 4 Assembly diagram of the irrigation structure and long shaft of the surgical instrument shown.

[0028] Figure 6 for Figure 5 Exploded view of the flushing structure.

[0029] Figure 7 for Figure 4 Schematic diagram of the end effector of the surgical instrument shown.

[0030] Figure 8 for Figure 4 Schematic diagram of the sealing structure of the surgical instrument shown.

[0031] Figure 9 FIG. 4 is a schematic diagram of another embodiment of the surgical instrument of the present invention. DETAILED DESCRIPTION

[0032] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate one or more embodiments of the present invention to provide a more accurate and thorough understanding of the technical solutions disclosed herein. However, it should be understood that the present invention can be implemented in a variety of different forms and is not limited to the embodiments described below.

[0033] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an element centered at the same time. When an element is considered to be "coupled" to another element, it indicates that the change of at least one element will be restricted by the other element. "Decoupling" means releasing the coupling relationship, indicating that the two elements with a coupling relationship no longer have a coupling relationship, and the change of one element is no longer restricted by the other element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used herein are directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] See also Figure 1 The surgical robot includes a master console 1000 and a slave operating device 2000. The master console 1000 is used to send control commands to the slave operating device 2000 based on the doctor's operation to control the slave operating device 2000. It is also used to display images obtained by the slave operating device 2000. The slave operating device 2000 is used to respond to the control commands sent by the master console 1000 and perform corresponding operations. The slave operating device 2000 is also used to obtain images inside the body.

[0036] Specifically, the surgical device 2000 includes a robotic arm 1, a power mechanism 2 mounted on the robotic arm 1, a surgical instrument 3 mounted on the power mechanism 2, and a cannula 4 that encases the surgical instrument 3. The robotic arm 1 is used to adjust the position of the surgical instrument 3; the power mechanism 2 is used to drive the surgical instrument 3 to perform the corresponding operation; the surgical instrument 3 is used to extend into the body and, through its distal end, perform the surgical operation and / or acquire in-vivo images.

[0037] like Figure 2 and Figure 3 As shown, the surgical instrument 3 includes a driver 10 located at the proximal end and an end effector 20 located at the distal end, and a long shaft 30 located between the driver 10 and the end effector 20. The driver 10 is used to connect to the power mechanism 2. The power mechanism 2 has multiple actuators (not shown) that engage with the driver 10 to transmit the driving force of the actuators to the driver 10. The long shaft 30 is used to connect the driver 10 and the end effector 20. The long shaft 30 is hollow and allows a drive cable 40 to pass through. The driver 10 controls the movement of the end effector 20 through the drive cable 40, so that the end effector 20 performs the relevant surgical operation.

[0038] The driver 10 includes a housing 12, and a driving structure 14 and a fluid guiding structure 16 disposed in the housing 12. In this embodiment, the housing 12 of the driver 10 is provided with a first liquid inlet 121 and a second liquid inlet 122 for flushing the surgical instrument of the present invention.

[0039] The first liquid inlet 121 connects the inner and outer spaces of the housing 12. The flushing fluid is poured into the housing 12 through the first liquid inlet 121 to flush the drive structure 14 and other parts of the housing 12. The second liquid inlet 122 is connected to the guide structure 16 and is used to introduce the flushing fluid into the long shaft 30 to directly flush the long shaft 30. In other words, the present invention provides two relatively independent flushing paths, which flush the driver 10 and the long shaft 30 respectively, ensuring the flushing effect of the long shaft 30. Figure 5 Arrows indicate the direction of fluid flow. In this embodiment, the fluid guiding structure 16 is a first fluid guiding tube. The first fluid guiding tube is a flexible tube that can be freely inserted and routed within the actuator 10 and conveniently positioned within the interior space of the housing 12. One end of the fluid guiding structure 16 serves as a fluid inlet 160, connected to the second liquid inlet 122; the other end serves as an outlet 162, extending into the proximal end of the long shaft 30.

[0040] Preferably, the first and second liquid inlets 121, 122 are disposed at the top of the housing 12. Fluid used to flush the actuator 10 enters the housing 12 through the first liquid inlet 121, flows downward, and ultimately flows out of the housing 12 through the bottom. The second liquid inlet 122 is positioned higher than the outlet 162 of the flow-guiding structure 16. Fluid used to flush the long shaft 30 flows through the second liquid inlet 122 into the flow-guiding structure 16, then flows downward along the flow-guiding structure 16 to the proximal end of the long shaft 30, ultimately flowing downward along the long shaft 30 to the distal end and out of the long shaft 30 through the drain 32. Overall, after entering the surgical instrument of the present invention, the flushing fluid can utilize gravitational potential energy to achieve a higher flow rate, ensuring more effective flushing of the actuator 10 and long shaft 30.

[0041] The present invention provides two independent flow channels for the driver 10 and the long shaft 30. Fluid for flushing the driver 10 enters the housing 12 through the first liquid inlet 121 to flush the components within the housing 12; fluid for flushing the long shaft 30 flows through the second liquid inlet 122 and flows along the flow guide structure 16 into the long shaft 30. In this way, the fluids flushing the driver 10 and the long shaft 30 do not affect or interfere with each other, and the fluid entering the long shaft 30 does not lose kinetic energy due to the internal structure of the driver 10. This ensures that the fluid entering the long shaft 30 has sufficient pressure to flow along the long shaft 30 to its distal end and ultimately out through the distal drain port 32, achieving the purpose of fully flushing the long shaft 30. The provision of two flow channels ensures effective flushing of the entire surgical instrument, ensuring safety and hygiene during subsequent use.

[0042] Figure 4-6 The second embodiment of the surgical instrument of the present invention is shown. It differs from the first embodiment in that the inlet end 160 and outlet end 162 of the fluid-guiding structure 16 are connected to a first connector 17 and a second connector 18, respectively. The first connector 17 is preferably a standard Luer connector, connecting the inlet end 160 to the second fluid inlet 122. The second connector 18 is a rigid connector, fixed within the housing 12 or to the longitudinal shaft 30. Preferably, the second connector 18 is a standard adapter, comprising a fluid outlet 180 and a fluid inlet 182 oriented perpendicularly to each other. The fluid inlet 182 is inserted into the outlet end 162, with the fluid outlet 180 facing inwardly of the longitudinal shaft 30. The second connector 18 prevents the flexible fluid-guiding structure 16 from bending when entering the longitudinal shaft 30, thereby preventing the flushing fluid from flowing smoothly into the longitudinal shaft 30. It also stabilizes the outlet position of the fluid-guiding structure 16, preventing displacement of the fluid-guiding structure 16 under fluid pressure, which could prevent the flushing fluid from flowing smoothly into the longitudinal shaft 30.

[0043] When the surgical instrument of this embodiment is in use, the fluid of the flushing driver 10 is injected into the housing 12 through the first liquid inlet 121. The fluid for flushing the long shaft flows along the flow guide structure 16 to the rigid joint 18 and is injected into the proximal end of the long shaft 30 through its fluid outlet 180. Finally, it flows downward along the long shaft 30 to the distal end and flows out through the distal end discharge port 32, completing the flushing of the long shaft 30. Preferably, as Figure 7 As shown, a porous tube 22 is sleeved on the wrist of the end effector 20 , and a perforation 24 is provided on the wall of the porous tube 22 , through which the flushing fluid enters the wrist for flushing.

[0044] Preferably, in order to prevent gas leakage, a sealing structure 34 is provided at the proximal end or distal end of the long shaft 30. Figure 8 As shown, the sealing structure 34 is preferably a one-way valve, which is arranged in the proximal end of the long shaft 30 and below the rigid joint 18. That is, along the flow direction of the flushing fluid, the sealing structure 34 is arranged downstream of the rigid joint 18. In this way, when the surgical instrument of the present invention is used normally, the sealing structure 34 remains closed to prevent gas leakage; on the contrary, when the surgical instrument of the present invention is flushed, the sealing structure 34 remains closed to prevent gas leakage. Figure 8 As shown by the middle dashed line, the sealing structure 34 is opened, and the flushing fluid flows through the sealing structure 34 and toward the distal end of the long shaft 30 to flush the long shaft 30 .

[0045] Figure 9 The third embodiment of the surgical instrument of the present invention is shown. Unlike the second embodiment, a second fluid conduit 19 is further disposed within the longitudinal shaft 30. One end of the second fluid conduit 19 is connected to the fluid outlet 180 of the second connector, and the other end extends along the longitudinal shaft 30 to near the drain port 32 at its distal end. This allows the flushing fluid to be delivered directly to the distal end of the longitudinal shaft 30 via the fluid guiding structure 16 and the second fluid conduit 19, further enhancing the flushing effect at the distal end of the longitudinal shaft 30. Preferably, the wall of the second fluid conduit 19 includes openings. As the flushing fluid flows along the second fluid conduit 19 toward the distal end of the longitudinal shaft 30, a portion of the fluid enters the interior of the longitudinal shaft 30 through the openings, flushing the longitudinal shaft 30.

[0046] In summary, the surgical instrument of the present invention provides a flow guide structure 16 within the housing 12 to deliver the flushing fluid directly into the long shaft 30. The fluid flushing the long shaft 30 forms a separate flow path and is not affected by the fluid flushing the driver 10. Therefore, sufficient pressure can be ensured to effectively flush the distal end of the long shaft 30. The overall structure is simple, convenient, efficient, and has a good flushing effect. It should be noted that the present invention is not limited to the above-mentioned embodiments. Based on the creative spirit of the present invention, those skilled in the art can also make other changes. These changes made based on the creative spirit of the present invention should be included in the scope of protection claimed by the present invention.

Claims

1. A surgical instrument, characterized in that: The invention comprises a driver, an end effector, and a long shaft connected between the driver and the end effector, the driver comprising a shell and a driving structure arranged in the shell, the proximal end of the long shaft is connected to the shell, and the distal end of the long shaft is connected to the end effector, a driving cable connecting the driving structure and the end effector is passed through the long shaft, a first liquid inlet and a second liquid inlet are provided on the shell, the first liquid inlet connects the inner and outer spaces of the shell, the fluid for flushing the interior of the shell enters the shell through the first liquid inlet, and flows out from the shell after flushing the interior of the shell to form a first flushing path; the fluid for flushing the long shaft enters the guide structure through the second liquid inlet and then enters the long shaft, and is discharged from the distal end of the long shaft after flushing the long shaft to form a second flushing path, and the first flushing path and the second flushing path are independent of each other.

2. The surgical instrument according to claim 1, wherein: The first liquid inlet and the second liquid inlet are located on the top of the shell.

3. The surgical instrument according to claim 1, wherein: The flow-guiding structure includes an outlet end extending into the long axis, and the second liquid inlet is higher than the outlet end in the axial direction of the long axis.

4. The surgical instrument according to claim 1, wherein: A sealing structure for gas sealing is provided in the long shaft. When the fluid enters the long shaft through the flow-guiding structure and flows toward the distal end, the sealing structure is opened by the fluid. When there is no flushing, the sealing structure is in a closed state.

5. The surgical instrument according to claim 3, wherein: The flow guiding structure includes a first flow guiding tube and a first joint connecting the inlet end of the first flow guiding tube and the second liquid inlet. The outlet end of the first flow guiding tube extends into the proximal end of the long axis.

6. The surgical instrument according to claim 3, wherein: The flow guiding structure includes a first flow guiding tube and a first joint connecting the inlet end of the first flow guiding tube and the second liquid inlet. The outlet end of the first flow guiding tube is connected to a second joint. The second joint includes a fluid outlet facing the long axis.

7. The surgical instrument according to claim 6, wherein: The second joint is a standard adapter, and further comprises a fluid inlet oriented perpendicularly to the direction of the fluid outlet, and the fluid inlet is plugged into the outlet end of the first flow guide tube.

8. The surgical instrument according to claim 7, wherein: The fluid outlet of the second joint is connected to a second flow guiding tube, and a terminal end of the second flow guiding tube extends along the long axis to a distal end thereof.

9. The surgical instrument according to claim 8, wherein: An opening is formed on the wall of the second flow guiding tube. When the flushing fluid flows along the second flow guiding tube toward the distal end of the long axis, part of the fluid enters the long axis through the opening for flushing.

10. The surgical instrument according to any one of claims 1 to 9, characterized in that: A one-way valve is provided in the proximal end or the distal end of the long shaft. The one-way valve is kept closed when the surgical instrument is in normal use and is opened when the surgical instrument is flushed.

11. A slave operating device comprising at least one robotic arm, the robotic arm comprising a plurality of joints and a robotic arm, the plurality of joints being linked to achieve movement of the robotic arm with multiple degrees of freedom, characterized in that: The surgical instrument according to any one of claims 1 to 10 is detachably mounted on the arm.

12. A surgical robot, characterized in that: It comprises a main operation console and the slave operation device according to claim 11, wherein the slave operation device performs a surgical operation on a human body according to instructions of the main operation console.

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