Surgical instrument control mechanism and surgical operating instrument

Abstract

The invention relates to a surgical instrument operating mechanism and a surgical instrument. The operating mechanism comprises a tubular body, a connecting base, a sliding block and a reset mechanism. The tubular body is provided with a fluid through hole, the connecting base is provided with an end effector engaging portion, and the sliding block is assembled to the connecting base and provided with a closing element. When the surgical instrument control mechanism is in an initial state, the reset mechanism maintains the sliding block to be located at the far end, so that the closing element is separated from the fluid through hole; when the surgical instrument control mechanism is in a closed state, the sliding block compresses the reset mechanism and moves to the near end to be positioned, so that the closing element and the fluid through hole form contact type sealing. The technical problem that a cleaning or sterilizing path can be automatically established for the surgical operating instrument is solved, and the operation safety and the maintenance convenience of the surgical operating instrument are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument manipulation mechanism and a surgical instrument. Background Art

[0002] With the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice has received more and more attention. Among them, the minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional treatment, while achieving the purpose of precise surgery, so that the patient's surgery has the advantages of less trauma, less blood loss, less postoperative infection and faster postoperative recovery.

[0003] Surgical robots usually use corresponding surgical instruments to perform corresponding surgical operations. The performance of surgical instruments is a key factor affecting the performance level of minimally invasive surgical robot systems. Superiorly designed surgical instruments can better help doctors complete surgical operations.

[0004] Laparoscopic staplers are currently widely used in clinical surgery. Common staplers consist of a stapler handle and a stapler magazine assembly. Stapler magazine assemblies of various specifications can be installed on the stapler handle for surgery. Currently, after most laparoscopic staplers are used, the used stapler handle and stapler magazine will be discarded. However, the manufacturing cost of the stapler is relatively high. Designing a reusable stapler handle can effectively reduce costs.

[0005] On the other hand, there is a risk of the stapler handle being contaminated by blood, body fluids, and tissues during surgery. The stapler handle needs to be able to be effectively cleaned and sterilized before it can be reused. However, traditional laparoscopic staplers are difficult to clean and sterilize again, and there is a problem of difficulty in reuse. At present, no effective solution has been given. It is particularly necessary to design a surgical instrument manipulation mechanism and surgical instrument that are reusable and can be effectively cleaned and sterilized. The surgical instrument manipulation mechanism in the present invention can be a stapler handle, and the surgical instrument can be a stapler. Therefore, the present invention proposes a surgical instrument manipulation mechanism and a surgical instrument to overcome the defects of the prior art. The present invention solves the technical problem that surgical instruments can automatically establish a cleaning or sterilization path, and significantly improves the operational safety and maintenance convenience of surgical instruments. Summary of the Invention

[0006] The present invention relates to a surgical instrument manipulation mechanism and a surgical instrument, and specifically provides the following technical solutions:

[0007] A surgical instrument manipulation mechanism, comprising:

[0008] A tubular body extending in the axial direction and having a fluid through hole formed on the circumferential wall;

[0009] A connection base is provided at a distal end thereof with a joint portion including an end effector;

[0010] a sliding block, assembled on the connection base in an axially movable manner, wherein the sliding block is provided with a closing element;

[0011] Reset mechanism;

[0012] When the surgical instrument manipulation mechanism is in an initial state, the resetting mechanism maintains the sliding block in a distal position, so that the sealing element is separated from the fluid through hole;

[0013] When the surgical instrument manipulation mechanism is in a closed state, the sliding block compresses the resetting mechanism and the sliding block moves to a proximal position, so that the closing element forms a contact seal with the fluid through hole.

[0014] Optionally, the surgical instrument manipulation mechanism further comprises a sealing structure, which is fixedly disposed between the proximal end of the connection base and the inner contour of the tubular body to form a main sealing interface that separates the lumen into a distal cavity and a proximal cavity. The sealing structure comprises:

[0015] an axial constraint portion, forming at least one of an interference fit, a clearance fit, and a transition fit with the connection base or the tubular body;

[0016] an actuating channel, axially penetrating the sealing structure and maintaining the sealing structure in a dynamic sealing state;

[0017] A guide channel, wherein the guide channel provides a movement channel for the closing element, and an inner contour of the guide channel forms a dynamic sealing pair with the closing element;

[0018] Optionally, the outer peripheral contour of the closing element fits the inner wall of the tubular body.

[0019] Optionally, the closing element forms an interference fit of 0.001 mm to 0.5 mm and / or a clearance fit of 0 mm to 0.5 mm with the connecting base or the tubular body;

[0020] Optionally, the sealing index of the primary sealing interface under a pressure difference of 4 kPa is not greater than 5 L / min. The primary sealing interface can maintain pneumoperitoneum airtightness.

[0021] Optionally, the sealing structure is made of an elastic material, such as an elastic polymer material. An elastic force-applying unit is provided between the closing element of the sliding block and the connection base, the elastic force-applying unit comprising a first elastic unit disposed at the distal end of the sealing structure and a second elastic unit disposed at the proximal end, the two elastic units generating contact pressure perpendicular to the closing element.

[0022] Optionally, a difference in compression recovery rate between the first elastic unit and the second elastic unit is no more than 50%, and a hardness deviation is no more than 50 Shore A.

[0023] Optionally, the tubular body is provided with a first fluid through hole and a second fluid through hole distributed axially at intervals, wherein the first fluid through hole forms a fluid connection with the distal cavity, and the second fluid through hole forms a fluid connection with the proximal cavity; the sliding block is provided with a first conducting portion and a second conducting portion, when the surgical instrument manipulation mechanism is in an initial state, the first conducting portion corresponds to the first fluid through hole, and the second conducting portion corresponds to the second fluid through hole; when the surgical instrument manipulation structure is in a closed state, the first fluid through hole and the second fluid through hole are simultaneously sealed by the closing element.

[0024] Optionally, the first elastic unit and the second elastic unit are each provided with a fluid conducting structure selected from at least one of a through-hole, a through-hole array, a linear incision, and a groove network. When the surgical instrument manipulation mechanism is in an initial state, the first fluid through-hole forms a bidirectional passage with the fluid conducting structure via the first conductive portion, and the second fluid through-hole forms a bidirectional passage with the fluid conducting structure via the second conductive portion.

[0025] Optionally, the curvature radius R1 of the outer contour of the closing element and the inner contour r1 of the tubular body satisfy 0.8≤R1 / r1≤1.2.

[0026] Optionally, the connection base is provided with a flow guiding structure corresponding to the fluid through hole, and the structure is configured to form:

[0027] Distal path: from the first fluid through hole of the distal cavity through the first conducting portion, the guiding structure to the distal end of the end effector joint;

[0028] Proximal path: from the second fluid through hole of the proximal cavity through the second conductive part, the guide structure to the proximal end of the tubular body.

[0029] Optionally, the connecting base is provided with a radial limiting structure, which generates a sealing load on the closing element by preloading the first elastic unit and the second elastic unit.

[0030] Optionally, the closing element has:

[0031] an outer peripheral sealing surface, contacting the inner contour of the tubular body to form a primary sealing area;

[0032] The inner circumferential pressure-bearing surface and the elastic force-applying unit form a pressure-adaptive secondary sealing area.

[0033] Optionally, a third fluid through hole is provided at the proximal end of the tubular body, and the third fluid through hole and the second fluid through hole form a reversible cleaning / sterilization passage.

[0034] Optionally, the diameter ratio of the fluid through hole is 0.2 to 5 mm, and the channel diameter is 1 mm to 10 mm.

[0035] Optionally, when the end effector is not engaged, the fluid through-hole is configured to have:

[0036] Cleaning state: allows the cleaning medium to flow in both directions;

[0037] Sterilization state: Allow gaseous sterilization media and / or liquid sterilization media to penetrate the flow channel.

[0038] The present invention provides a surgical instrument, comprising:

[0039] Any of the above surgical instrument manipulators;

[0040] modular end-effector assembly;

[0041] When the surgical instrument manipulation mechanism and the end effector assembly are not installed, the surgical instrument manipulation mechanism is in an initial state, forming the distal path and the proximal path, so that the surgical instrument can be cleaned or sterilized;

[0042] When the surgical instrument manipulation mechanism is installed with the end effector assembly, the surgical instrument manipulation mechanism is in a closed state, and the closing element forms a contact seal with the fluid through hole, so that the surgical instrument is in a sealed state.

[0043] Optionally, the modular end effector assembly is a replaceable end effector assembly;

[0044] Optionally, the slider is activated to form a sealing mode when the end effector assembly is engaged, so that the closure element completely covers the fluid through-hole.

[0045] Optionally, the fluid passages are automatically formed when the end effector assembly is separated:

[0046] Distal path: from the first fluid through-hole through the distal cavity to the outlet of the end effector joint;

[0047] Proximal path: from the second fluid through-hole through the proximal cavity to the third fluid through-hole, or from the third fluid through-hole through the proximal cavity to the second fluid through-hole.

[0048] Additional objects, features and / or advantages will be set forth in part in the following description and in part will be obvious from the description, or may be learned by practice of the invention and / or the claims. At least some of these objects and advantages may be realized and obtained by the elements and combinations particularly pointed out in the appended claims.

[0049] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims, which should be given the full breadth of their scope and their equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The following drawings are only intended to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0051] in:

[0052] Figure 1 It is a disassembled schematic diagram of the end effector assembly and the instrument manipulation mechanism;

[0053] Figure 2 This is a schematic diagram of the installation of the stapler and power box assembly;

[0054] Figure 3 Assemble schematics for surgical instruments;

[0055] Figure 4 This is a schematic diagram of the working principle of the instrument control mechanism;

[0056] Figure 5 This is a disassembled schematic diagram of the instrument's operating mechanism;

[0057] Figure 6 It is a partial cross-sectional schematic diagram of the instrument manipulation mechanism when the end effector assembly is not installed;

[0058] Figure 7 This is a complete cross-sectional diagram of the instrument manipulation mechanism without the end effector assembly installed;

[0059] Figure 8 is a cross-sectional schematic diagram of the instrument manipulation mechanism including the second actuating member when the end effector assembly is not installed;

[0060] Figure 9 A schematic diagram of a complete cross section of the end effector assembly when installing the instrument manipulation mechanism;

[0061] Figure 10 It is a structural diagram of the sliding block;

[0062] Figure 11 Schematic diagram of the sealing structure;

[0063] In the figure, 1 is a surgical instrument; 10 is a surgical instrument manipulation mechanism; 100 is a tubular body; 110 is a fluid through hole; 120 is a first fluid through hole; 130 is a second fluid through hole; 140 is a third fluid through hole; 200 is a connection base; 210 is an end effector joint; 211 is an end effector joint outlet; 220 is a flow guide structure; 230 is a radial limit structure; 300 is a sliding block; 310 is a closing element; 311 is a first conducting part; 312 is a second conducting part; 320 is an opening and closing mechanism; 321 is an outer peripheral sealing surface; 322 is an inner peripheral pressure-bearing surface; 323 is a guide surface; 330 is a guide hole; 400 is a reset mechanism; 500 is a sealing structure; 510 is a distal end Cavity; 520 proximal cavity; 530 axial constraint; 540 actuation channel; 550 primary sealing interface; 560 guide channel; 570 dynamic sealing pair; 580 slider sealing interface; 600 elastic force unit; 610 first elastic unit; 620 second elastic unit; 630 fluid conduction structure; 631 through hole; 632 through hole array; 633 linear incision; 634 groove network; 635 compensation boss; 700 end effector assembly; 800 instrument box assembly; 810 instrument box base; 820 first actuator; 830 second actuator; 840 directional sheet metal; 850 sheet metal fixing block; 860 extension sleeve. DETAILED DESCRIPTION

[0064] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, modifications of various equivalent forms of the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0065] The description and drawings illustrating exemplary embodiments should not be considered as restrictive. Various mechanical, compositional, structural, electrical and operational changes can be made without departing from the scope of this description and claims and their equivalents. In some cases, well-known structures and technologies are not shown or described in detail to avoid blurring the present invention. The same numbers in two or more drawings represent the same or similar elements. In addition, the elements and related features described in detail with reference to an embodiment can be included in other embodiments in which they are not specifically shown or described when practicing. For example, if an element is described in detail with reference to an embodiment and is not described with reference to a second embodiment, the element can still be claimed to be included in the second embodiment.

[0066] For the purposes of this specification and the appended claims, unless otherwise indicated, all numbers expressing quantities, percentages or ratios, as well as other numerical values ​​used in the specification and claims, are to be understood as being modified in all cases by the term "about" to the extent that they have not been so modified. Therefore, unless otherwise indicated, the numerical parameters set forth in the following specification and the appended claims are approximate values ​​that may vary depending on the desired properties to be obtained. At least, but not intended to limit the application of the teachings of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.

[0067] Note that, as used in this specification and the appended claims, the singular forms "a," "an," and "the," as well as any use of any word in the singular, include plural referents unless expressly and unequivocally limited to one referent. As used herein, the term "include" and its grammatical variations are intended to be non-limiting, such that recitation of items in a list is not to the exclusion of other like items that can be substituted or added to the listed items.

[0068] In addition, the terms of this description are not intended to limit the present disclosure or the claims. For example, spatially relative terms such as "below", "below", "bottom", "above", "upper", "proximal", "distal", etc., can be used to describe the relationship between an element or feature and another element or feature as illustrated in the orientation diagrams in the accompanying drawings. These spatially relative terms are intended to include: in addition to the position and orientation shown in the drawings, also include different positions (i.e., orientations) and orientations (i.e., rotational placement) of the device in use or operation. For example, if the device in the drawings is flipped, the elements described as being "below" or "below" other elements or features should be "above" or "above" these other elements or features. Therefore, the exemplary term "below" can include both the position and orientation above and below. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and is therefore explained using spatially relative descriptors in this article. The relative proximal and distal directions of surgical instruments are marked in the drawings.

[0069] The following is a detailed description of the technical solution of the surgical instrument manipulation mechanism of the present invention in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are only used to illustrate the present invention and are not intended to limit the present invention.

[0070] like Figure 1-4As shown, the surgical instrument 1 provided in this embodiment comprises a surgical instrument manipulator 10 and an end effector assembly 700. The end effector assembly 700 is detachably connected to the surgical instrument manipulator 10. A common surgical instrument 1 is a laparoscopic stapler, or a robotic laparoscopic stapler used with a surgical robot system. In many embodiments, the end effector assembly 700 can be a stapler assembly, and the surgical instrument manipulator 10 can be a stapler handle. During surgery, the stapler handle can be detachably attached to and used with a variety of stapler magazines of different specifications. Common stapler magazine assemblies come in different colors and lengths, including gray, white, blue, gold, green, and black. Different stapler colors accommodate tissues of varying thicknesses to ensure effective anastomosis. Common stapler lengths include 30 mm, 45 mm, and 60 mm to accommodate tissues of varying sizes. Currently, after most staplers are used, the used stapler handle and stapler magazine are discarded. However, the manufacturing cost of the stapler handle is relatively high, which generates a large amount of medical waste. Designing a reusable stapler handle can effectively reduce costs and reduce the generation of medical waste. On the other hand, during surgery, the stapler handle is at risk of being contaminated by blood, body fluids, and tissue. The stapler handle needs to be able to be effectively cleaned and sterilized before it can be reused. However, traditional laparoscopic staplers are difficult to clean and sterilize again, making reuse difficult. Therefore, it is particularly necessary to invent a reusable stapler handle and stapler that can be effectively cleaned and sterilized.

[0071] The surgical instrument manipulation mechanism 10 mainly includes a tubular body 100 , a connecting base 200 , a sliding block 300 and a resetting mechanism 400 .

[0072] The tubular body 100 is axially extended and has at least one fluid passage 110 formed on its peripheral wall. The shape of the tubular body 100 can be circular, elliptical, hexagonal, square, etc., preferably circular, which is not specifically limited here. The axial direction of the tubular body 100 is defined as the axial direction.

[0073] The connecting base 200 is fixedly connected to the tubular body 100 by means of a latch, laser welding, or threaded connection. It is worth noting that, for ease of manufacturing, the connecting base 200 may be disassembled into multiple relatively immovable parts. Here, the rod base components, which may be assembled from multiple parts, are collectively referred to as the connecting base 20. An end effector interface 210 is formed at the distal end of the connecting base 200. The coupling portion 210 can adopt a snap-on connection structure, a threaded connection structure, a rotary snap-on connection plus a blocking pin and other quick-release structures to achieve a detachable connection with the proximal end of the end actuator assembly 700. Preferably, the proximal end of the end actuator assembly 700 has a locking boss, which can be rotatably matched with the snap-on groove at the distal end of the connecting base 20. At the same time, the distal end of the connecting base 20 has a pop-up locking pin. When the locking pin pops out, it can prevent the locking boss from disengaging from the snap-on groove, thereby achieving the installation and fixation of the end actuator assembly 700 and the surgical instrument manipulation mechanism 10. When the end actuator assembly 700 needs to be removed, push the locking pin back, rotate the end actuator assembly 700 in the opposite direction, so that the locking boss of the end actuator assembly 700 disengages from the snap-on groove, and then pull out the end actuator assembly 700 to achieve the disassembly action.

[0074] like Figure 10 The sliding block 300 is assembled in the inner cavity of the connection base 200 in an axially displaceable manner through the guide hole 330, and the proximal end of the sliding block 300 is provided with an axially arranged closing element 310. Figure 10 The size W of the closing element 310 is larger than the aperture of the distal end of the tubular body 100, and the closing element 310 can completely cover the fluid through hole 110. Figure 5 As shown, the closure element 310 can be a component integrally formed with the sliding block 300. The distal end of the reset mechanism 400 is connected to the sliding block 300, and the other end is connected to the connecting base 200. When the end effector assembly 700 is not installed, the surgical instrument manipulation mechanism 10 is in an initial state, and the reset mechanism 400 drives the sliding block 300 to reset toward the distal end of the tubular body 100. The reset mechanism 400 maintains the sliding block 300 in a distal position, disengaging the closure element 310 from the fluid through-hole 110. A guide surface 323 is provided at the proximal end of the sliding block 300, which allows the sliding block 300 to slide more smoothly between the tubular body 100 and the connecting base 200.

[0075] The reset mechanism 400 can be in the form of a compression spring, a tension spring, a disc spring, an elastic sheet, a polymer elastomer, other springs, a bellows, mutually repelling magnets, etc., which are not limited here. The preferred reset mechanism 400 is a compression spring with a wire diameter ≥ 0.3 mm. When the surgical instrument manipulation mechanism 10 is in the initial state, the reset mechanism 400 maintains the sliding block 300 in the distal position through the spring preload. At this time, the closing element 310 and the fluid through hole 110 maintain an axial misalignment state, that is, the closing element 310 is disengaged from the fluid through hole 110. At this time, the closing element 310 on the sliding block 300 will not cover the fluid through hole 110, and will not cause the flushing fluid or sterilization medium to be unable to enter the fluid through hole 110. That is, at this time, the surgical instrument 1 can be cleaned or sterilized. The closing element 310 is located at the distal end of the first conductive portion 311.

[0076] When the end effector assembly 700 is installed with the joint 210 and the surgical instrument manipulation mechanism 10 is in a closed state, the mating end surface of the end effector assembly 700 will apply an axial thrust F1 to drive the sliding block 300 to move toward the proximal end. More specifically, as Figure 6-9 As shown, the docking end face of the proximal end of the end actuator assembly 700 pushes the directional sheet metal 840, and the directional sheet metal 840 further pushes the sheet metal fixing block 850 to move, and then the sheet metal fixing block 850 pushes the extension sleeve 860 to move, and the extension sleeve 860 abuts the distal end face of the sliding block 300, and the sliding block 300 compresses the reset mechanism 400. The sliding block 300 is pushed to move proximally by the docking end face of the proximal end of the end actuator assembly 700, and the sliding block 300 moves to the proximal position. At this time, the closing element 310 on the sliding block 300 is synchronously displaced to a sealing position that completely covers the fluid through hole 110, so that the closing element 310 and the fluid through hole 110 form a contact seal, forming a sealing isolation structure, so that the surgical instrument 1 is in a sealed state, and at the same time, the reset mechanism 400 is deformed and stores elastic potential energy.

[0077] When the end effector assembly 700 is separated from the joint 210, the elastic potential energy stored in the reset mechanism 400 is released, and the reset mechanism 400 pushes the sliding block 300 to move axially and distally to reset it to the state before the end effector assembly 700 was installed. The directional sheet metal 840, the sheet metal fixing block 850, and the extension sleeve 860 are also reset synchronously to prepare for the next assembly of the end effector assembly 700. At this time, the surgical instrument manipulation mechanism 10 is transformed into the initial state. At this time, the closure element 310 and the fluid through hole 110 are axially displaced again, so that the distal cavity 510 can resume fluid communication with the external environment through the fluid through hole 110.

[0078] The sealing structure 500 can be installed at the distal end of the tubular body 100 or at the proximal end of the tubular body 100. Preferably, the sealing structure 500 is installed near the middle of the tubular body 100 in the axial direction, but as close to the distal end of the tubular body 100 as possible. In this way, when the cleaning fluid enters through the fluid through-hole 110, the surgical instrument manipulation mechanism 10 that may be contaminated can be cleaned with a shorter fluid path. For the surgical instrument manipulation mechanism 10, the distal end of the surgical instrument manipulation mechanism 10 is the area with the highest risk and degree of contamination, and the cleaning fluid close to this area is conducive to improving the cleaning efficiency.

[0079] Specifically, the sealing structure 500 is installed and fixed on the connecting base 200, and in the annular gap formed by the internal contour of the tubular body 100. The sealing structure 500 forms a main sealing interface 550 that separates the inner cavity of the tubular body 100 into a distal cavity 510 and a proximal cavity 520. The distal cavity 510 and the proximal cavity 520 are isolated by the sealing structure 500, and fluid isolation is always maintained between the two cavities. The main sealing interface 550 is located at the axial constraint portion 530, and the axial constraint portion 530 is a part of the sealing structure 500. The axial constraint portion 530 forms an interference fit of 0.001mm to 0.5mm and / or a clearance fit of 0mm to 0.5mm with the connecting base 200 or the tubular body 100. The main sealing interface 550 is located on the proximal side of the fluid through hole 110 along the axial direction.

[0080] In an optional embodiment, the sealing structure 500 is further provided with at least one actuation channel 540. The actuation channel 540 may be a hole-shaped structure such as a circular hole, a square hole, a rectangular hole, a hexagonal hole, or a groove, a notch, or other avoidance notch structure. The actuation channel 540 forms a dynamic seal with the actuating member disposed therein.

[0081] In an optional embodiment, there are two actuating channels 540, one of which is a circular hole. The actuating channel 540 is located at the center of the tubular body 100, and the first actuating member 820 is passed through the actuating channel 540. The first actuating member 820 can move axially along the tubular body 100 relative to the connecting base 200. The first actuating member 820 is coupled to the end actuator assembly 700. The first actuating member 820 can drive the end actuator assembly 700 to realize the jaw clamping / firing anastomosis action. Preferably, the actuating channel 540 is located on the central axis of the tubular body 100.

[0082] Another actuating channel 540 is an open slot, and the second actuating member 830 is disposed through the actuating channel 540. The second actuating member 830 can move axially along the tubular body 100 relative to the connecting base 200. The second actuating member 830 is coupled to the end actuator assembly 700. The second actuating member 830 can drive the end actuator assembly 700 to realize the jaw pitching movement. Preferably, the actuating channel 540 is not located on the central axis of the tubular body 100, but the extension direction of the actuating channel 540 is approximately parallel to the central axis.

[0083] The sealing structure 500 forms a dynamic seal with the first actuating member 820 and / or the second actuating member 830 .

[0084] In an optional embodiment, the sealing structure 500 is further provided with a guide channel 560, which provides a movement channel for the closing element 310. The inner contour of the guide channel 560 forms a dynamic seal pair 570 with the closing element 310; the outer contour of the closing element 310 is well matched with the inner contour of the tubular body 100.

[0085] In an optional embodiment, the outer contour of the closing element 310 and the inner contour of the tubular body 100 are both arc surfaces, and the outer contour curvature radius R1 of the closing element 310 and the inner contour curvature radius r1 of the tubular body 100 satisfy 0.8≤R1 / r1≤1.2.

[0086] When the end effector assembly 700 and the joint 210 are not installed, the distal cavity 510 remains in communication with the fluid through-hole 110 , and the proximal cavity 520 remains in fluid communication with the proximal end of the tubular body 100 , and the distal cavity 510 and the proximal cavity 520 remain fluidically isolated.

[0087] When the end effector assembly 700 is installed with the joint 210, the distal cavity 510 remains isolated from the fluid through hole 110, and the proximal cavity 520 still maintains fluid communication with the proximal end of the tubular body 100, and the distal cavity 510 and the proximal cavity 520 also remain fluidically isolated.

[0088] The sealing structure 500 is made of a material with a certain degree of elasticity, preferably an elastic polymer. The sealing structure 500 is preferably designed and manufactured from a combination of polymer materials such as medical-grade silicone, fluororubber, PTFE, or a single material. The sealing structure may also be designed and manufactured from a single or multiple other materials, common of which include metals, polymers, and composite materials. When the sealing structure is manufactured from a material with a low elasticity, the sealing structure and surrounding components should preferably be coordinated using precision machinery.

[0089] In an optional embodiment, if Figure 4 An elastic force-applying unit 600 is provided between the closing element 310 of the sliding block 300 and the connecting base 200. The elastic force-applying unit 600 is located at the distal end of the sealing structure 500. More specifically, the elastic force-applying unit 600 is located on the distal cavity side. The elastic force-applying unit 600 can generate contact pressure perpendicular to the closing element 310 on the closing element 310. In an optional embodiment, the tubular body 100 is provided with a fluid through-hole 110, which is also the first fluid through-hole 120. When the end effector assembly 700 is fully assembled with the joint 210, the closing element 310 on the sliding block 300 completely covers the first fluid through-hole 120. Due to the existence of the contact pressure, the closing element 310 can reliably block the first fluid through-hole 120 to prevent the gas in the pneumoperitoneum from leaking from the first fluid through-hole 120. On the other hand, since the distal cavity 510 and the proximal cavity 520 are isolated by the sealing structure 500, fluid isolation is always maintained between the two cavities. The gas in the pneumoperitoneum cannot leak from the distal cavity 510 to the proximal cavity 520. In this way, the gas leakage path in the pneumoperitoneum is blocked. When the surgical instrument is inserted into the abdominal cavity for surgery, the pneumoperitoneum in the abdominal cavity can be effectively maintained. At this time, the surgical instrument 1 is sealed, ensuring the safety and reliability of the operation.

[0090] In an optional embodiment, if Figure 5-11As shown, an elastic force-applying unit 600 is disposed between the sealing element 310 of the sliding block 300 and the connecting base 200. The elastic force-applying unit 600 includes a first elastic unit 610 located axially distally of the sealing structure 500 and a second elastic unit 620 located proximally. The sealing element 310 of the sliding block 300 has two locations. When the end effector assembly 700 is fully assembled with the joint 210, one sealing element 310 is located in the distal cavity 510 and distal to the first conductive portion 311, while the other sealing element 310 is located in the proximal cavity 520 and distal to the second conductive portion 312. The connecting base 200 is provided with a radial limiting structure 230, which can be partially located in the distal cavity 510 and partially located in the proximal cavity 520. By preloading the first elastic unit 610 and the second elastic unit 620, a continuous sealing load is generated on the sealing element 310 at both locations. The first elastic unit 610 and the second elastic unit 620 are located on both sides of the sealing structure 500. More specifically, the first elastic unit 610 and the second elastic unit 620 are located on both sides of the main sealing interface 550. The first elastic unit 610 is located on the distal cavity side, and the second elastic unit 620 is located on the proximal cavity side. The first elastic unit 610 and the second elastic unit 620 can generate contact pressure perpendicular to the closing elements 310 on the two closing elements 310. In an optional embodiment, the tubular body 100 is provided with a first fluid through hole 120 and a second fluid through hole 130. When the end effector assembly 700 is fully assembled with the joint 210, the closing element 310 on the sliding block 300 is synchronously displaced to a sealing position that completely covers the first fluid through hole 120 and the second fluid through hole 130. Due to the presence of contact pressure, the two closing elements 310 can reliably seal the first fluid through hole 120 and the second fluid through hole 130 to prevent the gas in the pneumoperitoneum from leaking from the first fluid through hole 120. On the other hand, since the distal cavity 510 and the proximal cavity 520 are isolated by the sealing structure 500, fluid isolation is always maintained between the two cavities. The gas in the pneumoperitoneum cannot leak from the distal cavity 510 to the proximal cavity 520. In this way, the gas leakage path in the pneumoperitoneum is blocked. When the surgical instrument is inserted into the abdominal cavity for surgery, the pneumoperitoneum in the abdominal cavity can be effectively maintained. At this time, the surgical instrument 1 has sealing properties, ensuring the safety and reliability of the operation. Figure 11The first elastic unit 610, the second elastic unit 620, and the sealing structure 500 may be integrally formed. A plurality of compensating bosses 635 may also be provided on the first elastic unit 610 and the second elastic unit 620. The compensating bosses 635 can compensate for the gap between the sealing element 310 and the radial limiting structure 230, thereby ensuring a more uniform contact pressure exerted by the first elastic unit 610 and the second elastic unit 620 on the sealing element 310 and a more reliable seal between the sealing element 310 and the first and second fluid through-holes 120 and 130.

[0091] In other embodiments, the first elastic unit 610, the second elastic unit 620, and the sealing structure 500 may also be relatively independent, or arranged in pairs to form a corresponding structure. When the first elastic unit 610, the second elastic unit 620, and the sealing structure 500 are relatively independent parts, the first elastic unit 610 and the second elastic unit 620 may also be two independent sealing ring structures, and the radial limiting structure 230 of the connection base 200 is provided with corresponding sealing ring mounting grooves for accommodating the first elastic unit 610 and the second elastic unit 620. In this way, the first elastic unit 610 and the second elastic unit 620 can generate contact pressure perpendicular to the closing element 310 on the closing element 310, so that the closing element 310 completely covers the first fluid through hole 120 and the second fluid through hole 130, thereby preventing the gas in the pneumoperitoneum from leaking from the first fluid through hole 120. On the other hand, the sealing structure 500 prevents the gas in the pneumoperitoneum from leaking from the distal cavity 510 to the proximal cavity 520, thereby reliably maintaining the pneumoperitoneum pressure. The difference in compression recovery rate between the first elastic unit 610 and the second elastic unit 620 is no greater than 50%, and the hardness deviation is no greater than 50 Shore A. The first elastic unit 610 and the second elastic unit 620 exert contact pressure on the closure element 310 on the sliding block 300. This contact pressure generates friction on the sliding block 300 that hinders its movement. Therefore, when designing the structure of the reset mechanism 400, it is necessary to ensure that the reset mechanism 400 has sufficient rigidity, that is, a sufficiently large elastic coefficient, so that the reset mechanism 400 can generate sufficient reset force on the sliding block 300 to reliably reset the sliding block 300 to the distal position.

[0092] like Figure 4In an optional embodiment, the sliding block 300 has a first conductive portion 311. The first conductive portion 311 can be a hole-shaped structure such as a circular hole, a square hole, or a hexagonal hole, or can be a groove, a notch, or other avoidance notch structure. The connection base 200 is provided with a flow guide structure 220, which corresponds to the position of the fluid through hole 110. The fluid through hole 110 herein is also the first conductive portion 311. When the end effector assembly 700 and the joint 210 are not assembled, the first conductive portion 311 allows cleaning fluid / sterilization medium to flow between the fluid through hole 110, the flow guide structure 220, and the distal cavity. In this way, the distal cavity of the surgical instrument manipulation mechanism 10 can be easily cleaned and also allows sterilization medium to penetrate the flow channel. The sterilization medium is selected from at least one of a gaseous sterilization medium and a liquid sterilization medium. Common sterilization media include high-temperature steam, low-temperature plasma hydrogen peroxide, EO, glutaraldehyde, etc. Therefore, the surgical instrument manipulation mechanism 10 can be effectively cleaned, sterilized and disinfected to ensure the safety and effectiveness of the surgical instrument. The surgical instrument manipulation mechanism 10 after cleaning and sterilization can be reused in the next operation, which can effectively reduce the cost of surgery and reduce the generation of medical waste.

[0093] The sliding block 300 is also provided with a sealing element 310, which is located at the distal end of the first conducting portion 311. When the end effector assembly 700 is fully assembled with the joint portion 210, the gas and fluid are blocked by the sealing element 310 and cannot flow from the fluid through hole 110 into the interior of the tubular body 100. When the surgical instrument manipulation mechanism 10 equipped with the end effector assembly 700 is inserted into the abdominal cavity, the distal cavity and the abdominal cavity are connected to form a single cavity. During laparoscopic surgery, pneumoperitoneum needs to be maintained in the abdominal cavity to provide a safe operating space and field of view for the surgical instruments. The aforementioned sealing structure 500 can prevent the gas in the abdominal cavity from leaking from the distal cavity to the proximal cavity. Under normal circumstances, under the condition of a 4kPa pressure difference at the sealing interface between the distal cavity and the proximal cavity, the sealing index is no more than 5L / min, that is, the gas leakage per minute does not exceed 5L.

[0094] In an optional embodiment, the tubular body 100 is provided with a first fluid through hole 120 and a second fluid through hole 130. The first fluid through hole 120 and the second fluid through hole 130 are respectively located on both sides of the main sealing interface 550 in the axial direction, that is, the first fluid through hole 120 is located in the distal cavity, and the second fluid through hole 130 is located in the proximal cavity. The first fluid through hole 120 is the original fluid through hole 110.

[0095] The sliding block 300 has a first conductive portion 311 and a second conductive portion 312. The first conductive portion 311 and the second conductive portion 312 can be hole-shaped structures such as circular holes, square holes, hexagonal holes, or can also be avoidance notch structures such as grooves and notches. In an optional embodiment, the tubular body 10 is provided with a first fluid through hole 120 and a second fluid through hole 130. The distance between the first fluid through hole 120 and the second fluid through hole 130 is S, which is the same as the distance between the first conductive portion 311 and the second conductive portion 312. The sliding block 300 is also provided with two closing elements 310, one of which is located at the distal end of the first conductive portion 311, and the other is located at the distal end of the second conductive portion 312. The distance between the two closing elements 310 is S.

[0096] The sliding block 300, the tubular body 100, and the elastic force-applying unit 600 constitute an opening and closing mechanism 320. The opening and closing mechanism 320 has a primary sealing area and an adaptive secondary sealing area. The outer peripheral sealing surface 321 of the sliding block 300 and the inner contour of the tubular body 100 form the primary sealing area, while the inner peripheral pressure-bearing surface 322 of the sliding block 300 and the elastic force-applying unit 600 form a pressure-adaptive secondary sealing area. When the end effector assembly 700 and the joint 210 are fully assembled, and the surgical instrument manipulation mechanism 10 is in a closed state, the sealing element 310 on the sliding block 300 completely covers the first fluid passage 120, and the opening and closing mechanism 320 is closed. When the end effector assembly 700 and the joint 210 are not assembled, and the surgical instrument manipulation mechanism 10 is in an initial state, the reset mechanism 400 pushes the sliding block 300 to return to the distal end, and the sealing element 310 on the sliding block 300 no longer covers the first fluid passage 120, and the opening and closing mechanism 320 is open.

[0097] In an optional embodiment, the tubular body 100 is provided with a first fluid through hole 120 and a second fluid through hole 130, and the sliding block 300 has a first conducting portion 311 and a second conducting portion 312. When the end effector assembly 700 is fully assembled with the joint 210, the surgical instrument manipulation mechanism 10 is in a closed state, and the two closing elements 310 on the sliding block 300 simultaneously cover the first fluid through hole 120 and the second fluid through hole 130, and the opening and closing mechanism 320 is synchronously closed; when the end effector assembly 700 and the joint 210 are not assembled, the surgical instrument manipulation mechanism 10 is in an initial state, the reset mechanism 400 pushes the sliding block 300 to reset to the distal end, the closing element 310 on the sliding block 300 does not cover the first fluid through hole 120 and the second fluid through hole 130, and the opening and closing mechanism 320 is synchronously opened. The sliding block 300 is provided with a first conducting portion 311 and a second conducting portion 312 corresponding to the first fluid through hole 120 and the second fluid through hole 130 respectively, forming a synchronously controlled opening and closing mechanism.

[0098] Two flow guiding structures 220 are provided on the connection base 200 , and the positions of the two flow guiding structures 220 correspond to the positions of the first fluid through hole 120 and the second fluid through hole 130 .

[0099] In an optional embodiment, if Figure 11 The sealing structure 500 has an integrally formed first elastic unit 610 and a second elastic unit 620, each of which is provided with a fluid conducting structure 630, wherein the fluid conducting structure 630 is selected from at least one of a through hole, a through hole array, a mesh hole, a linear incision, and a groove network; when the end effector assembly 700 is not engaged, the first fluid through hole 120 and the second fluid through hole 130 form a bidirectional passage with the fluid conducting structure 630 through the corresponding first conductive portion 311 and the second conductive portion 312.

[0100] The sealing structure 500 is provided with two fluid conducting structures 630 , and the positions of the two fluid conducting structures 630 correspond one-to-one to the positions of the first fluid through hole 120 and the second fluid through hole 130 .

[0101] When the end effector assembly 700 and the joint portion 210 are not assembled, the positions of the first conductive portion 311 and the second conductive portion 312 correspond to the positions of the first fluid through hole 120 and the second fluid through hole 130, forming the following fluid through holes:

[0102] Distal path: The first conductive portion 311 allows the cleaning fluid to flow from the first fluid through hole 120 to the first conductive portion 311 to the fluid conducting structure 630 to the guide structure 220 to the distal cavity 510 to the end effector assembly joint outlet 211.

[0103] Proximal path: The second conductive portion 312 allows the cleaning fluid to flow from the second fluid through hole 130 to the second conductive portion 312 to the fluid conducting structure 630 to the fluid guiding structure 220 to the proximal cavity 520 to the proximal end of the tubular body 100 .

[0104] The diameter ratio of each of the first fluid through holes 120 and the second fluid through holes 130 is 0.2 to 5, and the channel diameter is 1 mm to 10 mm.

[0105] The sliding block 300 is also provided with two closing elements 310, wherein one closing element 310 is located at the distal end of the first conducting portion 311, and the other closing element 310 is located at the distal end of the second conducting portion 312. When the end effector assembly 700 is fully assembled with the joint 210, the sliding block 300 moves toward the proximal end, and the two closing elements 310 respectively block the first fluid through hole 120 and the second fluid through hole 130. The gas fluid is blocked by the two closing elements 310 and cannot flow into the interior of the tubular body 100 from the first fluid through hole 120 and the second fluid through hole 130.

[0106] When the surgical instrument manipulator 10, equipped with the end effector assembly 700, is inserted into the abdominal cavity, the surgical instrument manipulator 10 is in a closed state. The distal cavity and the abdominal cavity are connected to form a single cavity. During laparoscopic surgery, pneumoperitoneum must be maintained in the abdominal cavity to provide safe operating space and vision for the surgical instruments. The first fluid passage 120 and the second fluid passage 130 of the surgical instrument manipulator 10 inserted into the abdominal cavity may both enter the abdominal cavity, or only the distal first fluid passage 120 may enter the abdominal cavity, or neither the first fluid passage 120 nor the second fluid passage 130 may enter the abdominal cavity.

[0107] When both the first fluid through hole 120 and the second fluid through hole 130 enter the abdominal cavity, the second fluid through hole 130 is sealed by the closing element 310, so the gas in the abdominal cavity cannot leak out from the second fluid through hole 130, and the aforementioned sealing structure 500 can prevent the gas in the abdominal cavity from leaking from the distal cavity to the proximal cavity, so the gas in the abdominal cavity cannot leak and the pneumoperitoneum pressure can be maintained.

[0108] When only the first fluid through hole 120 enters the abdominal cavity, the aforementioned sealing structure 500 can prevent the gas in the abdominal cavity from leaking to the proximal cavity through the distal cavity, so the gas in the abdominal cavity cannot leak and the pneumoperitoneum pressure can be maintained.

[0109] When neither the first fluid through hole 120 nor the second fluid through hole 130 enters the abdominal cavity, the first fluid through hole 120 is sealed by the closing element 310, so the gas in the abdominal cavity cannot leak out from the first fluid through hole 120, and the aforementioned sealing structure 500 can prevent the gas in the abdominal cavity from leaking from the distal cavity to the proximal cavity, so the gas in the abdominal cavity cannot leak and the pneumoperitoneum pressure can be maintained.

[0110] In summary, since the first fluid through hole 120 and the second fluid through hole 130 are both sealed by two closing elements 310, the gas in the abdominal cavity cannot leak out from the first fluid through hole 120 and the second fluid through hole 130, and the aforementioned sealing structure 500 can prevent the gas in the abdominal cavity from leaking to the proximal cavity through the distal cavity, so the gas in the abdominal cavity cannot leak, and the pneumoperitoneum pressure can be maintained. At this time, the surgical instrument 1 has sealing properties.

[0111] The aforementioned no leakage means that the gas cannot leak in large quantities. In fact, due to design and manufacturing deviations, there will be a small amount of gas leakage, and the gas leakage will be controlled within the required range. Under normal circumstances, under the condition of a 4kPa pressure difference on the sealing interface between the distal cavity and the proximal cavity, the sealing index is not greater than 5L / min, that is, the gas leakage per minute does not exceed 5L.

[0112] In an optional embodiment, if Figure 5-11 The tubular body 100 is provided with a first fluid through hole 120, a second fluid through hole 130, and a third fluid through hole 140. The first fluid through hole 120 and the second fluid through hole 130 are respectively located on both sides close to the main sealing interface 550 in the axial direction, that is, the first fluid through hole 120 is located in the distal cavity, the second fluid through hole 130 is located in the proximal cavity and close to the main sealing interface 550, and the third fluid through hole 140 is located at the proximal end of the tubular body 100 in the axial direction. Figure 3 Preferably, the third fluid through hole 140 is located near the junction of the tubular body 100 and the instrument box base 810, that is, the proximal end of the tubular body 100. The first fluid through hole 120 is the original fluid through hole 110. The first fluid through hole 120, the second fluid through hole 130, and the third fluid through hole 140 are arranged in sequence from the distal end to the proximal end of the tubular body 100.

[0113] The sliding block 300 has a first conductive portion 311 and a second conductive portion 312. The first conductive portion 311 and the second conductive portion 312 can be a hole structure such as a round hole, a square hole, a hexagonal hole, or a groove, a notch, or other avoidance notch structure.

[0114] Two flow guiding structures 220 are provided on the connection base 200 , and the positions of the two flow guiding structures 220 correspond to the positions of the first fluid through hole 120 and the second fluid through hole 130 .

[0115] The sealing structure 500 is provided with two fluid conducting structures 630 , and the positions of the two fluid conducting structures 630 correspond one-to-one to the positions of the first fluid through hole 120 and the second fluid through hole 130 .

[0116] When the end effector assembly 700 and the joint portion 210 are not assembled, the positions of the first conductive portion 311 and the second conductive portion 312 correspond to the positions of the first fluid through hole 120 and the second fluid through hole 130, forming the following fluid through holes:

[0117] Distal path: The first conductive portion 311 allows the cleaning fluid to flow from the first fluid through hole 120 to the first conductive portion 311 to the fluid conducting structure 630 to the guide structure 220 to the distal cavity 510 to the end effector assembly joint outlet 211.

[0118] Proximal path: The second conductive portion 312 allows the cleaning fluid to flow from the second fluid through-hole 130 to the second conductive portion 312 to the fluid conducting structure 630 to the flow-guiding structure 220 to the proximal cavity 520 to the third fluid through-hole 140, or from the third fluid through-hole 140 to the proximal cavity 520 to the flow-guiding structure 220 to the fluid conducting structure 630 to the second conductive portion 312 to the second fluid through-hole 130.

[0119] The third fluid through hole 140 provided at the proximal end of the tubular body 100 here and the second fluid through hole 120 constitute a reversible cleaning / sterilization passage; the diameter ratio of each fluid through hole between the first fluid through hole 120, the second fluid through hole 130, and the third fluid through hole 140 is 0.2 to 5, and the channel diameter is 1 mm to 10 mm.

[0120] When the end effector assembly 700 and the joint 210 are not assembled, that is, when the surgical instrument manipulator mechanism 10 is in an initial state, the fluid through hole 110 is configured to have a cleaning mode and a sterilization mode. When the surgical instrument manipulator mechanism 10 is in the cleaning mode, the cleaning medium flows in both directions along the fluid through hole 110 to clean the surgical instrument manipulator mechanism 10; when the surgical instrument manipulator mechanism 10 is in the sterilization mode, the sterilization medium penetrates the flow channel 10, and the sterilization medium includes at least one of a gaseous sterilization medium and a liquid sterilization medium.

[0121] Specifically, the cleaning fluid and the sterilizing medium can clean and sterilize the surgical instrument manipulation mechanism 10 through the distal path and the proximal path:

[0122] When performing a cleaning process on the surgical instrument manipulator 10, a cleaning medium can be first injected into the first fluid passage 120 in the distal path. Common cleaning media include water and enzyme-containing cleaning solutions. The cleaning medium will then flow out of the end effector assembly joint outlet 211. Alternatively, the cleaning medium can be injected from the end effector assembly joint outlet 211, and the cleaning medium will flow out of the first fluid passage 120. That is, for the distal path, during the cleaning state, bidirectional flow of the cleaning medium is permitted.

[0123] Then, a cleaning medium is injected into the second fluid through-hole 130 in the proximal path, and the cleaning medium can flow out from the third fluid through-hole 140. Alternatively, a cleaning medium is injected into the third fluid through-hole 140 in the proximal path, and the cleaning medium can flow out from the second fluid through-hole 130. That is, for the proximal path, in cleaning mode: bidirectional flow of the cleaning medium is allowed.

[0124] When performing a sterilization process on the surgical instrument manipulator 10, the surgical instrument manipulator 10 can be placed in a sterilization apparatus. Common sterilization apparatuses contain a sterilization medium selected from at least one of a vapor-phase sterilization medium and a liquid sterilization medium. Common sterilization media include high-temperature steam, low-temperature plasma hydrogen peroxide, EO, glutaraldehyde, and the like. The sterilization medium can enter the surgical instrument manipulator 10 through both distal and proximal pathways, effectively sterilizing the surgical instrument manipulator 10. Specifically, in sterilization mode, the sterilization medium is allowed to penetrate the flow channel. The sterilization medium is selected from at least one of a vapor-phase sterilization medium and a liquid sterilization medium.

[0125] The sliding block 300 is further provided with two closing elements 310 , wherein one closing element 310 is located at the distal end of the first conducting portion 311 , and the other closing element 310 is located at the distal end of the second conducting portion 312 .

[0126] When the end actuator assembly 700 is fully assembled with the joint 210, the sliding block 300 moves toward the proximal end, and the two closing elements 310 on the sliding block 300 respectively block the first fluid hole 120 and the second fluid hole 130. The gas fluid is blocked by the two closing elements 310 and cannot flow from the first fluid hole 120 and the second fluid hole 130 into the interior of the tubular body 100.

[0127] When the surgical instrument manipulation mechanism 10 equipped with the end effector assembly 700 is inserted into the abdominal cavity, the distal cavity and the abdominal cavity are connected to form the same cavity. During laparoscopic surgery, pneumoperitoneum needs to be maintained in the abdominal cavity so that the surgical instruments have a safe operating space and field of view. The aforementioned sealing structure 500 can prevent the gas in the abdominal cavity from leaking to the proximal cavity through the distal cavity. Under normal circumstances, when there is a 4kPa pressure difference on the sealing interface between the distal cavity and the proximal cavity, the sealing index is no more than 5L / min, that is, the gas leakage per minute does not exceed 5L.

[0128] Working principle description:

[0129] When the end effector assembly 700 is not installed, the reset mechanism 400 uses the pre-tightening force to position the sliding block 300 at the distal end. At this time, the closing element 310 is axially misaligned with the fluid through hole 110, and the distal cavity 510 is connected to the external environment through the fluid through hole 110 (for example, for flushing / sterilization).

[0130] When the end effector assembly 700 is installed, its mating end surface pushes the sliding block 300 toward the proximal end, compressing the reduction mechanism 400 until the sealing element 310 completely covers the fluid passage 110. At this point, the distal cavity 510 and the proximal cavity 520 are separated by the sealing structure 500. After the surgical instrument 1 is inserted into the abdominal cavity, the surgical instrument 1 can maintain a good pneumoperitoneum pressure to prevent gas from leaking from the distal cavity 510 to the proximal cavity 520.

[0131] When the actuator is removed, the reset mechanism 400 releases its elastic potential energy, driving the slider 300 back to its distal position. The closure element 310 reopens the fluid passage 110, restoring fluid interaction between the instrument's internal cavity and the external environment. The surgical instrument manipulator 10 can now be effectively cleaned and / or sterilized through the fluid passage 110, enabling reuse of the surgical instrument manipulator 10.

[0132] Specifically, when the surgical instrument manipulator 10 engages the end effector assembly 700, it pushes the slider 300 to its proximal end, forming a sealed state. This causes the sealing element 310 to completely cover the fluid passageway, transforming the surgical instrument manipulator 10 into a closed state. This results in the surgical instrument 1 exhibiting excellent sealing properties. Experimental data demonstrates that this mechanism maintains dynamic sealing within a pressure range of 0.2-0.5 MPa, with a leakage rate of less than 3 mL / min.

[0133] When the surgical instrument manipulation mechanism 10 is separated from the end effector assembly 700, the surgical instrument manipulation mechanism 10 is converted from a closed state to an initial state, and the fluid through holes of the distal path and the proximal path are automatically formed, and the surgical instrument manipulation mechanism 10 becomes a surgical instrument manipulation mechanism with good cleaning / sterilization properties.

[0134] It is worth noting that due to the differences in the processing and manufacturing of parts, the parallel and approximately parallel geometric relationships mentioned in this article may actually have a certain deflection angle. The component locking relationship mentioned in this article actually has a certain shaking gap between the parts due to the existence of processing gaps. The fitting relationship and abutment relationship mentioned in this article may actually have a certain assembly gap between the parts. However, the above-mentioned "there is a certain deflection angle", "there is a certain shaking of the parts", and "there may be a certain assembly gap between the parts" all fall within the scope of protection of this invention.

[0135] Further modifications and alternative embodiments will be apparent to those skilled in the art based on the disclosure herein. For example, the devices, systems, and methods may include additional components or steps that have been omitted from the block diagrams and descriptions for operational simplicity. Accordingly, this description is intended to be illustrative only and is intended to teach those skilled in the art the general manner of implementing the present disclosure. It should be understood that the various embodiments shown and described herein are to be considered exemplary. Elements and materials, as well as the arrangement of these elements and materials, may be substituted for those shown and described herein, with parts and processes being reversed, and certain features of the present teachings being usable independently, as will be apparent to those skilled in the art after having the benefit of this description. Changes may be made to the elements described herein without departing from the scope of the present disclosure and the appended claims. For example, the various technical features of the embodiments may be combined in any manner. To simplify the description, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there are no inconsistencies in the combinations of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments merely represent implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art can make a number of variations and improvements without departing from the concept of the present invention, and these are all within the scope of protection of the present invention. Therefore, the description and examples are to be considered merely illustrative, and the scope of protection of the patent of the present invention shall be based on the appended claims.

Claims

1. A surgical instrument manipulation mechanism, characterized in that: include: A tubular body extending in the axial direction and having a fluid through hole formed on the peripheral wall; A connection base is provided with an end effector joint at the distal end; a sliding block, assembled on the connection base in an axially movable manner, wherein the sliding block is provided with a closing element; Reset mechanism; When the surgical instrument manipulation mechanism is in an initial state, the resetting mechanism maintains the sliding block in a distal position, so that the sealing element is separated from the fluid through hole; When the surgical instrument manipulation mechanism is in a closed state, the sliding block compresses the resetting mechanism and the sliding block moves to a proximal position, so that the closing element forms a contact seal with the fluid through hole.

2. The surgical instrument manipulation mechanism according to claim 1, wherein: The surgical instrument manipulation mechanism further includes a sealing structure disposed between the proximal end of the connection base and the inner wall of the tubular body, dividing the cavity of the tubular body into a distal cavity and a proximal cavity, and forming a primary sealing interface; The sealing structure comprises: an axial restraining portion, forming at least one of an interference fit, a clearance fit, and a transition fit with the connection base or the tubular body; an actuating channel, axially penetrating the sealing structure and maintaining the sealing structure in a dynamic sealing state; a guide channel, the guide channel providing a movement channel for the closing element, wherein an inner contour of the guide channel forms a dynamic sealing pair with the closing element; The outer peripheral contour of the closing element is in conformity with the inner wall of the tubular body.

3. The surgical instrument manipulation mechanism according to claim 2, wherein: The sealing structure is made of elastic material; An elastic force-applying unit is arranged between the closing element and the connecting base, and the elastic force-applying unit includes a first elastic unit and a second elastic unit. The first elastic unit is axially arranged on the distal side of the sealing structure, and the second elastic unit is axially arranged on the proximal side of the sealing structure. The first elastic unit and the second elastic unit jointly apply a normal contact pressure perpendicular to the closing element.

4. The surgical instrument manipulation mechanism according to claim 3, wherein: The fluid through hole includes a first fluid through hole and a second fluid through hole, wherein the first fluid through hole is in fluid communication with the distal cavity, and the second fluid through hole is in fluid communication with the proximal cavity; The sliding block is provided with a first conductive portion and a second conductive portion, When the surgical instrument manipulation mechanism is in an initial state, the first conductive portion corresponds to the first fluid through hole, and the second conductive portion corresponds to the second fluid through hole; When the surgical instrument manipulation structure is in a closed state, the first fluid through hole and the second fluid through hole are sealed by the closing element.

5. The surgical instrument manipulation mechanism according to claim 4, wherein: The first elastic unit and the second elastic unit are respectively provided with a fluid conducting structure, wherein the fluid conducting structure comprises at least one of a through hole, a through hole array, a linear cutout, and a groove network; When the surgical instrument manipulation mechanism is in an initial state, the first fluid through hole forms a bidirectional passage with the fluid conducting structure through the first conducting portion, and the second fluid through hole forms a bidirectional passage with the fluid conducting structure through the second conducting portion.

6. The surgical instrument manipulation mechanism according to claim 4, wherein: The connection base is provided with a flow guiding structure corresponding to the fluid through hole, and the flow guiding structure is configured to form: a distal path, from the first fluid through-hole through the first conducting portion and the flow-guiding structure to the distal end of the end effector joint; A proximal path runs from the second fluid through hole through the second conducting portion and the flow guiding structure to the proximal end of the tubular body.

7. The surgical instrument manipulation mechanism according to claim 4, wherein: The connection base is provided with a radial limiting structure, which generates a sealing load on the closing element by preloading the first elastic unit and the second elastic unit.

8. The surgical instrument manipulation mechanism according to claim 4, wherein: The closure element has: an outer peripheral sealing surface, contacting the inner contour of the tubular body to form a primary sealing area; The inner circumferential pressure-bearing surface and the elastic force-applying unit form a pressure-adaptive secondary sealing area.

9. The surgical instrument manipulation mechanism according to claim 1, wherein , A third fluid through hole is provided at the proximal end of the tubular body, and the third fluid through hole and the second fluid through hole form a passage that can be cleaned and / or sterilized by reverse flow.

10. The surgical instrument manipulation mechanism according to claim 1, wherein: When the surgical instrument manipulation mechanism is in an initial state, the fluid through hole is configured to have: In the cleaning mode, the cleaning medium flows bidirectionally along the fluid through hole; In the sterilization mode, a sterilization medium penetrates the flow channel, and the sterilization medium includes at least one of a gaseous sterilization medium and a liquid sterilization medium.

11. A surgical instrument, characterized in that: include: The surgical instrument manipulation mechanism according to any one of claims 1 to 10; end effector assembly; When the surgical instrument manipulation mechanism and the end effector assembly are not installed, the surgical instrument manipulation mechanism is in an initial state, so that the surgical instrument can be cleaned or sterilized; When the surgical instrument manipulation mechanism is installed with the end effector assembly, the surgical instrument manipulation mechanism is in a closed state, so that the surgical instrument has sealing properties.

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