End effector of minimally invasive surgical instrument

Abstract

The invention relates to the technical field of medical robots and intelligent surgical equipment, in particular to an end effector of a minimally invasive surgical instrument, which comprises a connecting rod used for being connected with the tail end of an external mechanical arm, and the multi-axis position of the connecting rod is controlled through the mechanical arm; the matching barrel is fixedly connected with the middle end area of the connecting rod, a threaded area is arranged on the lower portion in the matching barrel and is in threaded connection with the upper end area of the bearing assembly so that the bearing assembly can be rapidly disassembled and assembled, and the matching barrel drives the driving rod to rotate through a first driver; the tail end of the driving rod is connected with a limiting cylinder. According to the invention, the matching assembly is matched with the connecting cylinder to clamp and fix the hydro-acupuncture knife, and the temperature of the hydro-acupuncture knife and the color of the liquid in the hydro-acupuncture knife can be monitored through the temperature sensor and the color sensor, so that the category of the pumped-back liquid can be identified.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical robots and intelligent surgical equipment, in particular to an end effector of a minimally invasive surgical instrument. BACKGROUND

[0002] The patent with publication (announcement) number CN221555914U discloses a water needle knife minimally invasive surgical robot and its end effector, which comprises a support seat, an end flange configured to connect a mechanical arm, a tracer, a tracer frame installed on the support seat, a plurality of markers distributed on the tracer frame, a gripper connected to the end of the installation arm away from the support seat, the gripper comprising a tube body, a movable pressing block and an adjusting rod, the axis of the tube body extends in a first direction and the tube body penetrates in the first direction, the movable pressing block is arranged inside the tube body, the space between the movable pressing block and the inner side wall of the tube body can allow the water needle knife to be inserted in the first direction, the adjusting rod is adjustably installed on the tube body in a second direction, one end of the adjusting rod is connected to the movable pressing block, and the adjusting rod can drive the movable pressing block to press the water needle knife tightly against the inner side wall of the tube body. The end effector can achieve the effect of stable gripping of the water needle knife, the whole gripping operation is fast and convenient, the water needle knife can be carried, and the purpose of automatic operation of the water needle knife can be achieved.

[0003] In the above-mentioned prior art, the adjusting rod is adjustably installed on the tube body in the second direction, one end of the adjusting rod is connected to the movable pressing block, and the adjusting rod can drive the movable pressing block to press the water needle knife tightly against the inner side wall of the tube body. When the movable pressing block presses the water needle knife tightly against the inner side wall of the tube body, there is no corresponding structure on the movable pressing block for monitoring the water needle knife, which is not conducive to timely reaction processing and recovery of the water needle knife in the use state.

[0004] Therefore, an end effector of a minimally invasive surgical instrument is proposed to solve the problems in the above-mentioned prior art. SUMMARY

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an adapter rod is used to connect with the end of an external mechanical arm, and the multi-axis position of the adapter rod is controlled by the mechanical arm; A matching cylinder is fixedly connected with the middle end region of the adapter rod, a threaded region is arranged below the matching cylinder, and the threaded region is threadedly connected with the upper end region of a receiving assembly, so as to facilitate quick disassembly and installation of the receiving assembly; The matching cylinder is driven to rotate by a first driver; The end of the driving rod is connected with a limiting cylinder; An electromagnetic spring is arranged on the inner side wall of the limiting cylinder, and the electromagnetic spring is fixedly connected with the adapter cylinder; A plurality of temperature sensors and a group of color sensors are arranged on the inner side wall of the adapter cylinder from top to bottom; The top and the bottom of the limiting cylinder and the adapter cylinder are hollowed out to form an inlet; The electromagnetic spring, the adapter cylinder, the inlet, the temperature sensor and the color sensor constitute a matching assembly. The matching assembly matches with the adapter cylinder and clamps and fixes the water needle knife, and the temperature and the color of the liquid in the water needle knife can be monitored through the temperature sensor and the color sensor.

[0006] In a possible implementation manner, the adapter assembly comprises an outer cylinder, and a thread is arranged on an outer peripheral wall of the outer cylinder and at an upper end of the outer cylinder, and the thread is matched with a lower threaded area in the matching cylinder; The bottom of the outer cylinder is provided with a base; The inner side wall of the base is fixedly connected with a spring, the other end of the spring is fixedly connected with one end of a rack, and the rack is slidingly connected with the base.

[0007] In a possible implementation manner, the rack is engaged with a gear, the other end of the rack away from the spring is fixedly connected with a force receiving rod, and the other end of the force receiving rod slidingly extends to an outer end through the side wall of the base.

[0008] In a possible implementation manner, a through hole is arranged on the force receiving rod, the through hole is used for being connected with a matching rope, and the other end of the matching rope is fixedly connected with a limiting cylinder.

[0009] In a possible implementation manner, a one-way bearing is arranged in the base, the outer ring of the one-way bearing is fixedly connected with the gear, and the inner ring of the one-way bearing is fixedly connected with a receiving cylinder at the center; The receiving cylinder is rotatably connected with the outer cylinder, and a plurality of receiving cavities are arranged on the receiving cylinder.

[0010] In a possible implementation manner, a guide channel is embedded in the top of the outer cylinder, and a limiting channel is embedded in the side wall of the guide channel; A sliding rod is slidingly connected with the inner side wall of the limiting channel.

[0011] In a possible implementation manner, one end of the sliding rod is fixedly connected with a magnetic plate, and the other end of the sliding rod away from the magnetic plate is connected with a blocking plate; The magnetic plate and the inner side wall of the limiting channel are respectively connected with the two ends of the spring.

[0012] In a possible implementation manner, the magnetic plate and the magnetic body arranged on the inner side wall of the matching cylinder are magnetically attracted, so that the blocking plate moves into the limiting channel and loses the blocking of the guide channel.

[0013] In a possible implementation manner, when the outer cylinder is separated from the matching cylinder, the blocking plate automatically moves inward into the guide channel with the aid of the spring, so that the guide channel is automatically blocked and closed, and the outer cylinder is in a closed state during the transfer of the outer cylinder.

[0014] Compared with the prior art, the end effector of the minimally invasive surgical instrument has the following beneficial effects: 1. The first driver drives the driving rod and the water needle knife on the limiting cylinder to rotate above the guide channel, then controls the electromagnetic spring to lose the clamping of the adapter cylinder and the water needle knife, so that the water needle knife falls downward into the guide channel, and then slides into the receiving cavity in the receiving cylinder; When the first driver drives the driving rod to reset and rotate, the limiting cylinder loses the pulling of the matching rope, the spring drives the rack to reset and move, the rack engages to drive the gear to rotate, the gear drives the receiving cylinder to rotate, and another receiving cavity is located below the guide channel, facilitating the recycling of another water needle knife.

[0015] 2. The water needle knife can be monitored and controlled in real time, recycled automatically and without pollution, and sealed and transferred through the cooperation of the matching cylinder, the first driver, the driving rod, the limiting cylinder, the receiving assembly and the matching rope.

[0016] 3. The water needle knife is clamped and fixed through the cooperation of the matching assembly and the adapter cylinder, and the temperature and the color of the liquid in the water needle knife can be monitored through the temperature sensor and the color sensor, so as to identify the category of the withdrawn liquid; When the water needle knife is withdrawn, the water needle knife withdraws the liquid in the human body, and the temperature of the liquid in the human body is about 37 degrees, which can make the temperature of the surface of the water needle knife rise. The temperature sensor monitors the content of the liquid in the water needle knife from top to bottom.

[0017] 4. When the outer cylinder is separated from the matching cylinder, the blocking plate is automatically moved inward into the guide channel by the aid of the spring, so that the guide channel is automatically blocked and closed. When the outer cylinder is transferred, the outer cylinder is in a closed state as a whole. DETAILED DESCRIPTION

[0018] The drawings described herein are used to provide further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute improper limitations on the present application. In the drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the present application; Figure 2 It is a schematic diagram of the structure of the present application Figure 1 ; Figure 3 It is a schematic diagram of the structure of the present application Figure 2 ; Figure 4 It is a schematic diagram of the adapter cylinder connection structure of the present application; Figure 5 It is a schematic diagram of the inner structure of the outer cylinder of the present application; Figure 6 It is a schematic diagram of the receiving assembly structure of the present application; Figure 7 It is a schematic diagram of the inner structure of the guide channel of the present application; Figure 8 This is a schematic diagram of the base structure of the present invention.

[0019] In the diagram: 1. Connecting rod; 2. Mating cylinder; 3. First actuator; 4. Drive rod; 5. Limiting cylinder; 6. Receiving assembly; 7. Mating rope; 51. Electromagnetic spring; 52. Connecting cylinder; 53. Inlet; 54. Temperature sensor; 55. Color sensor; 56. Mating assembly; 61. Outer cylinder; 62. Base; 63. Rack; 64. Gear; 65. Force rod; 66. Receiving cylinder; 67. Receiving cavity; 68. Inlet channel; 681. Restricting passage; 682. Magnetic suction plate; 683. Sliding rod; 684. Spring; 685. Blocking plate. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 - Figure 8 The end effector of a minimally invasive surgical instrument in this embodiment includes a connecting rod 1 for connecting to the end of an external robotic arm. The robotic arm controls the multi-axis position of the connecting rod 1, causing the robotic arm to move a water needle knife used for minimally invasive surgery. A controller is provided on the connecting rod 1, and a 5G transmission module is provided on the controller. The monitored data is transmitted to external monitoring or control equipment through the 5G transmission module.

[0022] Furthermore, such as Figures 1-8 As shown, it is fixedly connected to the middle area of ​​the connecting rod 1. The lower part of the mating cylinder 2 is provided with a threaded area, which is threadedly connected to the upper area of ​​the receiving component 6, so as to facilitate the quick disassembly and installation of the receiving component 6. The drive rod 4 on the mating cylinder 2 is driven to rotate by the first driver 3; The end of the drive rod 4 is connected to a limiting cylinder 5.

[0023] At the same time, such as Figures 1-8 As shown, an electromagnetic spring 51 is provided on the inner wall of the limiting cylinder 5. The electromagnetic spring 51 is fixedly connected to the connecting cylinder 52. The electromagnetic spring 51 is used to push the two sets of connecting cylinders 52 to move, so that the inlet 53 on the two sets of connecting cylinders 52 fixes the water needle knife on the connecting cylinder 52. The inner side wall of the adapter cylinder 52 is provided with a temperature sensor 54 and a set of color sensors 55 from top to bottom; The top and bottom of the adapter cylinder 52 of the limiting cylinder 5 are hollowed out to form an inlet 53, which facilitates the insertion and transfer of the water needle knife; The electromagnetic spring 51, the adapter cylinder 52, the inlet 53, the temperature sensor 54, and the color sensor 55 form a matching assembly 56; The matching assembly 56 cooperates with the adapter cylinder 52 and clamps and fixes the water needle knife, and the temperature and color of the liquid in the water needle knife can be monitored through the temperature sensor 54 and the color sensor 55; When the water needle knife is being withdrawn, the water needle knife withdraws the liquid in the human body. Since the temperature of the liquid in the human body is about 36 degrees, the temperature of the water needle knife surface will rise, and the content of the liquid in the water needle knife is monitored by the temperature sensor 54 from top to bottom; When the "withdrawal" step is performed and it is confirmed that no blood or cerebrospinal fluid is withdrawn, the material withdrawn into the syringe through the needle tube of the water needle knife at this time is usually the following: trace tissue fluid or intercellular fluid, gas, joint cavity synovial fluid such as needle tip in joint cavity, intervertebral disc nucleus pulposus tissue rarely, special operation; The outer peripheral wall of the water needle knife is provided with a transparent area, and the transparent area is at the same height as the color sensor 55 when the water needle knife is in use, which facilitates the color sensor 55 to monitor the color of the liquid in the water needle knife; The color sensor 55 finds the moment when the withdrawn material is bright red / dark red blood or clear colorless cerebrospinal fluid, immediately stops the withdrawal action, and keeps the current needle holding posture still to avoid blind movement of the needle tip causing secondary damage; whether it is blood or cerebrospinal fluid, this water needle knife and the syringe connected thereto are considered "contaminated" or "potentially contaminated" and must be immediately discarded.

[0024] Further, as shown in Figures 1-8 The receiving assembly 6 includes an outer cylinder 61, and the outer peripheral wall of the outer cylinder 61 is provided with a thread at the upper end, which matches the thread area inside the lower part of the matching cylinder 2; The bottom of the outer cylinder 61 is provided with a base 62, the inner side wall of the base 62 is fixedly connected with a spring, the other end of the spring is fixedly connected with one end of a rack 63, and the rack 63 is slidingly connected with the base 62; The rack 63 is engaged with a gear 64, the other end of the rack 63 away from the spring is fixedly connected with a force rod 65, and the other end of the force rod 65 slidingly extends through the side wall of the base 62 to the outer end; The force rod 65 is provided with a through hole for connecting with the matching rope 7, and the other end of the matching rope 7 is fixedly connected with the limiting cylinder 5; A one-way bearing is arranged in the base 62, the outer ring of the one-way bearing is fixedly connected with the gear 64, and the inner ring of the one-way bearing is fixedly connected with a receiving cylinder 66 at the center; The receiving cylinder 66 is rotationally connected in the outer cylinder 61, and a plurality of receiving cavities 67 are arranged on the receiving cylinder 66; When the water needle knife is withdrawn to the state of red / dark red blood or clear colorless cerebrospinal fluid, the first driver 3 drives the driving rod 4 to rotate upward, the driving rod 4 drives the water needle knife on the limiting cylinder 5 to rotate above the guide channel 68, and then the electromagnetic spring 51 loses the clamping of the water needle knife and the adapter cylinder 52, so that the water needle knife falls downward into the guide channel 68, and then falls into the receiving cavity 67 in the receiving cylinder 66; When the first driver 3 drives the driving rod 4 to reset and rotate, the limiting cylinder 5 loses the pulling of the matching rope 7, the spring drives the rack 63 to reset and move, the rack 63 engages to drive the gear 64 to rotate, so that the gear 64 drives the receiving cylinder 66 to rotate, so that another receiving cavity 67 is located below the guide channel 68, facilitating the recycling of another water needle knife.

[0025] Further, as shown in Figures 1-8 The top of the outer cylinder 61 is embedded with a guide channel 68, the side wall of the guide channel 68 is embedded with a limiting channel 681, and a sliding rod 683 is slidably connected to the inner side wall of the limiting channel 681; One end of the sliding rod 683 is fixedly connected with a magnetic plate 682, and the other end of the sliding rod 683 away from the magnetic plate 682 is connected with a blocking plate 685; The magnetic plate 682 and the inner side wall of the limiting channel 681 are respectively connected with both ends of the spring 684.

[0026] Finally, as shown in Figures 1-8 The magnetic plate 682 and the magnetic body arranged on the inner side wall of the matching cylinder 2 are magnetically attracted, so that the blocking plate 685 moves into the limiting channel 681 and loses the blocking of the guide channel 68, and when the outer cylinder 61 is separated from the matching cylinder 2, the blocking plate 685 is automatically moved inward into the guide channel 68 by the assistance of the spring 684, so that the guide channel 68 is automatically blocked and closed. When the outer cylinder 61 is transferred, the outer cylinder 61 is in a closed state as a whole.

[0027] The installation mode, connection mode or setting mode disclosed in the embodiment are common mechanical connection ways, as long as the beneficial effects can be achieved, and therefore the specific structure, composition and working principle will not be described in detail.

[0028] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it should be taken in a descriptive sense and not a limiting sense.

[0029] While the embodiments of the application have been shown and described herein, it is to be understood that the application is not limited to these embodiments. Rather, many modifications, changes, substitutions, and alterations can be made to the embodiments of the application without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. An end effector of a minimally invasive surgical instrument, characterized by: It includes a connecting rod (1) for connecting with the end of the external mechanical arm, and the multi-axis position of the connecting rod (1) is controlled by the mechanical arm; The matching cylinder (2) is fixedly connected with the middle end area of the connecting rod (1), a threaded area is arranged in the lower part of the matching cylinder (2), and the threaded area is threadedly connected with the upper end area of the bearing assembly (6), so that the bearing assembly (6) can be quickly disassembled and assembled. The driving rod (4) is driven to rotate by the first driver (3) on the matching cylinder (2). The end of the driving rod (4) is connected with a limiting cylinder (5). An electromagnetic spring (51) is arranged on the inner side wall of the limiting cylinder (5), and the electromagnetic spring (51) is fixedly connected with a connecting cylinder (52). A plurality of temperature sensors (54) and a group of color sensors (55) are arranged on the inner side wall of the connecting cylinder (52) from top to bottom. The top and the bottom of the connecting cylinder (52) of the limiting cylinder (5) are hollowed out to form an inlet (53). The electromagnetic spring (51), the connecting cylinder (52), the inlet (53), the temperature sensor (54) and the color sensor (55) form a matching assembly (56). The matching assembly (56) is matched with the connecting cylinder (52) and clamps and fixes the water needle knife, and the temperature and the color of the liquid in the water needle knife can be monitored through the temperature sensor (54) and the color sensor (55).

2. The end effector of the minimally invasive surgical instrument according to claim 1, wherein: The bearing assembly (6) comprises an outer cylinder (61), and a thread is arranged on the outer peripheral wall of the upper end of the outer cylinder (61) and matches the thread area in the lower part of the matching cylinder (2); A base (62) is arranged at the bottom of the outer cylinder (61); A spring is fixedly connected to the inner side wall of the base (62), the other end of the spring is fixedly connected to one end of a rack (63), and the rack (63) is slidingly connected to the base (62).

3. The end effector of the minimally invasive surgical instrument according to claim 2, wherein: The rack (63) is engaged with a gear (64), the other end of the rack (63) away from the spring is fixedly connected to a force rod (65), and the other end of the force rod (65) extends to the outer end by sliding through the side wall of the base (62).

4. The end effector of the minimally invasive surgical instrument according to claim 3, wherein: A through hole is arranged on the force rod (65) and is used for being connected with a matching rope (7), and the other end of the matching rope (7) is fixedly connected to the limiting cylinder (5).

5. The end effector of the minimally invasive surgical instrument according to claim 2, wherein: A one-way bearing is arranged in the base (62), the outer ring of the one-way bearing is fixedly connected to the gear (64), and the center of the inner ring of the one-way bearing is fixedly connected to a receiving cylinder (66); The receiving cylinder (66) is rotatably connected to the inner part of the outer cylinder (61), and a plurality of receiving cavities (67) are arranged on the receiving cylinder (66).

6. The end effector of a minimally invasive surgical instrument of claim 2, wherein ； A guide channel (68) is embedded in the top of the outer cylinder (61), and a limiting channel (681) is embedded in the side wall of the guide channel (68); A sliding rod (683) is slidingly connected to the inner side wall of the limiting channel (681).

7. A microsurgical instrument end effector according to claim 6, wherein: The sliding rod (683) is fixedly connected with the magnetic plate (682) at one end, and the other end away from the magnetic plate (682) is connected with the blocking plate (685); The magnetic plate (682) and the inner side wall of the limiting channel (681) are respectively connected with the two ends of the spring (684).

8. The end effector of a minimally invasive surgical instrument of claim 6, wherein: The magnetic plate (682) and the magnetic body provided on the inner side wall of the cooperating cylinder (2) are magnetically attracted, so that the blocking plate (685) moves into the limiting channel (681) and loses the blocking of the inlet channel (68).

9. The end effector of a minimally invasive surgical instrument of claim 6, wherein: When the outer cylinder (61) is separated from the cooperating cylinder (2), the blocking plate (685) is automatically moved inward into the inlet channel (68) with the aid of the spring (684), so that the inlet channel (68) is automatically blocked and closed. When the outer cylinder (61) is transferred, the outer cylinder (61) is in a closed state as a whole.

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