Surgical instrument and medical system

Abstract

The invention provides a surgical instrument and a medical system. The surgical instrument comprises a shaft part, a first joint seat, a second joint seat, a tail end executing assembly and a wire. The shaft portion extends along a central axis. The first joint seat is arranged at the far end of the shaft. The second joint seat is arranged at the far end of the first joint seat. The near end of the second joint seat is connected to the far end of the first joint seat in a rolling mode. The end effector assembly is rotatably coupled to the distal end of the second joint mount about a third axis. One end of the wire is connected to the end execution assembly. And the other end extends to the near end of the shaft part. The wire includes a first section extending between the end effector assembly and the second articulation mount. And in the process that the tail end execution assembly moves relative to the first joint seat, the length of the first section of the wire is kept unchanged. The reliability and the service life of the wire of the surgical instrument can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instruments, and more particularly to a surgical instrument and a medical system. BACKGROUND

[0002] In robot-assisted minimally invasive surgery, a surgical instrument connected to the end of a robot is inserted into a human body through a wound or natural orifice on the surface of the human body to operate on tissues in the human body. Such a surgical instrument mainly includes an end effector (such as a surgical forceps, a cutting tool or a cauterizing tool) at the front end, a wrist joint, a shaft joint and / or other joints that provide multiple degrees of freedom of movement for the end effector, a main pipe extending from the rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument. The end effector at the front end and the joints are usually driven by a plurality of drive wires fixed thereon, which pass through the main pipe of the surgical tool and are driven by the rear-end transmission device. The wrist joint usually realizes the movement of the degrees of freedom of pitch and yaw under the driving of the drive wires.

[0003] For an electrosurgical surgical instrument, a guide wire is usually also needed to be arranged, one end of the guide wire is connected to a tissue contact part of the end effector, and the other end of the guide wire is connected to an electrosurgical energy generator. When the wrist joint moves, the guide wire should not usually exceed the instrument entity, and should not be excessively squeezed or pulled by the parts of the instrument itself. The related art binds the guide wire with the drive wires of the wrist joint, and pulls the guide wire to move by the movement of the drive wires to meet the above requirements. However, when the above scheme is applied to an instrument with a smaller diameter and a more compact structure, the pulling and friction of the guide wire in the narrow space will increase, thereby reducing the reliability and service life of the instrument. SUMMARY

[0004] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solutions, and even less to determine the protection scope of the claimed technical solutions.

[0005] To at least partially solve the above problems, the first aspect of the present application provides a surgical instrument, which comprises:

[0006] a shaft portion extending along a central axis;

[0007] a first joint seat arranged at the distal end of the shaft portion;

[0008] a second joint seat arranged at the distal end of the first joint seat, the proximal end of the second joint seat being rollingly connected to the distal end of the first joint seat;

[0009] a distal end of the second joint base;

[0010] a wire, one end of the wire being connected to the end effector and the other end extending to a proximal end of the shaft portion, the wire comprising a first section extending between the end effector and the second joint base,

[0011] wherein a length of the first section of the wire remains unchanged during movement of the end effector relative to the first joint base.

[0012] The surgical instrument according to the first aspect of the present application, since the first section of the wire can remain unchanged in length during movement of the end effector relative to the first joint base, friction between the wire and the second joint base can be reduced or avoided, and thus the reliability of the first section of the wire at the second joint base can be improved, achieving the purpose of protecting the first section of the wire.

[0013] Optionally, during movement of the end effector relative to the first joint base, one end of the first section of the wire does not move relative to the second joint base.

[0014] Optionally, one end of the first section of the wire is fixedly connected to the second joint base.

[0015] Optionally, a proximal end of the end effector defines a wire passage, and the first section is accommodated in the wire passage.

[0016] Optionally, the shaft portion is provided with a channel extending along the central axis, and the wire comprises a third section extending in the channel, and during movement of the end effector relative to the first joint base, one end of the third section of the wire does not move relative to the shaft portion.

[0017] Optionally, the first section of the wire is wound at least one turn around the third axis.

[0018] Optionally, a radius of curvature of the first section of the wire changes as the end effector moves around the third axis.

[0019] Optionally, the surgical instrument further comprises a wire winding column, an outer peripheral surface of the wire winding column being configured to extend with the third axis as a center, and the radius of curvature of the first section is greater than a radius of the wire winding column.

[0020] Optionally, the surgical instrument further comprises a retaining edge extending around the third axis, and the radius of curvature of the first section is less than a radius of the retaining edge.

[0021] Optionally, a first segment of the wire extends along the central axis when the surgical instrument is in the neutral state.

[0022] Optionally, a distal end of the first joint base is provided with a first toothed portion arranged about a first axis, a proximal end of the second joint base is provided with a second toothed portion arranged about a second axis, the second toothed portion is engaged with the first toothed portion, the first axis is parallel to the second axis, and the third axis is out of the plane of the first axis and the second axis.

[0023] Optionally, the first axis and the second axis define a first plane, and the wire comprises a second segment extending between the second joint base and the first joint base;

[0024] Two ends of the second segment of the wire are located on two sides of the first plane, respectively; or

[0025] The second segment of the wire extends along the first plane.

[0026] Optionally, the surgical instrument further comprises a transmission assembly, the transmission assembly comprises a first flexible member and a second flexible member, the first flexible member and the second flexible member are connected to the end execution assembly, and the first flexible member and the second flexible member extend linearly between the first joint base and the second joint base.

[0027] Optionally, when the surgical instrument is in the neutral state, a length of the first flexible member between the first joint base and the second joint base is equal to a length of the second flexible member between the first joint base and the second joint base.

[0028] Optionally, the first axis and the second axis define a first plane;

[0029] The surgical instrument further comprises a transmission assembly, the transmission assembly comprises a first flexible member and a second flexible member, the first flexible member is connected to the end execution assembly, the second flexible member is connected to the second joint base, and the first flexible member extends flexibly across the first plane between the first joint base and the second joint base.

[0030] Optionally, the first flexible member comprises a first circular arc segment extending about the first axis and a second circular arc segment extending about the second axis, curvatures of the first circular arc segment and the second circular arc segment are the same, and the first circular arc segment and the second circular arc segment are located on two sides of the first plane, respectively.

[0031] Optionally, a distal end of the first joint base is provided with a first arc surface protruding towards the second joint base and extending around the first axis, and a proximal end of the second joint base is provided with a second arc surface protruding towards the first joint base and extending around the second axis, the first arc surface and the second arc surface being in contact.

[0032] The second aspect of the present application provides a medical system, the medical system comprising:

[0033] a slave operating device, the slave operating device comprising at least one robot arm; and

[0034] The surgical instrument described above is operatively arranged on the robot arm.

[0035] According to the medical system of the second aspect of the present application, by applying the surgical instrument described above, the reliability and service life of the medical system can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] The following drawings for the embodiments of the present application are hereby incorporated into the present application as a part of the present application for the purpose of understanding the present application. The embodiments of the present application and the description thereof shown in the drawings are used to explain the principles of the present application. In the drawings,

[0037] Figure 1 is a schematic view of a medical system according to an embodiment of the present application;

[0038] Figure 2 is a schematic view of a slave robot according to an embodiment of the present application;

[0039] Figure 3 is a partial perspective view of a surgical instrument according to a preferred embodiment of the present application, wherein the surgical instrument is in a neutral state;

[0040] Figure 4 is a partial perspective view of the surgical instrument shown in Figure 3 ;

[0041] Figure 5 is a partial exploded perspective view of the surgical instrument shown in Figure 4 ;

[0042] Figure 6 is a perspective view of the wire harness shown in Figure 4 ;

[0043] Figure 7 is an assembly view of the wire harness, the first clamp jaw and the first wire shown in Figure 4 ;

[0044] Figure 8 is a perspective view of the wire harness shown in Figure 4a front view of the wire harness member, the first jaw, and the first wire in the first joint;

[0045] Figure 9 for Figure 4 a further front view of the wire harness member, the first jaw, and the first wire in the first joint;

[0046] Figure 10 for Figure 4 a further front view of the wire harness member, the first jaw, and the first wire in the first joint;

[0047] Figure 11 for Figure 3 a further partial perspective view of the surgical instrument shown in Fig. 1 1, wherein the surgical instrument is in a position during a yawing motion;

[0048] Figure 12 for Figure 3 a further partial perspective view of the surgical instrument shown in Fig. 1 1, wherein the surgical instrument is in a position during a yawing motion;

[0049] Figure 13 for Figure 3 and Figure 4 a schematic view of the connection of the first joint socket and the second joint socket in the first joint;

[0050] Figure 14 a schematic view of the first joint socket from a distal to proximal perspective according to a preferred embodiment of the present application;

[0051] Figure 15 a schematic view of the second joint socket from a distal to proximal perspective according to a preferred embodiment of the present application;

[0052] Figure 16 for Figure 3 a partial front view of the surgical instrument shown in Fig. 1 1, wherein the surgical instrument is in a neutral state;

[0053] Figure 17 for Figure 3 a further partial front view of the surgical instrument shown in Fig. 1 1, wherein the surgical instrument is in a position during a yawing motion;

[0054] Figure 18 for Figure 3 a further partial front view of the surgical instrument shown in Fig. 1 1, wherein the surgical instrument is in a further position during a yawing motion;

[0055] Figure 19 a partial perspective view of a surgical instrument according to a further preferred embodiment of the present application, wherein the surgical instrument is in a neutral state;

[0056] Figure 20 forFigure 19 Partial exploded perspective view of the surgical instrument;

[0057] Figure 21 Fig. 1 is a perspective view of a surgical instrument according to an embodiment of the present application; Figure 19 Fig. 2 is a partial cross-sectional view of the surgical instrument shown in Fig. 1, wherein the surgical instrument is in a neutral state; and

[0058] Figure 22 Fig. 3 is another partial cross-sectional view of the surgical instrument shown in Fig. 1, wherein the surgical instrument is in a neutral state. Figure 19

[0059] BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 100: surgical instrument 120: end effector

[0061] 121: first jaw 122: second jaw

[0062] 130: shaft 150: rear end transmission

[0063] 101: first tissue contact portion 102: first rotating portion

[0064] 102a: first guide slot 102b: winding post

[0065] 102d: first connecting hole 102e: first stopper

[0066] 103: first pin 104: first wire

[0067] 105: first flexible member 105a: first circular arc segment

[0068] 105b: second circular arc segment 106: second tissue contact portion

[0069] 107: second rotating portion 107a: second guide slot

[0070] 107d: second connecting hole 109: second wire

[0071] 110: second flexible member 111: second joint seat

[0072] 111a1: second tooth portion 111a4: second circular arc surface

[0073] 111a5: second stop portion 111c: second support plate

[0074] 111c1: fifth wire passing channel 111c2: sixth wire passing channel

[0075] 111c3: seventh wire passing channel 112: wire bundling member ​

[0076] 112a: second flange 112b: first connecting portion

[0077] 112c: second connecting portion 112d: shaft hole

[0078] 113: first joint seat 113a1: first tooth portion

[0079] 113a3: first circular arc surface 113a4: first stop portion

[0080] 113b: first support plate 113b1: first wire passage

[0081] 113b2: second wire passage 113b3: third wire passage

[0082] 113b4: fourth wire passage 115: tissue contact portion

[0083] 116: insulating seat 116a: wire slot

[0084] 116b: first inner wall surface 116c: second inner wall surface

[0085] 116d: guide slot 117: second pin shaft

[0086] 118: third pin shaft 119: lead wire

[0087] 181: first guide wheel 182: second guide wheel

[0088] 200: medical system 210: physician console

[0089] 220: patient-side robot 221: robotic arm

[0090] 222: instrument holding arm 230: imaging device

[0091] AX1: first axis AX2: second axis

[0092] AX3: third axis AX: central axis

[0093] TP1: first plane TP2: first plane DETAILED DESCRIPTION

[0094] In the following description, numerous specific details are given to provide a thorough understanding of the application. However, it will be apparent that the application can be practiced without one or more of the specific details. In other instances, well-known

[0095] For a thorough understanding of the present application, reference will be made to the following detailed description, taken in conjunction with the accompanying drawings, in which:

[0096] It is to be understood that the terms used herein are merely descriptive, but not restrictive, and that "a" or "one" includes the plural, unless otherwise clear from the context. It is also to be understood that the terms "comprising" and / or "including" when used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0097] The ordinal numbers such as "first" and "second" used in the present application are merely identifiers, but do not have any other meaning, for example, a specific order, etc. Also, for example, the term "first member" itself does not imply the existence of "second member", and the term "second member" itself does not imply the existence of "first member". It is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and similar expressions used herein are for illustrative purposes only, and are not limiting.

[0098] The terms "distal" and "proximal" used in the present application are directional terms which are commonly used in the field of interventional medical devices, wherein "distal" means the end which is distal from the operator during a procedure, and "proximal" means the end which is proximal to the operator during a procedure. In a teleoperated surgical robotic system, the "operator" refers to the robot which holds and manipulates the surgical instruments.

[0099] The terms "parallel" and "perpendicular" and similar expressions used in the present application include both an absolute parallel / perpendicular relationship and an approximate parallel / perpendicular relationship (for example, a relationship which deviates from the absolute parallel / perpendicular relationship by -5° to +5°), and can have an equivalent effect.

[0100] Hereinafter, specific embodiments of the present application will be described in greater detail with reference to the accompanying drawings, which illustrate representative embodiments of the present application, and are not intended to limit the present application.

[0101] The medical system 200 according to an embodiment of the present application is a surgical robotic system which can perform a surgery remotely. Referring to Figure 1 , the medical system 200 can include a physician console 210, a patient-side robot 220, and an imaging device 230, which can communicate with each other.

[0102] The doctor console 210 has a display unit for showing the environment of the surgical instrument 100, a doctor operation control mechanism, an armrest, and the like. The display unit has an observation window for the doctor to observe, the operation control mechanism is configured to correspond to the movement of the surgical instrument 100, and the armrest is used to place the doctor's arm. In addition, the doctor console 210 has other control switches that are convenient for the hands or feet to touch or press to perform various function operations and complete human-computer interaction.

[0103] The imaging device 230 has a display screen, an endoscope controller, system electronics, an image processor, and the like. In some examples, the imaging device 230 can be arranged separately from the doctor console 210 and the patient-side robot 220. In other examples, the imaging device 230 can be integrated into the doctor console 210 and / or the patient-side robot 220.

[0104] Referring to Figure 2 The patient-side robot 220 can also be referred to as a slave operating device. The patient-side robot 220 can include at least one mechanical arm 221 having a plurality of jointed arms. Adjacent two jointed arms are relatively movable in a certain degree of freedom, so that the end of the mechanical arm 221 can reach a multi-degree of freedom (for example, 7 degrees of freedom, which can be different according to different surgical instruments 100) movement, and the end of the mechanical arm 221 is provided with a holding arm 222, and the surgical instrument 100 is detachably mounted on the holding arm 222. The surgical instrument 100 can be an instrument for performing a surgical operation, such as an electric cauter, a clamp, a blood vessel occluder, and the like. The surgical instrument 100 can also be a camera for image acquisition of a surgical area, such as an endoscope, and the like. The surgical instrument 100 can also be other surgical instruments.

[0105] In some application scenarios, the mechanical arm 221 can be configured to move around a remote center of motion (RCM) by a mechanical method. For example, in a laparoscopic surgery, the RCM is defined as a port into the abdominal cavity of a patient during surgery. During the surgery, the mechanical arm 221 is manipulated to drive the holding arm 222 to move the surgical instrument 100 to perform pitching, yawing, inserting, and rotating, and the like. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical damage to the incision of the patient's abdomen caused by the surgical instrument 100.

[0106] Continuing to refer to Figure 2The surgical instrument 100 comprises, from proximal end to distal end, a rear end transmission device 150, a shaft 130 and an end execution assembly 120. The rear end transmission device 150 is in transmission connection with a driving device arranged in the instrument holding arm 222. The rear end transmission device 150 can be connected with the end execution assembly 120 through a transmission assembly, and the end execution assembly 120 is braked through the transmission assembly. The transmission assembly can include a push-pull rod, a wire, a rope, a belt, etc. The shaft 130 is connected between the rear end transmission device 150 and the end execution assembly 120, for spacing the rear end transmission device 150 and the end execution assembly 120 and for supporting the end execution assembly 120. The end execution assembly 120 can include tools for surgical operations such as cutting, etc., such as hooks, shovels, needles, clamps, scissors, etc., and can also be an endoscope lens for image acquisition, etc.

[0107] Further, a joint, such as a pitch joint, a yaw joint, etc., can be arranged between the end execution assembly 120 and the shaft 130 to improve the mobility of the end execution assembly 120. The rear end driving device can drive the joint to move through a push-pull rod, a wire, a rope, a belt, etc.

[0108] For surgical instruments that need to release energy (such as electrosurgical instruments), the end execution assembly 120 is usually connected with an energy source through a wire, and energy (such as electrical energy) is transmitted to the end execution assembly 120 through the wire and released, so that the end execution assembly 120 can cut, hemostasis, etc.

[0109] Since the wire is connected with the end execution assembly 120, the movement of the end execution assembly 120 can easily drag the wire to move. Therefore, when designing the wire routing, the following design requirements need to be met: try to avoid the wire from exceeding the physical surgical instrument 100, affecting the surgical operation; prevent excessive pulling of the wire, which can be easily damaged under the dual action of tension and friction; prevent the parts of the surgical instrument from excessively extruding the wire, causing damage to the wire.

[0110] In some design schemes, the wire is bound with the transmission assembly of the end execution assembly or the wrist joint, and the movement of the transmission assembly pulls the wire to move, which can meet some of the above requirements to some extent. However, the inventors have found that when this scheme is applied to instruments with smaller diameters and more compact structures, the friction of the wire in the narrow space will increase, and therefore a larger tension is required to make the wire move with the end execution assembly and the transmission assembly, which will accelerate the damage of the wire and thus reduce the reliability and service life of the instrument.

[0111] Therefore, the surgical instrument 100 and the medical system 200 with the surgical instrument 100 provided by the embodiments of the present application can improve or solve at least one of the above problems.

[0112] The design concept of the surgical instrument 100 is as follows.

[0113] The surgical instrument comprises, in sequence from the proximal end to the distal end, a shaft, a first joint seat, a second joint seat, and an end execution assembly. The movement of the second joint seat relative to the first joint seat can realize the pitching movement of the end execution assembly relative to the first joint seat and the shaft, and the movement of the end execution assembly relative to the second joint seat can realize the yawing movement of the end execution assembly relative to the first joint seat and the shaft. One end of the guide wire is connected to the end execution assembly, and the other end extends to the proximal end of the shaft. The guide wire comprises a first section extending between the end execution assembly and the second joint seat. The length of the first section of the guide wire remains unchanged during the movement of the end execution assembly relative to the first joint seat.

[0114] Since one end of the guide wire is connected to the end execution assembly, the length of the first section of the guide wire remaining unchanged means that the end of the first section away from the end execution assembly does not move relative to the second joint seat during the movement of the end execution assembly relative to the first joint seat. In one example, the end of the first section away from the end execution assembly can be fixedly connected to the second joint seat.

[0115] Under this design concept, when the end execution assembly moves, the guide wire does not need to be pulled to move relative to the second joint seat, thereby reducing or avoiding the friction between the guide wire and the second joint seat.

[0116] The surgical instrument 100 according to the above design concept will be exemplarily introduced below by means of the embodiments shown in the drawings. Figures 3 to 22

[0117] First embodiment

[0118] Referring to Figures 3 to 18 The surgical instrument 100 according to the first embodiment of the present application can comprise a shaft 130, a first joint seat 113, a second joint seat 111, an end execution assembly 120, and a guide wire 119.

[0119] The distal end of the shaft 130 can support the first joint seat 113, the second joint seat 111, and the end execution assembly 120. The proximal end of the shaft 130 can be connected to the rear end transmission device 150. The shaft 130 is usually configured as a hollow rod to allow the guide wire 119 and the transmission assembly to pass therethrough. The shaft 130 extends along a central axis AX. The cross section of the shaft 130 perpendicular to the central axis AX thereof can be circular, elliptical, or other angular-free shapes.

[0120] ​The first joint base 113 is arranged at the distal end of the shaft portion 130. The second joint base 111 is arranged at the distal end of the first joint base 113. The proximal end of the second joint base 111 is rollingly connected to the distal end of the first joint base 113 to form a pitch joint of the surgical instrument 100. The end execution assembly 120 is rotatably connected to the distal end of the second joint base 111 about a third axis AX3. The end execution assembly 120 and the second joint base 111 are rotatable relative to each other about the third axis AX3 to form at least a yaw joint of the surgical instrument 100. Thus, the end execution assembly 120 of the surgical instrument 100 of the present embodiment has at least two degrees of freedom of pitch and yaw. When the surgical instrument 100 does not yaw (pitch and yaw), the surgical instrument 100 extends along the central axis AX of the shaft portion 130 as a whole, which is referred to as a neutral state (also referred to as a zero position state) of the surgical instrument 100.

[0121] One end of the wire 119 is connected to the end execution assembly 120, and the other end extends to the proximal end of the shaft portion 130 to be adapted to be connected to an energy source. The wire 119 is used to deliver energy, such as electrical energy, to the end execution assembly 120. The wire 119 can include a first section extending between the end execution assembly 120 and the second joint base 111. In this case, the length of the first section of the wire 119 remains unchanged during the movement of the end execution assembly 120 relative to the first joint base 113.

[0122] In other words, one end of the first section of the wire 119 does not move relative to the second joint base 111 during the movement of the end execution assembly 120 relative to the first joint base 113. Here, one end of the first section of the wire 119 can be understood as the portion of the first section of the wire 119 arranged corresponding to the second joint base 111. In this way, the first section of the wire 119 can not move relative to the second joint base 111 due to the movement of the end execution assembly 120 relative to the first joint base 113, so as to reduce or avoid the friction between the wire and the second joint base 111, thereby improving the reliability of the first section of the wire 119 at the second joint base 111 and achieving the purpose of protecting the first section of the wire 119. In the present embodiment, one end of the first section of the wire can be fixedly connected to the second joint base 111.

[0123] In the present embodiment, the end execution assembly 120 includes a tool capable of opening and closing movement, such as a clamp, scissors, etc. For ease of description, the tool capable of opening and closing movement is referred to as a first jaw 121 and a second jaw 122. Referring to Figure 3The first jaw 121 and the second jaw 122 are each rotatably connected to a distal end of the second joint base 111 about a third axis AX3. The rotation axis of the opening and closing movement of the end effector assembly 120 and the rotation axis of the yawing movement are collinear, which is conducive to reducing the number of joints, thereby further reducing the active space of the surgical instrument 100 and reducing the number of parts.

[0124] Referring to Figure 3 and Figure 4 , in particular, the first jaw 121 can include a first rotating portion 102 rotatably connected to the distal end of the second joint base 111, and a first tissue contact portion 101 fixed to the distal end of the first rotating portion 102; the second jaw 122 includes a second rotating portion 107 rotatably connected to the distal end of the second joint base 111, and a second tissue contact portion 106 fixed to the distal end of the second rotating portion 107. When the energy transmitted by the wire 119 is electrical energy, the first rotating portion 102 and the second rotating portion 107 are usually configured as insulating components, and can also be respectively referred to as a first insulating base and a second insulating base.

[0125] Referring to Figure 4 , Figure 11 , Figure 12 , and Figures 16 to 18 , further, the transmission assembly is used to actuate the movement of the end effector assembly 120 relative to the first joint base 113. The transmission assembly can include a first flexible member 105 and a second flexible member 110. The first flexible member 105 is connected to the first jaw 121, and the second flexible member 110 is connected to the second jaw 122.

[0126] In one example, as shown in Figure 3 , Figure 4 , Figure 7 , Figure 11 and Figure 12 , the first rotating portion 102 of the first jaw 121 is provided with a first guide slot 102a extending about the third axis AX3. Similarly, the second rotating portion 107 of the second jaw 122 is provided with a second guide slot 107a extending about the third axis AX3. The first guide slot 102a and the second guide slot 107a are arranged side by side along the third axis AX3. The first flexible member 105 can be arranged in the first guide slot 102a. The second flexible member 110 can be arranged in the second guide slot 107a. Optionally, the extension trajectories of the first guide slot 102a and the second guide slot 107a are perpendicular to the third axis AX3. Through this arrangement, it is conducive to controlling the rotation of the first jaw 121 and the second jaw 122, so that the transmission assembly is actuated with smaller driving force, reducing the friction between the transmission assembly and the wire 119 and other components, which helps to prolong the service life of the transmission assembly and the wire 119.

[0127] Referring to Figure 3 andFigure 4 Optionally, the first flexible member 105 is clamped with the first rotating part 102 through a terminal. The second flexible member 110 is clamped with the second rotating part 107 through a terminal.

[0128] Referring to Figure 4 Optionally, the first flexible member 105 can include two traction ropes extending substantially in parallel. The two traction ropes can be integrated or connected together in separate parts. One of the two traction ropes can be pulled by the rear-end transmission device 150 respectively, or both of the two traction ropes can be pulled simultaneously. When one of the two traction ropes is pulled by the rear-end transmission device 150, the first jaw 121 performs opening and closing movement or yawing movement. When both of the two traction ropes are pulled by the rear-end transmission device 150, the first jaw 121 performs pitching movement. Correspondingly, the second flexible member 110 can include two traction ropes extending in parallel. The two traction ropes can be integrated or connected together in separate parts. One of the two traction ropes can be pulled by the rear-end transmission device 150 respectively, or both of the two traction ropes can be pulled simultaneously. When one of the two traction ropes is pulled by the rear-end transmission device 150, the second jaw 122 performs opening and closing movement or yawing movement. When both of the two traction ropes are pulled by the rear-end transmission device 150, the second jaw 122 performs pitching movement. The specific structure of the rear-end transmission device 150 and the control mode of the first flexible member 105 and the second flexible member 110 can refer to the prior art, for example, the Chinese invention patent CN113208732A or the Chinese invention patent CN113367796A, which will not be described in detail here.

[0129] Referring to Figures 3 to 12 The proximal end of the end effector assembly 120 defines a wire passing groove (not labeled). The first section of the wire 119 is accommodated in the wire passing groove. In the present embodiment, the wire passing groove is the space between the proximal end of the first jaw 121 and the proximal end of the second jaw 122. The proximal end of the first jaw 121 has the first rotating part 102. The proximal end of the second jaw 122 has the second rotating part 107. The first section of the wire 119 is arranged between the first rotating part 102 and the second rotating part 107. That is, the wire passing groove is defined by the first rotating part 102 and the second rotating part 107, and the first section of the wire 119 is accommodated in the wire passing groove. The first flexible member 105 and the second flexible member 110 extend outside the wire passing groove, avoiding interference with the wire 119.

[0130] By accommodating the first section of the wire 119 through the wire passing groove, on the one hand, the movement range of the first section can be limited to prevent the first section from exceeding the physical part of the end effector assembly; on the other hand, the first section can be isolated from other structures or components to prevent interference between the first section and other structures or components, thereby better protecting the first section.

[0131] Further, referring to Figure 4 ,Figure 5 , Figures 7 to 12 ,as well as Figures 16 to 18 The lead wire 119 may include a first lead wire 104 and a second lead wire 109. The first lead wire 104 is connected to the first gripper 121 and is used to supply energy to the first gripper 121, such that the energy is transferred to the first tissue contact portion 101 via the first lead wire 104 and then released. The second lead wire 109 is connected to the second gripper 122 and is used to supply energy to the second gripper 122, such that the energy is transferred to the second tissue contact portion 106 via the second lead wire 109 and then released. Specifically, the first rotating part 102 has a first connecting hole 102d for the first lead wire 104 to pass through, and the lead wire 119 passes through the first connecting hole 102d and connects to the first tissue contact portion 115. The second rotating part 107 has a second connecting hole 107d for the second lead wire 109 to pass through, and the lead wire 119 passes through the second connecting hole 107d and connects to the second tissue contact portion 115.

[0132] In this embodiment, the first segment of conductor 119 is wound around the third axis AX3 at least once. See also Figure 4 , Figure 5 and Figure 7 The first segment of the first conductor 104 and the first segment of the second conductor 109 are both wound around the third axis AX3 at least once. This ensures that the first segment of the conductor 119 has sufficient length to accommodate the movement of the end effector 120, preventing tensile stress on the conductor 119 during yaw motion and protecting it. Furthermore, by winding the first segment, its movement is constrained to some extent, reducing the risk of it extending beyond the physical portion of the end effector 120. It should be noted that "winding around the third axis AX3" refers to the loop within which the third axis AX3 is wound around the first segment, and does not necessarily require winding around the third axis AX3 as the center.

[0133] See Figures 8 to 10 This illustrates the state of the first segment of the first conductor 104 when the first gripper 121 moves to different positions. Figure 9 With the first gripper 121 in the neutral position, Figure 8 and Figure 10 This refers to the position reached by the first gripper 121 as it deviates from the neutral position in two opposite directions. As can be seen from the figure, when the first gripper 121... Figure 9 The neutral position shown moves counterclockwise as indicated in the diagram. Figure 8 At the position shown, the radius of curvature of the first segment of the first conductor 104 gradually increases; when the first gripper 121... Figure 9 The neutral position shown moves clockwise as indicated in the diagram. Figure 10The radius of curvature of the first section of the first wire 104 gradually decreases when the first jaw 121 moves from the neutral position shown in

[0134] Further, referring to Figure 4 and Figure 5 To fully utilize the wiring space of the surgical instrument 100, the first section of the first wire 104 and the first section of the second wire 109 enter the wire slot from opposite sides of the third axis AX3 and are wound around the third axis AX3 in opposite directions. Thus, when the first jaw 121 and the second jaw 122 rotate in the same direction around the third axis AX3, the radius of curvature of the first section of the first wire 104 and the radius of curvature of the first section of the second wire 109 have opposite trends. For example, when the first jaw 121 moves from the neutral position shown in Figure 9 to the position shown in Figure 8 , the radius of curvature of the first section of the first wire 104 gradually increases, while the radius of curvature of the first section of the second wire 109 gradually decreases; when the first jaw 121 moves from the neutral position shown in Figure 9 to the position shown in Figure 10 , the radius of curvature of the first section of the first wire 104 gradually decreases, while the radius of curvature of the first section of the second wire 109 gradually increases.

[0135] Further, referring to Figure 4 and Figure 7 , the first rotating portion 102 of the first jaw 121 includes a first stop edge 102e disposed around the third axis AX3. The first stop edge 102e is used to prevent the first section of the first wire 104 from moving radially outwardly perpendicular to the third axis AX3, thereby preventing the first section from protruding from the wire slot. In one example, the first stop edge 102e corresponds to a central angle greater than 180°. Similarly, the second rotating portion 107 of the second jaw 122 also includes a first stop edge (not labeled) having similar structure and function.

[0136] Further, a winding post is disposed between the first rotating portion 102 and the second rotating portion 107 (i.e., within the wire slot). The outer peripheral surface of the winding post can be configured to extend around the third axis AX3. The winding post can limit the bending path of the first section of the wire 119 to some extent so that it does not deviate from the third axis AX3, i.e., the third axis AX3 is always within the turns of the first section of the wire 119 after winding. In one example, referring to Figure 4 and Figure 7The first rotating portion 102 is provided with a winding post 102b. The winding post 102b protrudes from the surface of the first rotating portion 102 toward the second rotating portion 107. The outer circumferential surface of the winding post 102b is a cylindrical surface. The winding post 102b is used to define the curved path of the first section of the first wire 104. Similarly, the second rotating portion 107 is also provided with a winding post (not labeled) of similar structure, which is used to define the curved path of the first section of the second wire 109.

[0137] In some other embodiments (not shown), the outer circumferential surface of the winding post can be a surface of revolution other than a cylindrical surface, such as a conical surface or other variable-diameter surface.

[0138] Further, referring to Figures 3 to 6 , Figure 11 and Figure 12 , and Figures 16 to 18 , the surgical instrument 100 can include a wire bundling member 112. The wire bundling member 112 is fixed to the second joint base 111 and is disposed between the first rotating portion 102 and the second rotating portion 107. The wire bundling member 112 divides the wire passage into two accommodation spaces (not labeled). The first section of the first wire 104 is accommodated in a first accommodation space (not labeled) between the first rotating portion 102 and the wire bundling member 112. The first section of the second wire 109 is accommodated in a second accommodation space (not labeled) between the second rotating portion 107 and the wire bundling member 112. In this way, the first section of the first wire 104 and the first section of the second wire 109 are separated, preventing interference between them.

[0139] The wire bundling member 112 is provided with second retaining edges 112a on opposite sides thereof, which are disposed about the third axis AX3. The second retaining edges 112a are used to prevent the first sections of the wires from moving radially outward, i.e., perpendicular to the third axis AX3, so as to prevent the first sections from protruding from the wire passage. In one example, the second retaining edges 112a correspond to a central angle of greater than 180°.

[0140] In one example, the first retaining edges 102e and the second retaining edges 112a together constrain the first section of the wire 119 from moving radially outward. The width (in the direction parallel to the third axis AX3) of the second retaining edges 112a is substantially equal to the diameter of the wire. The radii of curvature of the second retaining edges 112a are substantially equal to the radii of curvature of the first retaining edges 102e, and the second retaining edges 112a and the first retaining edges 102e are kept at a distance without contacting each other to avoid friction. Since the first section of the wire 119 is wound at least once, the wound portion is difficult to maintain in a plane in a natural state, and the first sections of the wires 119 are likely to be stacked at the overlapping portions. Therefore, the retaining edges twice the diameter of the wire can more effectively prevent the wires from protruding from the wire passage. Of course, in other embodiments (not shown), only the first retaining edges 102e or the second retaining edges 112a with a width twice the diameter of the wire can be provided.

[0141] Referring to Figures 4 to 6 Further, the wire member 112 can include a first connecting portion 112b and a second connecting portion 112c. The first connecting portion 112b and the second connecting portion 112c are located at one end of the wire member 112 connecting the second joint base 111. That is, the first connecting portion 112b and the second connecting portion 112c are located at the proximal end of the wire member 112. The first wire 104 is fixed to the first connecting portion 112b so that the first wire 104 is fixed to the second joint base 111. The second wire 109 is fixed to the second connecting portion 112c so that the second wire 109 is fixed to the second joint base 111. Both the first wire 104 and the second wire 109 are fixed to the wire member 112, and the first wire 104 and the second wire 109 can be positioned through the first connecting portion 112b and the second connecting portion 112c. Optionally, referring to Figure 15 The first connecting portion 112b can be substantially aligned with the entrance of the first accommodating space so that the first section of the first wire 104 extends into the first accommodating space in a relatively straight trajectory. The "alignment" described herein can be understood as that the projection of the first connecting portion 112b and the entrance of the first accommodating space on a plane perpendicular to the central axis AX of the shaft portion 130 overlaps or partially overlaps when the surgical instrument 100 is in the neutral state. Similarly, the second connecting portion 112c is substantially aligned with the entrance of the first accommodating space so that the first section of the second wire 109 extends into the second accommodating space in a relatively straight trajectory. The "alignment" described herein can be understood as that the projection of the second connecting portion 112c and the entrance of the first accommodating space on a plane perpendicular to the central axis AX of the shaft portion 130 overlaps or partially overlaps when the surgical instrument 100 is in the neutral state. Optionally, the wire member 112 can be configured to be rotationally symmetrical. For example, the symmetry axis of the wire member 112 is collinear with the central axis AX of the shaft portion 130 when the surgical instrument 100 is in the neutral state.

[0142] Continuing to refer to Figure 3 , Figure 4 , Figures 11 to 13 , and Figure 15 The distal end of the second joint base 111 is hinged to the end effector 120, for example, through a structure of shaft hole and pin shaft. In the present embodiment, the distal end of the second joint base 111 can be configured as a U-shaped joint, and the end effector 120 is placed between the two arms of the U-shaped joint. The two arms of the U-shaped joint and the two clamping jaws of the end effector 120 can be hinged by the first pin shaft 103. For this purpose, the wire member 112 is correspondingly provided with a shaft hole 112d for the first pin shaft 103 to pass through. In other examples not shown, two pin shafts can be provided to connect the first clamping jaw 121 and the second clamping jaw 122 to the two arms of the U-shaped joint respectively, and in this case the wire member 112 can not be provided with the shaft hole 112d.

[0143] Referring to Figure 3 , Figure 4 , and Figures 11 to 15 , further, the second joint base 111 can further comprise a second support plate 111c. In the present embodiment, the second support plate 111c is arranged at the bottom of the U-shaped joint, i.e. the two arms of the U-shaped joint extend from the second support plate 111c towards the distal end. The second support plate 111c is provided with a through hole or a passage for guiding the routing of the wires 119, the first flexible member 105 and the second flexible member 110.

[0144] Referring to Figure 13 and Figure 15 , in particular, the second support plate 111c is provided with a seventh wire passing channel 111c3 for the first wire 104 and the second wire 109 to pass through, and a fifth wire passing channel 111cl and a sixth wire passing channel 111c2 for the first flexible member 105 and the second flexible member 110 to pass through respectively. The seventh wire passing channel 111c3 is further used for mounting the wire bundling member 112. The wire bundling member 112 located in the seventh wire passing channel 111c3 can guide the first wire 104 and the second wire 109 separately. The seventh wire passing channel 111c3 is arranged at the middle position of the second support plate 111c, and when the surgical instrument 100 is in the neutral state, the central axis of the seventh wire passing channel 111c3 is collinear with the central axis AX of the shaft portion 130. The fifth wire passing channel 111cl is provided with two. The two fifth wire passing channels 111cl are substantially aligned with the first guide slot 102a, thereby guiding the first flexible member 105 to extend into the first guide slot 102a in parallel to the central axis AX of the shaft portion 130 after passing out of the second support plate 111c. The “alignment” described herein can be understood as that, when the surgical instrument 100 is in the neutral state, the projections of the two fifth wire passing channels 111cl and the first guide slot 102a on a plane perpendicular to the central axis AX of the shaft portion 130 overlap or partially overlap. Similarly, the sixth wire passing channel 111c2 is provided with two. The two sixth wire passing channels 111c2 are substantially aligned with the second guide slot 107a, thereby guiding the second flexible member 110 to extend into the second guide slot 107a in parallel to the central axis AX of the shaft portion 130 after passing out of the second support plate 111c. The “alignment” described herein can be understood as that, when the surgical instrument 100 is in the neutral state, the projections of the two sixth wire passing channels 111c2 and the second guide slot 107a on a plane perpendicular to the central axis AX of the shaft portion 130 overlap or partially overlap.

[0145] Referring to Figure 12 and Figure 13The proximal end of the second joint base 111 is provided with a second tooth portion 111a1 arranged around the second axis AX2. The second tooth portion 111a1 is arranged on the side of the second support plate 111c facing away from the U-shaped joint. The distal end of the first joint base 113 is provided with a first tooth portion 113a1 arranged around the first axis AX1. The first tooth portion 113a1 is engaged with the second tooth portion 111a1 to define the movement locus of the second joint base 111 relative to the first joint base 113. The first axis AX1 is parallel to the second axis AX2 and defines a first plane TP1, which is a virtual plane. The first axis AX1 and the second axis AX2 are out of the third axis AX3, optionally, perpendicularly. When the surgical instrument 100 is in the neutral state, the first axis AX1 and the second axis AX2 both intersect with the central axis AX of the shaft portion 130, optionally, perpendicularly.

[0146] Referring back to Figure 12 In one example, the first tooth portion 113a1 can include n driving teeth and n-1 tooth grooves, where n is a positive integer and n≥3, the driving teeth and the tooth grooves are arranged alternately. Correspondingly, the second tooth portion 111a1 includes n-1 driving teeth and n tooth grooves, the driving teeth and the tooth grooves are arranged alternately. For example, in the example shown in the figure, the first tooth portion 113a1 includes three driving teeth and two tooth grooves, and the second tooth portion 111a1 includes two driving teeth and three tooth grooves. Optionally, the driving teeth in the first tooth portion 113a1 and the second tooth portion 111a1 can adopt involute tooth profile.

[0147] The second joint base 111 is rollingly connected with the first joint base 113, which can be understood as that the movement of the second joint base 111 is pure rolling on the first joint base 113. Specifically, when the second tooth portion 111a1 and the first tooth portion 113a1 are engaged and swing, the second joint base 111 swings relative to the first joint base 113, so that the second joint base 111 revolves relative to the first axis AX1, and at the same time, revolves relative to the second axis AX2. In this process, the distance between the first axis AX1 and the second axis AX2 remains unchanged.

[0148] Referring back to Figure 3 , Figure 4 , and Figures 11 to 15Optionally, the first joint base 113 and the second joint base 111 are provided with a force bearing structure to realize force transmission. The distal end of the first joint base 113 is provided with a first circular arc surface 113a3 protruding towards the second joint base 111 and extending around the first axis AX1. The proximal end of the second joint base 111 is provided with a second circular arc surface 111a4 protruding towards the first joint base 113 and extending around the second axis AX2. The first circular arc surface 113a3 and the second circular arc surface 111a4 are in contact. The first circular arc surface 113a3 and the second circular arc surface 111a4 are the force bearing structure. Specifically, the extension trajectory of the first circular arc surface 113a3 coincides with the pitch circle part of the first tooth portion 113a1, and the extension trajectory of the second circular arc surface 111a4 coincides with the pitch circle part of the second tooth portion 111a1. When the first joint base 113 and the second joint base 111 roll relative to each other, the meshing of the first tooth portion 113a1 and the second tooth portion 111a1 can ensure that the first circular arc surface 113a3 and the second circular arc surface 111a4 remain in contact and roll relative to each other. The circular arc surface can bear the interaction force between the first joint base 113 and the second joint base 111 caused by the tensile force of the transmission assembly, and can reduce the wear of the tooth portion.

[0149] Referring to Figures 11 to 14 Optionally, the end face of the first joint base 113 towards the second joint base 111 is protrudingly formed with two groups of first stop portions 113a4. The two groups of first stop portions 113a4 are symmetrically arranged on both sides of the first axis AX1. The end face of the second joint base 111 towards the first joint base 113 is protrudingly formed with two groups of second stop portions 111a5. The two groups of second stop portions 111a5 are symmetrically arranged on both sides of the second axis AX2. Each of the two groups of second stop portions 111a5 is correspondingly arranged with the two groups of first stop portions 113a4. Through the abutting cooperation of the first stop portion 113a4 and the second stop portion 111a5, the limit position of the second joint base 111 relative to the first joint base 113 is defined.

[0150] Referring to Figure 3 , Figure 4 , and Figures 11 to 14 Further, the first joint base 113 can further include a first support plate 113b. The first support plate 113b is provided with a first wire passing channel 113b1 and a second wire passing channel 113b2 for the first lead wire 104 and the second lead wire 109 to pass through, respectively. The first wire passing channel 113b1 and the second wire passing channel 113b2 are each provided with one. The first lead wire 104 and the second lead wire 109 each include a second section extending between the first joint base 113 and the second joint base 111. Specifically, the second section of the lead wire 119 extends between the first support plate 113b and the second support plate 111c.

[0151] In one example, the centers of the first wire passing channel 113b1 and the second wire passing channel 113b2 are located on the first plane TP1, and the centers of the first connecting portion 112b and the second connecting portion 112c of the bundle wire member 112 are also located on the first plane TP1, so that the extension trajectories of the second sections of the first wire 104 and the second wire 109 are located on the first plane TP1. Thus, the movement of the second joint base 111 relative to the first joint base 113 does not affect the lengths of the second sections of the first wire 104 and the second wire 109.

[0152] With reference to Figure 16 In another example, the first wire passing channel 113b1 and the second connecting portion 112c are located on one side of the first plane TP1, and the second wire passing channel 113b2 and the first connecting portion 112b are located on the other side of the first plane TP1. That is, the first connecting portion 112b and the second connecting portion 112c are located on two sides of the first plane TP1. Thus, the two ends of the second section of the first wire 104 are located on two sides of the first plane TP1 respectively, and the two ends of the second section of the second wire 109 are located on two sides of the first plane TP1 respectively. To reduce the influence of the movement of the second joint base 111 relative to the first joint base 113 on the lengths of the second sections of the first wire 104 and the second wire 109, the angle between the second section of the first wire 104 and the first plane is optionally less than 10°. Further optionally, the angle between the second section of the first wire 104 and the first plane is less than 5°. Still further optionally, the angle between the second section of the first wire 104 and the first plane is less than 3°. The angle between the second section of the second wire 109 and the first plane is optionally less than 10°. Further optionally, the angle between the second section of the second wire 109 and the first plane is less than 5°. Still further optionally, the angle between the second section of the second wire 109 and the first plane is less than 3°.

[0153] With reference to Figure 16 Optionally, the first connecting portion 112b and the first connecting hole 102d are located on one side of the first plane TP1, and the second connecting portion 112c and the second connecting hole 107d are located on the other side of the first plane TP1. This can prevent the first section of the first wire 104 and the first section of the second wire 109 from interfering with each other.

[0154] Further optionally, the first connecting portion 112b is closer to the first plane than the first connecting hole 102d. The second connecting portion 112c is closer to the first plane TP1 than the second connecting hole 107d. This can reduce the space occupied by the first section of the wire 119 within the second joint base 111 along the third axis AX3. Correspondingly, this is also conducive to reducing the size of the proximal end of the bundle wire member 112 in the direction parallel to the third axis AX3.

[0155] Optionally, the bundle member 112 can be plate-shaped or have other shapes. In the case where the bundle member 112 is plate-shaped, the bundle member 112 can be referred to as a bundle plate.

[0156] Further, when the surgical instrument 100 is in the neutral state, the third axis AX3 intersects the central axis AX and defines a second plane TP2 (as shown in Figure 9 、 Figure 11 and Figure 15 , the second plane TP2 is a virtual plane, the first wire passage 113b1 and the first connecting portion 112b are located on one side of the second plane TP2, and the second wire passage 113b2 and the second connecting portion 112c are located on the other side of the second plane TP2. That is, the first connecting portion 112b and the second connecting portion 112c are located on both sides of the third axis AX3. That is, the second sections of the first wire 104 and the second wire 109 are located on both sides of the second plane TP2, respectively, so that interference between the two can be avoided. Optionally, the distance between the first wire passage 113b1 and the second plane TP2 is equal to the distance between the first connecting portion 112b and the second plane TP2, and the second section of the first wire 104 extends parallel to the second plane TP2. Optionally, the distance between the second wire passage 113b2 and the second plane TP2 is equal to the distance between the second connecting portion 112c and the second plane, and the second section of the second wire 109 extends parallel to the second plane TP2. Optionally, the second section of the first wire 104 and the second section of the second wire 109 are rotationally symmetrical about the central axis AX when the surgical instrument 100 is in the neutral state.

[0157] Referring to Figure 13 and Figure 14 , further, the first support plate 113b is further provided with third wire passages 113b3 and fourth wire passages 113b4 for the first flexible member 105 and the second flexible member 110 to pass through, respectively. The third wire passages 113b3 and the fourth wire passages 113b4 are each provided with two. The third wire passages 113b3 are substantially aligned with the fifth wire passage 111c1 of the second support plate 111c, so as to guide the first flexible member 105 to extend parallel to the central axis AX of the shaft portion 130 between the first joint seat 113 and the second joint seat 111 when the surgical instrument 100 is in the neutral state. The fourth wire passages 113b4 are substantially aligned with the sixth wire passage 111c2 of the second support plate 111c, so as to guide the second flexible member 110 to extend parallel to the central axis AX of the shaft portion 130 between the first joint seat 113 and the second joint seat 111 when the surgical instrument 100 is in the neutral state.

[0158] Referring to Figure 3For example, the shaft portion 130 is provided with a channel (not shown) extending along the central axis AX. The wire 119 can include a third section extending in the channel. During the movement of the end effector assembly 120 relative to the first joint base 113, one end of the third section of the wire 119 does not move relative to the shaft portion 130. Here, the one end of the third section can be understood as an end of the third section arranged corresponding to the distal end of the shaft portion 130. Alternatively, the one end of the third section is the distal end of the third section. Generally, a sealing gasket (not shown) is fixedly arranged at the distal end of the shaft portion 130 to prevent liquid from flowing into the channel of the shaft portion 130. The wire 119 extends out of the channel of the shaft portion 130 after passing through the sealing gasket, and the sealing gasket exerts a radial pressing force on the wire 119 to maintain the sealing. Since the one end of the third section of the wire 119 does not move relative to the shaft portion 130, the one end of the third section of the wire 119 does not move relative to the sealing gasket, thereby reducing or avoiding the friction between the wire 119 and the sealing gasket, achieving the purpose of protecting the wire 119, and ensuring the sealing of the contact position of the wire 119 and the sealing gasket.

[0159] Further, since the first section can maintain the length unchanged during the movement of the end effector assembly 120 relative to the first joint base 113, and the distal end of the third section does not move relative to the shaft portion 130, the second section of the wire 119 between the first section and the third section can also maintain the length unchanged, which can reduce or avoid the friction between the wire 119 and the first joint base 113, thereby improving the reliability of the second section of the wire 119 at the first joint base 113, achieving the purpose of protecting the second section of the wire 119.

[0160] Referring to Figure 3 , Figure 4 , and Figures 11 to 18 , in the present embodiment, the transmission assembly is farther away from the central axis AX of the shaft portion 130 than the wire 119. Specifically, the first flexible member 105 and the second flexible member 110 are located on two sides of the wire 119 in a direction parallel to the third axis AX3. The first flexible member 105 is farther away from the central axis AX than the wire 119. The second flexible member 110 is farther away from the central axis AX than the wire 119. To some extent, the closer the wire 119 is to the central axis AX, the less the length of the wire 119 is affected by the movement of the end effector assembly 120 relative to the first joint base 113.

[0161] As Figure 16As shown, when the surgical instrument 100 is in the neutral state, the first flexible member 105 is symmetrical about the first plane TP1 relative to the second flexible member 110 between the first joint seat 113 and the second joint seat 111. The length of the first flexible member 105 between the first joint seat 113 and the second joint seat 111 is equal to the length of the second flexible member 110 between the first joint seat 113 and the second joint seat 111. With this arrangement, during the pitch movement, the length of the elongation (retraction) of the first flexible member 105 at the wrist joint can be guaranteed to be the same as the length of the retraction (elongation) of the second flexible member 110 at the wrist joint, which helps to accurately control the pitch movement of the surgical instrument 100 by the rear end transmission device 150.

[0162] Second Embodiment

[0163] Reference Figures 19 to 22 The surgical instrument 100 provided by the second embodiment of the present application has the same parts as the surgical instrument 100 of the first embodiment shown in Figures 2 to 18 Thus, the same parts in the surgical instrument 100 of the second embodiment as in the surgical instrument 100 of the first embodiment will not be described again. The following content focuses on the parts in the surgical instrument 100 of the second embodiment that are different from the surgical instrument 100 of the first embodiment.

[0164] In this embodiment, similar to the first embodiment, the end execution assembly 120 is capable of rotating about the third axis AX3 relative to the second joint seat 111 to achieve yaw, and the second joint seat 111 is capable of rolling relative to the first joint seat 113 to achieve pitch. Unlike the first embodiment, the end execution assembly 120 does not perform the opening and closing movement.

[0165] In this embodiment, the end execution assembly 120 can include a tissue contact part 115. The tissue contact part 115 can be, for example, a hook, a shovel, a needle, or the like, which is a tool for contacting tissue and releasing energy.

[0166] The surgical instrument 100 includes a wire 119. The wire 119 is used to deliver energy to the tissue contact part 115, so that the energy is transmitted to the tissue contact part 115 via the wire 119 and released. In this embodiment, the energy is electrical energy. The length of the section of the wire 119 between the end execution assembly 120 and the first joint seat 113 remains unchanged during the movement of the end execution assembly 120 relative to the first joint seat 113.

[0167] The wire 119 can include a first section extending between the end execution assembly 120 and the second joint base 111. When the surgical instrument 100 is in the neutral state, the first section of the wire 119 extends along the central axis AX of the shaft portion 130. When the end execution assembly 120 is moved to a position deviating from the neutral position relative to the second joint base 111, the first section is adaptively bent. That is, the radius of curvature of the first section of the wire 119 changes as the end execution assembly 120 is moved about the third axis AX3, and the length of the first section of the wire 119 remains unchanged. By arranging the first section to extend along the central axis AX when the surgical instrument 100 is in the neutral state, the friction between the wire 119 and the second joint base 111 can be reduced or avoided, and the length of the first section can be kept unchanged, thereby protecting the first section of the wire 119.

[0168] Further, the wire 119 can include a second section extending between the first joint base 113 and the second joint base 111. When the surgical instrument is in the neutral state, the second section of the wire extends along the central axis AX. When the second joint base 111 is moved to a position deviating from the neutral position relative to the first joint base 113, the second section is adaptively bent. That is, the bending angle of the second section of the wire 119 changes as the second joint base 111 is moved relative to the first joint base 113, and the length of the second section of the wire 119 remains unchanged. By arranging the second section to extend along the central axis AX when the surgical instrument 100 is in the neutral state, the friction between the wire 119 and the first joint base 113 can be reduced or avoided, and the length of the second section can be kept unchanged, thereby protecting the second section of the wire 119.

[0169] Continuing to refer to Figures 19 to 22 For example, the end execution assembly 120 can further include an insulation base 116. The insulation base 116 is rotatably connected to the distal end of the second joint base 111. The tissue contact portion 115 is fixed to the distal end of the insulation base 116. The proximal end of the insulation base 116 is provided with a wire passage 116a. The wire passage 116a is open toward the second joint base 111. One end of the wire 119 passes through the wire passage 116a and is connected to the tissue contact portion 115. The other end of the wire 119 extends toward the proximal end of the shaft portion 130 to be connected to an energy source. The wire passage 116a extends through the insulation base 116 at least in a direction perpendicular to both the central axis AX and the third axis AX3. During the rotation of the end execution assembly 120 about the third axis AX3 relative to the second joint base 111, the wire passage 116a can provide a space for the adaptive movement of the wire 119, and can reduce or avoid the friction between the insulation base 116 and the wire 119, thereby protecting the first section of the wire 119.

[0170] Optionally, the wire slot 116a is defined by at least a first inner wall surface 116b and a second inner wall surface 116c which are perpendicular to the third axis AX3. That is, the first inner wall surface 116b and the second inner wall surface 116c are oppositely arranged in a direction parallel to the third axis AX3. The wire slot 116a is formed in a space between the first inner wall surface 116b and the second inner wall surface 116c. The distance between the first inner wall surface 116b and the second inner wall surface 116c is greater than the diameter of the wire. This allows the wire slot to accommodate the wire 119 while reducing and avoiding friction with the wire. Further, the distance between the first inner wall surface 116b and the central axis AX is equal to the distance between the second inner wall surface 116c and the central axis AX. In the present embodiment, the first joint seat 113 is provided with a first wire passage 113b1 through which the wire 119 passes. The second joint seat 111 is provided with a seventh wire passage 111c3 through which the wire passes. The first wire passage 113b1 and the seventh wire passage 111c3 are aligned along the central axis AX. When the surgical instrument 100 is in the neutral state, the wire 119 can extend linearly along the central axis AX and pass through the first wire passage 113b1 and the seventh wire passage 111c3. Here, alignment can be understood as the projection of the first wire passage 113b1 and the seventh wire passage 111c3 perpendicular to the central axis AX of the shaft portion 130 overlapping when the surgical instrument 100 is in the neutral state. The first wire passage 113b1 and the seventh wire passage 111c3 can serve to constrain and position the wire 119. Similarly to the first embodiment, in the present embodiment, a virtual plane, i.e., a first plane TP1, is defined by the first axis AX1 of the first joint seat 113 and the second axis AX2 of the second joint seat 111. The first joint seat 113 and the second joint seat 111 achieve pure rolling motion through the intermeshing teeth. During this pure rolling motion, the first axis AX1 and the second axis AX2 are always perpendicular to the first plane TP1 and the distance between them remains unchanged. The second section of the wire 119 is defined by the first wire passage 113b1 and the seventh wire passage 111c3 to extend linearly along the central axis AX, and the position where the second section exits the first wire passage 113b1 is flush with the first axis AX1, and the position where the second section exits the seventh wire passage 111c3 is flush with the second axis AX2, so that the length of the second section of the wire 119 does not change when the second joint seat 111 rolls relative to the first joint seat 113.

[0171] With continued reference to Figures 19 to 22In the present embodiment, the transmission assembly can include a first flexible member 105 and a second flexible member 110. The first flexible member 105 is connected to the end effector 120 and is configured to actuate the end effector 120 to rotate about the third axis AX3, thereby realizing the yawing motion. The second flexible member 110 is connected to the second joint base 111 and is configured to actuate the second joint base 111 to roll relative to the first joint base 113, thereby realizing the pitching motion.

[0172] Optionally, the first flexible member 105 can be clamped with the terminal and the insulating base 116. Further, referring to Figures 19 to 22 , the insulating base 116 can include a guide slot 116d extending along the third axis AX3. The guide slot 116d is configured to accommodate and guide the first flexible member 105. The extension trajectory of the guide slot 116d is perpendicular to the third axis AX3. The guide slot 116d is arranged outside the wire slot 116a to avoid interference between the second flexible member 105 and the wire 119.

[0173] Optionally, the first flexible member 105 extends flexibly across the first plane TP1 between the first joint base 113 and the second joint base 111. During the movement of the second joint base 111 relative to the first joint base 113, the length of the first flexible member 105 on one side of the first plane TP1 increases, while the length of the first flexible member 105 on the other side of the first plane TP1 decreases. The amount of length decrease can offset or partially offset the amount of length increase, so that the length of the portion of the first flexible member 105 between the first joint base 113 and the second joint base 111 remains unchanged or almost unchanged.

[0174] Further, referring to Figures 20 to 22, the first flexible member 105 can include a first circular arc section 105a extending around the first axis AX1 and a second circular arc section 105b extending around the second axis AX2. The first circular arc section 105a and the second circular arc section 105b have the same curvature, and the first circular arc section 105a and the second circular arc section 105b are located on two sides of the first plane TP1 respectively. In this way, the first flexible member 105 extends across the first plane TP1 and bends between the first joint base 113 and the second joint base 111. Since the first circular arc section 105a and the second circular arc section 105b have the same curvature, during the rolling of the second joint base 111 relative to the first joint base 113, the change amount of the included angle of the first circular arc section 105a is equal to the change amount of the included angle of the second circular arc section 105b, and thus the length increase (decrease) amount of the first circular arc section 105a is equal to the length decrease (increase) amount of the second circular arc section 105b. That is, during the pitching movement of the second joint base 111 relative to the first joint base 113, the length of the first flexible member 105 between the first joint base 113 and the second joint base 111 does not change, so that the decoupling of the length of the first flexible member 105 and the pitching movement of the second joint base 111 can be realized.

[0175] Further, referring to Figure 22 , the second circular arc section 105b and the guide groove 116d can be located on the same side of the first plane TP1 to simplify the extension trajectory of the first flexible member 105 and reduce the friction between the first flexible member 105 and the second joint base 111 and the insulating base 116.

[0176] Specifically, the surgical instrument 100 can include a first guide wheel and a second guide wheel. The first guide wheel is rotatably connected to the first joint base 113 around the first axis AX1. The second guide wheel is rotatably connected to the second joint base 111 around the second axis AX2. The first flexible member 105 is wound around the first guide wheel and the second guide wheel in sequence. The portion of the first flexible member 105 wound around the first guide wheel is located on one side of the first plane TP1. The portion of the first flexible member 105 wound around the second guide wheel is located on the other side of the first plane TP1. The portion of the first flexible member 105 wound around the first guide wheel is the first circular arc section 105a described above. The portion of the first flexible member 105 wound around the second guide wheel is the second circular arc section 105b described above.

[0177] Referring to Figures 20 to 22 , optionally, the surgical instrument 100 can include two first guide wheels 181. The two first guide wheels 181 are oppositely arranged on two sides of the guide wire 119 in a direction parallel to the first axis AX1. The surgical instrument 100 can include two second guide wheels 182. The two second guide wheels 182 are oppositely arranged on two sides of the guide wire 119 in a direction parallel to the second axis AX2.

[0178] The first flexible member 105 can include two traction ropes extending substantially in parallel. The two traction ropes can be integrated or connected together in parts. One of the two traction ropes can be pulled by the rear end transmission device 150 respectively. When the rear end transmission device 150 pulls one of the two traction ropes, the end execution assembly 120 performs a yaw motion. The two traction ropes are located on both sides of the guide wire 119 in a direction parallel to the first axis AX1. The two traction ropes are wound around the first guide wheel 181, the second guide wheel 182 and the guide groove of the insulation seat 116 in sequence respectively.

[0179] Referring to Figures 19 to 22 Optionally, the two first guide wheels 181 are located inside the first joint seat 113. The two first guide wheels 181 can be installed to the first joint seat 113 by the same second pin shaft 117, or can be installed to the first joint seat 113 by a second pin shaft 117 respectively. The two second guide wheels 182 are located inside the second joint seat 111. The two second guide wheels 182 can be installed to the second joint seat 111 by the same third pin shaft 118, or can be installed to the second joint seat 111 by a third pin shaft 118 respectively.

[0180] Referring to Figures 20 to 22 Optionally, the second flexible member 110 includes two traction ropes extending substantially in parallel. The two traction ropes are connected to the second joint seat 111 at the distal ends. The two traction ropes are symmetrically arranged on both sides of the first plane TP1. And the two traction ropes are located on both sides of the guide wire 119. In this way, by pulling one of the two traction ropes while releasing the other, the second joint seat 111 can roll relative to the first joint seat 113, i.e. perform a pitch motion. Optionally, the two traction ropes can be configured in parts, and each is clamped to the second joint seat 111 by a terminal, for example, clamped to opposite ends of the second joint seat 111 along the third axis AX3.

[0181] In summary, the surgical instrument 100 of the present application can realize that the length of the guide wire 119 does not change with the motion of the end execution assembly 120, while ensuring that the guide wire 119 does not exceed the entity of the surgical instrument 100. Therefore, it is not necessary to bind the guide wire 119 and the components such as traction ropes of the transmission assembly, thereby avoiding or greatly reducing the friction force of the guide wire 119 in the length direction, improving the reliability of the surgical instrument 100, and prolonging the service life of the surgical instrument 100.

[0182] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used herein, the term "set" can mean either a component is directly attached to another component or a component is attached to another component through an intermediate component. The features described in one embodiment herein can be applied to another embodiment either individually or in combination with other features unless such application is not applicable or is otherwise indicated.

[0183] The application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and illustration, and are not intended to limit the application to the scope of the described embodiments. Those skilled in the art can understand that more various modifications and changes can be made according to the teachings of the present application, and these modifications and changes all fall within the scope of the application claimed.

Claims

1. A surgical instrument, characterized by The surgical instrument comprises: a shaft portion extending along a central axis; a first joint base provided at a distal end of the shaft portion; a second joint base provided at a distal end of the first joint base, a proximal end of the second joint base being rollingly connected to a distal end of the first joint base; a terminal execution assembly rotatably connected to a distal end of the second joint base about a third axis; a wire having one end connected to the terminal execution assembly and the other end extending to a proximal end of the shaft portion, the wire comprising a first section extending between the terminal execution assembly and the second joint base, wherein a length of the first section of the wire remains unchanged during movement of the terminal execution assembly relative to the first joint base.

2. The surgical instrument of claim 1, wherein, One end of the first section of the wire does not move relative to the second joint base during movement of the terminal execution assembly relative to the first joint base.

3. The surgical instrument of claim 1, wherein, One end of the first section of the wire is fixedly connected to the second joint base.

4. The surgical instrument of claim 1, wherein, A proximal end of the terminal execution assembly defines a wire passage, and the first section is accommodated in the wire passage.

5. The surgical instrument of claim 1, wherein, The shaft portion is provided with a channel extending along the central axis, and the wire comprises a third section extending in the channel, one end of the third section of the wire not moving relative to the shaft portion during movement of the terminal execution assembly relative to the first joint base.

6. The surgical instrument of claim 1, wherein, The first section of the wire is wound at least one turn around the third axis.

7. The surgical instrument of claim 1, wherein, The radius of curvature of the first section of the wire changes as the terminal execution assembly moves around the third axis.

8. The surgical instrument of claim 6, wherein, The surgical instrument further comprises a wire winding column, an outer peripheral surface of the wire winding column being configured to extend about the third axis, and the radius of curvature of the first section of the wire is greater than the radius of the wire winding column.

9. The surgical instrument of claim 6, wherein, The surgical instrument further comprises a retaining edge extending about the third axis, and the radius of curvature of the first section of the wire is less than the radius of the retaining edge.

10. The surgical instrument of claim 1, wherein, When the surgical instrument is in a neutral state, the first section of the wire extends along the central axis.

11. The surgical instrument according to any one of claims 1 to 10, wherein: a distal end of the first joint base is provided with a first tooth portion arranged about a first axis, a proximal end of the second joint base is provided with a second tooth portion arranged about a second axis, the second tooth portion is engaged with the first tooth portion, the first axis is parallel to the second axis, and the third axis is out of the plane of the first axis and the second axis.

12. The surgical instrument of claim 11, wherein, The first axis and the second axis define a first plane, and the wire comprises a second section extending between the second joint base and the first joint base; both ends of the second section of the wire are located on opposite sides of the first plane; or the second section of the wire extends along the first plane.

13. The surgical instrument of claim 11, wherein, The surgical instrument further comprises a transmission assembly, the transmission assembly comprising a first flexible member and a second flexible member, the first flexible member and the second flexible member being connected to the terminal execution assembly, and the first flexible member and the second flexible member extending linearly between the first joint base and the second joint base.

14. The surgical instrument of claim 13, wherein, When the surgical instrument is in a neutral state, a length of the first flexible member between the first joint base and the second joint base is equal to a length of the second flexible member between the first joint base and the second joint base.

15. The surgical instrument of claim 11, wherein: the first axis and the second axis define a first plane; the surgical instrument further comprises a transmission assembly, the transmission assembly comprising a first flexible member and a second flexible member, the first flexible member being connected to the end effector assembly, the second flexible member being connected to the second joint base, the first flexible member extending flexibly between the first joint base and the second joint base across the first plane.

16. The surgical instrument of claim 15, wherein, the first flexible member comprises a first circular arc section extending around the first axis and a second circular arc section extending around the second axis, curvatures of the first circular arc section and the second circular arc section are same, and the first circular arc section and the second circular arc section are respectively located on two sides of the first plane.

17. The surgical instrument of claim 11, wherein, a distal end of the first joint base is provided with a first cambered surface protruding towards the second joint base and extending around the first axis, a proximal end of the second joint base is provided with a second cambered surface protruding towards the first joint base and extending around the second axis, and the first cambered surface and the second cambered surface are in contact.

18. A medical system, characterized by the medical system comprises: a slave operating device, the slave operating device comprising at least one mechanical arm; and the surgical instrument according to any one of claims 1 to 17 is operatively arranged on the mechanical arm.

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