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 part. The second joint seat is rotatably connected to the distal end of the first joint seat about a first axis. The end effector assembly is rotatably coupled to a distal end of the second joint mount about a second 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 first articulation seat and the second articulation seat. The first section extends partially about a first axis. 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 of the first section of the wire at the rotary joint formed by the first joint seat and the second joint seat can be improved, and the purpose of protecting the first section of the wire is achieved.

Description

Technical Field

[0001] This application relates generally to the technical field of medical devices, and more specifically to a surgical instrument and medical system. Background Technology

[0002] In robot-assisted minimally invasive surgery, surgical instruments attached to the end effector of the robot enter the body through incisions or natural orifices on the surface to manipulate internal tissues. These surgical instruments primarily consist of actuators at the front end (e.g., surgical forceps, cutting tools, or cauterization tools), wrist joints, axial joints, and / or other joints providing multiple degrees of freedom for the actuators, a main circuit 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 actuators and joints at the front end are typically driven by multiple drive cables fixed to them, which run through the main circuit of the surgical instrument and are driven by the rear-end transmission device. The wrist joint typically achieves pitch, yaw, and other degrees of freedom movements driven by the drive cables.

[0003] For electrosurgical instruments, lead wires are typically required. One end of the lead wire connects to the tissue contact portion of the actuator, and the other end connects to the electrosurgical energy generator. In related technologies, the wrist's pitch and yaw joints both employ rotational joint designs. Because the wrist pulls on the lead wire during movement, the lead wire usually needs to be bound to the joint drive wire. This causes the lead wire and the bound joint drive wire to share the tension during joint movement, reducing the lead wire's lifespan. How to rationally arrange the lead wires within a confined space is crucial to the performance and lifespan of bipolar clamps. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

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

[0006] A shaft portion that extends along a central axis;

[0007] A first joint seat is disposed at the distal end of the shaft portion;

[0008] The second joint seat is rotatably connected to the distal end of the first joint seat about a first axis;

[0009] An end effector assembly, the end effector assembly being rotatably connected about a second axis to the distal end of the second articular seat; and

[0010] A wire, one end of which is connected to the end effector assembly and the other end extending to the proximal end of the shaft portion, the wire including a first segment extending between the first joint seat and the second joint seat, the first segment extending partially about the first axis.

[0011] During the movement of the end effector relative to the first joint seat, the length of the first segment of the conductor remains unchanged.

[0012] According to the surgical instrument of the first aspect of this application, since the first segment of the lead wire can maintain a constant length during the movement of the end effector relative to the first joint seat, the friction between the lead wire and the first joint seat and between the lead wire and the second joint seat can be reduced or avoided, that is, the first segment of the lead wire can be reduced or avoided being pulled, thereby improving the reliability of the first segment of the lead wire at the rotational joint formed by the first joint seat and the second joint seat, and achieving the purpose of protecting the first segment of the lead wire.

[0013] Optionally, the first segment is wound around the first axis at least once, and the radius of curvature of the first segment changes with the rotation of the second joint seat relative to the first joint seat about the first axis.

[0014] Optionally, when the second joint seat rotates about the first axis relative to the first joint seat in a first rotational direction, the radius of curvature of the first segment increases;

[0015] When the second joint seat rotates about the first axis relative to the first joint seat in a second rotation direction, the radius of curvature of the first segment decreases, and the first rotation direction is opposite to the second rotation direction.

[0016] Optionally, the conductor further includes a second segment extending between the second articulation seat and the end effector assembly, the length of which remains constant as the end effector assembly moves relative to the first articulation seat.

[0017] Optionally, the second segment is wound around the second axis at least once, and the radius of curvature of the second segment varies with the rotation of the end effector relative to the second joint about the second axis.

[0018] Optionally, when the end effector rotates about the second axis relative to the second joint in a third rotational direction, the radius of curvature of the second segment increases;

[0019] When the end effector rotates about the second axis relative to the second joint in a fourth rotational direction, the radius of curvature of the second segment decreases, and the third rotational direction is opposite to the fourth rotational direction.

[0020] Optionally, the end effector assembly includes a first gripper and a second gripper, each of which is rotatably connected about a second axis to the distal end of the second articulator.

[0021] The conductor includes a first conductor and a second conductor. The first conductor is connected to the first gripper and is used to deliver energy to the first gripper. The second conductor is connected to the second gripper and is used to deliver energy to the second gripper. The first conductor and the second conductor each include a first segment and a second segment.

[0022] Optionally, the distal end of the first joint seat includes two first legs, which are arranged at intervals in a direction parallel to the first axis and extend in the same direction.

[0023] The second joint seat includes a first branching member, which is rotatably connected between the two first legs about the first axis, and a first section of the conductor is located between the first legs and the first branching member.

[0024] Optionally, the first segment of the first conductor and the first segment of the second conductor are located on opposite sides of the first branching member in a direction parallel to the first axis.

[0025] When the second joint seat rotates around the first axis, the radius of curvature of the first segment of the first conductor and the radius of curvature of the first segment of the second conductor have opposite trends.

[0026] Optionally, the first branching member includes a first stop, the first stop being located at the end of the first branching member in a direction parallel to the first axis, the first stop extending around the first axis, the first stop being used to prevent a first segment of the conductor from moving outward radially perpendicular to the first axis.

[0027] Optionally, the second joint seat further includes a support portion connected to the distal end of the first branching member, the support portion having a wire-passing opening for threading a wire.

[0028] Optionally, the surgical instrument includes a first winding post, the outer peripheral surface of which extends around the first axis, the first winding post being disposed between the two first legs, a first section of the wire being wound around the outer periphery of the first winding post, and the first winding post being connected to the first branching member.

[0029] Optionally, the second joint seat further includes two second legs, which are connected to the distal end of the first dividing member. The two second legs are spaced apart in a direction parallel to the second axis and extend in the same direction.

[0030] The first gripper includes a first rotating part, and the second gripper includes a second rotating part. The first rotating part and the second rotating part are rotatably connected between the two second legs, and the second segment of the wire is located between the first rotating part and the second rotating part.

[0031] Optionally, the first rotating part and the second rotating part each include a second stop edge, the second stop edge extending around the second axis, the second stop edge being used to prevent the second segment of the conductor from moving outward radially perpendicular to the second axis.

[0032] Optionally, when the first gripper and the second gripper rotate in the same direction around the second axis, the radius of curvature of the second segment of the first conductor and the radius of curvature of the second segment of the second conductor have opposite trends.

[0033] Optionally, the surgical instrument includes a second winding post, the outer peripheral surface of which extends around the second axis, and the second winding post is at least disposed between the first rotating part and the second rotating part, and the second segment of the wire is wound around the outer periphery of the second winding post.

[0034] Optionally, the surgical instrument includes a second branching component disposed between the two second legs, a second section of the first wire being housed between the first rotating part and the second branching component, and a second section of the second wire being housed between the second rotating part and the second branching component.

[0035] A second aspect of this application provides a surgical instrument, the surgical instrument comprising:

[0036] A shaft portion that extends along a central axis;

[0037] A wrist joint, wherein the wrist joint is located at the distal end of the shaft portion;

[0038] An end effector, the end effector being disposed distally, the end effector being movably connected to the shaft via the wrist joint, the end effector being rotatable relative to the shaft about a first axis and a second axis, the first axis and the second axis being skewed; and

[0039] A wire, one end of which is connected to the end effector and the other end of which extends to the proximal end of the shaft, the wire being wound around the first axis at least once and around the second axis at least once.

[0040] According to the surgical instrument of the second aspect of this application, by winding the lead wire at least once around the first and second axes on opposite sides, it helps to reduce or avoid the lead wire being pulled during the rotation of the end-effector relative to the shaft, thereby improving the reliability of the lead wire and achieving the purpose of protecting the lead wire. Furthermore, it also achieves the purpose of rationally arranging the lead wire.

[0041] A third aspect of this application provides a medical system, the medical system comprising:

[0042] A slave operating device, the slave operating device including at least one robotic arm; and

[0043] The surgical instruments described above are operably mounted on the robotic arm.

[0044] According to the medical system of the third aspect of this application, by applying the above-mentioned surgical instruments, the reliability and service life of the medical system can be improved. Attached Figure Description

[0045] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0046] Figure 1 This is a schematic diagram of a medical system according to an embodiment of this application;

[0047] Figure 2 This is a schematic diagram of a patient-side robot according to an embodiment of this application;

[0048] Figure 3 A perspective view of the distal end of a surgical instrument according to one embodiment of the present application, wherein the surgical instrument is in a neutral position.

[0049] Figure 4 for Figure 3 An exploded perspective view of the distal end of a surgical instrument shown, wherein the surgical instrument is in a neutral position.

[0050] Figure 5 for Figure 3 Another perspective view of the distal end of the surgical instrument shown, wherein the surgical instrument is in a neutral position, and the wires, the first joint seat and the second joint seat are omitted in the figure;

[0051] Figure 6 for Figure 3Another perspective view of the distal end of the surgical instrument shown, wherein the surgical instrument is in a neutral position, and the first and second articular seats are omitted in the figure.

[0052] Figure 7 This is another perspective view of the distal end of a surgical instrument according to one embodiment of the present application, wherein the surgical instrument is in a neutral state, and the first joint seat, the second joint seat, and the end effector assembly are shown in dashed lines in the figure.

[0053] Figure 8 This is an assembly diagram of the first gripper, the first wire, and the second joint seat according to one embodiment of this application;

[0054] Figure 9 This is an assembly diagram of the first wire, the second wire, and the second joint seat according to one embodiment of this application;

[0055] Figure 10 This is a partial view of the surgical instrument viewed from the second joint seat toward the first joint seat along the axial direction of the shaft portion according to one embodiment of the present application, wherein the surgical instrument is in a neutral state.

[0056] Figure 11 A perspective view of the second joint seat according to one embodiment of this application;

[0057] Figure 12 for Figure 11 The front view of the second joint seat shown;

[0058] Figure 13 for Figure 11 Another perspective view of the second joint seat shown;

[0059] Figure 14 A schematic diagram of the structure of the first gripper according to one embodiment of this application; and

[0060] Figure 15 This is a schematic diagram of the structure of the second gripper according to one embodiment of this application.

[0061] Explanation of reference numerals in the attached figures:

[0062] 100: Surgical instruments; 120: End effector.

[0063] 121: First gripper 122: Second gripper

[0064] 130: Shaft portion; 150: Rear-end transmission device

[0065] 101: First contact part of the tissue; 102: First rotating part

[0066] 102a: First guide groove; 102d: First rotating connection hole

[0067] 103: Second tissue contact part; 104: Second rotating part

[0068] 104a: Second guide groove; 104b: Second rotary connection hole

[0069] 105a: Second stop; 105b: Second winding post

[0070] 106: First conductor; 107: Second conductor

[0071] 108: First flexible component; 108a: First flexible portion

[0072] 108b: Second flexible part; 109: Second flexible component

[0073] 109a: Third flexible section; 109b: Fourth flexible section

[0074] 110: Flexible component; 111: First joint seat

[0075] 111a: First leg; 111a1: First pin hole

[0076] 111a2: Third pin hole; 112: Second joint seat

[0077] 112a: First dividing line component; 112a1: First retaining edge

[0078] 112a2: First winding post; 112a3: First branch connection hole

[0079] 112b: Second leg; 112b1: Second pin hole

[0080] 112c: Support part; 112c1: Cable pass-through opening

[0081] 113: Second branch component; 113a: Second branch connection hole

[0082] 119: Wire; 140: Guide wheel assembly

[0083] 160: First guide wheel assembly; 161: First guide wheel

[0084] 162: Second guide wheel; 163: Third guide wheel

[0085] 164: Fourth guide wheel; 170: Second guide wheel assembly

[0086] 171: Fifth guide wheel 172: Sixth guide wheel

[0087] 173: Seventh guide wheel 174: Eighth guide wheel

[0088] 181: First pin 182: Second pin

[0089] 183: Third pin; 200: Medical system

[0090] 210: Doctor Control Console 220: Patient-Friendly Robot

[0091] 221: Robotic arm 222: Mechanized arm

[0092] 230: Imaging device AX1: First axis

[0093] AX2: Second axis; AX3: Third axis

[0094] AX: Central axis; TP1: First plane

[0095] TP2: Second plane Detailed Implementation

[0096] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0097] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art.

[0098] It should be understood that the terminology used herein is intended solely to describe specific implementation methods.

[0099] And not as a limitation of this application, the singular forms “a,” “an,” and “the” / “the” are also intended to include the plural forms, unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated feature, integral, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0100] The ordinal numbers such as "first" and "second" used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0101] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator during surgery. In a remotely operated surgical robot system, "operator" refers to the patient-side robot that holds and actuates the surgical instruments.

[0102] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0103] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0104] The medical system 200 according to an embodiment of the present invention is a surgical robot system capable of remotely controlling and performing surgery. For example, the medical system 200 may be a multi-port laparoscopic surgical robot system, a single-port laparoscopic surgical robot system, or a system combining multiple surgical robots. See also... Figure 1 The medical system 200 may include a doctor's console 210, a patient-side robot 220, and an imaging device 230, which can communicate with each other.

[0105] The doctor's control console 210 includes a display unit for showing the environment of the surgical instruments 100, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments 100, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 210 also has other control switches that are easily touched or pressed by hand or foot for various functional operations and human-computer interaction.

[0106] The imaging device 230 includes a display screen, an endoscope controller, system electronics, an image processor, etc. In some examples, the imaging device 230 can be set up independently of the doctor's console 210 and the patient-side robot 220. In other examples, the imaging device 230 can be integrated into the doctor's console 210 and / or the patient-side robot 220.

[0107] See Figure 2 The patient-side robot 220 can also be referred to as a surgical device. The patient-side robot 220 may include at least one robotic arm 221, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 221 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument 100). The end effector of the robotic arm 221 is provided with a holding arm 222, on which the surgical instrument 100 is detachably mounted. The surgical instrument 100 may be an instrument for performing surgical procedures, such as an electrocautery device, clamp, or vascular occluder; it may also be a camera for acquiring images of the surgical area, such as an endoscope; or other surgical instruments.

[0108] In some applications, the robotic arm 221 can be configured to move mechanically around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port through which the surgical instrument enters the patient's abdominal cavity. During the surgery, manipulating the robotic arm 221 causes the holding arm 222 to drive the surgical instrument 100 to perform pitch, yaw, insertion, and rotation movements. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision caused by the surgical instrument 100.

[0109] See also Figure 2 The surgical instrument 100 includes, from proximal to distal, a rear-end drive 150, a shaft 130, and an end effector 120. The rear-end drive 150 is connected to a drive unit located within the surgical arm 222. The rear-end drive 150 can be connected to the end effector 120 via a transmission assembly, which can also brake the end effector 120. The transmission assembly may include a push-pull rod, a line, a rope, a belt, etc. The shaft 130 connects the rear-end drive 150 and the end effector 120, serving to separate them and support the end effector 120. The end effector 120 may include tools for surgical operations such as tissue cutting, such as hooks, shovels, needles, clamps, and scissors, or an endoscope lens for image acquisition.

[0110] Furthermore, a joint, such as a wrist joint or a parallel motion joint, can be provided between the end effector 120 and the shaft 130 to improve the mobility of the end effector 120. The rear drive unit can drive the joint to move through transmission components such as push-pull rods, lines, ropes, and belts.

[0111] For surgical instruments that require the release of energy (such as electrosurgical instruments), the end effector 120 is usually connected to the energy source via a wire. The energy (such as electrical energy) is transmitted to the end effector 120 via the wire and released, so that the end effector 120 can perform operations such as cutting and hemostasis on the tissue.

[0112] Since the lead wire is connected to the end effector 120, the movement of the end effector 120 can easily cause the lead wire to move as well. Therefore, when designing the lead wire routing, the following design requirements need to be met: the lead wire should be kept away from the surgical instrument 100 to avoid affecting the surgical procedure; excessive pulling on the lead wire should be prevented, as the lead wire is easily damaged under the combined effects of tension and friction; and the lead wire should be prevented from being excessively compressed by the parts of the surgical instrument, which could cause damage to the lead wire.

[0113] In some designs, the lead wire is bound to the end effector or the transmission component of the wrist joint, and the movement of the transmission component pulls the lead wire, which can meet some of the above requirements to a certain extent. However, the inventors found that when this solution is applied to devices with smaller diameters and more compact structures, the friction experienced by the lead wire in the confined space will increase. Therefore, a greater pulling force is required to make the lead wire move with the end effector and the transmission component, which will accelerate the damage of the lead wire, thereby reducing the reliability and service life of the device.

[0114] Based on this, the surgical instrument 100 and the medical system 200 having the surgical instrument 100 proposed in the embodiments of the present invention can improve or solve at least one of the above problems.

[0115] The design concept of the surgical instrument 100 of the present invention is as follows.

[0116] The surgical instrument 100 includes, from proximal to distal, a shaft portion 130, a first articular seat 111, a second articular seat 112, and an end effector 120. Movement of the second articular seat 112 relative to the first articular seat 111 enables pitch movement of the end effector 120 relative to the first articular seat 111 and the shaft portion 130. Movement of the end effector 120 relative to the second articular seat 112 enables yaw movement of the end effector 120 relative to the first articular seat 111 and the shaft portion 130. One end of a guide wire 119 is connected to the end effector 120, and the other end extends to the proximal end of the shaft portion 130. The guide wire 119 includes a first segment extending between the first articular seat 111 and the second articular seat 112. During movement of the end effector 120 relative to the first articular seat 111, the length of the first segment of the guide wire 119 remains constant.

[0117] Since one end of the wire 119 is connected to the end effector 120, the fact that the length of the first segment of the wire 119 remains constant means that, during the movement of the end effector 120 relative to the first joint seat 111, the end of the first segment furthest from the end effector 120 will not move relative to the second joint seat 112. In one example, the end of the first segment furthest from the end effector 120 may be fixedly connected to the first joint seat 111.

[0118] Under this design concept, when the end effector 120 pitches, it is not necessary to pull the wire 119 relative to the first joint seat 111 and the second joint seat 112, thereby reducing or avoiding friction between the wire 119 and the first joint seat 111 and the second joint seat 112.

[0119] The following will be through Figures 3 to 15 The embodiments shown provide an exemplary description of the surgical instrument 100 according to the above-described design concept.

[0120] One embodiment of this application provides a surgical instrument 100. The surgical instrument 100 may include a shaft 130, a first articular seat 111, a second articular seat 112, an end effector 120, and a guide wire 119. The distal end of the shaft 130 may support the first articular seat 111, the second articular seat 112, and the end effector 120. The proximal end of the shaft 130 may be connected to a rear-end drive 150. The shaft 130 is generally constructed as a hollow rod to allow the guide wire 119 and the drive assembly to pass through it. The drive assembly includes, but is not limited to, the flexible component 110 described below. The shaft 130 extends along a central axis AX. The cross-section of the shaft 130 perpendicular to its central axis AX may be circular, elliptical, or other shape without corners.

[0121] The first joint seat 111 is disposed at the distal end of the shaft portion 130. For example, the first joint seat 111 can be fixed to the distal end of the shaft portion 130, or it can be movably connected to the distal end of the shaft portion 130 via other joints, such as serpentine joints, parallel motion joints, etc. The second joint seat 112 is rotatably connected to the distal end of the first joint seat 111 about the first axis AX1 to form the pitch joint of the surgical instrument 100. The end effector 120 is rotatably connected to the distal end of the second joint seat 112 about the second axis AX2 to at least form the yaw joint of the surgical instrument 100. Thus, the end effector 120 of the surgical instrument 100 in this embodiment has at least two degrees of freedom: 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, which is called the neutral state (also called the zero-position state) of the surgical instrument 100.

[0122] One end of the wire 119 is connected to the end effector 120, and the other end extends to the proximal end of the shaft 130 for connection to an energy source. The wire 119 is used to supply energy, such as electrical energy, to the end effector 120. The wire 119 may include a first segment. The first segment extends between the first joint seat 111 and the second joint seat 112. The first segment extends partially around a first axis AX1. That is, the first segment is partially wound around the first axis AX1. The length of the first segment of the wire 119 remains constant during movement of the end effector 120 relative to the first joint seat 111.

[0123] In other words, during the movement of the second joint seat 112 relative to the first joint seat 111, one end of the first segment of the wire 119 does not move relative to the first joint seat 111, and the other end of the first segment of the wire 119 does not move relative to the second joint seat 112. Here, one end of the first segment of the wire 119 can be understood as the portion of the first segment of the wire 119 corresponding to the first joint seat 111; the other end of the first segment of the wire 119 can be understood as the portion of the first segment of the wire 119 corresponding to the second joint seat 112. This reduces or avoids friction between the wire 119 and the first joint seat 111 and the second joint seat 112, thereby improving the reliability of the first segment of the wire 119 at the first joint seat 111 and achieving the purpose of protecting the wire 119. In this embodiment, one end of the first segment of the wire 119 can be fixedly connected to the first joint seat 111, and the other end of the first segment of the wire 119 can be fixedly connected to the second joint seat 112.

[0124] According to the surgical instrument 100 of this application, since the first section of the lead wire 119 can maintain a constant length during the movement of the end effector 120 relative to the first joint seat 111, the first section of the lead wire 119 can be reduced or avoided from being pulled, and the friction between the lead wire 119 and the first joint seat 111 and between the lead wire 119 and the second joint seat 112 can be reduced or avoided, thereby achieving the purpose of protecting the lead wire 119.

[0125] Figure 3 , Figures 5 to 10 as well as Figure 12 For example, the first axis AX1 and the second axis AX2 are out of plane. This allows the end effector 120 to move in different directions relative to the shaft 130. The movement of the second articulator 112 about the first axis AX1 relative to the first articulator 111 can be understood as a pitch motion. Correspondingly, the movement of the end effector 120 about the second axis AX2 relative to the second articulator 112 can be understood as a yaw motion.

[0126] exist Figure 10 and Figure 12 In the example shown, the first axis AX1 is inclined to the second axis AX2. That is, the two are not orthogonal.

[0127] See Figure 3 and Figure 4 In this embodiment, the end effector 120 includes a tool capable of opening and closing movements, such as a clamp or scissors. For ease of description, the tool capable of opening and closing movements is referred to as a first gripper 121 and a second gripper 122. The first gripper 121 and the second gripper 122 are each rotatably connected to the distal end of the second joint seat 112 about a second axis AX2. The rotation axis of the opening and closing movement and the rotation axis of the yaw movement of the end effector 120 are collinear, which helps to reduce the number of joints, thereby further reducing the space occupied by the surgical instrument 100 and the number of parts.

[0128] See Figure 3 , Figure 4 , Figure 14 as well as Figure 15 Specifically, the first gripper 121 may include a first rotating portion 102 rotatably connected to the distal end of the second joint seat 112, and a first tissue contact portion 101 fixed to the distal end of the first rotating portion 102; the second gripper 122 includes a second rotating portion 104 rotatably connected to the distal end of the second joint seat 112, and a second tissue contact portion 103 fixed to the distal end of the second rotating portion 104. When the energy transmitted by the wire 119 is electrical energy, the first rotating portion 102 and the second rotating portion 104 are usually constructed as insulating components, and therefore may also be referred to as the first insulating seat and the second insulating seat, respectively.

[0129] See Figures 3 to 7 Furthermore, the transmission assembly is used to actuate the end effector 120 relative to the first joint seat 111. The transmission assembly may include a first flexible element 108 and a second flexible element 109. The first flexible element 108 is connected to the first gripper 121, and the second flexible element 109 is connected to the second gripper 122.

[0130] See Figures 3 to 8 , Figure 14 as well as Figure 15 In one example, the first rotating portion 102 of the first gripper 121 has a first guide groove 102a extending around the second axis AX2. Similarly, the second rotating portion 104 of the second gripper 122 has a second guide groove 104a extending around the second axis AX2. The first guide groove 102a and the second guide groove 104a are arranged side by side along the second axis AX2. A first flexible member 108 can be wound around the first guide groove 102a. A second flexible member 109 can be wound around the second guide groove 104a. Optionally, the extension trajectories of the first guide groove 102a and the second guide groove 104a are perpendicular to the second axis AX2. This arrangement facilitates control of the rotation of the first gripper 121 and the second gripper 122, enabling the transmission assembly to be actuated with a smaller driving force, reducing friction between the transmission assembly and the wire 119 and other components, and helping to extend the service life of the transmission assembly and the wire 119.

[0131] Optionally, the first flexible member 108 is engaged with the first rotating part 102 via a terminal. The second flexible member 109 is engaged with the second rotating part 104 via a terminal.

[0132] See Figures 3 to 7Optionally, the first flexible member 108 may include two generally parallel extending traction ropes. The two traction ropes may be integral or separately connected. The rear-end drive unit 150 can pull one traction rope individually or simultaneously. When the rear-end drive unit 150 pulls one traction rope, the first gripper 121 performs an opening / closing motion or a yaw motion. When the rear-end drive unit 150 pulls both traction ropes simultaneously, the first gripper 121 performs a pitching motion. Correspondingly, the second flexible member 109 may include two parallel extending traction ropes. The two traction ropes may be integral or separately connected. The rear-end drive unit 150 can pull one traction rope individually or simultaneously. When the rear-end drive unit 150 pulls one traction rope, the second gripper 122 performs an opening / closing motion or a yaw motion. When the rear-end drive unit 150 pulls both traction ropes simultaneously, the second gripper 122 performs a pitching motion. The specific structure of the rear transmission device 150 and its control method for the first flexible member 108 and the second flexible member 109 can be referred to the prior art, such as Chinese invention patent CN208732 or Chinese invention patent CN367796, which have been disclosed here, and will not be described in detail here.

[0133] See Figure 4 , Figures 6 to 9 For example, the first segment is wound around the first axis AX1 at least once. The radius of curvature of the first segment changes with the rotation of the second joint seat 112 around the first axis AX1 relative to the first joint seat 111. This ensures that the first segment of the conductor 119 has sufficient length to accommodate the movement of the second joint seat 112, thus preventing tensile stress on the conductor 119 itself during pitch movement of the end effector 120, thereby protecting the conductor 119. On the other hand, by routing the first segment in a wound manner, the movement of the first segment can be constrained to a certain extent, reducing the risk of the first segment exceeding the physical portion of the first joint seat 111 and the second joint seat 112. It should be noted that "wound around the first axis AX1" refers to winding around the first axis AX1, and the first axis AX1 is within the loop after the first segment is wound, and it is not necessarily necessary to wind around the first axis AX1 as the center.

[0134] Furthermore, when the second joint seat 112 rotates about the first axis AX1 relative to the first joint seat 111 in the first rotational direction, the radius of curvature of the first segment increases. That is, the first segment extends radially along the first axis AX1 when the second joint seat 112 rotates about the first axis AX1 relative to the first joint seat 111 in the first rotational direction.

[0135] When the second joint seat 112 rotates about the first axis AX1 relative to the first joint seat 111 in a second rotational direction, the radius of curvature of the first segment decreases. The first rotational direction is opposite to the second rotational direction. That is, the first segment converges radially along the first axis AX1 when the second joint seat 112 rotates about the first axis AX1 relative to the first joint seat 111 in the second direction.

[0136] According to this application, this arrangement enables the first section to adapt to the movement of the second joint seat 112 relative to the first joint seat 111 and prevents the first section from being pulled, thereby achieving the purpose of protecting the first section.

[0137] Continue reading Figure 4 , Figures 6 to 9 Furthermore, the wire 119 may also include a second segment extending between the second articulation seat 112 and the end effector 120. The length of the second segment remains constant during the movement of the end effector 120 relative to the first articulation seat 111. Because the second segment of the wire 119 can maintain a constant length during the movement of the end effector 120 relative to the second articulation seat 112, friction between the wire 119 and the first articulation seat 111, and between the wire 119 and the second articulation seat 112, can be reduced or avoided. This reduces or prevents the second segment of the wire 119 from being stretched, thereby improving the reliability of the second segment of the wire 119 at the rotary joint formed between the end effector 120 and the second articulation seat 112, and achieving the purpose of protecting the second segment of the wire 119.

[0138] For example, the second segment is wound around the second axis AX2 at least once, and the radius of curvature of the second segment changes with the rotation of the end effector 120 about the second axis AX2 relative to the second articulator 112. This ensures that the second 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 second segment, its movement is constrained to some extent, reducing the risk of it extending beyond the second articulator 112 and the solid portion of the end effector 120. It should be noted that "winding around the second axis AX2" refers to winding around the second axis AX2; the second axis AX2 is within the loop after the second segment is wound, and it does not necessarily need to be centered on the second axis AX2.

[0139] Furthermore, when the end effector 120 rotates about the second axis AX2 relative to the second joint seat 112 in a third rotational direction, the radius of curvature of the second segment increases. That is, the second segment extends radially along the second axis AX2 when the end effector 120 rotates about the second axis AX2 relative to the second joint seat 112 in the third rotational direction.

[0140] When the end effector 120 rotates about the second axis AX2 relative to the second joint seat 112 in a fourth rotational direction, the radius of curvature of the second segment decreases, and the third rotational direction is opposite to the fourth rotational direction. That is, the second segment radially converges on the second axis AX2 when the end effector 120 rotates about the second axis AX2 relative to the second joint seat 112 in the fourth rotational direction.

[0141] According to this application, the second section is configured in such a way that it can adapt to the movement of the end effector 120 relative to the second joint seat 112 and prevent the second section from being pulled, thereby achieving the purpose of protecting the second section.

[0142] See also Figure 4 , Figures 6 to 9 For example, wire 119 may include a first wire 106 and a second wire 107. The first wire 106 is connected to a first gripper 121 and is used to supply energy to the first gripper 121. The second wire 107 is connected to a second gripper 122 and is used to supply energy to the second gripper 122. Each of the first wire 106 and the second wire 107 includes a first segment and a second segment. The first segment of each of the first wire 106 and the second wire 107 is wound around a first axis AX1, and the second segment of each of the first wire 106 and the second wire 107 is wound around a second axis AX2. In this way, when the first gripper 121 and the second gripper 122 move, the lengths of the first wire 106 and the second wire 107 from the first joint seat 111 to the first gripper 121 and the second gripper 122 will not change. At the same time, the winding method can prevent the first wire 106 and the second wire 107 from coming out of the surgical instrument 100. Therefore, the first wire 106 and the second wire 107 do not need to be driven to retract, which can prevent the first wire 106 and the second wire 107 from being pulled during the movement of the end effector 120, thus achieving the purpose of protecting the first wire 106 and the second wire 107.

[0143] See Figure 3 , Figure 4 ,as well as Figures 10 to 13For example, the distal end of the first joint seat 111 includes two first legs 111a. It is understood that the distal end of the first joint seat 111 is configured as a U-shaped joint. The two first legs 111a are spaced apart in a direction parallel to the first axis AX1 and extend in the same direction. For example, the extension directions of the two first legs 111a are parallel to the central axis AX. The second joint seat 112 may include a first branching member 112a. The first branching member 112a is rotatably connected between the two first legs 111a about the first axis AX1. A first segment of the conductor 119 is located between the first legs 111a and the first branching member 112a. Specifically, the first segment of the conductor 119 is located between the first legs 111a and the first branching member 112a in a direction parallel to the first axis AX1. This limits the range of movement of the first segment in a direction parallel to the first axis AX1, thereby preventing the first segment from extending beyond the physical portion of the first joint seat 111 and the second joint seat 112 in a direction parallel to the first axis AX1.

[0144] See Figure 4 , Figures 6 to 9 Optionally, the first segment of the first conductor 106 and the first segment of the second conductor 107 are located on opposite sides of the first branching member 112a in a direction parallel to the first axis AX1. This prevents interference between the first segments of the first conductor 106 and the first segments of the second conductor 107, thus protecting the first conductor 106 and the second conductor 107. When the second joint seat 112 rotates around the first axis AX1, the radius of curvature of the first segment of the first conductor 106 and the radius of curvature of the first segment of the second conductor 107 exhibit opposite trends. During the rotation of the second joint seat 112, one of the first segments of the first conductor 106 and the second conductor 107 is radially released, while the other is radially contracted. It should be noted that when the second joint seat 112 moves to its limit position, the radially contracted first segment maintains a certain degree of slack and is not subjected to tension.

[0145] See Figure 4 , Figure 8 , Figure 9 as well as Figures 11 to 13 Furthermore, the first branching member 112a may include a first stop 112a1. The first stop 112a1 is located at the end of the first branching member 112a in a direction parallel to the first axis AX1. The first stop 112a1 extends around the first axis AX1. The first stop 112a1 is used to prevent the first segment of the conductor 119 from moving outward radially perpendicular to the first axis AX1, thereby preventing the first segment from moving outward from the first branching member 112a when radially released. In one example, the central angle corresponding to the first stop 112a1 in a circle centered on the first axis AX1 is greater than 90°.

[0146] Optionally, the first branching member 112a includes a pair of first guard edges 112a1. The pair of first guard edges 112a1 are arranged at opposite ends of the first branching member 112a along the first axis AX1. The pair of first guard edges 112a1 are used to limit the range of motion of the first segment of the first conductor 106 and the first segment of the second conductor 107, respectively.

[0147] Continue reading Figure 4 , Figure 8 , Figure 9 as well as Figures 11 to 13 Furthermore, the second joint seat 112 may also include a support portion 112c. The support portion 112c is connected to the distal end of the first branch member 112a. The support portion 112c has a wire-passing opening 112c1 for threading the wire 119. Here, the support portion 112c can limit the range of motion of the first section of the wire 119 to a certain extent, so as to prevent the first section of the wire 119 from protruding to the distal end of the first branch member 112a. By providing the wire-passing opening 112c1 in the support portion 112c, the wire can be routed and the wire 119 can be positioned. For example, the wire 119 is interference-fitted with the opening 112c1, so that the wire 119 is held in the opening 112c1. Or, for example, the wire 119 is fixed in the opening 112c1 by means of adhesive or the like.

[0148] Optionally, the support portion 112c is plate-shaped.

[0149] See also Figure 4 , Figure 8 , Figure 9 as well as Figures 11 to 13 For example, the surgical instrument 100 may include a first winding post 112a2. The outer peripheral surface of the first winding post 112a2 extends around a first axis AX1. The first winding post 112a2 is disposed between two first legs 111a. A first segment of the conductor 119 is wound around the outer periphery of the first winding post 112a2. The first winding post 112a2 can, to a certain extent, define the bending path of the first segment of the conductor 119 so that it does not deviate from the first axis AX1, that is, the first axis AX1 is always within the loop after the first segment of the conductor 119 is wound. The first winding post 112a2 is connected to a first branching member 112a.

[0150] Optionally, the outer circumferential surface of the first winding post 112a2 is a cylindrical surface. When the second joint seat 112 moves to its limit position, the diameter of the radially contracted first section is greater than the diameter of the first winding post 112a2, so that the radially contracted first section maintains a certain degree of slack and is not subjected to tension force.

[0151] In some other embodiments not shown, the outer peripheral surface of the first winding post 112a2 can be a rotating surface other than a cylindrical surface, such as a conical surface or other variable diameter surface.

[0152] Optionally, the first winding post 112a2 and the first branching member 112a are manufactured as a single piece. This reduces the number of parts and also increases the strength of the connection structure between them.

[0153] See Figure 4 , Figure 8 , Figure 9 as well as Figures 11 to 13 Furthermore, the second joint seat 112 may also include two second legs 112b. It is understood that the distal end of the second joint seat 112 is configured as another U-shaped connector. The two second legs 112b are connected to the distal end of the first branch member 112a. The two second legs 112b are spaced apart in a direction parallel to the second axis AX2 and both extend in the same direction. The extension direction of the second legs 112b may be, for example, perpendicular to the first axis AX1 and the second axis AX2. The first gripper 121 may include a first rotating portion 102. The second gripper 122 may include a second rotating portion 104. The first rotating portion 102 and the second rotating portion 104 are each rotatably connected between the two second legs 112b. A second segment of the conductor 119 is located between the first rotating portion 102 and the second rotating portion 104 in a direction parallel to the second axis AX2. That is, the second segment of the conductor 119 runs between the first rotating portion 102 and the second rotating portion 104 and is connected to the first rotating portion 102 and the second rotating portion 104.

[0154] See also Figure 4 , Figure 8 , Figure 9 as well as Figures 11 to 13 For example, the first rotating part 102 and the second rotating part 104 may each include a second stop 105a. The second stop 105a extends about the second axis AX2. The second stop 105a is used to prevent the second segment of the conductor 119 from moving outward radially perpendicular to the second axis AX2, thereby preventing the second segment from moving outward from between the first rotating part 102 and the second rotating part 104. In one example, the central angle corresponding to the second stop 105a in a circle centered on the second axis AX2 is greater than 180°, further greater than 270°, and further close to 360°. The height of the second stop 105a (i.e., the dimension along the direction of the second axis AX2) may be inconsistent. For example, the second stop 105a may include two parts with different heights because the second segment of the conductor 119 is wound at least once, and the wound part is difficult to maintain on a single plane under natural conditions. Therefore, the stop having a height difference can more effectively prevent the conductor 119 from protruding from the wire groove.

[0155] Optionally, when the first gripper 121 and the second gripper 122 rotate in the same direction around the second axis AX2, the radius of curvature of the second segment of the first guide wire 106 and the radius of curvature of the second segment of the second guide wire 107 have opposite trends. In one scenario, the first gripper 121 and the second gripper 122 rotate in the same direction around the second axis AX2, which could mean that the first gripper 121 does not move relative to the second gripper 122, but the end effector 120 moves as a whole around the second axis AX2 relative to the second joint seat 112. Similar to the first segment described above, during the rotation of the end effector 120 relative to the second joint seat 112, one of the second segments of the first guide wire 106 and the second segment of the second guide wire 107 is radially released, and the other is radially contracted. It should be noted that when the first gripper 121 and / or the second gripper 122 moves to its limit position, the radially contracted second segment maintains a certain degree of slack and is not subjected to tension.

[0156] See also Figure 4 , Figure 8 , Figure 9 as well as Figures 11 to 13 For example, the surgical instrument 100 may include a second winding post 105b. The outer peripheral surface of the second winding post 105b extends around a second axis AX2. The second winding post 105b is disposed at least between the first rotating portion 102 and the second rotating portion 104. A second segment of the conductor 119 is wound around the outer periphery of the second winding post 105b. The second winding post 105b can, to a certain extent, define the bending path of the second segment of the conductor 119 so that it does not deviate from the second axis AX2, that is, the second axis AX2 is always within the loop after the second segment of the conductor 119 is wound.

[0157] See Figure 4 , Figure 14 as well as Figure 15 Optionally, the first rotating part 102 and the second rotating part 104 each have a second winding post 105b. The second winding post 105b located in the first rotating part 102 can be configured to protrude from one surface of the first rotating part 102 toward the second rotating part 104. The second winding post 105b located in the second rotating part can be configured to protrude from the other surface of the second rotating part 104 toward the first rotating part 102.

[0158] Optionally, the outer circumferential surface of the second winding post 105b is a cylindrical surface. When the first gripper 121 and / or the second gripper 122 moves to the limit position, the diameter of the radially contracted second section is greater than the diameter of the second winding post 105b, so that the radially contracted second section maintains a certain degree of slack and is not subjected to tension force.

[0159] See Figure 4 and Figure 9For example, the surgical instrument 100 may include a second dividing member 113. The second dividing member 113 is disposed between the two second legs 112b. A second section of the first conductor 106 is accommodated between the first rotating part 102 and the second dividing member 113. A second section of the second conductor 107 is accommodated between the second rotating part 104 and the second dividing member 113. Here, by adding the second dividing member 113 between the first rotating part 102 and the second dividing member 113, the second section of the first conductor 106 and the second section of the second conductor 107 are separated, thereby preventing interference between the second sections of the first conductor 106 and the second section of the second conductor 107 at the second axis AX2, and thus protecting the first conductor 106 and the second conductor 107.

[0160] See Figures 3 to 7 Furthermore, the surgical instrument 100 may include at least one set of guide wheel assemblies 140 and a flexible assembly 110. At least one set of guide wheel assemblies 140 is disposed on and rotatable relative to the first joint seat 111. The guide wheel assemblies 140 are arranged sequentially along the axial direction of the shaft portion 130. One set of guide wheel assemblies 140 is rotatable about a first axis AX1. One end of the flexible assembly 110 is connected to the end effector 120, and the other end extends proximally to the shaft portion 130. The flexible assembly 110 is sequentially wound around each set of guide wheel assemblies 140. The flexible assembly 110 is used to transmit force to actuate the end effector 120. The guide wheel assemblies 140 guide the direction of the flexible assembly 110, thereby reducing friction between the flexible assembly 100 and other components, making the actuation of the flexible assembly 110 smoother, and preventing the flexible assembly 110 from dislodging from the surgical instrument 100 when the end effector 120 is in motion.

[0161] Continue reading Figures 3 to 7 For example, at least one set of guide wheel assemblies 140 may include a first guide wheel assembly 160. The first guide wheel assembly 160 is rotatable about a first axis AX1 relative to a first joint seat 111. The first guide wheel assembly 160 includes a first guide wheel 161, a second guide wheel 162, a third guide wheel 163, and a fourth guide wheel 164 arranged sequentially in a direction parallel to the first axis AX1.

[0162] The proximal end of the second joint seat 112 is located between the second guide wheel 162 and the third guide wheel 163.

[0163] The flexible component 110 may include a first flexible element 108 and a second flexible element 109. The first flexible element 108 wraps around the first rotating portion 102 of the first gripper 121. A first flexible portion 108a of the first flexible element 108 extends from the first rotating portion 102 toward the first guide wheel 161 and is wrapped around the first guide wheel 161. A second flexible portion 108b of the first flexible element 108 extends from the first rotating portion 102 toward the third guide wheel 163 and is wrapped around the third guide wheel 163. The second flexible element 109 wraps around the second rotating portion 104 of the second gripper 122. A third flexible portion 109a of the second flexible element 109 extends from the second rotating portion 104 toward the second guide wheel 162 and is wrapped around the second guide wheel 162. A fourth flexible portion 109b of the second flexible element 109 extends from the second rotating portion 104 toward the fourth guide wheel 164 and is wrapped around the fourth guide wheel 164. That is, the first flexible element 108 and the second flexible element 109 are arranged alternately in a direction parallel to the first axis AX1.

[0164] The first axis AX1 intersects with the central axis AX and defines a first plane TP1. The first plane TP1 is a virtual plane. The first plane TP1 has opposing first and second sides. When the surgical instrument 100 is in a neutral state, the first rotating portion 102 of the first gripper 121 is located on the first side, the second rotating portion 104 of the second gripper 122 is located on the second side, the portion of the first flexible member 108 surrounding the first guide wheel 161 and the third guide wheel 163 is located on the first side of the first plane TP1, and the portion of the second flexible member 109 surrounding the second guide wheel 162 and the fourth guide wheel 164 is located on the second side of the first plane TP1. The flexible component 110 is further away from the first plane TP1 than the wire 119.

[0165] Furthermore, at least one set of guide wheel assemblies 140 may also include a second guide wheel assembly 170. The second guide wheel assembly 170 is rotatable about a third axis AX3 relative to the first joint seat 111. The third axis AX3 is parallel to the first axis AX1 and intersects the central axis AX. The second guide wheel assembly 170 is located near the first guide wheel assembly 160. The second guide wheel assembly 170 includes a fifth guide wheel 171, a sixth guide wheel 172, a seventh guide wheel 173, and an eighth guide wheel 174 arranged sequentially in a direction parallel to the third axis AX3. The fifth guide wheel 171, the sixth guide wheel 172, the seventh guide wheel 173, and the eighth guide wheel 174 are each arranged axially in the shaft portion 130 in a one-to-one correspondence with the first guide wheel 161, the second guide wheel 162, the third guide wheel 163, and the fourth guide wheel 164. The first flexible portion 108a of the first flexible member 108 is wound around the fifth guide wheel 171. The second flexible portion 108b of the first flexible member 108 is wound around the seventh guide wheel 173. The portion of the first flexible member 108 surrounding the fifth guide wheel 171 and the seventh guide wheel 173 is located on the second side of the first plane TP1. The third flexible portion 109a of the second flexible member 109 is surrounding the sixth guide wheel 172. The fourth flexible portion 109b of the second flexible member 109 is surrounding the eighth guide wheel 174. The portion of the second flexible member 109 surrounding the sixth guide wheel 172 and the eighth guide wheel 174 is located on the first side of the first plane TP1.

[0166] Optionally, see Figures 4 to 7 The diameter of the first guide wheel 161 is smaller than the diameter of the second guide wheel 162. The diameter of the fourth guide wheel 164 is smaller than the diameter of the third guide wheel 163. The diameter of the first guide wheel 161 is equal to the diameter of the fourth guide wheel 164. The diameter of the second guide wheel 162 is equal to the diameter of the third guide wheel 163. This allows the plane containing the first flexible member 108 and the second flexible member 109 to be perpendicular to the second axis AX2, thereby aligning the distal end of the first flexible member 108 with the first rotating part 102 and the distal end of the second flexible member 109 with the second rotating part 104, reducing friction between the first flexible member 108 and the first rotating part 102, and reducing friction between the second flexible member 109 and the second rotating part 104. At this time, the first axis AX1 and the second axis AX2 are configured to be non-orthogonal.

[0167] See Figure 3 and Figure 5Optionally, the second axis AX2 and the central axis AX define a second plane TP2. The second plane TP2 is a virtual plane used as a reference to illustrate the distribution of each guide wheel at the distal end of the surgical instrument 100. The first guide wheel 161, the second guide wheel 162, the fifth guide wheel 171, and the sixth guide wheel 172 are located on one side of the second plane TP2. The third guide wheel 163, the fourth guide wheel 164, the seventh guide wheel 173, and the eighth guide wheel 174 are located on the other side of the second plane TP2. This allows the flexible components 110 arranged on the first guide wheel assembly 160 and the second guide wheel assembly 170 to be distributed on both sides of the second plane TP2, enabling the placement of the wires 119 at positions corresponding to the second plane TP2. This improves the structural compactness while reducing or avoiding interference between the wires 119 and the flexible components 110.

[0168] Optionally, the second guide wheel 162 and the third guide wheel 163 are located on opposite sides of the guide wire 119 in a direction parallel to the first axis AX1. The second guide wheel 162 and the third guide wheel 163 are the two guide wheels in the first guide wheel assembly 160 that are closer to the guide wire 119. Therefore, it can be understood that each of the guide wheels in the first guide wheel assembly 160 is arranged on opposite sides of the guide wire 119. The sixth guide wheel 172 and the seventh guide wheel 173 are located on opposite sides of the guide wire 119 in a direction parallel to the third axis AX3. The sixth guide wheel 172 and the seventh guide wheel 173 are the two guide wheels in the second guide wheel assembly 170 that are closer to the guide wire 119. Therefore, it can be understood that each of the guide wheels in the second guide wheel assembly 170 is arranged on opposite sides of the guide wire 119. According to this application, by arranging the guide wheels in this way, it is convenient to lay the guide wire 119 at the center of the wrist joint.

[0169] In the illustrated embodiment, the first leg 111a has a first pin hole 111a1. The first branching member 112a has a first branching connection hole 112a3. The first pin 181 passes through the first pin hole 111a1 and the first branching connection hole 112a3 and is connected to the first guide wheel assembly 160. The second leg 112b has a second pin hole 112b1. The second branching member 113 has a second branching connection hole 113a. The first rotating part 102 has a first rotating connection hole 102d. The second rotating part 104 has a second rotating connection hole 104b. The second pin 182 passes through the second pin hole 112b1, the second branching connection hole 113a, the first rotating connection hole 102d, and the second rotating connection hole 104b to connect the second joint seat 112, the second branching member 113, the first gripper 121, and the second gripper 122 together. The first leg 111a also has a third pin hole 111a2. The third pin 183 passes through the third pin hole 111a2 and is connected to the second guide wheel assembly 170.

[0170] In summary, the surgical instrument 100 of this application ensures that the length of the lead wire 119 does not change with the movement of the end effector 120, while also guaranteeing that the lead wire 119 does not exceed the physical dimensions of the surgical instrument 100. Therefore, it is unnecessary to bind the lead wire 119 to components of the transmission assembly, such as the first flexible member 108 and the second flexible member 109, thereby avoiding or significantly reducing the tension on the lead wire 119 and the friction between the lead wire 119 and other components, improving the reliability of the surgical instrument 100, and extending its lifespan. Consequently, the surgical instrument 100 of this application can achieve a smaller diameter and a more compact structure, which is particularly advantageous for applications in single-port laparoscopic surgery.

[0171] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0172] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A surgical instrument, characterized in that, The surgical instruments include: A shaft portion that extends along a central axis; A first joint seat is disposed at the distal end of the shaft portion; The second joint seat is rotatably connected to the distal end of the first joint seat about a first axis; An end effector assembly, the end effector assembly being rotatably connected about a second axis to the distal end of the second articular seat; and A wire, one end of which is connected to the end effector assembly and the other end extending to the proximal end of the shaft portion, the wire including a first segment extending between the first joint seat and the second joint seat, the first segment extending partially about the first axis. During the movement of the end effector relative to the first joint seat, the length of the first segment of the conductor remains unchanged.

2. The surgical instrument according to claim 1, characterized in that, The first segment is wound around the first axis at least once, and the radius of curvature of the first segment changes with the rotation of the second joint seat relative to the first joint seat about the first axis.

3. The surgical instrument according to claim 2, characterized in that, When the second joint seat rotates about the first axis relative to the first joint seat in a first rotational direction, the radius of curvature of the first segment increases; When the second joint seat rotates about the first axis relative to the first joint seat in a second rotation direction, the radius of curvature of the first segment decreases, and the first rotation direction is opposite to the second rotation direction.

4. The surgical instrument according to any one of claims 1 to 3, characterized in that, The conductor also includes a second segment extending between the second articulation seat and the end effector assembly, the length of which remains constant as the end effector assembly moves relative to the first articulation seat.

5. The surgical instrument according to claim 4, characterized in that, The second segment is wound around the second axis at least once, and the radius of curvature of the second segment changes as the end effector rotates about the second axis relative to the second joint.

6. The surgical instrument according to claim 5, characterized in that, When the end effector rotates about the second axis relative to the second joint in a third rotational direction, the radius of curvature of the second segment increases; When the end effector rotates about the second axis relative to the second joint in a fourth rotational direction, the radius of curvature of the second segment decreases, and the third rotational direction is opposite to the fourth rotational direction.

7. The surgical instrument according to claim 5, characterized in that, The end effector assembly includes a first gripper and a second gripper, each of which is rotatably connected about a second axis to the distal end of the second articulator. The conductor includes a first conductor and a second conductor. The first conductor is connected to the first gripper and is used to deliver energy to the first gripper. The second conductor is connected to the second gripper and is used to deliver energy to the second gripper. The first conductor and the second conductor each include a first segment and a second segment.

8. The surgical instrument according to claim 7, characterized in that, The distal end of the first joint seat includes two first legs, which are arranged at intervals in a direction parallel to the first axis and extend in the same direction. The second joint seat includes a first branching member, which is rotatably connected between the two first legs about the first axis, and a first section of the conductor is located between the first legs and the first branching member.

9. The surgical instrument according to claim 8, characterized in that, The first segment of the first conductor and the first segment of the second conductor are located on opposite sides of the first branching member in a direction parallel to the first axis. When the second joint seat rotates around the first axis, the radius of curvature of the first segment of the first conductor and the radius of curvature of the first segment of the second conductor have opposite trends.

10. The surgical instrument according to claim 8, characterized in that, The first branching member includes a first stop, which is located at the end of the first branching member in a direction parallel to the first axis. The first stop extends around the first axis and is used to prevent a first segment of the conductor from moving outward in a radial direction perpendicular to the first axis.

11. The surgical instrument according to claim 8, characterized in that, The second joint seat also includes a support portion connected to the distal end of the first branching member, and the support portion has a wire-passing opening for threading a wire.

12. The surgical instrument according to claim 8, characterized in that, The surgical instrument includes a first winding post, the outer peripheral surface of which extends around the first axis. The first winding post is disposed between the two first legs. A first section of the wire is wound around the outer periphery of the first winding post. The first winding post is connected to the first branching member.

13. The surgical instrument according to claim 8, characterized in that, The second joint seat also includes two second legs, which are connected to the distal end of the first branch member. The two second legs are spaced apart in a direction parallel to the second axis and extend in the same direction. The first gripper includes a first rotating part, and the second gripper includes a second rotating part. The first rotating part and the second rotating part are rotatably connected between the two second legs, and the second segment of the wire is located between the first rotating part and the second rotating part.

14. The surgical instrument according to claim 13, characterized in that, The first rotating part and the second rotating part each include a second stop edge, the second stop edge extending around the second axis, the second stop edge being used to prevent the second segment of the conductor from moving outward radially perpendicular to the second axis.

15. The surgical instrument according to claim 8, characterized in that, When the first gripper and the second gripper rotate in the same direction around the second axis, the radius of curvature of the second segment of the first conductor and the radius of curvature of the second segment of the second conductor have opposite trends.

16. The surgical instrument according to claim 13, characterized in that, The surgical instrument includes a second winding post, the outer peripheral surface of which extends around the second axis. The second winding post is at least disposed between the first rotating part and the second rotating part, and a second segment of the wire is wound around the outer periphery of the second winding post.

17. The surgical instrument according to claim 13, characterized in that, The surgical instrument includes a second branching component disposed between two second legs, a second section of the first wire being housed between the first rotating part and the second branching component, and a second section of the second wire being housed between the second rotating part and the second branching component.

18. A surgical instrument, characterized in that, The surgical instruments include: A shaft portion that extends along a central axis; A wrist joint, wherein the wrist joint is located at the distal end of the shaft portion; An end effector, the end effector being disposed distally, the end effector being movably connected to the shaft via the wrist joint, the end effector being rotatable relative to the shaft about a first axis and a second axis, the first axis and the second axis being skewed; and A wire, one end of which is connected to the end effector and the other end of which extends to the proximal end of the shaft, the wire being wound around the first axis at least once and around the second axis at least once.

19. A medical system, characterized in that, The medical system includes: A slave operating device, the slave operating device including at least one robotic arm; and The surgical instrument according to any one of claims 1 to 18, wherein the surgical instrument is operably mounted on the robotic arm.

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