Surgical instrument and surgical robot

Abstract

The surgical instrument comprises a near-end part, an arm part and an actuator which are sequentially connected, the arm part is rotationally connected with the near-end part to form a first rotating shaft, the arm part is rotationally connected with the actuator to form a second rotating shaft, and the second rotating shaft is rotationally connected with the actuator to form a third rotating shaft. The first rotating shaft and the second rotating shaft form a first included angle larger than 0 degree and smaller than 90 degrees.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the advancement of technology, minimally invasive surgical robot technology has gradually matured and is widely used. A minimally invasive surgical robot typically includes a main control console and slave operating devices. The main control console sends control commands to the slave operating devices based on the surgeon's instructions to control the slave operating devices. The slave operating devices respond to the control commands sent by the main control console and perform the corresponding surgical procedures. The instruments are connected to the drive mechanism of the slave operating devices to perform surgical procedures. The distal end of the instruments includes an end effector for performing surgical operations and joint components connected to the end effector that can move in multiple degrees of freedom.

[0003] In the prior art, the rotational directions of the joints in the joint components are usually the same or opposite. Due to their limited degrees of freedom of movement, the joint components restrict the movement of the end effector, which increases the complexity of the surgery and prolongs the operation time. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a surgical instrument that aims to solve the problem of limited range of motion of the end effector.

[0005] The present invention provides a surgical instrument comprising a proximal end, an arm, and an actuator connected in sequence. The arm is rotatably connected to the proximal end to form a first rotation axis, and the arm is rotatably connected to the actuator to form a second rotation axis. The first rotation axis and the second rotation axis form a first included angle greater than 0° and less than 90°.

[0006] In one embodiment, the proximal end portion includes a first displacement joint, and the arm portion includes an elbow segment, a second displacement joint, and a wrist joint connected sequentially from the proximal end to the distal end. The first displacement joint is rotatably connected to the elbow segment, forming a first rotation axis and / or a third rotation axis, the first rotation axis being perpendicular to the third rotation axis. The second displacement joint is connected to the wrist joint, forming a fourth rotation axis and / or a fifth rotation axis, the fourth rotation axis being perpendicular to the fifth rotation axis. The first rotation axis is parallel to the fourth rotation axis. The wrist joint is used to rotatably connect to the actuator, and the second rotation axis is formed in the wrist joint.

[0007] In one embodiment, the proximal end includes a drive mechanism, and the arm also includes a first drive cable pair. One end of each of the two first drive cables in the first drive cable pair is arranged on both sides of the second displacement joint with the fourth rotation axis as the center line, and the other end is connected to the drive mechanism via the elbow segment. The first drive cable pair is fixedly connected to the proximal end of the elbow segment or the second displacement joint. The drive mechanism drives the elbow segment to rotate in opposite directions around the first rotation axis and the actuator around the fourth rotation axis by pulling or releasing either of the first drive cables.

[0008] In one embodiment, the arm further includes a second drive cable pair, wherein one end of two second drive cables in the second drive cable pair is arranged on both sides of the second displacement joint with the fifth rotation axis as the center line, and the other end is connected to the drive mechanism via the elbow segment. The second drive cable pair is fixedly connected to the proximal end of the elbow segment or the second displacement joint. The drive mechanism drives the elbow segment to rotate around the third rotation axis and the actuator to rotate in the opposite direction around the fifth rotation axis by pulling or releasing any of the second drive cables.

[0009] In one embodiment, one end of each of the two first drive cables is obliquely symmetrically fixed to both sides of the second displacement joint with respect to the fourth rotation axis; one end of each of the two second drive cables is obliquely symmetrically fixed to both sides of the second displacement joint with respect to the fifth rotation axis; the two first drive cables and the two second drive cables are evenly arranged in the circumferential direction of the second displacement joint.

[0010] In one embodiment, the wrist joint includes a first U-shaped clamp, the proximal end of which is rotatably connected to the second displacement joint about the fourth or fifth rotation axis, and the distal end of which is rotatably connected to the actuator about the second rotation axis.

[0011] In one embodiment, the wrist joint further includes a second U-shaped clamp, the proximal end of which is rotatably connected to the first U-shaped clamp about the second rotation axis, and the distal end of which is rotatably connected to the actuator to form a sixth rotation axis. The first rotation axis and the sixth rotation axis form a second included angle greater than 0° and less than 90°.

[0012] In one embodiment, the proximal end includes a drive mechanism, and the actuator includes a first clamping flap and a second clamping flap hinged to the second U-shaped clamp about the sixth rotation axis. The wrist joint also includes a third drive cable pair and a fourth drive cable pair. Two third drive cables in the third drive cable pair are arranged obliquely symmetrically about the second rotation axis and connect the first clamping flap and the drive mechanism. Two fourth drive cables in the fourth drive cable pair are arranged obliquely symmetrically about the second rotation axis and connect the second clamping flap and the drive mechanism. The drive mechanism controls the actuator to open or close or oscillate by pulling or releasing the third drive cable pair and / or the fourth drive cable pair.

[0013] In one embodiment, the third drive cable and the fourth drive cable, which are arranged on the same side of the sixth rotation axis, are arranged along the extension direction of the second rotation axis.

[0014] In one embodiment, the wrist joint further includes at least one compensating joint, the at least one compensating joint being rotatably connected to the first U-shaped clamp about the second rotation axis, the at least one compensating joint being rotatably connected to the second U-shaped clamp about the sixth rotation axis, each of the compensating joints having a seventh rotation axis, and any one or more of the seventh rotation axes forming a third included angle >0° and <90° with the second rotation axis.

[0015] The present invention also provides a surgical robot, including a master operating device and a slave operating device, wherein the slave operating device performs relevant operations according to the instructions of the master operating device, and the slave operating device includes at least one surgical instrument as described above.

[0016] The surgical instrument provided by the present invention, by offsetting the relative rotation direction of the arm and the proximal end to the relative rotation direction of the arm and the actuator, that is, the first rotation axis and the second rotation axis form a first angle that is neither parallel nor perpendicular, can reduce the overlap between the path reached by the arm relative to the proximal end of the actuator and the path reached by the actuator relative to the arm, thereby increasing the range of motion of the actuator in three-dimensional space. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a top view of a surgical robot system arranged in an operating room according to an embodiment of this application.

[0019] Figure 2A This is a schematic diagram of the main control console of a surgical robot system according to an embodiment of this application.

[0020] Figure 2B This is a schematic diagram of the slave operating device of a surgical robot system according to an embodiment of this application.

[0021] Figure 3A and Figure 3B This is a schematic diagram of a surgical tool according to an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the structure of surgical instruments in the prior art.

[0023] Figure 5 for Figure 4 A schematic diagram of the rotating structure of a surgical instrument.

[0024] Figure 6 for Figure 4 A schematic diagram of the operable range of the distal end of a surgical instrument.

[0025] Figure 7 This is a schematic diagram of the surgical instrument in the first embodiment of the present invention.

[0026] Figure 8 for Figure 7 A schematic diagram of the operable path at the distal end of a surgical instrument when the first and second rotation axes are parallel.

[0027] Figure 9 for Figure 7 A schematic diagram of the operable path at the distal end of a surgical instrument when the first and second rotation axes are perpendicular.

[0028] Figure 10 for Figure 7 A schematic diagram of the operable path at the distal end of a surgical instrument when the first and second rotation axes are offset at a first included angle.

[0029] Figure 11 for Figure 9 A schematic diagram of the operable range in the rotational direction of the distal end of a surgical instrument.

[0030] Figure 12 for Figure 7 A schematic diagram of the distal path when the first and second rotation axes of a surgical instrument are offset by 0°.

[0031] Figure 13 for Figure 7 A schematic diagram of the distal path when the first and second rotation axes of a surgical instrument are offset by 15°.

[0032] Figure 14 for Figure 7 A schematic diagram of the distal path when the first and second rotation axes of a surgical instrument are offset by 30°.

[0033] Figure 15 for Figure 7 A schematic diagram of the distal path when the first and second rotation axes of a surgical instrument are offset by 45°.

[0034] Figure 16 for Figure 7 Wiring diagram of the DD section of the surgical instrument.

[0035] Figure 17 This is a schematic diagram of the surgical instrument in the second embodiment of the present invention.

[0036] Reference numerals: Operating device 10, axes 101, 102, 103, 104, 105, central axis 106, robotic arm 11, holding device 112, docking device 114, sleeve 115, remote motion center 116, incision 117, base 110, column 120, support column 121, lifting column 122, upper arm 130, forearm 140, vertical arm 150, control device 160, control panel 170, switch 171, first joint J1, second joint J2, third joint J3, fourth joint J4, fifth joint J5, instrument holding mechanism 12, support column 121, lifting column 122, sleeve 13, main control console 20, display device 21, handrail 22, input device 23, observation device 24, control signal processing system 25, electronic equipment trolley 30, surgical tools 40, instrument box 41, long shaft 42, joint assembly 43, end effector 44, endoscope 51, surgical devices 52, 53, 54, assistant A, anesthesiologist B, surgeon S, operating table T, patient P.

[0037] Proximal end 60, first displacement joint 61, arm 70, elbow segment 71, second displacement joint 72, wrist joint 73, first U-shaped clamp 731, second U-shaped clamp 732, first drive cable pair C1, second drive cable pair C2, third drive cable pair C3, fourth drive cable pair C4, compensation joint 733, actuator 80, first clamp 81, second clamp 82, first rotation axis A1, second rotation axis A2, third rotation axis A3, fourth rotation axis A4, fifth rotation axis A5, sixth rotation axis A6, seventh rotation axis A7, first included angle α, second included angle β, third included angle γ. Detailed Implementation

[0038] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0040] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the conduit of the invention is in use. They are used only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0041] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0042] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0043] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0044] The term "instrument" is used herein to describe a medical device inserted into a patient's body to perform surgical or diagnostic procedures. This instrument includes an end effector, which may be a surgical tool used to perform surgical procedures, such as a biopsy needle, electrocautery device, forceps, stapler, scissors, imaging equipment (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include an articulated component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Furthermore, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0045] Unless otherwise defined, all 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 the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0046] The surgical robot includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, allowing the surgeon S to remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional images of the patient's body provided by the imaging system through the main console 10. By observing these three-dimensional images, the surgeon S can immerse themselves in the experience and control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body).

[0047] The operating device 10 includes a control unit, a robotic arm 11, and a tool-holding mechanism 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive device in the tool-holding mechanism 12. Multiple surgical tools can be mounted on the tool-holding mechanism 12, and the drive device of the tool-holding mechanism 12 is used to drive the surgical tools to perform various surgeries.

[0048] In one embodiment, the surgical robot further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding mechanism 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end devices of multiple surgical instruments or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgery-related operations or acquire images of the patient P's internal environment.

[0049] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via main control console 10, such as injecting gas from a gas source into the body cavity of patient P to create an artificial pneumoperitoneum, or aspirating gas from the body cavity of patient P. Assistant A attaches surgical instruments 40 to or replaces surgical instruments 40 from the instrument holding mechanism 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical tools used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0050] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0051] In one embodiment, such as Figure 2AAs shown, the main control console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The display device 21 can be an image source reflected into the eyepiece by multiple mirrors, or it can be a 3D display. The armrest 22 is used to support the surgeon's arm and / or hand, allowing the surgeon to operate the input device 23 more comfortably. The observation device 24 is used to observe the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing direct observation. The surgeon manipulates the surgical instruments of the secondary operating device 10 by operating the input device 23. The control signal processing system of the main control console 20 processes the input signals from the input device 23 and sends control commands to the secondary operating device. The secondary operating device 10 responds to the control commands of the main control console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located in the secondary operating device 10, for example, in the base of the secondary operating device 10. The control signal processing system 25 can be the same device as the control device described above.

[0052] Surgical robots typically also include an imaging system (not shown) that enables the surgeon S to view the surgical site from outside the patient's body. This imaging system typically includes a surgical tool 40 with video image acquisition capabilities (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with image acquisition capabilities includes optics for acquiring images of one or more imaging sensors (e.g., CCD or CMOS sensors) within the patient's body. These one or more imaging sensors can be positioned distal to the surgical tool 40 with image acquisition capabilities, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display device.

[0053] In one embodiment, such as Figure 2BAs shown, the robotic arm 11 of the surgical robot's operating device 10 includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 130, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0054] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0055] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0056] In one embodiment, the operating device 10 further includes a control panel 170 disposed on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input a positioning command to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly achieve various predetermined positions of the robotic arm 11, such as unfolding it into a position for arranging a sterile curtain.

[0057] In one embodiment, the holding device 112 may be equipped with multiple surgical instruments 40, which enter the body through the incision 117 via the same cannula 115. Figure 3A As shown, the surgical tool 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end effector 44. The surgical tool 40 is detachably mounted on a drive system of the instrument holding device 112 of the operating device 10. The instrument case 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end effector 44 via multiple cables. The multiple transmission units are coupled to and driven by multiple actuators (e.g., motors) within the drive system. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 44 to move. For example, the drive units drive the transmission units to rotate, thereby pulling / retracting the cables to control the movement of the end effector. The end effector 44, via the joint assembly 43, is capable of performing multiple Cartesian degrees of freedom movements, such as translational movements (including lateral and / or longitudinal movements) to change the position of the end effector 44 and pitch, yaw, and roll movements to change the orientation of the end effector 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 44 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 44 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body.

[0058] In one embodiment, such as Figure 3B As shown, multiple surgical instruments pass through cannula 115 to reach the vicinity of target tissue T to perform relevant surgical procedures or examinations. These surgical instruments include an endoscope 51 and surgical devices 52, 53, and 54 for performing the surgery. Each surgical instrument includes... Figure 3A The articulated components shown enable the endoscope 51 and surgical devices 52, 53, and 54 to perform relevant surgeries flexibly and freely.

[0059] First Embodiment

[0060] Please refer to Figures 7-17 One embodiment of the present invention provides a surgical instrument comprising a proximal end 60, an arm 70 and an actuator 80 connected in sequence. The arm 70 is rotatably connected to the proximal end 60 to form a first rotation axis A1, and the arm 70 is rotatably connected to the actuator 80 to form a second rotation axis A2. The first rotation axis A1 and the second rotation axis A2 form a first included angle α that is greater than 0° and less than 90°.

[0061] For details, please refer to Figures 4-6Existing technologies typically involve adding multiple joints to surgical instruments to achieve greater rotation angles and expand the distal operating range. However, this also creates the drawback of increasing the axial length of the surgical instrument, leading to increased surgical difficulty. Figures 8-9 In the prior art, the direction of rotation of the arm 70 relative to the proximal end 60 and the direction of rotation of the actuator 80 relative to the arm 70 are usually set to be the same or opposite, that is, the first rotation axis A1 and the second rotation axis A2 are parallel or perpendicular to each other. Although this setting makes it easier to adjust the position of the actuator 80, it also reduces the adjustable range. When the first rotation axis A1 and the second rotation axis A2 are parallel to each other, the range that the actuator 80 can reach as it rotates partially overlaps with the range that the actuator 80 can reach as it rotates with the arm 70. The rotation paths of the actuator 80 and the arm 70 both fall on the axial direction perpendicular to the first rotation axis A1, denoted as the X-axis. When the first rotation axis A1 and the second rotation axis A2 are perpendicular to each other, the yaw range of the actuator 80 partially overlaps with the range that the actuator 80 can reach as it rotates with the arm 70 relative to the proximal end 60. The rotation path and the yaw path of the actuator 80 both fall on the circumferential direction parallel to the first rotation axis A1, denoted as the Y-axis.

[0062] like Figures 8-11 In the diagram, D1 is the rotation path of the distal end of the actuator 80; D2 is the rotation path of the distal end of the arm 70; D3 is the sway path of the distal end of the actuator 80; V1 is the range of motion of the actuator 80 when the first rotation axis A1 and the second rotation axis A2 are parallel to each other; V2 is the range of motion of the actuator 80 when the first rotation axis A1 and the second rotation axis A2 are perpendicular to each other.

[0063] As shown in the diagram, when the first rotation axis A1 and the second rotation axis A2 are parallel or perpendicular to each other, the rotation or yaw ranges V1 and V2 of the actuator 80 constitute a two-dimensional plane, and also include some linear paths. Please refer to... Figures 10-11 In this embodiment, the first included angle α formed by the first rotation axis A1 and the second rotation axis A2 is set between 0° and 90°, so that the first rotation axis A1 and the second rotation axis A2 are neither parallel to each other nor perpendicular to each other. When the arm 70 rotates about the first rotation axis A1 relative to the proximal end 60, the path range that its distal end can reach is a one-dimensional arc, such as... Figure 10 and Figure 11As shown in D2, and the projection of path D2 all falls on the X-axis, the actuator 80 rotates relative to the arm 70 about the second rotation axis A2 at the distal end of the arm 70. Because the first rotation axis A1 and the second rotation axis A2 are offset to form a non-parallel first included angle α, the actuator 80 can form an arc-shaped path D1 at any position on path D2 at the distal end of the arm 70. Furthermore, D1 and D2 are also offset by the first included angle α. The set of paths D1 generated when the actuator 80 rotates about the second rotation axis A2 can be schematically represented as an arc surface, as shown below. Figure 11 As shown in V3, relative to V2, V3 has widths along the X and Y axes. Since the motion directions of V1 and V2 are opposite—that is, the actuators 80 for rotational and yaw motions move in opposite directions—but their range of motion is equal, the difference between V1 and V3 is similar. However, the width of V1 along the Y axis is 0, and the width of V2 along the X axis is 0. It can be seen that by offsetting the first rotation axis A1 and the second rotation axis A2 by a certain angle, the range reached by the actuator 80 can be expanded in three-dimensional space.

[0064] In this embodiment, the proximal end 60 includes a first displacement joint 61, and the arm 70 includes an elbow segment 71, a second displacement joint 72, and a wrist joint 73 connected sequentially from the proximal end to the distal end. The first displacement joint 61 is rotatably connected to the elbow segment 71, and a first rotation axis A1 and / or a third rotation axis A3 are formed within the first displacement joint 61. The first rotation axis A1 is perpendicular to the third rotation axis A3. The second displacement joint 72 is connected between the wrist joint 73 and the actuator 80, and a fourth rotation axis A4 and / or a fifth rotation axis A5 are formed within the second displacement joint 72. In some embodiments, the second displacement joint 72 can be directly fixedly connected to the wrist joint 73. In other embodiments, the second displacement joint 72 and the wrist joint 73 can also be connected through one or more rotation joints. The fourth rotation axis A4 is perpendicular to the fifth rotation axis A5, and the first rotation axis A1 is parallel to the fourth rotation axis A4. It can be inferred that the third rotation axis A3 is parallel to the fifth rotation axis A5. The wrist joint 73 is used to rotatably connect to the actuator 80, and the second rotation axis A2 is formed in the wrist joint 73.

[0065] Specifically, the first rotation axis A1 is perpendicular to the third rotation axis A3. The first rotation axis A1 and the third rotation axis A3 are used to provide opposite pitch and yaw rotation directions for the elbow segment 71, respectively. The fourth rotation axis A4 is perpendicular to the fifth rotation axis A5. The fourth rotation axis A4 and the fifth rotation axis A5 are used to provide opposite pitch and yaw rotation directions for the wrist joint 73, respectively. Since the first rotation axis A1 is parallel to the fourth rotation axis A4, and the third rotation axis A3 is parallel to the fifth rotation axis A5, when the elbow segment 71 is tilted or extended at a certain angle relative to the proximal end 60 via the first displacement joint 61, the wrist joint 73 can tilt or extend in the opposite direction via the second displacement joint 72, so that a ">" or "<" structure is formed between the elbow segment 71 and the wrist joint 73. When the rotation angles of the elbow segment 71 and the wrist joint 73 are the same and opposite in direction, the length of the elbow segment 71 projected along the axis of the surgical instrument can be shortened, while the proximal end 60 and the actuator 80 are still located along the axis of the surgical instrument. This is equivalent to translating the actuator 80 along the axis of the surgical instrument, so that the actuator 80 can extend its operable range in the proximal direction, ensuring that a larger axial operating space is obtained without changing the length of the surgical instrument.

[0066] Combining the offset angles of the first rotation axis A1 and the second rotation axis A2, such as Figures 12-15 As shown, the angle of the first included angle α can preferably be 15°, 30° or 45°, etc. Figure 12 The first rotation axis A1 is offset from the second rotation axis A2 by 0°. Figure 13 The first rotation axis A1 is offset from the second rotation axis A2 by 15°. Figure 14 The first rotation axis A1 is offset from the second rotation axis A2 by 30°. Figure 15 The first rotation axis A1 is shown to be offset from the second rotation axis A2 by 45°. From the perspective obtained from the distal end of the surgical instrument, as the angle of offset between the first rotation axis A1 and the second rotation axis A2 gradually increases, the length direction of the actuator 80 gradually tilts, causing its axial projection to gradually shorten. The distal end of the actuator 80 can reach a position closer to its proximal end in the axial direction, thereby obtaining a larger axial operating space.

[0067] Please refer to Figure 16To enhance readability, the two first drive cables are labeled C11 and C12; the two second drive cables are labeled C21 and C22. In this embodiment, the proximal end 60 includes a drive mechanism (not shown in the figure), and the arm 70 also includes a pair of first drive cables C1. One end of the two first drive cables C11 and C12 in the first drive cable pair C1 is arranged on both sides of the second displacement joint 72 with the fourth rotation axis A4 as the center line, and the other end is connected to the drive mechanism via the elbow section 71. The first drive cable pair C1 is fixedly connected to the proximal end of the elbow section 71 or the second displacement joint 72. The two first drive cables C11 and C12 are preferably fixed to the second displacement joint 72 and are arranged crosswise within the elbow section 71. The drive mechanism drives the elbow section 71 to rotate around the first rotation axis A1 and the actuator 80 around the fourth rotation axis A4 in opposite directions by pulling or releasing either of the first drive cables C11 / C12.

[0068] Specifically, the two first drive cables C11 and C12 are in a non-intersecting state within the second displacement joint 72. After entering the elbow section 71, they are crossed and continue to pass through the first displacement joint 61. The two first drive cables C1 no longer intersect within the first displacement joint 61 until they are connected to the drive mechanism. This can extend the usable length of the two first drive cables C1. More importantly, the distal ends of the two first drive cables C11 and C12 are fixed on both sides of the fourth rotation axis A4 on the second displacement joint 72. After crossing once, with the fourth rotation axis A4 as a reference, the proximal and distal ends of the first drive cables C11 and C12 are located on different sides of the fourth rotation axis A4. When the drive mechanism pulls one of the first drive cables C11 / C12, that first drive cable C11 / C12 simultaneously pulls the elbow section 71 and the second displacement joint 72 to tilt to different sides of the fourth rotation axis A4, thereby realizing the displacement of the actuator 80 and maintaining the attitude of the actuator 80.

[0069] In this embodiment, the arm 70 also includes a second drive cable pair C2. One end of the two second drive cables C21 and C22 in the second drive cable pair C2 is arranged on both sides of the second displacement joint 72 with the fifth rotation axis A5 as the center line, and the other end is connected to the drive mechanism via the elbow section 71. The second drive cable pair C2 is fixedly connected to the proximal end of the elbow section 71 or the second displacement joint 72. The two second drive cables C21 and C22 are preferably fixed to the second displacement joint 72 and are arranged crosswise within the elbow section 71. The drive mechanism drives the elbow section 71 to rotate around the third rotation axis A3 and the actuator 80 to rotate in the opposite direction around the fifth rotation axis A5 by pulling or releasing any of the second drive cables C21 / C22.

[0070] Similarly, the two second drive cables C21 and C22 are not intersecting within the second displacement joint 72. After entering the elbow section 71, they are crossed and continue to pass through the first displacement joint 61. The two second drive cables C21 and C22 no longer intersect within the first displacement joint 61 until they are connected to the drive mechanism. The distal ends of the two second drive cables C21 and C22 are fixed on both sides of the fifth rotation axis A5 on the second displacement joint 72. After crossing once, with the fifth rotation axis A5 as a reference, the proximal and distal ends of the two second drive cables C21 and C22 are located on different sides of the fifth rotation axis A5. When the drive mechanism pulls one of the second drive cables C21 / C22, that second drive cable C21 / C22 simultaneously pulls the elbow section 71 and the second displacement joint 72 to tilt to different sides of the fifth rotation axis A5, thereby realizing the displacement of the actuator 80 and maintaining the attitude of the actuator 80 unchanged.

[0071] In this embodiment, one end of each of the two first drive cables C11 and C12 is obliquely symmetrically fixed to both sides of the second displacement joint 72 with the fourth rotation axis A4 as the axis of symmetry; one end of each of the two second drive cables C21 and C22 is obliquely symmetrically fixed to both sides of the second displacement joint 72 with the fifth rotation axis A5 as the axis of symmetry; the two first drive cables C11 and C12 and the two second drive cables C21 and C22 are evenly arranged in the circumferential direction of the second displacement joint 72.

[0072] Specifically, as described above, the fourth rotation axis A4 and the fifth rotation axis A5 are perpendicular to each other, the first rotation axis A1 is parallel to the fourth rotation axis A4, and the third rotation axis A3 is parallel to the fifth rotation axis A5. The two first drive cables C11 and C12 are arranged obliquely and symmetrically on both sides of the fourth rotation axis A4 to avoid their arrangement affecting the operation of the fifth rotation axis A5. Similarly, the two second drive cables C21 and C22 are also arranged obliquely and symmetrically on both sides of the fifth rotation axis A5 to avoid their arrangement affecting the operation of the fourth rotation axis A4. The two first drive cables C11 and C12 and the two second drive cables C21 and C22 are evenly arranged circumferentially on the second displacement joint 72, so that the first drive cable pair C1 and the second drive cable pair C2 are symmetrically distributed at the four corners on the second displacement joint 72. At the position corresponding to the fourth rotation axis A4, the distance from the first drive cable C11 to the fourth rotation axis A4 is equal to the distance from the first drive cable C12 to the fourth rotation axis A4. Similarly, at the position corresponding to the first rotation axis A1, the distance from the first drive cable C11 to the first rotation axis A1 is equal to the distance from the first drive cable C12 to the first rotation axis A1. At the position corresponding to the fifth rotation axis A5, the distance from the second drive cable C21 to the fifth rotation axis A5 is equal to the distance from the second drive cable C22 to the fifth rotation axis A5. Similarly, at the position corresponding to the third rotation axis A3, the distance from the second drive cable C21 to the third rotation axis A3 is equal to the distance from the second drive cable C22 to the third rotation axis A3. This arrangement improves the symmetry of the wiring, facilitates uniform control of the traction force and rotation angle during the traction process, and makes the rotation process more coordinated.

[0073] In this embodiment, the wrist joint 73 includes a first U-shaped clamp 731. The proximal end of the first U-shaped clamp 731 is rotatably connected to the second displacement joint 72 about a fourth rotation axis A4 or a fifth rotation axis A5. The distal end of the first U-shaped clamp 731 is rotatably connected to the actuator 80 about a second rotation axis A2.

[0074] Specifically, the wrist joint 73 in the prior art is usually configured as a snake-bone type, with each articular disc of the snake-bone joint hinged, and the two articular discs connected by an I-beam. The I-beam itself has a certain height and occupies a large space between the two articular discs, which limits the rotation angle of such a joint. In order to overcome the above-mentioned problems of the prior art, the wrist joint 73 in this embodiment adopts a U-shaped clamp hinge component. The U-shaped groove of the U-shaped clamp can avoid the rotation of the actuator 80 and the arrangement of the drive cable.

[0075] In this embodiment, the wrist joint 73 further includes a second U-shaped clamp 732. The proximal end of the second U-shaped clamp 732 is rotatably connected to the first U-shaped clamp 731 about the second rotation axis A2. The distal end of the second U-shaped clamp 732 is rotatably connected to the actuator 80 to form a sixth rotation axis A6. The first rotation axis A1 and the sixth rotation axis A6 form a second included angle β that is greater than 0° and less than 90°.

[0076] Specifically, the second U-shaped clamp 732 is rotatably connected to the actuator 80 with the sixth rotating axis A6 as the rotation axis, which can provide the actuator 80 with a rotation direction to change its attitude, including pitch, yaw, or opening and closing. The offset setting between the first rotating axis A1 and the sixth rotating axis A6 is similar to the offset setting between the first rotating axis A1 and the second rotating axis A2, further expanding the operable range of the actuator 80.

[0077] Furthermore, the sixth rotation axis A6 is perpendicular to the second rotation axis A2.

[0078] Compared to the traditional single snake-bone joint with a rotational degree of freedom of less than 45 degrees, the rotational angle formed by the first U-shaped clamp 731 and the second U-shaped clamp 732 in this embodiment is basically equal to or greater than 180 degrees. The rotational angle of the actuator 80 and the second U-shaped clamp 732 is basically equal to or greater than 180 degrees, thereby achieving a larger range of motion with fewer joints.

[0079] In this embodiment, the proximal end 60 includes a drive mechanism (not shown in the figure), the actuator 80 includes a first clamping flap 81 and a second clamping flap 82 hinged to the second U-shaped clamp 732 about a sixth rotation axis A6, and the wrist joint 73 also includes a third drive cable pair C3 and a fourth drive cable pair C4. Figure 16 To enhance readability, the two third drive cables are labeled C31 and C32; the two fourth drive cables are labeled C41 and C42. In the third drive cable pair C3, the two third drive cables C31 and C32 are arranged obliquely symmetrically about the second rotation axis A2 and connect the first clamping flap 81 and the drive mechanism. In the fourth drive cable pair C4, the two fourth drive cables C41 and C42 are arranged obliquely symmetrically about the second rotation axis A2 and connect the second clamping flap 82 and the drive mechanism. The drive mechanism controls the actuator 80 to open or close or oscillate by pulling or releasing the third drive cable pair C3 and / or the fourth drive cable pair C4.

[0080] Furthermore, the first U-shaped clamp 731 is rotatably connected to the second U-shaped clamp 732 via the first pin, the second rotating shaft A2 is formed on the first pin, the second U-shaped clamp 732 is rotatably connected to the actuator 80 via the second pin, and the sixth rotating shaft A6 is formed on the second pin.

[0081] Specifically, the third drive cable pair C3 is used to drive the first clamping lobe 81 to rotate around the sixth rotation axis A6 relative to the second U-shaped clamp 732. After the distal ends of the two third drive cables C31 and C32 are respectively fixed to the first clamping lobe 81, their distal ends pass through both sides of the second pin and both sides of the first pin in sequence until they are connected to the actuator, thereby improving the balance of the arrangement of the third drive cable pair C3. The fourth drive cable pair C4 is used to drive the second clamping lobe 82 to rotate around the sixth rotation axis A6 relative to the second U-shaped clamp 732. After the distal ends of the two fourth drive cables C41 and C42 are respectively fixed to the second clamping lobe 82, their distal ends pass through both sides of the second pin and both sides of the first pin in sequence until they are connected to the actuator, thereby improving the balance of the arrangement of the fourth drive cable pair C4. The rotation of the first clamping lobe 81 and the second clamping lobe 82 relative to the second U-shaped clamp 732 constitutes the yaw or opening and closing motion of the actuator 80. When the actuator simultaneously pulls the third drive cable C31 / C32 and the fourth drive cable C41 / C42 located on different sides of the second pin, that is, simultaneously pulls or releases... Figure 16 C31 and C42, or simultaneously pulling or releasing C32 and C41, can drive the first clamping lobe 81 and the second clamping lobe 82 to open and close; when the actuator simultaneously pulls the third drive cable C31 / C32 and the fourth drive cable C41 / C42 located on the same side of the second pin, that is, simultaneously pulling or releasing... Figure 16 C31 and C41, or simultaneously pulling or releasing C32 and C42, can drive the first clamping lobe 81 and the second clamping lobe 82 to swing in the same direction.

[0082] Furthermore, the third drive cable pair C3 and the fourth drive cable pair C4 can be respectively cross-set between the first pin and the drive or wound around a pulley, thereby reducing the amount of cable stored in the drive.

[0083] In this embodiment, the third drive cables C31 / C32 and the fourth drive cables C41 / C42, which are arranged on the same side of the sixth rotation axis A6, are arranged sequentially along the extension direction of the second rotation axis A2, i.e., referencing Figure 16 C32 and C42 are arranged sequentially along the extension direction of the second rotation axis A2, and C31 and C41 are arranged sequentially along the extension direction of the second rotation axis A2.

[0084] Specifically, the actuator 80 achieves pitch angle deflection by rotating around the second rotation axis A2. A third drive cable C31 / C32 and a fourth drive cable C41 / C42 located on the same side of the sixth rotation axis A6 are arranged parallel to the second rotation axis A2, so that the distances between each third drive cable C31 / C32 and the second rotation axis A2 and the distances between each fourth drive cable C41 / C42 and the second rotation axis A2 are equal. This is beneficial for the balanced layout of the cables and adapts to the pitch cable arrangement of the actuator 80.

[0085] The surgical instrument provided in this embodiment, by offsetting the relative rotation direction of the arm 70 and the proximal end 60 to the relative rotation direction of the arm 70 and the actuator 80, that is, the first rotation axis A1 and the second rotation axis A2 form a first included angle α that is neither parallel nor perpendicular, can reduce the amount of overlap between the path reached by the actuator 80 driven by the arm 70 relative to the proximal end 60 and the path reached by the actuator 80 rotating relative to the arm 70, thereby increasing the range of motion of the actuator 80 in three-dimensional space.

[0086] Second Embodiment

[0087] Please refer to Figure 17 Another embodiment of the present invention also provides a surgical instrument, which differs from the first embodiment in that the wrist joint 73 further includes at least one rotatable compensating joint 733, at least one compensating joint 733 is rotatably connected to the first U-shaped clamp 731 with the second rotation axis A2 as the rotation axis, at least one compensating joint 733 is rotatably connected to the second U-shaped clamp 732 with the sixth rotation axis A6 as the rotation axis, each compensating joint 733 has a seventh rotation axis A7, and any one or more seventh rotation axes A7 form a third included angle γ with the second rotation axis A2 that is >0° and <90°.

[0088] Specifically, the surgical instrument can increase the rotational degree of freedom of the actuator 80 by adding rotatable compensating joints 733. In each compensating joint 733, the actuator 80 has a different radius of rotation, allowing the actuator 80 to generate rotational paths at different axial positions. The actuator 80 rotates about the seventh rotation axis A7 of any compensating joint 733. Due to the offset angle between the second rotation axis A2 and the seventh rotation axis A7, the actuator 80, based on its rotation about the second rotation axis A2, forms a rotational path relative to... Figure 15 The overlapping but non-parallel surfaces of V3 further increase the operability range of actuator 80.

[0089] Third Embodiment

[0090] Another aspect of the present invention provides a surgical robot, including a master operating device and a slave operating device, wherein the slave operating device performs relevant operations according to the instructions of the master operating device, and the slave operating device includes at least one surgical instrument as described in the first embodiment or the second embodiment.

[0091] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A surgical instrument, characterized in that, It includes a proximal end (60), an arm (70) and an actuator (80) connected in sequence. The arm (70) is rotatably connected to the proximal end (60) to form a first rotating shaft (A1). The arm (70) is rotatably connected to the actuator (80) to form a second rotating shaft (A2). The first rotating shaft (A1) and the second rotating shaft (A2) form a first included angle (α) greater than 0° and less than 90°.

2. The surgical instrument as described in claim 1, characterized in that, The proximal end (60) includes a first displacement joint (61), and the arm (70) includes an elbow segment (71), a second displacement joint (72), and a wrist joint (73) connected sequentially from the proximal end to the distal end. The first displacement joint (61) is rotatably connected to the elbow segment (71) to form a first rotation axis (A1) and / or a third rotation axis (A3). The first rotation axis (A1) is perpendicular to the third rotation axis (A3). The second displacement joint (72) is connected to the wrist joint (73) to form a fourth rotation axis (A4) and / or a fifth rotation axis (A5). The fourth rotation axis (A4) is perpendicular to the fifth rotation axis (A5). The first rotation axis (A1) is parallel to the fourth rotation axis (A4). The wrist joint (73) is used to rotatably connect to the actuator (80), and the second rotation axis (A2) is formed in the wrist joint (73).

3. The surgical instrument as described in claim 2, characterized in that, The proximal end (60) further includes a drive mechanism, and the arm (70) further includes a first drive cable pair (C1). One end of each of the two first drive cables in the first drive cable pair (C1) is arranged on both sides of the second displacement joint (72) with the fourth rotation axis (A4) as the center line, and the other end is connected to the drive mechanism via the elbow segment (71). The first drive cable pair (C1) is fixedly connected to the proximal end of the elbow segment (71) or the second displacement joint (72). The drive mechanism drives the elbow segment (71) and the actuator (80) to rotate in opposite directions around the first rotation axis (A1) and around the fourth rotation axis (A4) by pulling or releasing any of the first drive cables.

4. The surgical instrument as described in claim 3, characterized in that, The arm (70) also includes a second drive cable pair (C2), in which one end of each of the two second drive cables is arranged on both sides of the second displacement joint (72) with the fifth rotation axis (A5) as the center line, and the other end is connected to the drive mechanism via the elbow segment (71). The second drive cable pair (C2) is fixedly connected to the proximal end of the elbow segment (71) or the second displacement joint (72). The drive mechanism drives the elbow segment (71) to rotate around the third rotation axis (A3) and the actuator (80) to rotate in the opposite direction around the fifth rotation axis (A5) by pulling or releasing any of the second drive cables.

5. The surgical instrument as described in claim 4, characterized in that, One end of each of the two first drive cables is obliquely fixed to both sides of the second displacement joint (72) with the fourth rotation axis (A4) as the axis of symmetry; one end of each of the two second drive cables is obliquely fixed to both sides of the second displacement joint (72) with the fifth rotation axis (A5) as the axis of symmetry; the two first drive cables and the two second drive cables are evenly arranged in the circumferential direction of the second displacement joint (72).

6. The surgical instrument as described in claim 2, characterized in that, The wrist joint (73) includes a first U-shaped clamp (731), the proximal end of which is rotatably connected to the second displacement joint (72) about the fourth rotation axis (A4) or the fifth rotation axis (A5), and the distal end of which is rotatably connected to the actuator (80) about the second rotation axis (A2).

7. The surgical instrument as described in claim 6, characterized in that, The wrist joint (73) also includes a second U-shaped clamp (732), the proximal end of which is rotatably connected to the first U-shaped clamp (731) about the second rotation axis (A2), and the distal end of which is rotatably connected to the actuator (80) to form a sixth rotation axis (A6). The first rotation axis (A1) and the sixth rotation axis (A6) form a second included angle (β) greater than 0° and less than 90°.

8. The surgical instrument as described in claim 7, characterized in that, The proximal end (60) includes a drive mechanism, and the actuator (80) includes a first clamping flap (81) and a second clamping flap (82) hinged to the second U-shaped clamp (732) about the sixth rotation axis (A6). The wrist joint (73) also includes a third drive cable pair (C3) and a fourth drive cable pair (C4). Two third drive cables in the third drive cable pair (C3) are arranged obliquely symmetrically about the second rotation axis (A2) and connect the first clamping flap (81) and the drive mechanism. Two fourth drive cables in the fourth drive cable pair (C4) are arranged obliquely symmetrically about the second rotation axis (A2) and connect the second clamping flap (82) and the drive mechanism. The drive mechanism controls the actuator (80) to open or sway by pulling or releasing the third drive cable pair (C3) and / or the fourth drive cable pair (C4).

9. The surgical instrument as described in claim 8, characterized in that, The third drive cable and the fourth drive cable, which are arranged on the same side of the sixth rotating axis (A6), are arranged along the extension direction of the second rotating axis (A2).

10. The surgical instrument as described in claim 6, characterized in that, The wrist joint (73) further includes at least one compensating joint (733), which is rotatably connected to the first U-shaped clamp (731) about the second rotation axis (A2), and the at least one compensating joint (733) is rotatably connected to the second U-shaped clamp (732) about the sixth rotation axis (A6). Each of the compensating joints (733) has a seventh rotation axis (A7), and any one or more of the seventh rotation axes (A7) form a third included angle (γ) with the second rotation axis (A2) of >0° and <90°.

11. A surgical robot, characterized in that, It includes a master operating device and a slave operating device, wherein the slave operating device performs relevant operations according to the instructions of the master operating device, and the slave operating device includes at least one surgical instrument as described in any one of claims 1-10.

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