Surgical instrument and surgical robot

Abstract

The invention discloses a surgical instrument which comprises a tail end device, at least one driving cable and at least one wire, and the tail end device comprises a rotating seat, at least one mounting seat and at least one surgical tool; the mounting seat comprises an insulating mounting part and a transmission part, the transmission part is connected with the insulating mounting part, the surgical tool is fixedly connected with the insulating mounting part, and the wire is electrically connected with the surgical tool; the transmission part is rotationally connected with the rotating seat; the driving cable is connected with the transmission part; and the transmission part can rotate relative to the rotating seat under the driving of the driving cable so as to drive the insulating mounting part and the surgical tool to rotate. The surgical instrument can prevent the driving cable from being electrified, and the use safety is improved. The invention further discloses the surgical robot.

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 medical techniques refer to medical procedures performed inside the human body cavity using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared with traditional surgical methods, minimally invasive medical techniques have advantages such as less trauma, less pain, faster recovery, reduced patient discomfort, and fewer harmful side effects.

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. Minimally invasive surgical robots typically consist of a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands sent from the main control console and perform corresponding surgical procedures. Instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instrument includes an end effector for performing surgical operations. The drive mechanism is connected to the end effector via a drive cable (typically steel wire or other alloy wire) to drive the movement of the end effector.

[0004] For active medical devices, the end effector needs to be connected to a wire to make it conductive, enabling functions such as electrocautery and electrocoagulation in certain applications (the end effector can be a monopolar or bipolar instrument, and specific types include electrified scissors, electric hooks, electric shovels, etc.). Since the drive cable in active medical devices is generally made of metal, if the electrified end effector is directly connected to the drive cable, the drive cable will also become electrified, increasing the risk of leakage and affecting the safety of use. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a surgical instrument and surgical robot that can avoid the drive cable becoming electrified, thereby improving the safety of use.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] The present invention provides a surgical instrument, comprising an end effector, at least one drive cable and at least one lead wire, wherein the end effector includes a rotating base, at least one mounting base and at least one surgical tool;

[0008] Each of the mounting bases includes an insulating mounting portion and a transmission portion, the transmission portion being connected to the insulating mounting portion, the surgical tool being fixedly connected to the insulating mounting portion, and the wire being electrically connected to the surgical tool;

[0009] The transmission unit is rotatably connected to the rotating base, and the drive cable is connected to the transmission unit; the transmission unit can rotate relative to the rotating base under the drive of the drive cable, thereby driving the insulating mounting part and the surgical tool to rotate.

[0010] In one possible implementation, the transmission unit is provided with a first winding groove, and the drive cable is wound around the first winding groove.

[0011] In one possible implementation, the transmission part and the insulating mounting part are an integral structure; or, the transmission part and the insulating mounting part are separate structures, with the transmission part and the insulating mounting part being connected in a driving manner.

[0012] In one possible embodiment, the proximal end of the surgical tool is fixed within the insulating mounting portion; the transmission portion is an integral structure with the insulating mounting portion, the transmission portion is provided with a cable groove, and one end of the wire passes around the cable groove and extends into the insulating mounting portion and is electrically connected to the surgical tool.

[0013] In one possible embodiment, the surgical instrument further includes a rotating seat drive cable, and the end device further includes a base to which the rotating seat is rotatably connected; the rotating seat drive cable is connected to the rotating seat, and the rotating seat is capable of rotating relative to the base under the drive of the rotating seat drive cable.

[0014] In one possible embodiment, the surgical instrument further includes a joint assembly, the base being fixedly connected to the joint assembly; the rotation seat drive cable, the drive cable, and the wire are all threaded through the joint assembly.

[0015] In one possible embodiment, at least one of the mounting bases includes a first mounting base and a second mounting base disposed adjacent to each other, and at least one of the surgical tools includes a first surgical tool and a second surgical tool, wherein the first surgical tool is fixedly connected to an insulating mounting portion of the first mounting base, and the second surgical tool is fixedly connected to an insulating mounting portion of the second mounting base.

[0016] At least one of the drive cables includes a first drive cable and a second drive cable, the first drive cable being connected to the transmission part of the first mounting base, and the second drive cable being connected to the transmission part of the second mounting base.

[0017] In one possible implementation, the driving portion of each of the mounting seats is integral with the insulating mounting portion, and the driving portion is connected to the proximal end of the insulating mounting portion; the driving portions of the first mounting seat and the second mounting seat are both rotatably connected to the rotating seat via a first rotating shaft.

[0018] In one possible implementation, the insulating mounting portion has a first mounting groove that does not penetrate its inner sidewall, and the proximal end of the surgical tool is fixed in the first mounting groove; the inner sidewall of the first mounting base abuts against the inner sidewall of the second mounting base.

[0019] In one possible implementation, an elastic element is sleeved on the first rotating shaft, the elastic element being sandwiched between the transmission part and the rotating seat; the elastic element is used to apply elastic force to the mounting seat so that the inner sidewall of the first mounting seat is in close contact with the inner sidewall of the second mounting seat.

[0020] In one possible implementation, the driving portion and the insulating mounting portion of each mounting base are integrally formed, the driving portion of the first mounting base is connected to the proximal end of its insulating mounting portion; the length of the second mounting base is less than the length of the first mounting base, and the second mounting base is disposed corresponding to the insulating mounting portion of the first mounting base; the driving portion of the first mounting base is rotatably connected to the rotating base via a first rotating shaft, and the insulating mounting portion of the first mounting base and the second mounting base are rotatably connected via a second rotating shaft.

[0021] In one possible implementation, the transmission part is provided with a first winding groove, and the first rotating shaft is provided with a second winding groove; the first driving cable is wound in the first winding groove on the transmission part of the first mounting base, and the second driving cable is wound in a cross shape in the second winding groove and the first winding groove on the transmission part of the second mounting base respectively.

[0022] In one possible implementation, the driving part and the insulating mounting part of each mounting base are separate structures, and the driving part and the insulating mounting part are hinged; the driving part of the first mounting base and the driving part of the second mounting base are both rotatably connected to the rotating base through a first rotating shaft, and the insulating mounting parts of the first mounting base and the insulating mounting parts of the second mounting base are rotatably connected through a second rotating shaft.

[0023] In one possible implementation, the insulating mounting portion includes a force-applying rod and a fixed seat connected to the distal end of the force-applying rod, the surgical tool is fixedly connected to the fixed seat, and the fixed seat of the first mounting portion and the fixed seat of the second mounting portion are rotatably connected via a second rotating shaft; the transmission portion includes a force-applying wheel and a convex shaft disposed on the force-applying wheel, the force-applying wheel is rotatably connected to the rotating seat via the first rotating shaft, the drive cable is connected to the force-applying wheel; the convex shaft is hinged to the force-applying rod.

[0024] In one possible implementation, the convex shaft is hinged to the distal end of the force-adding rod, and a limiting groove is provided on the proximal end of the force-adding rod, with the first rotating shaft located within the limiting groove; the limiting groove on the force-adding rod of the first mounting base has an opening opposite to that of the limiting groove on the force-adding rod of the second mounting base.

[0025] In one possible implementation, the insulating mounting portion is provided with a second mounting groove penetrating its inner sidewall, and the proximal end of the surgical tool is fixed in the second mounting groove; the sidewall of the first surgical tool abuts against the sidewall of the second surgical tool.

[0026] In one possible implementation, an elastic element is sleeved on the second rotating shaft, the elastic element being clamped between the surgical tool and the inner sidewall of the second mounting groove; the elastic element is used to apply elastic force to the surgical tool so that the sidewall of the first surgical tool is in close contact with the sidewall of the second surgical tool.

[0027] The present invention also provides a surgical robot, comprising at least one surgical instrument as described above.

[0028] The surgical instrument provided by this invention features a mounting base comprising an insulating mounting section and a transmission section. The surgical tool is fixedly mounted on the insulating mounting section, and a drive cable is connected to the transmission section. The transmission section is rotatably connected to a rotating base. Because the insulating mounting section is made of insulating material, it possesses insulating properties, preventing the surgical tool from being electrically connected to the drive cable and rotating base. This effectively isolates the surgical tool from the drive cable and rotating base, thus preventing the drive cable and rotating base from becoming energized. This significantly reduces the risk of leakage current in the surgical instrument and improves safety during use. Attached Figure Description

[0029] Figure 1 This is a top view schematic diagram of a surgical robot arranged in an operating room according to an embodiment of the present invention;

[0030] Figure 2A This is a schematic diagram of the main control console of a surgical robot according to an embodiment of the present invention;

[0031] Figure 2B This is a schematic diagram of the operating device of a surgical robot according to an embodiment of the present invention;

[0032] Figure 3A and Figure 3B This is a schematic diagram of a surgical tool according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the surgical instrument in the first embodiment of the present invention;

[0034] Figure 5This is a schematic diagram of the end device in the first embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the exploded structure of the end device in the first embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the end device in the second embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the exploded structure of the end device in the second embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the end device in the third embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the exploded structure of the end device in the third embodiment of the present invention. Detailed Implementation

[0040] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific implementation methods, structures, features, and effects of the surgical instruments, surgical tools, and surgical robots proposed according to the present invention are described in detail below with reference to the accompanying drawings and embodiments:

[0041] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the application. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0042] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[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] like Figures 1 to 3B As shown, this embodiment of the invention provides a surgical robot, which includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, and the surgeon S can 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 according to the surgeon S's operations. The surgeon S can observe three-dimensional stereoscopic images of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images of the patient's body, the surgeon S can immerse himself in the sensory experience and control the slave operating device 10 to perform related operations (e.g., perform surgery or acquire 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 40 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 40 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 tools 40 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 2A As 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 2B As 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 instrument 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end effector 6 connected in sequence. The surgical instrument 40 is detachably mounted on a drive system from 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 6 via multiple drive 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 6 to move. For example, the drive units rotate the transmission units to pull / tighten the drive cables to control the movement of the end effector. The end effector 6, 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 6 and pitch, yaw, and roll movements to change the orientation of the mode device 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 6 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 6 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 3BAs shown, multiple surgical instruments 40 pass through a cannula 115 to reach the vicinity of the target tissue T to perform relevant surgical procedures or examinations. The multiple surgical instruments 40 include an endoscope 51 and surgical instruments 52, 53, and 54 for performing surgical procedures. Each surgical instrument 40 includes... Figure 3A The joint assembly 43 shown enables the endoscope 51 and surgical instruments 52, 53, 54 to perform related surgeries flexibly and freely. The surgical instruments 52, 53, 54 can be active instruments and / or passive instruments.

[0059] The specific implementation, structure, features, and effects of the surgical instrument proposed according to the present invention are described in detail below with reference to the accompanying drawings and embodiments:

[0060] First Embodiment

[0061] like Figures 4 to 6 As shown, the first embodiment of the present invention provides a surgical instrument, specifically an active instrument, which includes an end effector 6, at least one drive cable 7, and at least one wire 8. The drive cable 7 is generally made of metal, and can be steel wire or other alloy wire. The end effector 6 includes a rotating base 62, at least one mounting base 63, and at least one surgical tool 64, both of which are made of metal. Depending on the type of end effector 6, the surgical tool 64 can be a scissor flap, surgical forceps, an electric hook, an electric shovel, etc. In this embodiment, the end effector 6 is a surgical scissor, and the surgical tool 64 is a scissor flap.

[0062] Each mounting base 63 includes an insulating mounting portion 631 and a transmission portion 632, the transmission portion 632 being connected to the insulating mounting portion 631, and the insulating mounting portion 631 being made of insulating material. A surgical instrument 64 is mounted on the insulating mounting portion 631 and is fixedly connected to it. A wire 8 is electrically connected to the surgical instrument 64.

[0063] The transmission unit 632 is rotatably connected to the rotating base 62, and the drive cable 7 is connected to the transmission unit 632. The transmission unit 632 can rotate relative to the rotating base 62 under the drive of the drive cable 7, thereby driving the insulating mounting part 631 and the surgical tool 64 to rotate.

[0064] The surgical instrument provided in this embodiment is equipped with a mounting base 63, which includes an insulating mounting part 631 and a transmission part 632. The surgical tool 64 is fixedly mounted on the insulating mounting part 631, and the drive cable 7 is connected to the transmission part 632. The transmission part 632 is rotatably connected to the rotating seat 62. Since the insulating mounting part 631 is made of insulating material, it has insulating properties, which can prevent the surgical tool 64 from being electrically connected to the drive cable 7 and the rotating seat 62 (the transmission part 632 is not energized). That is, the surgical tool 64 is insulated from the drive cable 7 and the rotating seat 62, thereby preventing the drive cable 7 and the rotating seat 62 from becoming energized, greatly reducing the risk of leakage of the surgical instrument and improving the safety of use.

[0065] As one implementation, the insulating mounting part 631 may be made of insulating materials such as ceramic, PEEK (polyether ether ketone), or PI (polyimide).

[0066] like Figure 5 and Figure 6 As shown, in one embodiment, the transmission part 632 of each mounting base 63 is an integral structure with the insulating mounting part 631. Therefore, the transmission part 632 is also made of the same insulating material as the insulating mounting part 631, that is, the transmission part 632 also has insulating properties, thereby further reducing the risk of leakage.

[0067] like Figure 5 and Figure 6 As shown, in one embodiment, the transmission unit 632 is provided with a first winding groove 633, and the drive cable 7 is wound inside the first winding groove 633, that is, the drive cable 7 enters from one side of the first winding groove 633 and exits from the other side of the first winding groove 633. Simultaneously, a fixing block (not shown) is threaded onto the drive cable 7. The fixing block can be cylindrical, square, or other structures. The fixing block is fixed to the drive cable 7 and is fixed inside the transmission unit 632, thus fixing the drive cable 7 to the transmission unit 632. In use, the drive system (not shown) pulls one end of the drive cable 7 and unwinds the other end, thereby realizing the rotation of the transmission unit 632.

[0068] like Figure 5 and Figure 6 As shown, in one embodiment, the rotating base 62 is provided with a guide wheel 622, and the drive cable 7 is wound around the guide wheel 622. By setting the guide wheel 622, on the one hand, the drive cable 7 can be turned and the wear of the drive cable 7 during movement can be reduced; on the other hand, the drive cable 7 can be kept in a taut state, which makes it easier to control the length of the drive cable 7.

[0069] like Figure 5 and Figure 6As shown, in one embodiment, at least one mounting base 63 includes a first mounting base 63A and a second mounting base 63B disposed adjacent to each other, and at least one surgical tool 64 includes a first surgical tool 64A and a second surgical tool 64B. The first surgical tool 64A is fixedly connected to the first mounting base 63A, and the second surgical tool 64B is fixedly connected to the second mounting base 63B. The wire 8 is electrically connected to both the first surgical tool 64A and the second surgical tool 64B. Specifically, the first surgical tool 64A is fixedly connected to the insulating mounting portion 631 of the first mounting base 63A, and the second surgical tool 64B is fixedly connected to the insulating mounting portion 631 of the second mounting base 63B. The insulating mounting portions 631 of the first mounting base 63A and the second mounting base 63B are rotatable relative to each other, so that the first surgical tool 64A and the second surgical tool 64B can rotate relative to each other.

[0070] At least one drive cable 7 includes a first drive cable 7A and a second drive cable 7B. The first drive cable 7A is connected to a first mounting base 63A, and the second drive cable 7B is connected to a second mounting base 63B. Specifically, the first drive cable 7A is connected to the transmission part 632 of the first mounting base 63A and is used to drive the first mounting base 63A to rotate; the second drive cable 7B is connected to the transmission part 632 of the second mounting base 63B and is used to drive the second mounting base 63B to rotate.

[0071] Specifically, in this embodiment, the end device 6 is a surgical scissor, and the first surgical tool 64A and the second surgical tool 64B are two scissor blades capable of physical cutting, electrocautery, and electrocoagulation. In other embodiments, when the end device 6 is another surgical instrument, the number of surgical tools 64 can be one (for example, surgical tool 64 is an electric hook), in which case only one mounting base 63 and one drive cable 7 are needed; of course, the number of surgical tools 64 can also be more, in which case the number of mounting bases 63 and drive cables 7 will also be multiple and correspond to the number of surgical tools 64.

[0072] like Figure 5 and Figure 6 As shown, in one embodiment, the proximal end of the first surgical tool 64A is fixed inside the insulating mounting portion 631 of the first mounting base 63A, and the distal end of the first surgical tool 64A extends outside the insulating mounting portion 631 of the first mounting base 63A; the proximal end of the second surgical tool 64B is fixed inside the insulating mounting portion 631 of the second mounting base 63B, and the distal end of the second surgical tool 64B extends outside the insulating mounting portion 631 of the second mounting base 63B.

[0073] Specifically, each surgical tool 64 includes a first part 6401 and a second part 6402 connected to each other. The first part 6401 and the second part 6402 are an integral structure. The first part 6401 is fixed inside the insulating mounting portion 631, and the second part 6402 extends outside the insulating mounting portion 631. That is, the first part 6401 of the first surgical tool 64A is fixed inside the insulating mounting portion 631 of the first mounting base 63A, and the second part 6402 of the first surgical tool 64A extends outside the insulating mounting portion 631 of the first mounting base 63A; the first part 6401 of the second surgical tool 64B is fixed inside the insulating mounting portion 631 of the second mounting base 63B, and the second part 6402 of the second surgical tool 64B extends outside the insulating mounting portion 631 of the second mounting base 63B.

[0074] like Figure 5 and Figure 6 As shown, in one embodiment, the end device 6 further includes a first rotating shaft 65 and a second rotating shaft 66, with the first rotating shaft 65 and the second rotating shaft 66 arranged parallel to each other (i.e., the axis A1 of the second rotating shaft 66 is parallel to the axis A2 of the first rotating shaft 65). A first mounting base 63A is rotatably connected to a rotating base 62 via the first rotating shaft 65, and a first mounting base 63A and a second mounting base 63B are rotatably connected via the second rotating shaft 66 (specifically, in this embodiment, the first mounting base 63A, the first surgical tool 64A, the second surgical tool 64B, and the second mounting base 63B are rotatably connected via the second rotating shaft 66). The first mounting base 63A and the second mounting base 63B can rotate together about the first rotating shaft 65 relative to the rotating base 62, and the second mounting base 63B can rotate about the second rotating shaft 66 relative to the first mounting base 63A. A first drive cable 7A can drive the first mounting base 63A to rotate relative to the first rotating shaft 65, and a second drive cable 7B can drive the second mounting base 63B to rotate relative to the second rotating shaft 66.

[0075] Specifically, in this embodiment, a first rotating shaft 65 and a second rotating shaft 66 are provided. The first mounting base 63A is rotatably connected to the rotating base 62 via the first rotating shaft 65, and the first mounting base 63A and the second mounting base 63B are rotatably connected via the second rotating shaft 66. The first mounting base 63A and the second mounting base 63B can rotate together around the first rotating shaft 65 relative to the rotating base 62, and the second mounting base 63B can rotate around the second rotating shaft 66 relative to the first mounting base 63A. That is, the relative opening and closing angle between the first surgical tool 64A and the second surgical tool 64B is determined by the first mounting base 63A and the second mounting base 63B rotating around the second rotating shaft 66. The relative opening and closing angles of the first surgical tool 64A and the second surgical tool 64B relative to the rotating seat 62 are determined by the rotation angle of the first mounting seat 63A around the first rotating axis 65 relative to the rotating seat 62. That is, the end device 6 adopts a split-axis rotation structure, which can avoid the mutual constraint between the relative opening and closing angles and the overall rotation angle of the first surgical tool 64A and the second surgical tool 64B. This allows the first surgical tool 64A and the second surgical tool 64B to have a large overall rotation angle even when the relative opening and closing angles are large, thereby improving the movement flexibility of the end device 6 and facilitating the execution of surgical operations.

[0076] In existing end-effector devices, the first and second surgical tools are hinged to the rotary seat via the same rotating shaft. When the relative opening and closing angle of the first and second surgical tools is large, the overall rotation angle of the first and second surgical tools relative to the rotary seat will be limited. (When the relative opening and closing angle of the first and second surgical tools is large, if the overall rotation angle of the first and second surgical tools is also large, one of the surgical tools will interfere with the end-effector device, thus affecting the overall rotation angle of the first and second surgical tools.) In other words, the relative opening and closing angle and the overall rotation angle of the first and second surgical tools are mutually constrained, thereby affecting the movement flexibility of the end-effector device.

[0077] like Figure 5 and Figure 6 As shown, in one embodiment, the transmission part 632 of the first mounting base 63A is connected to the proximal end of its insulating mounting part 631. The length of the second mounting base 63B is less than the length of the first mounting base 63A, and the second mounting base 63B is provided corresponding to the insulating mounting part 631 of the first mounting base 63A. The transmission part 632 of the first mounting base 63A is rotatably connected to the rotating base 62 via a first rotating shaft 65, and the insulating mounting part 631 of the first mounting base 63A, the first surgical tool 64A, the second surgical tool 64B, and the second mounting base 63B are rotatably connected via a second rotating shaft 66.

[0078] Specifically, in this embodiment, the insulating mounting portion 631 and the transmission portion 632 of the second mounting base 63B are arranged axially along the second rotating shaft 66, and the insulating mounting portion 631 of the second mounting base 63B is located on the side of its transmission portion 632 closer to the first mounting base 63A, thereby reducing the length of the second mounting base 63B (it should be noted that the first winding groove 633 on the transmission portion 632 of the second mounting base 63B is insulated from the second mounting groove 636 on its insulating mounting portion 631). The insulating mounting portion 631 of the first mounting base 63A, the first surgical tool 64A, the second surgical tool 64B, and the insulating mounting portion 631 and the transmission portion 632 of the second mounting base 63B are rotatably connected via the second rotating shaft 66. Of course, in other embodiments, the transmission portion 632 of the second mounting base 63B may also be connected to the proximal end of its insulating mounting portion 631 (i.e., adopting a structure similar to that of the first mounting base 63A).

[0079] In this embodiment, the rotating base 62 is provided with a first clamping arm 624 and a second clamping arm 625 spaced apart. The two ends of the first rotating shaft 65 are connected to the first clamping arm 624 and the second clamping arm 625 respectively. The transmission part 632 of the first mounting base 63A is located between the first clamping arm 624 and the second clamping arm 625 and is sleeved on the first rotating shaft 65, thereby achieving a hinged connection between the transmission part 632 of the first mounting base 63A and the rotating base 62. The first rotating shaft 65 and the rotating base 62 are generally made of metal.

[0080] In this embodiment, the insulating mounting portion 631 of the first mounting base 63A, the first surgical tool 64A, the second surgical tool 64B, and the second mounting base 63B are all provided with holes for the second rotating shaft 66 to pass through. One end of the second rotating shaft 66 is provided with a head (not shown). The other end of the second rotating shaft 66 passes through the holes on the insulating mounting portion 631 of the first mounting base 63A, the first surgical tool 64A, the second surgical tool 64B, and the second mounting base 63B in sequence and is connected to a riveting cover plate (not shown). The head and the riveting cover plate limit the movement of the second rotating shaft 66 to prevent it from falling off. At the same time, sealing cover plates (not shown) are provided on the outer walls of the first mounting base 63A and the second mounting base 63B at positions corresponding to both ends of the second rotating shaft 66 to seal the second rotating shaft 66. The second rotating shaft 66 is generally made of metal, while the sealing cover plates can be made of insulating materials such as ceramic or plastic.

[0081] like Figure 6As shown, in one embodiment, a support block 637 protrudes from the inner wall of the transmission part 632 of the first mounting base 63A. The support block 637 has an arc surface 6370. The side wall of the second mounting base 63B near its end abuts against the arc surface 6370, and the second mounting base 63B can rotate along the arc surface 6370. The support block 637 can provide a certain auxiliary support for the second mounting base 63B to ensure the stability of the movement of the second mounting base 63B.

[0082] like Figure 5 and Figure 6 As shown, in one embodiment, both the transmission part 632 of the first mounting base 63A and the transmission part 632 of the second mounting base 63B are provided with a first winding groove 633. The first drive cable 7A is wound in the first winding groove 633 on the transmission part 632 of the first mounting base 63A, and the second drive cable 7B is wound in the first winding groove 633 on the transmission part 632 of the second mounting base 63B.

[0083] like Figure 5 and Figure 6 As shown, in one embodiment, the first rotating shaft 65 is provided with a second winding groove 651, and the second driving cable 7B is wound in a cross shape in the second winding groove 651 and the first winding groove 633 on the transmission part 632 of the second mounting base 63B.

[0084] The second drive cable 7B is arranged in a crisscross pattern, meaning that the first and second sides of the second winding groove 651 correspond to the first and second sides of the first winding groove 633 on the second mounting base 63B, respectively. One end of the second drive cable 7B is wound around the first side of the second winding groove 651 and the second side of the first winding groove 633 on the second mounting base 63B, and the other end of the second drive cable 7B is wound around the second side of the second winding groove 651 and the first side of the first winding groove 633 on the second mounting base 63B, so that the second drive cable 7B is arranged in a crisscross pattern. The advantage of this arrangement is that it allows the second drive cable 7B to be tightly wound within the second winding groove 651 and the first winding groove 633, reducing the amount of suspension (i.e., the suspension length) of the second drive cable 7B, optimizing the movement trajectory of the second drive cable 7B, and facilitating the control of the extension and retraction length of the second drive cable 7B during use.

[0085] like Figure 5 and Figure 6 As shown, in one embodiment, the top of the first winding groove 633 is located inside the transmission part 632, and the bottom of the first winding groove 633 protrudes outside the transmission part 632. The height of the top of the exposed portion of the first winding groove 633 on the second mounting base 63B is less than or equal to the height of the axis A1 of the second rotating shaft 66.

[0086] The vertical distance between the axis A1 of the second rotating shaft 66 and the bottom end of the second part 6402 of the second surgical tool 64B is L1, and the vertical distance between the top of the exposed part of the first winding groove 633 on the second mounting base 63B and the bottom end of the second part 6402 of the second surgical tool 64B is L2, where L1≤L2.

[0087] This design allows the second mounting base 63B to have a large rotation angle (e.g., up to 90°) while ensuring sufficient creepage distance between the second drive cable 7B and the second surgical tool 64B (creepage distance refers to the distance between the top of the exposed portion of the second drive cable 7B and the bottom of the second part 6402 of the second surgical tool 64B; the larger the creepage distance, the lower the risk of leakage from the second surgical tool 64B to the second drive cable 7B). Moreover, when the second mounting base 63B and the second surgical tool 64B are rotating, the creepage distance between the second drive cable 7B and the second surgical tool 64B remains unchanged, thereby preventing leakage from the second surgical tool 64B to the second drive cable 7B and improving safety during use.

[0088] like Figure 5 and Figure 6 As shown, in one embodiment, the insulating mounting portion 631 is provided with a second mounting groove 636 penetrating its inner sidewall (the inner sidewall refers to the sidewall of the first mounting base 63A and the second mounting base 63B that are close to each other). The proximal end of the surgical tool 64 is fixed in the second mounting groove 636. Specifically, the insulating mounting portions 631 of the first mounting base 63A and the second mounting base 63B are both provided with a second mounting groove 636 penetrating their inner sidewalls. The proximal end of the first surgical tool 64A is fixed in the second mounting groove 636 on the first mounting base 63A, and the proximal end of the second surgical tool 64B is fixed in the second mounting groove 636 on the second mounting base 63B. The sidewall of the first surgical tool 64A abuts against the sidewall of the second surgical tool 64B, and there is a certain gap between the inner sidewall of the first mounting base 63A and the inner sidewall of the second mounting base 63B (in other embodiments, the inner sidewall of the first mounting base 63A and the inner sidewall of the second mounting base 63B may also be in contact). That is, when the first surgical tool 64A and the second surgical tool 64B rotate relative to each other, the first surgical tool 64A and the second surgical tool 64B come into frictional contact, while the first mounting base 63A and the second mounting base 63B do not come into contact, thereby reducing or avoiding wear on the first mounting base 63A and the second mounting base 63B.

[0089] Meanwhile, to seal the first mounting base 63A and the second mounting base 63B, a sealing ring (not shown; specifically, a high-temperature resistant insulating sealing ring) is sandwiched between the first mounting base 63A and the second mounting base 63B to prevent external liquids from entering the second mounting groove 636 and causing corrosion, short circuits, or leakage. In this embodiment, a portion of the sealing ring is sandwiched between the first surgical tool 64A and the second surgical tool 64B, and another portion is sandwiched between the first mounting base 63A and the second mounting base 63B.

[0090] like Figure 6 As shown, in one embodiment, an elastic element 67 is sleeved on the second rotating shaft 66, and the elastic element 67 is sandwiched between the surgical tool 64 and the inner sidewall of the second mounting groove 636; the elastic element 67 is used to apply elastic force to the surgical tool 64 so that the sidewall of the first surgical tool 64A and the sidewall of the second surgical tool 64B are in close contact. Specifically, in this embodiment, the elastic element 67 is a spring sheet (or other elastic components), and elastic elements 67 are provided between the first surgical tool 64A and the inner sidewall of the second mounting groove 636 on the first mounting base 63A, and between the second surgical tool 64B and the inner sidewall of the second mounting groove 636 on the second mounting base 63B (of course, in other embodiments, only one elastic element 67 may be provided).

[0091] like Figure 6 As shown, in one embodiment, at least one of the first surgical tool 64A and the second surgical tool 64B is provided with a first arc-shaped groove (not shown), and at least the other is provided with a first protrusion (not shown). The first protrusion is inserted into the first arc-shaped groove and can rotate within the first arc-shaped groove, thereby limiting the rotation angle (opening and closing angle) of the first surgical tool 64A and the second surgical tool 64B.

[0092] In this embodiment, the first surgical tool 64A and the second surgical tool 64B are respectively provided with a first arc-shaped groove and a first protrusion. The first protrusion on the first surgical tool 64A is inserted into the first arc-shaped groove on the second surgical tool 64B, and the first protrusion on the second surgical tool 64B is inserted into the first arc-shaped groove on the first surgical tool 64A.

[0093] like Figure 5 and Figure 6 As shown, in this embodiment, since the first surgical tool 64A and the second surgical tool 64B are in close contact and connected by a second rotating shaft 66 made of metal, the first surgical tool 64A and the second surgical tool 64B have good electrical conductivity (i.e., the first surgical tool 64A and the second surgical tool 64B are electrically connected). Therefore, in this embodiment, only one wire 8 needs to be set to connect to one of the surgical tools 64.

[0094] Specifically, in this embodiment, a wire hole 6310 is provided on the side wall of the insulating mounting portion 631 of the second mounting base 63B. The wire 8 passes through the wire hole 6310 and extends into the second mounting groove 636 on the second mounting base 63B, and is electrically connected to the second surgical tool 64B. Of course, in other embodiments, two wires 8 can also be provided to be electrically connected to the first surgical tool 64A and the second surgical tool 64B respectively.

[0095] like Figure 5 and Figure 6 As shown, in this embodiment, the rotating base 62 is provided with a wiring hole (not shown), and the wire 8 passes through the wiring hole to facilitate the routing of the wire 8.

[0096] like Figures 4 to 6 As shown, in one embodiment, the end device 6 also includes a base 61, which is made of metal. The rotating seat 62 is rotatably connected to the base 61 via a third rotating shaft 611. The surgical instrument also includes a rotating seat drive cable (not shown; the rotating seat drive cable has the same or similar structure and material as drive cable 7), which is connected to the rotating seat 62. The rotating seat 62 can rotate relative to the base 61 under the drive of the rotating seat drive cable. Since the rotating seat 62 is not electrified, the base 61 is also not electrified, thereby reducing the risk of leakage from the surgical instrument and improving safety. The third rotating shaft 611 is perpendicular to the first rotating shaft 65 (i.e., the axis A3 of the third rotating shaft 611 is perpendicular to the axis A2 of the first rotating shaft 65), meaning the rotation axis of the rotating seat 62 and the rotation axis of the surgical tool 64 are perpendicular to each other.

[0097] like Figures 4 to 6 As shown, in one embodiment, the surgical instrument also includes a joint assembly 43, which is made of metal. The base 61 is fixedly connected to the joint assembly 43. The rotation seat drive cable, drive cable 7, and wire 8 are all threaded through the base 61 and the joint assembly 43. Since the base 61 is not electrified, the joint assembly 43 is also not electrified, thereby reducing the risk of leakage of the surgical instrument and improving the safety of use.

[0098] Specifically, in this embodiment, the rotating seat 62 is provided with a third winding groove 621. The proximal end of the rotating seat driving cable is connected to the driving system, and the distal end of the rotating seat driving cable passes through the joint assembly 43 and the base 61 and is wound in the third winding groove 621, thereby driving the rotating seat 62 to rotate.

[0099] The proximal end of the lead wire 8 is electrically connected to a power supply device (not shown), and the distal end of the lead wire 8 passes through the joint assembly 43 and the base 61 and is electrically connected to the surgical instrument 64, thereby supplying power to the surgical instrument 64 to enable its electrocautery and electrocoagulation functions. Meanwhile, because the outer wall of the lead wire 8 is provided with an insulating sheath, the lead wire 8 does not cause the joint assembly 43 and the base 61 to become energized when passing through them.

[0100] The proximal end of the drive cable 7 is connected to the drive system, and the distal end of the drive cable 7 passes through the joint assembly 43 and the base 61 and is connected to the transmission part 632. The drive system drives the drive cable 7 to perform a pulling / retracting action, thereby controlling the rotational movement of the transmission part 632, and further controlling the rotational movement of the insulating mounting part 631 and the surgical tool 64 to achieve corresponding physical shearing and other functions.

[0101] like Figure 3A and Figure 4 As shown, in one embodiment, the joint assembly 43 is a parallel joint, including a joint arm 432, a distal joint 433 connecting the joint arm 432 and the base 61, and a proximal joint 431 connecting the joint arm 432 and the long axis 42. Of course, in other embodiments, a wrist joint (not shown) may also be provided in the joint assembly 43.

[0102] This embodiment also provides a surgical robot, including at least one surgical instrument as described above.

[0103] Second Embodiment

[0104] like Figure 7 and Figure 8 As shown, the surgical instrument provided in the second embodiment of the present invention is basically the same as that in the first embodiment, except that the structure of the mounting base 63 is different and the connection method between the mounting base 63 and the rotating base 62 is different.

[0105] In this embodiment, the transmission part 632 and the insulating mounting part 631 of each mounting base 63 are separate structures. The transmission part 632 is located near the end of the insulating mounting part 631 and is drive-connected to the insulating mounting part 631. Specifically, the transmission part 632 and the insulating mounting part 631 of the first mounting base 63A are separate structures, and the transmission part 632 and the insulating mounting part 631 of the first mounting base 63A are drive-connected. The first drive cable 7A is connected to the transmission part 632 of the first mounting base 63A. The transmission part 632 and the insulating mounting part 631 of the second mounting base 63B are separate structures, and the transmission part 632 and the insulating mounting part 631 of the second mounting base 63B are drive-connected. The second drive cable 7B is connected to the transmission part 632 of the second mounting base 63B.

[0106] In this embodiment, the transmission part 632 is hinged to the insulating mounting part 631; specifically, the transmission part 632 of the first mounting base 63A is hinged to its insulating mounting part 631, and the transmission part 632 of the second mounting base 63B is hinged to its insulating mounting part 631. Both the transmission part 632 of the first mounting base 63A and the transmission part 632 of the second mounting base 63B are rotatably connected to the rotating base 62 via a first rotating shaft 65. The insulating mounting part 631 of the first mounting base 63A, the first surgical tool 64A, the second surgical tool 64B, and the insulating mounting part 631 of the second mounting base 63B are rotatably connected via a second rotating shaft 66. When the first drive cable 7A drives the transmission part 632 of the first mounting base 63A to rotate, the transmission part 632 of the first mounting base 63A drives its insulating mounting part 631 to rotate, thereby driving the first surgical tool 64A to rotate; when the second drive cable 7B drives the transmission part 632 of the second mounting base 63B to rotate, the transmission part 632 of the second mounting base 63B drives its insulating mounting part 631 to rotate, thereby driving the second surgical tool 64B to rotate.

[0107] In this embodiment, the insulating mounting part 631 includes a force-applying rod 6311 and a fixing seat 6312 connected to the distal end of the force-applying rod 6311. The force-applying rod 6311 and the fixing seat 6312 are made of insulating material (specifically, ceramic, PEEK, PI, etc.). The surgical tool 64 is fixedly connected to the fixing seat 6312. The fixing seat 6312 of the first mounting seat 63A, the first surgical tool 64A, the second surgical tool 64B, and the fixing seat 6312 of the second mounting seat 63B are rotatably connected by a second rotating shaft 66. At the same time, an insulating cover plate (not shown) and an insulating shell (not shown) are provided on the outer side wall of the fixing seat 6312 to achieve sealing of the second rotating shaft 66.

[0108] The transmission unit 632 includes a force-applying wheel 6321 and a cam shaft 6322 mounted on the force-applying wheel 6321. The force-applying wheel 6321 is generally made of metal. The force-applying wheel 6321 is rotatably connected to the rotating seat 62 via a first rotating shaft 65. The drive cable 7 is connected to the force-applying wheel 6321, and the cam shaft 6322 is hinged to the force-applying rod 6311. When the drive cable 7 drives the force-applying wheel 6321 to rotate, the force-applying wheel 6321 drives the force-applying rod 6311 to rotate via the cam shaft 6322, which in turn drives the fixed seat 6312 and the corresponding surgical tool 64 to rotate. Since a lever structure is formed between the force-applying wheel 6321 and the force-applying rod 6311, the torque of the mounting seat 63 and the surgical tool 64 during rotation is increased, which is beneficial for cutting operations.

[0109] Specifically, the booster wheel 6321 is sleeved on the first rotating shaft 65, the first winding groove 633 is disposed on the booster wheel 6321, and the drive cable 7 is wound in the first winding groove 633. Figure 7 and Figure 8The drive cable 7 is not shown in the diagram, which drives the force-adding wheel 6321 to rotate around the first rotating shaft 65. The force-adding rod 6311 is provided with a through hole 6314, and the convex shaft 6322 is inserted into the through hole 6314 and can rotate within the through hole 6314, thereby realizing the hinge connection between the convex shaft 6322 and the force-adding rod 6311.

[0110] In this embodiment, the convex shaft 6322 is hinged to the distal end of the force-applying rod 6311. A limiting groove 6313, which is an arc-shaped groove, is provided on the proximal end of the force-applying rod 6311. The first rotating shaft 65 is located within the limiting groove 6313. By setting the limiting groove 6313 to cooperate with the first rotating shaft 65, not only can the force-applying rod 6311 be provided with a certain degree of support, making its movement more stable, but the range of its movement angle can also be limited. Simultaneously, since the first surgical tool 64A and the second surgical tool 64B rotate in opposite directions during operation—that is, the force-applying rod 6311 of the first mounting base 63A rotates in opposite directions to the force-applying rod 6311 of the second mounting base 63B—the openings of the limiting groove 6313 on the force-applying rod 6311 of the first mounting base 63A and the limiting groove 6313 on the force-applying rod 6311 of the second mounting base 63B are opposite (i.e., their groove openings are opposite).

[0111] In this embodiment, the insulating mounting portion 631 is provided with a second mounting groove 636 penetrating its inner sidewall (specifically, the second mounting groove 636 is disposed on the fixing seat 6312), and the proximal end of the surgical tool 64 is fixed in the second mounting groove 636. The sidewall of the first surgical tool 64A abuts against the sidewall of the second surgical tool 64B, and there is a certain gap between the inner sidewall of the fixing seat 6312 of the first mounting seat 63A and the inner sidewall of the fixing seat 6312 of the second mounting seat 63B (in other embodiments, the inner sidewalls of the two fixing seats 6312 may also be in contact). That is, when the first surgical tool 64A and the second surgical tool 64B rotate relative to each other, the first surgical tool 64A and the second surgical tool 64B make frictional contact, while the two fixing seats 6312 do not contact each other, thereby reducing or avoiding wear on the fixing seats 6312.

[0112] Meanwhile, in order to seal the two fixing seats 6312, a sealing ring (not shown) is sandwiched between the two fixing seats 6312.

[0113] In this embodiment, an elastic element 67 is sleeved on the second rotating shaft 66, and the elastic element 67 is sandwiched between the surgical tool 64 and the inner sidewall of the second mounting groove 636; the elastic element 67 is used to apply elastic force to the surgical tool 64 so that the sidewall of the first surgical tool 64A is in close contact with the sidewall of the second surgical tool 64B.

[0114] In this embodiment, since the first surgical tool 64A and the second surgical tool 64B are in close contact and connected by a second rotating shaft 66 made of metal, there is good electrical conductivity between them. Therefore, in this embodiment, only one wire 8 needs to be provided to connect to one of the surgical tools 64. In this embodiment, the wire 8 passes through the side wall of the fixing base 6312 and extends into the second mounting groove 636, where it is electrically connected to one of the surgical tools 64.

[0115] In this embodiment, when the insulating mounting part 631 is made of plastic, the surgical tool 64 and the insulating mounting part 631 can be integrally molded by injection molding.

[0116] Other structures, functions, and principles of this embodiment are the same as or similar to those of the first embodiment, and will not be repeated here.

[0117] Third Embodiment

[0118] like Figure 9 and Figure 10 As shown, the surgical instrument provided in the third embodiment of the present invention is basically the same as that in the first embodiment, except that the structure of the mounting base 63 is different and the connection method between the mounting base 63 and the rotating base 62 is different.

[0119] In this embodiment, the transmission part 632 and the insulating mounting part 631 of the first mounting base 63A and the transmission part 632 and the insulating mounting part 631 of the second mounting base 63B are both integral structures, with the transmission part 632 connected to the proximal end of the insulating mounting part 631. The first mounting base 63A and the second mounting base 63B can be made of insulating materials such as ceramic, PEEK, and PI.

[0120] The transmission unit 632 is provided with a first winding groove 633 and a cable groove 634, which are spaced apart. The drive cable 7 is wound in the first winding groove 633. The proximal end of the surgical tool 64 is fixed in the insulating mounting part 631. One end of the wire 8 passes around the cable groove 634 and extends into the insulating mounting part 631 and is electrically connected to the surgical tool 64.

[0121] In this embodiment, the transmission part 632 of the first mounting base 63A and the transmission part 632 of the second mounting base 63B are both rotatably connected to the rotating base 62 via the first rotating shaft 65. That is, in this embodiment, both the first mounting base 63A and the second mounting base 63B can rotate around the first rotating shaft 65, thereby enabling the first surgical tool 64A and the second surgical tool 64B to rotate relative to each other.

[0122] The insulating mounting portion 631 is provided with a first mounting groove 635 that does not penetrate its inner wall. The proximal end of the surgical tool 64 is fixed in the first mounting groove 635 (specifically, it is fixed in the first mounting groove 635 with the assistance of a fixing pin, that is, the fixing pin passes through both the insulating mounting portion 631 and the surgical tool 64). Specifically, the insulating mounting portions 631 of the first mounting base 63A and the second mounting base 63B are both provided with a first mounting groove 635 that does not penetrate its inner wall. The proximal end of the first surgical tool 64A is fixed in the first mounting groove 635 on the first mounting base 63A, and the proximal end of the second surgical tool 64B is fixed in the first mounting groove 635 on the second mounting base 63B. The inner wall of the first mounting base 63A abuts against the inner wall of the second mounting base 63B (specifically, the inner wall of the insulating mounting part 631 of the first mounting base 63A abuts against the inner wall of the transmission part 632 of the second mounting base 63B, and / or the inner wall of the first mounting base 63A abuts against the inner wall of the transmission part 632 of the second mounting base 63B), that is, when the first surgical tool 64A and the second surgical tool 64B rotate relative to each other, the inner wall of the first mounting base 63A and the inner wall of the second mounting base 63B come into frictional contact.

[0123] In this embodiment, an elastic element 67 is sleeved on the first rotating shaft 65, and the elastic element 67 is sandwiched between the transmission part 632 and the rotating seat 62; the elastic element 67 is used to apply elastic force to the mounting seat 63 so that the inner sidewall of the first mounting seat 63A is in close contact with the inner sidewall of the second mounting seat 63B.

[0124] Specifically, in this embodiment, the rotating base 62 is provided with a first clamping arm 624 and a second clamping arm 625 spaced apart. The two ends of the first rotating shaft 65 are connected to the first clamping arm 624 and the second clamping arm 625 respectively. The transmission part 632 of the first mounting base 63A and the transmission part 632 of the second mounting base 63B are both located between the first clamping arm 624 and the second clamping arm 625 and sleeved on the first rotating shaft 65, thereby achieving hinged connection between the transmission part 632 of the first mounting base 63A and the transmission part 632 of the second mounting base 63B and the rotating base 62. An elastic member 67 is clamped between the transmission part 632 of the first mounting base 63A and the first clamping arm 624, and between the transmission part 632 of the second mounting base 63B and the second clamping arm 625.

[0125] In this embodiment, the mounting base 63 has a receiving groove (not shown) for mounting the fixing block, and the inner side wall of the mounting base 63 has a mounting opening (not shown) communicating with the receiving groove, through which the fixing block can be installed into the receiving groove. The inner side wall of the mounting base 63 has an insulating sealing cover (not shown) to seal the mounting opening. The insulating sealing cover can be made of insulating materials such as ceramic, PEEK, or PI.

[0126] In this embodiment, at least one of the first mounting base 63A and the second mounting base 63B has a second arc-shaped groove (not shown) on its inner sidewall, and at least the other has a second protrusion (not shown) on its inner sidewall. The second protrusion is inserted into the second arc-shaped groove and can rotate within the second arc-shaped groove, thereby limiting the rotation angle of the first mounting base 63A and the second mounting base 63B, and further limiting the rotation angle (opening and closing angle) of the first surgical tool 64A and the second surgical tool 64B.

[0127] In this embodiment, the first mounting base 63A and the second mounting base 63B are respectively provided with a second arc-shaped groove and a second protrusion. The second protrusion on the first mounting base 63A is inserted into the second arc-shaped groove on the second mounting base 63B, and the second protrusion on the second mounting base 63B is inserted into the second arc-shaped groove on the first mounting base 63A.

[0128] In this embodiment, although the first surgical tool 64A and the second surgical tool 64B will also come into contact with each other, the contact area between the two is relatively small and the electrical connection is unstable. Therefore, this embodiment is provided with two wires 8 that are electrically connected to the first surgical tool 64A and the second surgical tool 64B respectively to improve the stability of the power supply.

[0129] Other structures, functions, and principles of this embodiment are the same as or similar to those of the first embodiment, and will not be repeated here.

[0130] It should be noted that the surgical instruments in the first to third embodiments can be monopolar instruments, or they can be used as bipolar instruments after corresponding structural adjustments.

[0131] In this document, the directional terms such as up, down, left, right, front, and back are defined according to the position of the structures in the accompanying drawings and the relative positions of the structures, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed by this invention. It should also be understood that the terms "first" and "second," etc., used herein are only used for distinction in name and are not used to limit the number or order.

[0132] The above description is merely an embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above by way of embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content without departing from the scope of the technical solution of the present invention. These are equivalent embodiments with equivalent changes. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the technical solution of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A surgical instrument, characterized in that, It includes an end device (6), at least one drive cable (7) and at least one wire (8), the end device (6) including a rotating base (62), at least one mounting base (63) and at least one surgical tool (64); Each of the mounting bases (63) includes an insulating mounting portion (631) and a transmission portion (632), the transmission portion (632) being connected to the insulating mounting portion (631), the surgical tool (64) being fixedly connected to the insulating mounting portion (631), and the wire (8) being electrically connected to the surgical tool (64). The transmission part (632) is rotatably connected to the rotating seat (62), and the drive cable (7) is connected to the transmission part (632); the transmission part (632) can rotate relative to the rotating seat (62) under the drive of the drive cable (7), thereby driving the insulating mounting part (631) and the surgical tool (64) to rotate.

2. The surgical instrument as described in claim 1, characterized in that, The transmission part (632) is provided with a first winding groove (633), and the drive cable (7) is wound in the first winding groove (633).

3. The surgical instrument as described in claim 1, characterized in that, The transmission part (632) and the insulating mounting part (631) are an integral structure; or, the transmission part (632) and the insulating mounting part (631) are separate structures, and the transmission part (632) and the insulating mounting part (631) are connected in a transmission manner.

4. The surgical instrument as described in claim 1, characterized in that, The proximal end of the surgical tool (64) is fixed inside the insulating mounting part (631); the transmission part (632) and the insulating mounting part (631) are an integral structure, the transmission part (632) is provided with a cable groove (634), one end of the wire (8) passes around the cable groove (634) and extends into the insulating mounting part (631) and is electrically connected to the surgical tool (64).

5. The surgical instrument as described in claim 1, characterized in that, The surgical instrument also includes a rotating seat drive cable, and the end device (6) also includes a base (61). The rotating seat (62) is rotatably connected to the base (61). The rotating seat drive cable is connected to the rotating seat (62), and the rotating seat (62) can rotate relative to the base (61) under the drive of the rotating seat drive cable.

6. The surgical instrument as described in claim 5, characterized in that, The surgical instrument also includes a joint assembly (43), and the base (61) is fixedly connected to the joint assembly (43); the rotating seat drive cable, the drive cable (7) and the wire (8) are all threaded through the joint assembly (43).

7. The surgical instrument as described in claim 1, characterized in that, At least one of the mounting bases (63) includes a first mounting base (63A) and a second mounting base (63B) disposed adjacent to each other, and at least one of the surgical tools (64) includes a first surgical tool (64A) and a second surgical tool (64B). The first surgical tool (64A) is fixedly connected to the insulating mounting portion (631) of the first mounting base (63A), and the second surgical tool (64B) is fixedly connected to the insulating mounting portion (631) of the second mounting base (63B). At least one of the drive cables (7) includes a first drive cable (7A) and a second drive cable (7B), the first drive cable (7A) being connected to the transmission part (632) of the first mounting base (63A), and the second drive cable (7B) being connected to the transmission part (632) of the second mounting base (63B).

8. The surgical instrument as described in claim 7, characterized in that, The transmission part (632) of each of the mounting bases (63) is integral with the insulating mounting part (631), and the transmission part (632) is connected to the proximal end of the insulating mounting part (631); the transmission part (632) of the first mounting base (63A) and the transmission part (632) of the second mounting base (63B) are rotatably connected to the rotating base (62) through the first rotating shaft (65).

9. The surgical instrument as described in claim 8, characterized in that, The insulating mounting part (631) is provided with a first mounting groove (635) that does not penetrate its inner sidewall, and the proximal end of the surgical tool (64) is fixed in the first mounting groove (635); the inner sidewall of the first mounting seat (63A) abuts against the inner sidewall of the second mounting seat (63B).

10. The surgical instrument as described in claim 9, characterized in that, An elastic element (67) is sleeved on the first rotating shaft (65), and the elastic element (67) is sandwiched between the transmission part (632) and the rotating seat (62); the elastic element (67) is used to apply elastic force to the mounting seat (63) so that the inner sidewall of the first mounting seat (63A) is in close contact with the inner sidewall of the second mounting seat (63B).

11. The surgical instrument as claimed in claim 7, characterized in that, The transmission part (632) of each mounting base (63) is integral with the insulating mounting part (631). The transmission part (632) of the first mounting base (63A) is connected to the proximal end of its insulating mounting part (631). The length of the second mounting base (63B) is less than the length of the first mounting base (63A). The second mounting base (63B) is provided corresponding to the insulating mounting part (631) of the first mounting base (63A). The transmission part (632) of the first mounting base (63A) is rotatably connected to the rotating base (62) through a first rotating shaft (65). The insulating mounting part (631) of the first mounting base (63A) and the second mounting base (63B) are rotatably connected through a second rotating shaft (66).

12. The surgical instrument as described in claim 11, characterized in that, The transmission part (632) is provided with a first winding groove (633), and the first rotating shaft (65) is provided with a second winding groove (651); the first driving cable (7A) is wound in the first winding groove (633) on the transmission part (632) of the first mounting base (63A), and the second driving cable (7B) is wound in a cross shape in the second winding groove (651) and the first winding groove (633) on the transmission part (632) of the second mounting base (63B).

13. The surgical instrument as described in claim 7, characterized in that, The transmission part (632) and the insulating mounting part (631) of each mounting base (63) are separate structures, and the transmission part (632) and the insulating mounting part (631) are hinged together; the transmission part (632) of the first mounting base (63A) and the transmission part (632) of the second mounting base (63B) are rotatably connected to the rotating base (62) through the first rotating shaft (65), and the insulating mounting part (631) of the first mounting base (63A) and the insulating mounting part (631) of the second mounting base (63B) are rotatably connected through the second rotating shaft (66).

14. The surgical instrument as described in claim 13, characterized in that, The insulating mounting part (631) includes a force-applying rod (6311) and a fixed seat (6312) connected to the distal end of the force-applying rod (6311). The surgical tool (64) is fixedly connected to the fixed seat (6312). The fixed seat (6312) of the first mounting seat (63A) and the fixed seat (6312) of the second mounting seat (63B) are rotatably connected through the second rotating shaft (66). The transmission part (632) includes a force-applying wheel (6321) and a convex shaft (6322) disposed on the force-applying wheel (6321). The force-applying wheel (6321) is rotatably connected to the rotating seat (62) through the first rotating shaft (65). The drive cable (7) is connected to the force-applying wheel (6321). The convex shaft (6322) is hinged to the force-applying rod (6311).

15. The surgical instrument as described in claim 14, characterized in that, The convex shaft (6322) is hinged to the distal end of the force-adding rod (6311), and a limiting groove (6313) is provided on the proximal end of the force-adding rod (6311). The first rotating shaft (65) is located in the limiting groove (6313). The limiting groove (6313) on the force-adding rod (6311) of the first mounting base (63A) has the opposite opening to the limiting groove (6313) on the force-adding rod (6311) of the second mounting base (63B).

16. The surgical instrument as described in any one of claims 11-15, characterized in that, The insulating mounting part (631) is provided with a second mounting groove (636) that penetrates its inner sidewall, and the proximal end of the surgical tool (64) is fixed in the second mounting groove (636); the sidewall of the first surgical tool (64A) abuts against the sidewall of the second surgical tool (64B).

17. The surgical instrument as claimed in claim 16, characterized in that, An elastic element (67) is sleeved on the second rotating shaft (66), and the elastic element (67) is sandwiched between the surgical tool (64) and the inner sidewall of the second mounting groove (636); the elastic element (67) is used to apply elastic force to the surgical tool (64) so ​​that the sidewall of the first surgical tool (64A) is in close contact with the sidewall of the second surgical tool (64B).

18. A surgical robot, characterized in that, It includes at least one surgical instrument as described in any one of claims 1-17.

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