Multi-stage docking positioning surgical device

Abstract

The present application relates to a kind of multi-stage docking positioning surgical device.The surgical device includes: docking positioning component, docking positioning component is used to guide and limit the relative position in the docking process of driving end and execution end, including: docking coarse positioning component, including first guide part and first apposition part, and docking fine positioning component, including second guide part and second apposition part;And modalized driving component, driving end is driven execution end via modalized driving component, and modalized driving component includes driving component positioning component, including third guide part and third apposition part, wherein in the docking process of driving end and execution end, the docking of first guide part and first apposition part is prior to the docking of second guide part and second apposition part, and the docking of second guide part and second apposition part is prior to the docking of third guide part and third apposition part, so that modalized driving component alignment.

Description

Technical Field

[0001] This invention relates to a surgical device with multi-level docking and positioning, and more particularly to a surgical device with multiple sets of modal drive components that require high-precision docking. The device achieves precise docking through multi-level docking and positioning, providing high-precision alignment for each modal drive component. Background Technology

[0002] Reliable docking between the drive end and the replaceable actuator end of a surgical device is one of the development directions for surgical equipment. By separating the actuator end as a consumable from the drive end, the actuator end can be disposable or reused a limited number of times, reducing the number of sterilization cycles and allowing for savings in material costs.

[0003] To meet the multi-motion requirements of complex surgical procedures, multimodal actuation has become the mainstream development direction for surgical devices, including mechanical actuation, hydraulic actuation, and pneumatic actuation. These modal actuation components place extremely high demands on the docking accuracy and reliability of the drive end and the execution end. Not only is it necessary to ensure the stable transmission of electrical communication signals, but also to ensure high-precision alignment of each power transmission interface to avoid power loss or component damage.

[0004] Existing single-stage docking positioning structures have defects, failing to balance docking smoothness and alignment accuracy. This can easily lead to problems such as inaccurate docking and wear of ports of multi-modal drive components, including electrical, optical, hydraulic, and pneumatic components, and thus cannot meet the high-precision alignment requirements of multi-modal drive.

[0005] For example, current advanced electrical connection interfaces have more than 20 pins, with a pin spacing of less than 3mm. The connection must be secure to ensure signal transmission. Existing positioning structures are prone to pin misalignment, jamming, bending, and poor contact. Inaccurate fiber optic transmission port connections can cause heat to dissipate between the drive and actuator ends and the interface during operation, accelerating the aging of electronic components on the drive end. Inaccurate connections to liquid or gas transmission ports can lead to leakage of the drive fluid or gas, causing losses.

[0006] In addition, the existing locking structure of the single-ended unlock button poses a risk of accidental activation during surgery, which could lead to the drive end and the execution end becoming detached unexpectedly, and does not comply with the relevant safety operating procedures.

[0007] Therefore, there is an urgent need to develop a surgical device that has high-precision alignment capabilities, ensures the stability of docking, and improves the smoothness of docking. Summary of the Invention

[0008] In order to achieve one or more of the above-mentioned objectives of the present invention, the present invention provides a multi-level docking and positioning surgical device, including a drive end and an execution end that are detachably docked.

[0009] In a first example of the surgical device, the device includes: a docking positioning component for guiding and defining the relative positions of the driving end and the execution end during the docking process; the docking positioning component includes: a coarse docking positioning component, which includes a first guide portion and a first mating portion respectively disposed on one of the driving end and the execution end; and a fine docking positioning component, which includes a second guide portion and a second mating portion respectively disposed on one of the driving end and the execution end; and a modal driving component, which drives the execution end via the modal driving component; the modal driving component includes a driving component positioning component, which includes a third guide portion and a third mating portion respectively disposed on one of the driving end and the execution end, wherein during the docking process between the driving end and the execution end, the docking of the first guide portion and the first mating portion precedes the docking of the second guide portion and the second mating portion, and the docking of the second guide portion and the second mating portion precedes the docking of the third guide portion and the third mating portion, thereby aligning the modal driving component.

[0010] As described above, the phased docking of the positioning components (coarse and fine positioning) and the driving component positioning components ensures that the driving end 1 and the execution end 2 are aligned, providing a high-precision docking environment for the docking of the modal driving components.

[0011] In a second example of the surgical device, the first example may be optionally included. The surgical device further includes: a first guide portion of the docking coarse positioning assembly including a guide locking buckle, the guide locking buckle including an elongated body portion extending from a first of the driving end and the actuating end toward a second and a buckle portion located at the free end of the elongated body portion; a first mating portion of the docking coarse positioning assembly including a guide locking groove disposed in the second and including a groove portion corresponding to the buckle portion on the hole wall, wherein the docking of the docking coarse positioning assembly is the docking of the guide locking buckle and the guide locking groove; the docking coarse positioning assembly further includes a guide unlock button disposed in the second and used to actuate any part in the groove portion to disengage from the engaging engagement of the groove portion.

[0012] As described above, the coarse positioning assembly includes a slender buckle, which serves as a preliminary guide and can also act as a lock, eliminating the need for a separate preliminary guide component.

[0013] In a third example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a second mating portion of the docking precision positioning component including a guide peripheral wall extension, the guide peripheral wall extension extending from the peripheral wall of the second to the first; and a second guide portion of the docking precision positioning component including a guide boss, the guide boss extending from the first to the second, such that the inner surface of the peripheral wall of the guide peripheral wall extension abuts with the peripheral surface of the guide boss, wherein the docking of the docking precision positioning component is the docking of the guide boss and the guide peripheral wall extension.

[0014] As described above, the large contact area around the boss allows for precise alignment, reducing wobbling.

[0015] In a fourth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes a safety locking buckle assembly, which includes: a safety locking slot disposed on the inner surface of the peripheral wall of the guide peripheral wall extension; a safety locking buckle disposed on the peripheral surface of the guide boss, and the safety locking buckle protrudes in a direction away from the peripheral surface of the boss by bias of an elastic element disposed in the guide boss; and a safety unlock button disposed at the first example, for actuating the safety locking buckle to retract against the bias of the elastic element.

[0016] Based on the above configuration, improved security performance can be achieved. The two unlocking buttons are respectively located on the driver end and the execution end, making it impossible to unlock with one hand. Both hands must be used to unlock, which can prevent accidental unlocking from causing the driver end and the execution end to accidentally detach, thus improving security.

[0017] In a fifth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a modal drive assembly comprising: an electric drive assembly providing an electrical signal path between a drive end and an execution end; the electric drive assembly comprising: a female electrical connector disposed at the drive end and a male electrical connector disposed at the execution end; a third guide portion of the drive assembly positioning assembly comprising an electrical connection boss surrounding and extending from one of the female and male electrical connectors toward the other; and a third mating portion of the drive assembly positioning assembly comprising an electrical connection peripheral wall extension surrounding and extending toward the other of the female and male electrical connectors.

[0018] In a sixth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a modal drive assembly comprising: an electric drive assembly, the electric drive assembly providing an electrical signal path between a drive end and an execution end, and the electric drive assembly including: a female electrical connector disposed at the drive end and a male electrical connector disposed at the execution end; a third guide portion of the drive assembly positioning assembly including an electrical connection guide post, the electrical connection guide post being close to and extending from one of the female and male electrical connectors toward the other; and a third mating portion of the drive assembly positioning assembly including an electrical connection guide hole, the electrical connection guide hole being close to and open toward the other of the female and male electrical connectors.

[0019] In a seventh example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: the free end of the electrical connection guide post having a tapered shape, and the opening of the electrical connection guide hole having a flared shape.

[0020] As described above, the tapered and flared shapes make the insertion of the electrical connection guide post into the electrical connection guide hole smoother and reduce the possibility of jamming requiring re-insertion.

[0021] In the eighth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a drive assembly positioning assembly including: an electrocoarse positioning assembly, the electrocoarse positioning assembly including a third guide portion and a third mating portion; and an electrofine positioning assembly, the electrofine positioning assembly including a fourth guide portion and a fourth mating portion respectively disposed on one of the drive end and the execution end, wherein during the docking process between the drive end and the execution end, the docking of the third guide portion and the third mating portion precedes the docking of the fourth guide portion and the fourth mating portion; the fourth guide portion includes an electrical connection boss, the electrical connection boss surrounding and extending from one of the electrical connector female head and the electrical connector male head toward the other; the fourth mating portion includes an electrical connection peripheral wall extension, the electrical connection peripheral wall extension surrounding the other of the electrical connector female head and the electrical connector male head and extending toward the other.

[0022] As described above, the electric drive assembly also includes coarse positioning and fine positioning to further improve the accuracy of alignment between the drive end and the actuator end.

[0023] In a ninth example of the surgical device, one or more of the examples above may be included, and the surgical device further includes: the periphery of the electrical connection boss includes rounded edges, and the dimensions of the electrical connection peripheral wall extension are designed to allow for clearance relative to the dimensions of the periphery of the electrical connection boss.

[0024] As described above, this configuration facilitates smooth and successful docking and reduces the likelihood of jamming requiring re-insertion.

[0025] In the tenth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a modal drive assembly comprising: a mechanical drive assembly, the mechanical drive assembly providing a force transmission path between the drive end and the execution end, and the mechanical drive assembly including: a corresponding drive docking key disposed at the drive end and a driven docking key disposed at the execution end; a third guide portion of the drive assembly positioning assembly including a docking key protrusion extending from the free end of one of the drive docking key and the driven docking key toward the other; and a third mating portion of the drive assembly positioning assembly including a docking key recess disposed at the free end of the other of the drive docking key and the driven docking key, open toward one of them, wherein the docking key recess is a hole or a groove, and the docking key protrusion is a key with a shape corresponding to the docking key recess.

[0026] As described above, the large-area contact between the concave and convex portions optimizes the force transmission path.

[0027] In the eleventh example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a drive assembly positioning assembly including: a mechanical precision positioning assembly, the mechanical precision positioning assembly including a third guide portion and a third mating portion, and a mechanical coarse positioning assembly, the mechanical coarse positioning assembly including a fifth guide portion and a fifth mating portion respectively disposed on one of the drive end and the execution end, wherein during the docking process between the drive end and the execution end, the docking of the fifth guide portion and the fifth mating portion precedes the docking of the third guide portion and the third mating portion. The fifth guide portion includes a tapered guide surface that extends from the free end of one of the drive docking key and the driven docking key toward the other. The fifth mating portion includes a flared guide surface that is open at the free end of the other of the drive docking key and the driven docking key toward one of them.

[0028] As described above, the inclined guide surfaces of these shapes, such as flared and tapered shapes, facilitate smooth and successful docking.

[0029] In the twelfth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a modal drive assembly comprising: an optical drive assembly, the optical drive assembly providing an optical transmission path between the drive end and the execution end, and the optical drive assembly comprising: a corresponding optical path output end disposed at the drive end and an optical path input end disposed at the execution end; a third guide portion of the drive assembly positioning assembly comprising an optical path guide post, the optical path guide post being close to and extending from one of the optical path output end and the optical path input end toward the other; and a third mating portion of the drive assembly positioning assembly comprising an optical path guide hole, the optical path guide hole being close to and open toward the other of the optical path output end and the optical path input end.

[0030] The configuration described above helps align the light-driven components and avoids abnormal heat generation caused by misalignment.

[0031] In the thirteenth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a drive assembly positioning assembly including: a coarse optical positioning assembly, the coarse optical positioning assembly including a third guide portion and a third mating portion; and a fine optical positioning assembly, the fine optical positioning assembly including a fourth guide portion and a fourth mating portion respectively disposed on one of the drive end and the execution end, wherein during the docking process between the drive end and the execution end, the docking of the third guide portion and the third mating portion precedes the docking of the fourth guide portion and the fourth mating portion. The fourth guide portion includes an optical path boss, the optical path boss surrounding and extending from one of the optical path output end and the optical path input end toward the other. The fourth mating portion includes an optical path recess, the optical path recess surrounding the other of the optical path output end and the optical path input end and opening toward one of them.

[0032] As described above, the large contact area around the boss allows for precise alignment, reducing wobbling.

[0033] In the fourteenth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: an optical fiber, wherein the optical fiber segment near the optical path output end includes a heat insulation material layer, the heat insulation material layer includes a ceramic material, and / or wherein the optical fiber includes an optical taper, the optical fiber segment where the optical taper is located is away from the optical path output end, and the optical taper is disposed at the entrance end of the optical fiber.

[0034] Based on the above configuration, by using heat-insulating materials, the light cone with the greatest heat generation is removed from the output end of the optical path, which can reduce the heat dissipation of the optical fiber section in the driving end.

[0035] In a fifteenth example of the surgical device, one or more of the above examples may be optionally included. The surgical device further includes: a modal drive assembly comprising: a hydraulic drive assembly providing a hydraulic path between a drive end and an actuation end, and the hydraulic drive assembly comprising: a hydraulic output end disposed at the drive end and a hydraulic input end disposed at the actuation end; and / or a pneumatic drive assembly providing an airflow path between the drive end and the actuation end, and the pneumatic drive assembly comprising: a pneumatic output end disposed at the drive end and a pneumatic input end disposed at the actuation end.

[0036] Based on the configuration described above, the various modal drive components may further include liquid or gas drive components.

[0037] This invention proposes a surgical device with multi-level docking positioning. The docking is carried out in stages by guiding the positioning components of coarse positioning, fine positioning, and modal drive components. The docking is constrained by the contact time sequence. While ensuring smooth docking, it provides support for high-precision alignment of modal drive components of electrical, optical, hydraulic, and pneumatic types, thereby improving the operational safety and stability of the surgical device.

[0038] This solution features a two-hand disassembly safety mechanism, which can solve the problem of accidental disassembly of existing surgical instruments during surgery. It is also easy to operate and improves the operational safety and stability of the surgical device. Attached Figure Description

[0039] To describe embodiments of the above and other features of the present invention, a more detailed description of the invention will be presented with reference to exemplary embodiments of the invention shown in the accompanying drawings. It is to be understood that these drawings depict only exemplary embodiments of the invention and should not be considered as limiting its scope; the invention will be described and explained using the drawings and with the aid of additional features and details. In the drawings: Figure 1 This is a perspective view of the drive end of a surgical device according to an embodiment of the present invention.

[0040] Figure 2 This is a perspective view of the execution end of a surgical device according to an embodiment of the present invention.

[0041] Figure 3A This is a perspective view of the electrical connector female of the electrical drive component of a modal drive component according to an embodiment of the present invention.

[0042] Figure 3B This is a perspective view of the male electrical connector of the electrical drive assembly of a modal drive assembly according to an embodiment of the present invention.

[0043] Figure 4A This is a perspective view of the electrical connector female of the electrical drive assembly of the modal drive assembly according to another embodiment of the present invention.

[0044] Figure 4B This is a perspective view of the male electrical connector of the electrical drive assembly of a modal drive assembly according to another embodiment of the present invention.

[0045] Figure 5A This is a perspective view of the electrical connector female of the electrical drive assembly of the modal drive assembly according to another embodiment of the present invention.

[0046] Figure 5B This is a perspective view of the male electrical connector of the electrical drive assembly of a modal drive assembly according to another embodiment of the present invention.

[0047] Figure 6A This is a perspective view of the electrical connector female of the electrical drive assembly of the modal drive assembly according to another embodiment of the present invention.

[0048] Figure 6B This is a perspective view of the male electrical connector of the electrical drive assembly of a modal drive assembly according to another embodiment of the present invention.

[0049] Figure 7 This is a perspective view of the drive docking key and the driven docking key of the mechanical drive component of a modal drive component according to an embodiment of the present invention.

[0050] Figure 8 This is a perspective view of the drive docking key and the driven docking key of the mechanical drive component of the modal drive component according to another embodiment of the present invention.

[0051] Figure 9 This is a perspective view of the drive docking key and the driven docking key of the mechanical drive component of the modal drive component according to another embodiment of the present invention.

[0052] The accompanying drawings are drawn roughly to scale; however, the dimensions in the drawings are merely schematic and do not need to be strictly to scale, but are intended to make the illustration clearer. Other relative dimensions may be used in other embodiments. Throughout this and all subsequent descriptions, the same features appearing in different drawings are indicated by the same or similar reference numerals.

[0053] List of reference numerals in the attached diagram: 100 surgical devices 1. Driver end 2. Execution end 3. Docking and positioning components 31. Coarse positioning assembly for docking 311 Guide Locking Slot 312 Guide Locking Buckle 312a Slender main body 312b Buckle Part 313 Guided unlock button 32. Dating and Precision Positioning Components 321 Guide peripheral wall extension 321a Inner surface of peripheral wall 321b Peripheral wall rounded edge 322 Guide Boss 322a Peripheral surface of boss 322b Boss with rounded edges 4 Electric drive components 401 female electrical connector 402 male electrical connector 41 Electro-coating positioning assembly 411 Electrical connection guide post 412 Electrical connection guide hole 42 Electro-positioning assembly 421 Electrical connection boss 422 Electrical connection peripheral wall extension 5 Mechanical drive components 501 Driver docking key 502 Slave docking key 51 Mechanical Precision Positioning Components 511 docking key recess 512 Key Protrusion 52 Mechanical coarse positioning assembly 521 Flared Guide Surface 522 tapered guide surface 6. Optical drive components 601 Optical Path Output Terminal 602 Optical Input Terminal 61. Coarse Positioning Component 611 Optical Path Guide Post 612 Optical Path Guide Hole 62 Optical Precision Positioning Components 621 Optical Path Boss 622 Light path concave part 7. Safety locking buckle assembly 701 Security Lock Slot 702 Safety Locking Clip 703 Security Unlock Button Detailed Implementation

[0054] First, this invention primarily relates to devices in any field of mechanical devices, including those with detachable docking ports. In particular, this invention relates to the field of surgical devices requiring high-precision alignment, such as surgical devices with modal drive components, but is not limited thereto.

[0055] As used herein, the term "connection" is intended to describe the act of joining or fastening two or more objects together to achieve structural, mechanical, or electrical continuity. This may involve direct contact, interlocking components, or the use of fasteners, adhesives, or conductive materials to create a strong or functional bond between the connected objects. Electrical connections may include the use of wires, terminals, crimping, etc.

[0056] In the context of this invention, "shape fit" refers to the ability of at least a portion of the shape of one component to fit with at least a portion of the shape of another component. This "shape fit" does not require a perfect shape match; it can be a partial shape match. For example, one component may be convex and can be received in the curved recess of another component, or a key of one component may be partially received in the groove of another component. As long as there is a force transmission path, however small, it is within the scope of this invention.

[0057] The term "drive" as used in this article refers to providing power, electrical signals, light, etc., to the actuator of the surgical device.

[0058] The term "modal" as used in this article is intended to refer to the type of power and signal transmission supported by the drive component.

[0059] The terms “including,” “having,” “comprising,” and variations thereof, as used herein, are intended as open-ended transitional phrases, terms, or words that require the presence of a specified component / step, but also allow for the presence of other components / steps.

[0060] In this invention, unless explicitly stated otherwise, the terms “first,” “second,” “third,” etc., are not intended to indicate any difference in order, position, quantity, or importance, but are merely used as labels to distinguish different positions or components, to differentiate one element, component, region, and / or location from another element, component, region, and / or location.

[0061] First, refer to Figure 1 and Figure 2 The surgical device 100 of the present invention will be illustrated herein. Figure 1 and Figure 2 This is a perspective view of the drive end 1 and the execution end 2 of the surgical device 100 according to an embodiment of the present invention.

[0062] The surgical device 100 of the present invention generally includes a driving end 1, an execution end 2, a docking and positioning component 3, and a modal driving component.

[0063] The drive end 1 and the actuator end 2 are detachably docked. The docking positioning component 3 is used to guide and define the relative position of the drive end 1 and the actuator end 2 during the docking process. The drive end 1 allows the actuator end 2 to be driven via the modal drive component.

[0064] During the docking process between the driver end 1 and the execution end 2, the docking of the docking positioning component 3 precedes the docking of the modal driver component.

[0065] The docking positioning component 3 includes a coarse docking positioning component 31 and a fine docking positioning component 32.

[0066] The coarse positioning assembly 31 may include a first guide portion and a first mating portion respectively disposed on one of the drive end 1 and the execution end 2. The fine positioning assembly 32 includes a second guide portion and a second mating portion respectively disposed on one of the drive end 1 and the execution end 2. During the docking process between the drive end 1 and the execution end 2, the docking of the coarse positioning assembly 31 precedes the docking of the fine positioning assembly 32.

[0067] The modal drive component includes a drive component positioning component, which includes a third guide portion and a third mating portion respectively disposed on either the drive end 1 or the execution end 2. During the docking process between the drive end 1 and the execution end 2, the docking of the first guide part and the first mating part precedes the docking of the second guide part and the second mating part, and the docking of the second guide part and the second mating part precedes the docking of the third guide part and the third mating part, thereby aligning the modal drive components.

[0068] Through the coarse and fine positioning of the docking positioning component 3 and the phased multi-level docking positioning formed by the driving component positioning component of the modal driving component, the driving end 1 and the execution end 2 are aligned with high precision, providing support for the docking of various types of driving components of the modal driving component.

[0069] In one embodiment, the first guide portion of the coarse positioning component 31 may include a guide locking buckle 312, and the first mating portion may include a guide locking groove 311. The mating of the coarse positioning component 31 is the mating of the guide locking buckle 312 and the guide locking groove 311.

[0070] Figure 1 and Figure 2 The diagram shows a guide locking buckle 312 extending from the actuator end 2 toward the drive end 1, and a guide locking slot 311 disposed on the drive end. However, their positions are not limited to these. For example, the guide locking buckle 312 can extend from the drive end 1 toward the actuator end 2.

[0071] The guide locking latch 312 includes an extended elongated body portion 312a and a latch portion 312b located at the free end of the elongated body portion 312a. The length of the elongated body portion 312a is designed such that during the docking process between the drive end 1 and the actuating end 2, the docking coarse positioning component 31 contacts the docking fine positioning component 32 first to guide the docking process.

[0072] In this embodiment, such as Figure 1 As shown, two guide locking slots 311 are provided, respectively located on the left and right sides of the drive end 1, as follows. Figure 2As shown, two guide locking latches 312 are provided, respectively located on the left and right sides of the actuator 2, to improve the stability of positioning guidance and locking. It can be understood that the number and position of the guide locking latches 312 are not limited to this, but can be any number and position according to actual needs, such as, but not limited to, four latches on the top, bottom, left, and right.

[0073] The guide locking slot 311 includes a slot on the hole wall corresponding to the latching portion 312b, allowing the guide locking latch 312 to engage with the guide locking slot 311. Therefore, the slender latch not only serves as a coarse positioning guide but also as a locking mechanism, preventing the drive end 1 and the actuator end 2 from disengaging. This arrangement simplifies the docking and assembly process and reduces the risk of incorrect assembly or misalignment.

[0074] Therefore, the coarse positioning assembly 31 also includes a guide unlock button 313, which is used to actuate any part in the slot to disengage from the slot engagement.

[0075] In this embodiment, such as Figure 1 As shown, the guide unlock button 313 is located on the left and right sides of the drive end 1, specifically on the outside of each guide locking slot 311. When pressed, it can push the latching part 312b of the guide locking buckle 312 away from the slot part of the guide locking slot 311.

[0076] In one embodiment, the second guide portion of the docking precision positioning component 32 may include a guide peripheral wall extension 321, and the second mating portion may include a guide boss 322. The docking of the docking precision positioning component 32 is the docking of the guide boss 322 and the guide peripheral wall extension 321.

[0077] Figure 1 and Figure 2 The diagram shows a guide boss 322 extending from the execution end 2 toward the drive end 1, and a guide peripheral wall extension 321 disposed at the drive end. However, their positions are not limited to this. For example, the guide boss 322 may extend from the drive end 1 toward the execution end 2.

[0078] The extension length of the guide boss 322 is designed so that during the docking process between the drive end 1 and the execution end 2, the coarse positioning component 31 makes contact first, and the fine positioning component 32 makes contact subsequently to guide the docking process.

[0079] In this embodiment, such as Figure 2 As shown, the guide boss 322 includes a peripheral surface 322a around the boss, and the inner surface 321a of the peripheral wall of the guide peripheral wall extension 321 is connected to the peripheral surface 322a of the boss. The large-area contact allows for precise alignment and reduces shaking.

[0080] The guide peripheral wall extension 321 may include a peripheral wall rounded edge 321b, and the guide boss 322 may include a boss rounded edge 322b. These rounded edges make the insertion of the guide boss 322 and the guide peripheral wall extension 321 smoother and reduce the possibility of the actuator 2 getting stuck and needing to be re-inserted.

[0081] In one embodiment, the surgical device 100 may further include a safety locking latch assembly 7. The safety locking latch assembly 7 includes: a safety locking slot 701, a safety locking latch 702, and a safety unlock button 703.

[0082] The guide unlock button 313 is located on the driver end 1, and the safety unlock button 703 is located on the execution end 2. With these two unlock buttons located on the driver end 1 and the execution end 2 respectively, unlocking cannot be done with one hand; it requires both hands. This prevents accidental unlocking from causing the driver end 1 to accidentally detach from the execution end 2, thus improving security.

[0083] The safety locking buckle 702 may have a different shape and / or orientation than the guide locking buckle 312.

[0084] In one embodiment, a safety locking slot 701 may be disposed on the inner surface 321a of the peripheral wall of the guide peripheral wall extension 321. A safety locking buckle 702 may be disposed on the peripheral surface 322a of the guide boss 322.

[0085] In one embodiment, such as Figure 2 As shown, the safety locking latch 702 can protrude in a direction away from the peripheral surface 322a of the boss by the bias of the elastic element provided in the guide boss 322. The safety unlock button 703 is provided at the actuating end 2 and is used to actuate the safety locking latch 702 to retract against the bias of the elastic element.

[0086] The type of drive component for modal drive components can include, but is not limited to, one or more of the following: electric drive, mechanical drive, hydraulic drive, pneumatic drive, etc.

[0087] In one embodiment, the modal drive component of the surgical device 100 may include an electric drive component 4, which provides an electrical signal path between the drive end 1 and the execution end 2.

[0088] The electric drive assembly 4 may include a female electrical connector 401 disposed at the drive end 1 and a male electrical connector 402 disposed at the actuation end 2. Considering that the female electrical connector 401 is more reliable and durable, with a design life of, for example, 5-10 years, it is disposed at the drive end 1 as a reusable part. The male electrical connector 402 is more prone to damage, with a design life of, for example, 5-10 cycles, and is therefore disposed at the actuation end as a replaceable and disposable part.

[0089] Figure 3A , Figure 3B This is a perspective view of an electrical connector female 401 and an electrical connector male 402 of an electric drive assembly according to an embodiment of the present invention.

[0090] The third guide portion of the drive assembly positioning assembly may include an electrical connection guide post 411, which extends close to and from one of the electrical connector female head 401 and the electrical connector male head 402 toward the other.

[0091] The third mating portion of the drive assembly positioning assembly may include an electrical connection guide hole 412, which is close to and open toward the other of the electrical connector female head 401 and electrical connector male head 402.

[0092] Figure 3A and Figure 3B The diagram shows an electrical connection guide post 411 extending from the male connector 402 toward the female connector 401, and an electrical connection guide hole 412 extending from the male connector 402. However, their positions are not limited to these. For example, the electrical connection guide post 411 may extend from the female connector 401 toward the male connector 402, as described in other embodiments below.

[0093] In one embodiment, such as Figure 3A As shown, two electrical connection guide holes 412 are provided, respectively located on the left and right sides of the electrical connector female head 401 of the drive end 1, as follows. Figure 3B As shown, two electrical connection guide posts 411 are provided, respectively located on the left and right sides of the male electrical connector 402 of the actuator end 2, thereby providing high-precision guidance and positioning for the electric drive assembly 4. It can be understood that the number and position of the electrical connection guide posts 411 are not limited to this, but can be any number and position according to actual needs, such as, but not limited to, four electrical connection guide posts on the top, bottom, left, and right.

[0094] In one embodiment, the free end of the electrical connection guide post 411 may include a tapered shape, such as a conical shape that tapers from the outer edge to the center, or includes rounded edges. The opening of the electrical connection guide hole 412 may include an flared shape, such as a trumpet shape, or includes rounded edges. These shapes make the insertion of the electrical connection guide post 411 and the electrical connection guide hole 412 smoother and reduce the possibility of jamming at the actuator end 2, requiring re-insertion.

[0095] Figure 4A , Figure 4B This is a perspective view of an electrical connector female 401 and an electrical connector male 402 of an electrically driven assembly according to another embodiment of the present invention.

[0096] The third guide portion of the drive assembly positioning assembly may include an electrical connection boss 421, which surrounds and extends from one of the electrical connector female head 401 and the electrical connector male head 402 toward the other.

[0097] The third mating portion of the drive assembly positioning assembly may include an electrical connection peripheral wall extension 422, which surrounds the other of the electrical connector female head 401 and the electrical connector male head 402 and extends toward the other.

[0098] Figure 4A and Figure 4B The diagram shows an electrical connection boss 421 extending from the female connector 401 toward the male connector 402, and an electrical connection peripheral wall extension 422 disposed on the male connector 402. However, their positions are not limited to this; for example, the electrical connection boss 421 may extend from the male connector 402 toward the female connector 401, and the electrical connection peripheral wall extension 422 may be disposed on the female connector 401, as described in other embodiments below.

[0099] The inner surface of the peripheral wall of the electrical connection peripheral wall extension 422 is mated with the peripheral surface of the boss of the electrical connection boss 421. The large-area contact allows for precise alignment and reduces shaking.

[0100] In one embodiment, the periphery of the electrical connection boss 421 includes rounded edges. The electrical connection peripheral wall extension 422 has a clearance around its periphery relative to the size of the electrical connection boss 421 to facilitate mating with the electrical positioning assembly 42. These shapes make the insertion of the electrical connection boss 421 and the electrical connection peripheral wall extension 422 smoother and easier, reducing the possibility of jamming and the need for re-insertion.

[0101] Figure 5A and Figure 5B , Figure 6A and Figure 6B This is a perspective view of the female electrical connector 401 and the male electrical connector 402 of the electric drive assembly according to another embodiment of the present invention.

[0102] The drive component positioning component of the electric drive component 4 may include an electric coarse positioning component 41 and an electric fine positioning component 42. During the docking process between the drive end 1 and the execution end 2, the docking of the electric coarse positioning component 41 precedes the docking of the electric fine positioning component 42.

[0103] The electro-coarse positioning assembly 41 may include a third guide portion and a third mating portion respectively disposed on one of the drive end 1 and the actuation end 2. The electro-fine positioning assembly 42 includes a fourth guide portion and a fourth mating portion respectively disposed on one of the drive end 1 and the actuation end 2.

[0104] The docking of the coarse positioning component 41 precedes the docking of the fine positioning component 42. That is, during the docking process between the drive end 1 and the execution end 2, the third guide part and the third mating part first come into contact and guide each other, and the fourth guide part and the fourth mating part then come into contact and guide each other further.

[0105] The multi-stage docking positioning formed by the coarse and fine positioning of the docking positioning component 3 and the electric drive component 4 enables the high-precision alignment of the drive end 1 and the execution end 2, providing support for the high-precision docking of the modal drive component.

[0106] In this embodiment, the third guide portion of the electro-coarse positioning assembly 41 may include an electrical connection guide hole 412, and the third mating portion may include an electrical connection guide post 411. The mating of the electro-coarse positioning assembly 41 is the mating of the electrical connection guide hole 412 and the electrical connection guide post 411.

[0107] The fourth guide portion of the electro-positioning assembly 42 may include an electrical connection boss 421, and the fourth mating portion may include an electrical connection peripheral wall extension 422. The mating of the electro-positioning assembly 42 is the mating of the electrical connection boss 421 and the electrical connection peripheral wall extension 422.

[0108] The extension length of the electrical connection boss 421 is designed such that during the docking process between the drive end 1 and the actuator end 2, the coarse positioning component 41 makes contact first, and the fine positioning component 42 makes contact subsequently to guide the docking process.

[0109] In one embodiment, such as Figure 5A , Figure 5B , Figure 6A , Figure 6B As shown. Electrical connection guide posts 411 are provided on the left and right sides of electrical connection boss 421, and electrical connection guide holes 412 are provided in the thickened portion of the electrical connection peripheral wall extension 422.

[0110] in Figure 5A and Figure 5B The diagram shows an electrical connection guide post 411 and an electrical connection boss 421 disposed on an electrical connector female head 401, and an electrical connection guide hole 412 and an electrical connection peripheral wall extension 422 disposed on an electrical connector male head 402. Figure 6A and Figure 6B The diagram shows an electrical connection guide hole 412 and an electrical connection peripheral wall extension 422 disposed on the female connector 401, and an electrical connection guide post 411 and an electrical connection boss 421 disposed on the male connector 402.

[0111] In one embodiment, the modal drive component of the surgical device 100 may include a mechanical drive component 5, which provides a force transmission path between the drive end 1 and the execution end 2.

[0112] The mechanical drive component 5 includes a drive docking key 501 disposed on the drive end 1 and a driven docking key 502 disposed on the execution end 2.

[0113] Figure 7 , 8 Figures 9 and 10 are perspective views of the drive docking key 501 and the driven docking key 502 of the mechanical drive component of the modal drive component according to an embodiment of the present invention.

[0114] The third guide portion of the drive assembly positioning assembly may include a mating key protrusion 512, which extends from the free end of one of the drive mating key 501 and the driven mating key 502 toward the other.

[0115] The third mating portion of the drive assembly positioning assembly may include a mating key recess 511, wherein the mating key recess 511 is provided with the free end of the other of the drive mating key 501 and the driven mating key 502 open toward the other. In one embodiment, the driving docking key 501 includes a docking key recess 511 at its free end. The driven docking key 502 includes a docking key protrusion 512 at its free end that is complementary in shape to the driving docking key 501. By aligning the docking key recess 511 with the docking key protrusion 512 for mating, a force transmission path is established between the driving docking key 501 and the driven docking key 502.

[0116] like Figure 7 , Figure 8 As shown, the key recess 511 is a hole, and the key protrusion 512 is a key with a shape corresponding to the key recess 511. The shape of the hole can be any shape that meets the requirements for the magnitude and accuracy of force transmission. For example... Figure 7 The mating key recess 511 is a hole with a semi-circular cross-section. Figure 8 The mating key recess 511 is a hole with a triangular cross-section.

[0117] like Figure 9 As shown, the mating key recess 511 is a groove, and the mating key protrusion 512 is a key with a shape corresponding to the mating key recess 511.

[0118] In one embodiment, the positioning components of the mechanical drive assembly 5 may include a mechanical fine positioning component 51 and a mechanical coarse positioning component 52. During the docking process between the drive end 1 and the execution end 2, the docking of the mechanical coarse positioning component 52 precedes the docking of the mechanical fine positioning component 51.

[0119] The mechanical precision positioning component 51 may include a third guide portion and a third mating portion, and the mechanical coarse positioning component 52 may include a fifth guide portion and a fifth mating portion respectively disposed on one of the drive end 1 and the execution end 2, wherein during the docking process between the drive end 1 and the execution end 2, the docking of the fifth guide portion and the fifth mating portion precedes the docking of the third guide portion and the third mating portion.

[0120] The mechanical coarse positioning component 52 is docked before the mechanical fine positioning component 51. That is, during the docking process between the drive end 1 and the execution end 2, the fifth guide part and the fifth mating part first come into contact and guide each other, and the third guide part and the third mating part then come into contact and guide each other further.

[0121] The multi-stage docking positioning formed by the coarse and fine positioning of the docking positioning component 3 and the mechanical drive component 5 enables the high-precision alignment of the drive end 1 and the execution end 2, providing support for the high-precision docking of the modal drive component.

[0122] In this embodiment, the third guide portion of the mechanical precision positioning component 51 may include a mating key protrusion 512, and the third mating portion of the mechanical precision positioning component 51 may include a mating key recess 511.

[0123] The fifth guide portion of the mechanical coarse positioning assembly 52 may include a tapered guide surface 522, which extends from the free end of one of the driving docking key 501 and the driven docking key 502 toward the other.

[0124] The fifth mating portion of the mechanical coarse positioning assembly 52 may include a flared guide surface 521, which is provided with the free end of the other of the driving mating key 501 and the driven mating key 502 facing towards the other.

[0125] The flared guide surface 521 and the tapered guide surface 522 are respectively formed on the free ends of the driving docking key 501 and the driven docking key 502, which helps to dock with each other and guides the docking key protrusion 512 into the docking key recess 511.

[0126] In one embodiment, the driven docking key 502 of the actuator 2 can be made of plastic material to save on the manufacturing cost of disposable parts, while the drive docking key 501 of the drive end 1 can be made of metal material to improve the durability of the drive end 1.

[0127] In one embodiment, the modal driving component may include an optical driving component 6, which provides an optical transmission path between the driving end 1 and the execution end 2, such as through an optical fiber, to transmit optical signals, illuminance, etc.

[0128] Return now Figure 1 and Figure 2The optical drive component 6 includes an optical path output end 601 disposed at the drive end 1 and an optical path input end 60 disposed at the execution end 2.

[0129] The third guide portion of the drive component positioning component may include an optical path guide post 611, which extends close to and from one of the optical path output end 601 and the optical path input end 602 toward the other.

[0130] The third mating part of the drive assembly positioning assembly may include an optical path guide hole 612, which is close to and open toward the other of the optical path output end 601 and the optical path input end 602.

[0131] In one embodiment, the driving component positioning component of the optical driving component 6 may include a coarse optical positioning component 61 and a fine optical positioning component 62. During the docking process between the driving end 1 and the execution end 2, the docking of the coarse optical positioning component 61 precedes the docking of the fine optical positioning component 62.

[0132] The optical coarse positioning component 61 includes a third guide portion and a third mating portion, and the optical fine positioning component 62 includes a fourth guide portion and a fourth mating portion respectively disposed on one of the driving end 1 and the execution end 2. During the docking process between the driving end 1 and the execution end 2, the docking of the third guide portion and the third mating portion precedes the docking of the fourth guide portion and the fourth mating portion.

[0133] The optical coarse positioning component 61 is docked before the optical fine positioning component 62. That is, during the docking process between the drive end 1 and the execution end 2, the third guide part and the third mating part first come into contact and are guided, and the fourth guide part and the fourth mating part then come into contact and are further guided.

[0134] The multi-stage docking positioning formed by the coarse and fine positioning of the docking positioning component 3 and the optical driving component 6 enables the high-precision alignment of the driving end 1 and the execution end 2, providing support for the high-precision docking of the modal driving component.

[0135] In this embodiment, the third guide portion of the optical coarse positioning component 61 may include an optical path guide post 611, and the third mating portion may include an optical path guide hole 612.

[0136] The fourth guide portion of the optical positioning assembly 62 may include an optical path boss 621, which surrounds and extends from one of the optical path output end 601 and the optical path input end 602 toward the other.

[0137] The fourth mating portion of the optical positioning assembly 62 may include an optical path recess 622, which surrounds the other of the optical path output end 601 and the optical path input end 602 and is open toward the other. The optical path boss 621 and the optical path recess 622 are precisely aligned through large-area contact to avoid misalignment that could cause abnormal heating of the optical driving assembly 6.

[0138] Figure 1 and Figure 2 The diagram shows an optical path guide post 611 extending from the execution end 2 toward the drive end 1, and an optical path guide hole 612 disposed at the drive end. However, their positions are not limited to these. For example, the optical path guide post 611 can extend from the drive end 1 toward the execution end 2.

[0139] In one embodiment, such as Figure 1 As shown, two optical path guide holes 612 are provided, respectively located on the left and right sides of the optical path output end 601 of the driving end 1, as follows: Figure 2 As shown, two optical path guide posts 611 are provided, respectively located on the left and right sides of the optical path input end 602 of the actuator 2, to improve the high precision of the positioning and guidance of the optical drive assembly 6. It is understood that the number and position of the optical path guide posts 611 are not limited to this, but can be any number and position according to actual needs, such as, but not limited to, four optical path guide posts (top, bottom, left, and right). This arrangement simplifies the docking and assembly process and reduces the risk of incorrect assembly or misalignment.

[0140] In one embodiment, the optical fiber of the surgical device 100 may include a heat-insulating material layer in the optical fiber segment near the optical path output end 601. The heat-insulating material layer includes, but is not limited to, ceramic materials, to reduce heat dissipation of the optical fiber segment in the drive end 1.

[0141] In one embodiment, the optical fiber of the surgical device 100 can have its optical cone positioned at the inlet end of the optical fiber, so that the section of the optical fiber where the optical cone is located is far away from the output end 601 of the optical path, thus avoiding heat concentration caused by light focusing at the output end 601 of the optical fiber.

[0142] In one embodiment, the modal drive assembly includes a hydraulic drive assembly that provides a hydraulic path between the drive end 1 and the execution end 2. The hydraulic drive assembly uses a liquid as the power medium, such as but not limited to water, saline, or silicone oil. Pressure is generated by the drive end 1 or an external hydraulic pump / valve and transmitted to the execution end 2, such as but not limited to joints or instruments, through a slender, flexible pipeline, thereby realizing actions such as bending of the endoscope joint, opening / rotating of instruments, and propulsion.

[0143] The hydraulic drive assembly may include a hydraulic output end disposed at the drive end 1 and a hydraulic input end disposed at the actuation end 2, and each includes a corresponding seal to allow for liquid-tight docking after alignment.

[0144] In one embodiment, the modal drive assembly may include a pneumatic drive assembly that provides an airflow path between the drive end 1 and the actuator end 2. Using gas as the power medium, such as but not limited to air or nitrogen, pressure is generated through the drive end 1 or an external high-pressure gas source / throttle valve. This pressure is then transmitted to the actuator end 2, such as but not limited to joints or instruments, via a slender, flexible conduit, thereby achieving actions such as bending of the endoscope joint, opening / rotating of instruments, and propulsion.

[0145] The pneumatic drive assembly may include a pneumatic output end disposed at the drive end 1 and a pneumatic input end disposed at the actuation end 2, and each includes a corresponding seal to allow for airtight docking after alignment.

[0146] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention have been clearly and completely described above in conjunction with the specific embodiments and accompanying drawings.

[0147] Although various embodiments have been described above, it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of them, and are presented by way of example rather than limitation. It will be apparent to those skilled in the art that the disclosed subject matter may be implemented in other specific forms without departing from its spirit and essential characteristics.

Claims

1. A multi-stage docking and positioning surgical device, comprising a detachably dockable drive end (1) and an execution end (2), characterized in that, The surgical device (100) includes: A docking positioning component (3) is used to guide and define the relative position of the driving end (1) and the executing end (2) during the docking process. The docking positioning component (3) includes: - A coarse positioning assembly (31) is used for docking, comprising a first guide portion and a first mating portion respectively disposed on one of the driving end (1) and the executing end (2), and - A docking precision positioning component (32), the docking precision positioning component (32) including a second guide portion and a second mating portion respectively disposed on one of the driving end (1) and the executing end (2); and A modal driving component is provided, wherein the driving end (1) drives the execution end (2) via the modal driving component. The modal driving component includes a driving component positioning component, which includes a third guide portion and a third mating portion respectively disposed on one of the driving end (1) and the execution end (2). During the docking process between the driving end (1) and the execution end (2), the docking of the first guide part and the first mating part precedes the docking of the second guide part and the second mating part, and the docking of the second guide part and the second mating part precedes the docking of the third guide part and the third mating part, thereby aligning the modal driving components.

2. The surgical device according to claim 1, characterized in that, The first guide portion of the docking coarse positioning component (31) includes a guide locking buckle (312), which includes an elongated body portion (312a) extending from the first of the drive end (1) and the execution end (2) toward the second, and a buckle portion (312b) located at the free end of the elongated body portion (312a). The first mating portion of the coarse positioning assembly (31) includes a guide locking groove (311), which is disposed on the second assembly and includes a groove portion on the hole wall corresponding to the latching portion (312b). The docking of the coarse positioning component (31) is the docking of the guide locking buckle (312) and the guide locking groove (311). The coarse positioning assembly (31) further includes a guide unlock button (313), which is located at the second location and is used to actuate any part in the slot to disengage from the slot.

3. The surgical device according to claim 2, characterized in that, The second mating portion of the docking precision positioning assembly (32) includes a guide peripheral wall extension (321), which extends from the peripheral wall of the second portion toward the first portion. The second guide portion of the docking precision positioning component (32) includes a guide boss (322) that extends from the first portion toward the second portion, such that the inner surface (321a) of the peripheral wall of the guide peripheral wall extension portion (321) docks with the peripheral surface (322a) of the guide boss (322). The docking of the docking precision positioning component (32) is the docking of the guide boss (322) and the guide peripheral wall extension (321).

4. The surgical device according to claim 3, characterized in that, The surgical device (100) further includes a safety locking buckle assembly (7), which includes: - Safety locking slot (701), the safety locking slot (701) is disposed on the inner surface (321a) of the peripheral wall of the guide peripheral wall extension (321). - A safety locking buckle (702), wherein the safety locking buckle (702) is disposed on the peripheral surface (322a) of the guide boss (322), and the safety locking buckle (702) protrudes in a direction away from the peripheral surface (322a) of the boss by means of an elastic element disposed within the guide boss (322); and - Security unlock button (703), the security unlock button (703) is located at the first position, and is used to actuate the security locking buckle (702) to resist the bias of the elastic member and retract.

5. The surgical device according to claim 1, characterized in that, The modal drive component includes an electric drive component (4), which provides an electrical signal path between the drive end (1) and the execution end (2). The electric drive component (4) includes a female electrical connector (401) disposed on the drive end (1) and a male electrical connector (402) disposed on the execution end (2). The third guide portion of the drive assembly positioning assembly includes an electrical connection boss (421) that surrounds and extends from one of the electrical connector female (401) and the electrical connector male (402) toward the other. The third mating portion of the drive assembly positioning assembly includes an electrical connection peripheral wall extension (422) that surrounds and extends toward the other of the electrical connector female (401) and the electrical connector male (402).

6. The surgical device according to claim 1, characterized in that, The modal drive component includes an electric drive component (4), which provides an electrical signal path between the drive end (1) and the execution end (2), and the electric drive component (4) includes a female electrical connector (401) disposed on the drive end (1) and a male electrical connector (402) disposed on the execution end (2). The third guide portion of the drive assembly positioning assembly includes an electrical connection guide post (411) that extends from one of the electrical connector female (401) and the electrical connector male (402) toward the other. The third mating portion of the drive assembly positioning assembly includes an electrical connection guide hole (412) that is close to and open toward the other of the electrical connector female (401) and the electrical connector male (402).

7. The surgical device according to claim 6, characterized in that, The free end of the electrical connection guide post (411) includes a tapered shape, and The opening of the electrical connection guide hole (412) includes a flared shape.

8. The surgical device according to claim 6, characterized in that, The driving component positioning component includes: - Electrically coarse positioning assembly (41), the electrically coarse positioning assembly (41) including the third guide portion and the third mating portion, and - An electro-precision positioning component (42) includes a fourth guide portion and a fourth mating portion respectively disposed on one of the driving end (1) and the executing end (2), wherein during the docking process between the driving end (1) and the executing end (2), the docking of the third guide portion and the third mating portion precedes the docking of the fourth guide portion and the fourth mating portion. The fourth guide portion includes an electrical connection boss (421) that surrounds and extends from one of the electrical connector female (401) and the electrical connector male (402) toward the other. The fourth mating portion includes an electrical connection peripheral wall extension (422) that surrounds and extends toward the other of the electrical connector female (401) and the electrical connector male (402).

9. The surgical device according to claim 8, characterized in that, The periphery of the electrical connection boss (421) includes rounded edges, and The dimensions of the electrical connection peripheral wall extension (422) are designed to allow for clearance relative to the dimensions of the electrical connection boss (421).

10. The surgical device according to claim 1, characterized in that, The modal drive component includes a mechanical drive component (5), which provides a force transmission path between the drive end (1) and the execution end (2), and the mechanical drive component (5) includes a drive docking key (501) correspondingly disposed on the drive end (1) and a driven docking key (502) disposed on the execution end (2). The third guide portion of the driving assembly positioning assembly includes a mating key protrusion (512) that extends from the free end of one of the driving mating key (501) and the driven mating key (502) toward the other. The third mating portion of the driving assembly positioning assembly includes a mating key recess (511), wherein the mating key recess (511) is provided at the free end of the other of the driving mating key (501) and the driven mating key (502) and is open toward the other. The mating key recess (511) is a hole or groove, and the mating key protrusion (512) is a key with a shape corresponding to the mating key recess (511).

11. The surgical device according to claim 10, characterized in that, The driving component positioning component includes: - Mechanical precision positioning assembly (51), the mechanical precision positioning assembly (51) includes the third guide portion and the third mating portion, and - Mechanical coarse positioning assembly (52), the mechanical coarse positioning assembly (52) includes a fifth guide portion and a fifth mating portion respectively disposed on one of the driving end (1) and the executing end (2), wherein during the docking process between the driving end (1) and the executing end (2), the docking of the fifth guide portion and the fifth mating portion precedes the docking of the third guide portion and the third mating portion. The fifth guide portion includes a tapered guide surface (522) that extends from the free end of one of the driving docking key (501) and the driven docking key (502) toward the other. The fifth mating part includes a flared guide surface (521), which is provided with the free end of the other of the driving mating key (501) and the driven mating key (502) facing the other.

12. The surgical device according to claim 1, characterized in that, The modal driving component includes: an optical driving component (6), which provides an optical transmission path between the driving end (1) and the execution end (2), and the optical driving component (6) includes: an optical path output end (601) correspondingly disposed on the driving end (1) and an optical path input end (602) disposed on the execution end (2). The third guide portion of the driving component positioning component includes an optical path guide post (611) that extends from one of the optical path output end (601) and the optical path input end (602) toward the other. The third mating portion of the drive assembly positioning assembly includes an optical path guide hole (612), which is close to and open toward the other of the optical path output end (601) and the optical path input end (602).

13. The surgical device according to claim 12, characterized in that, The driving component positioning component includes: - Optical rough positioning component (61), the optical rough positioning component (61) includes the third guide portion and the third mating portion, and - Optical positioning component (62), the optical positioning component (42) includes a fourth guide part and a fourth mating part respectively disposed on one of the driving end (1) and the executing end (2), wherein during the docking process between the driving end (1) and the executing end (2), the docking of the third guide part and the third mating part precedes the docking of the fourth guide part and the fourth mating part. The fourth guide portion includes an optical path boss (621) that surrounds and extends from one of the optical path output end (601) and the optical path input end (602) toward the other. The fourth mating portion includes an optical path recess (622) that surrounds the other of the optical path output end (601) and the optical path input end (602) and is open toward the other.

14. The surgical device according to claim 12, characterized in that, The surgical device (100) also includes: optical fiber, The optical fiber segment near the optical path output end (601) includes a heat-insulating material layer, which comprises a ceramic material, and / or The optical fiber includes an optical cone, the optical fiber section in which the optical cone is located is far from the optical path output end (601), and the optical cone is disposed at the entrance end of the optical fiber.

15. The surgical device according to claim 1, characterized in that, The modalization driving component includes: A hydraulic drive assembly provides a hydraulic path between the drive end (1) and the actuation end (2), and the hydraulic drive assembly includes: a hydraulic output end correspondingly disposed at the drive end (1) and a hydraulic input end disposed at the actuation end (2), and / or A pneumatic drive assembly provides an airflow path between the drive end (1) and the actuation end (2), and the pneumatic drive assembly includes: a corresponding pneumatic output end disposed at the drive end (1) and a pneumatic input end disposed at the actuation end (2).

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