A surgical instrument, robotic arm system, and surgical robot

Abstract

A surgical instrument, a robotic arm system, and a surgical robot are disclosed. The surgical instrument includes a front-end actuator comprising a clamp assembly and a cutting component. The clamp assembly has a slot extending along a first direction. The cutting component is reciprocating relative to the clamp assembly between a first position and a second position. When the cutting component is in the first position, it is located within the slot; when the cutting component is in the second position, at least a portion of it extends beyond the edge of the slot. The reciprocating trajectory has components along the first direction and a second direction, the second direction being orthogonal to the first direction. According to the surgical instrument of this application, physical cutting of blood vessels and soft tissues is achieved using a mechanical structure, meeting the requirements for cutting thicker blood vessels and soft tissues with higher cutting efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a surgical instrument, a robotic arm system, and a surgical robot. Background Technology

[0002] In minimally invasive surgery, surgeons often need to manually cut, dissect, and suture tissues. To reduce the workload of doctors and minimize bleeding or wound size for patients, minimally invasive surgical instruments such as ultrasonic scalpels are increasingly being used in surgical procedures.

[0003] For example, the principle of ultrasonic scalpel is usually to convert or transmit ultrasonic energy into biological tissue through surgical instruments to produce physiological effects, and use the generated heat to burn or cut the tissue.

[0004] For example, vascular anastomosis devices, especially bipolar vascular anastomosis devices, utilize bipolar energy to close blood vessels and soft tissues and achieve hemostasis during surgery. In some surgical procedures, ultrasonic scalpels can also be used as vascular anastomosis devices. They achieve hemostasis by using the clamping action of the jaws at the instrument's tip and electrical energy to cauterize, coagulate, or seal soft tissues.

[0005] However, current surgical instruments of this type are prone to cutting failure or low cutting efficiency when the blood vessels and tissues are thick.

[0006] Therefore, a surgical instrument, robotic arm system, and surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0007] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0008] To at least partially address the aforementioned problems, a first aspect of this application provides a surgical instrument comprising: a front-end actuator, the front-end actuator comprising:

[0009] A clamp assembly having a slot extending along a first direction; and

[0010] A cutting component, which is reciprocating relative to the clamping assembly between a first position and a second position, wherein when the cutting component is in the first position, the cutting component is located within the groove, and when the cutting component is in the second position, at least a portion of the cutting component extends beyond the edge of the groove, wherein the trajectory of the reciprocating movement has a component along a first direction and a component along a second direction, the second direction being orthogonal to the first direction.

[0011] The surgical instrument according to this application utilizes a mechanical structure to physically cut blood vessels and soft tissues, which can meet the requirements for cutting thicker blood vessels and soft tissues, and has higher cutting efficiency.

[0012] Optionally, the surgical instrument further includes a first transmission assembly, which is rotatably connected to the cutting component and is movable along the first direction for transmitting driving force from the instrument driver to the cutting component;

[0013] The front-end actuator also includes a guide member connected to the cutting component, the guide member being used to guide the movement of the cutting component having a component along the second direction.

[0014] Optionally, one of the cutting component and the guide is provided with a guide groove, and the other of the cutting component and the guide includes a guide member, which is movable within the guide groove along the extension direction of the guide groove. The guide groove extends along a third direction, which simultaneously includes components of the first direction and the second direction.

[0015] Optionally, the cutting component includes a blade portion and a guide portion, the guide portion being connected to the guide member.

[0016] Optionally, the cutting component further includes a connecting portion, the guide portion is located between the blade portion and the connecting portion, and the first transmission component is rotatably connected to the connecting portion;

[0017] The first transmission component is elastic, so that the first transmission component can deform when the cutting component reciprocates.

[0018] Optionally, the blade portion extends along the first direction.

[0019] Optionally, the angle between the reciprocating trajectory and the first direction is 20-70°.

[0020] Optionally, the surgical instrument further includes a second transmission assembly connected to the clamp assembly for driving the opening and closing motion of the second transmission assembly.

[0021] Optionally, the clamp assembly includes:

[0022] The first pliers head has a first opening and closing groove.

[0023] The second clamping head is provided with a second opening and closing groove, the extension direction of the second opening and closing groove intersecting the extension direction of the first opening and closing groove.

[0024] A rotating component, wherein the first clamp head and the second clamp head are rotatably connected via the rotating component;

[0025] The end of the second transmission component is provided with an opening and closing connection part, which extends into the first opening and closing groove and the second opening and closing groove. The opening and closing connection part can reciprocate in the first opening and closing groove and the second opening and closing groove to drive the clamp assembly to open or close.

[0026] Optionally, the clamp assembly further includes a main body, with the first clamp head fixedly disposed relative to the main body, and the second clamp head movable relative to the first clamp head.

[0027] Optionally, the surgical instrument further includes:

[0028] A rear-end drive mechanism, which is used to connect to the instrument driver;

[0029] The main transmission line extends from the rear transmission mechanism to the front actuator, and the first transmission component and the second transmission component are at least partially disposed in the main transmission line.

[0030] Optionally, the surgical instrument further includes a wrist joint assembly connected between the main circuit and the front-end actuator. The wrist joint assembly includes a first rolling joint and a second rolling joint. The first rolling joint provides the front-end actuator with a degree of freedom of pitch movement, and the second rolling joint provides the front-end actuator with a degree of freedom of yaw movement.

[0031] A second aspect of this application provides a robotic arm system comprising the surgical instruments described in the first aspect above.

[0032] The robotic arm system according to this application has similar technical effects to the surgical instruments described in the first aspect above.

[0033] A third aspect of this application provides a surgical robot, including the robotic arm system described in the second aspect above.

[0034] The surgical robot according to this application has similar technical effects to the robotic arm system described in the second aspect above. Attached Figure Description

[0035] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0036] In the attached image:

[0037] Figure 1 This is a schematic diagram of a surgical robot according to one alternative embodiment of the present application;

[0038] Figure 2 This is a schematic diagram of a robotic arm system according to an alternative embodiment of this application;

[0039] Figure 3 This is a schematic diagram of a surgical instrument according to one alternative embodiment of the present application;

[0040] Figure 4 This is a schematic diagram of the rear drive mechanism of a surgical instrument according to an alternative embodiment of this application;

[0041] Figure 5 This is a schematic diagram of the front-end actuator of a surgical instrument according to an alternative embodiment of this application;

[0042] Figure 6 for Figure 5 A partial schematic diagram of the front-end actuator;

[0043] Figure 7 This is a schematic diagram showing the cutting component of the front-end actuator in a first position according to an alternative embodiment of this application;

[0044] Figure 8 A schematic diagram showing the cutting component of the front-end actuator in a second position according to an alternative embodiment of this application; and

[0045] Figure 9 This is a schematic diagram showing the cutting component of a front-end actuator switching between a first position and a second position according to an alternative embodiment of this application.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1: Surgical robot; 10: Robotic arm system

[0048] 11: Base 12: Handle

[0049] 13: Column 14: Robotic Arm

[0050] 17: Connecting arm 20: Doctor's console

[0051] 30: Imaging system; 100: Surgical instruments

[0052] 101: Rear-end transmission mechanism; 102: Main pipeline

[0053] 103: First transmission disc; 104: Second transmission disc

[0054] 105: Third transmission disc; 110: Front-end actuator

[0055] 120: Clamping Pliers Assembly 121: First Clamping Head

[0056] 122: First opening and closing slot; 123: Second clamp head

[0057] 124: Second opening and closing groove 125: Groove

[0058] 126: Rotating component; 130: Cutting component

[0059] 131: Blade section; 132: Guide section

[0060] 133: Guide groove; 134: Connecting part

[0061] 140: First transmission assembly; 141: Pivot section

[0062] 142: First transmission rod; 150: Guide component

[0063] 151: Guide component; 160: Second transmission assembly

[0064] 161: Opening and closing connection part; 162: Second transmission rod

[0065] 127: Main body D1: First direction

[0066] D2: Second direction; D3: Third direction Detailed Implementation

[0067] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0068] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0069] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0070] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0071] The first aspect of this application provides a surgical instrument 100, the second aspect provides a robotic arm system 10, and the third aspect provides a surgical robot 1.

[0072] refer to Figure 1 and Figure 2 Surgical robot 1 is a robot that can be remotely controlled to perform surgery. It consists of three components: doctor's console 20, robotic arm system 10, and imaging system 30.

[0073] Among them, such as Figure 2As shown, the doctor's console 20 includes a display unit (also called a monitor) for displaying the environment of the surgical instrument 100, a master hand control device, and armrests. The display unit has an observation window for the doctor to observe, the actions of the master hand control device correspond to the actions of the surgical instrument 100, and the armrests are for supporting the doctor's arm. The master hand control device can also be called an input device. The master hand control device typically includes at least one master manipulator (also called a control arm, master robotic arm, etc.), which the doctor can operate to control the actions of the adjacent robotic arm system 10 to perform surgical procedures. In other words, the master manipulator serves as one type of input device for the doctor's console 20. The master manipulator typically includes multiple stages of transmission arms connected in sequence, with adjacent stages rotatably connected via a rotary joint. Furthermore, the master manipulator may also include an input handle (such as a fingertip clamp), which can be rotatably connected to the final stage wrist transmission arm via a rotary joint. In addition, the doctor's console 20 also has other control switches that are conveniently touched or pressed by hand or foot for various functional operations and human-computer interaction. The doctor's console 20 can also be called a control system. The display unit, main control device, armrests, etc. are all mounted on the support.

[0074] The robotic arm system 10 includes several robotic arms 14, each robotic arm 14 having several connecting arms 17. Adjacent connecting arms 17 move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 14 to achieve multiple degrees of freedom (e.g., seven degrees of freedom, depending on the instrument). The end joint of the robotic arm 14 is a holding arm, on which an instrument actuator is mounted. Surgical instruments 100 or endoscopes are detachably mounted on the instrument actuators.

[0075] The robotic arm system 10 may also include a movable base 11 and a column 13. The robotic arm 14 can move up and down on the column 13. A handle 12 may also be provided on the base 11, allowing the operator to assist in moving the base 11. The lifting and lowering of the robotic arm 14 on the column 13 can be driven by a lifting device.

[0076] The imaging system 30 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0077] Surgical instrument 100 can be a stapler or a vascular sealer, etc. (Reference) Figure 3 , Figure 4 , Figure 5 and Figure 6 The surgical instrument 100 includes a front actuator 110, a rear drive mechanism 101, and a main pipeline 102. The rear drive mechanism 101 is used to connect to the instrument driver, and the main pipeline 102 extends from the rear drive mechanism 101 to the front actuator 110.

[0078] The front-end actuator 110 includes a clamp assembly 120 and a cutting component 130. The clamp assembly 120 has a slot 125 extending along a first direction D1. The cutting component 130 is reciprocating relative to the clamp assembly 120 between a first position and a second position. When the cutting component 130 is in the first position, it is located within the slot 125. When the cutting component 130 is in the second position, at least a portion of it extends beyond the edge of the slot 125. The reciprocating trajectory has a component along the first direction D1 and a component along the second direction D2, which is orthogonal to the first direction D1.

[0079] The surgical instrument 100 according to this application utilizes a mechanical structure to physically cut blood vessels and soft tissues, which can meet the requirements for cutting thicker blood vessels and soft tissues, and has higher cutting efficiency.

[0080] The rear transmission mechanism 101 includes a first transmission disk 103, a second transmission disk 104, and a third transmission disk 105. The first transmission disk 103, second transmission disk 104, and third transmission disk 105 are used to interface with the instrument driver and are configured to rotate under the action of the instrument driver's drive mechanism. Specifically, the first transmission disk 103 drives the rotational movement of the front-end actuator 110, the second transmission disk 104 drives the opening and closing movement of the clamp assembly 120, and the third transmission disk 105 drives the reciprocating movement of the cutting component 130.

[0081] Optionally, the surgical instrument 100 may also include a wrist joint assembly (not shown) connected between the main circuit 102 and the front actuator 110. The wrist joint assembly includes a first rolling joint and a second rolling joint. The first rolling joint provides the front actuator 110 with a degree of freedom of pitch movement, and the second rolling joint provides the front actuator 110 with a degree of freedom of yaw movement.

[0082] refer to Figure 6 , Figure 7 , Figure 8 and Figure 9 The surgical instrument 100 further includes a first transmission assembly 140 and a second transmission assembly 160. The first transmission assembly 140 is rotatably connected to the cutting component 130 and is movable along a first direction D1 to transmit driving force from the instrument driver to the cutting component 130, thereby driving the reciprocating movement of the cutting component 130. The second transmission assembly 160 is connected to the clamp assembly 120 and is used to drive the opening and closing movement of the second transmission assembly 160. The first transmission assembly 140 and the second transmission assembly 160 are at least partially disposed in the main pipeline 102.

[0083] The first transmission assembly 140 is elastic, allowing it to deform during the reciprocating movement of the cutting component 130. For example, the first transmission assembly 140 can deform or bend along its length. Preferably, the first transmission assembly 140 includes a pivot portion 141 and a first transmission rod 142. The pivot portion 141 is rotatably connected to the cutting component 130, and the first transmission rod 142 is connected to the pivot portion 141 and to the third transmission disk 105. The second transmission assembly 160 includes a second transmission rod 162, which is connected to the second transmission disk 104.

[0084] The front-end actuator 110 also includes a guide 150, which is connected to the cutting component 130. The guide 150 guides the movement of the cutting component 130, having a component along the second direction D2. In one implementation, one of the cutting component 130 and the guide 150 has a guide groove 133, and the other includes a guide member 151. The guide member 151 is movable within the guide groove 133 along its extension direction. The guide groove 133 extends along a third direction D3, which includes components of both the first direction D1 and the second direction D2. The third direction D3 can also be understood as the direction of movement of the cutting component 130.

[0085] The cutting component 130 includes a cutting edge 131, a connecting portion 134, and a guide portion 132. The guide portion 132 is located between the cutting edge 131 and the connecting portion 134, and is connected to the guide member 150. A first transmission assembly 140 is rotatably connected to the connecting portion 134; in other words, the pivot portion 141 is rotatably connected to the connecting portion 134. The cutting edge 131 extends along a first direction D1.

[0086] In this embodiment, the guide portion 132 is provided with the guide groove 133 described above, and the guide member 150 includes the guide member 151 described above. The guide member 151 is preferably configured as a guide post inserted into the guide groove 133.

[0087] The angle between the reciprocating trajectory of the cutting component 130 and the first direction D1 is 20-70°. Preferably, the angle between the reciprocating trajectory of the cutting component 130 and the first direction D1 is 30-60°. Therefore, the cutting component 130 cuts upwards along an oblique direction, which is beneficial for efficiently completing the severing action of soft tissue and blood vessels. Figure 7 and Figure 8 As shown, the guide groove 133 extends along the third direction D3, and the guide member 151 is located in the guide groove 133. Its shape is adapted to the guide groove 133, thereby restricting the reciprocating movement of the cutting member 130 along the third direction D3. The third direction D3 can be understood as the direction of the reciprocating movement described above.

[0088] The clamp assembly 120 includes a first clamp head 121, a second clamp head 123, and a rotating member 126. The first clamp head 121 and the second clamp head 123 are rotatably connected via the rotating member 126. The first clamp head 121 is provided with a first opening and closing groove 122, and the second clamp head 123 is provided with a second opening and closing groove 124, wherein the extending direction of the second opening and closing groove 124 intersects the extending direction of the first opening and closing groove 122.

[0089] The second transmission assembly 160 has an opening and closing connection part 161 at its end. The opening and closing connection part 161 extends into the first opening and closing groove 122 and the second opening and closing groove 124. The opening and closing connection part 161 can reciprocate in the first opening and closing groove 122 and the second opening and closing groove 124 to drive the clamp assembly 120 to open or close.

[0090] In a preferred embodiment, the first opening and closing groove 122 and the second opening and closing groove 124 are both configured as a pair of oppositely arranged, and the opening and closing connecting part 161 and the second transmission rod 162 can be generally configured as T-shaped. In other words, the second transmission rod 162 can be a longitudinal rod, and the opening and closing connecting part 161 can be a transverse rod.

[0091] As an optional implementation, the clamp assembly 120 further includes a main body 127, with a first clamp head 121 fixedly disposed relative to the main body 127, and a second clamp head 123 capable of opening and closing relative to the first clamp head 121. As an example, the first clamp head 121 is directly connected to the wrist joint assembly, while the second clamp head 123 is not directly connected to the wrist joint assembly, thereby making the first clamp head 121 have no degree of freedom to open and close, while the second clamp head 123 has a degree of freedom to open and close.

[0092] The processes and steps described in all the preferred embodiments above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order than the above-described processes. The order of steps in the above processes can also be added, combined, or deleted according to actual needs.

[0093] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0094] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A surgical instrument, characterized in that, The surgical instrument includes a front-end actuator, which includes: A clamp assembly having a slot extending along a first direction; and A cutting component, which is reciprocating relative to the clamping assembly between a first position and a second position, wherein when the cutting component is in the first position, the cutting component is located within the groove, and when the cutting component is in the second position, at least a portion of the cutting component extends beyond the edge of the groove, wherein the trajectory of the reciprocating movement has a component along a first direction and a component along a second direction, the second direction being orthogonal to the first direction.

2. The surgical instrument according to claim 1, characterized in that, The surgical instrument further includes a first transmission assembly, which is rotatably connected to the cutting component. The first transmission assembly is movable along the first direction and is used to transmit driving force from the instrument driver to the cutting component. The front-end actuator also includes a guide member connected to the cutting component, the guide member being used to guide the movement of the cutting component having a component along the second direction.

3. The surgical instrument according to claim 2, characterized in that, One of the cutting component and the guide is provided with a guide groove, and the other of the cutting component and the guide includes a guide member. The guide member is movable within the guide groove along the extension direction of the guide groove. The guide groove extends along a third direction, which simultaneously includes components of the first direction and the second direction.

4. The surgical instrument according to claim 3, characterized in that, The cutting component includes a blade portion and a guide portion, the guide portion being connected to the guide member.

5. The surgical instrument according to claim 4, characterized in that, The cutting component further includes a connecting portion, the guide portion is located between the blade portion and the connecting portion, and the first transmission component is rotatably connected to the connecting portion; The first transmission component is elastic, so that the first transmission component can deform when the cutting component reciprocates.

6. The surgical instrument according to claim 4, characterized in that, The blade portion extends along the first direction.

7. The surgical instrument according to claim 2, characterized in that, The angle between the trajectory of the reciprocating movement and the first direction is 20-70°.

8. The surgical instrument according to claim 2, characterized in that, The surgical instrument also includes a second transmission assembly, which is connected to the clamp assembly and is used to drive the opening and closing movement of the second transmission assembly.

9. The surgical instrument according to claim 8, characterized in that, The clamp assembly includes: The first pliers head has a first opening and closing groove. The second clamping head is provided with a second opening and closing groove, the extension direction of the second opening and closing groove intersecting the extension direction of the first opening and closing groove. A rotating component, wherein the first clamp head and the second clamp head are rotatably connected via the rotating component; The end of the second transmission component is provided with an opening and closing connection part, which extends into the first opening and closing groove and the second opening and closing groove. The opening and closing connection part can reciprocate in the first opening and closing groove and the second opening and closing groove to drive the clamp assembly to open or close.

10. The surgical instrument according to claim 9, characterized in that, The clamp assembly also includes a main body, the first clamp head is fixedly disposed relative to the main body, and the second clamp head is movable relative to the first clamp head.

11. The surgical instrument according to claim 8, characterized in that, The surgical instruments also include: A rear-end drive mechanism, which is used to connect to the instrument driver; The main transmission line extends from the rear transmission mechanism to the front actuator, and the first transmission component and the second transmission component are at least partially disposed in the main transmission line.

12. The surgical instrument according to claim 11, characterized in that, The surgical instrument also includes a wrist joint assembly connected between the main circuit and the front-end actuator. The wrist joint assembly includes a first rolling joint and a second rolling joint. The first rolling joint provides the front-end actuator with a degree of freedom of pitch movement, and the second rolling joint provides the front-end actuator with a degree of freedom of yaw movement.

13. A robotic arm system, characterized in that, The robotic arm system includes: the surgical instrument according to any one of claims 1-12.

14. A surgical robot, characterized in that, Including the robotic arm system according to claim 13.

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