Surgical instrument

Abstract

This disclosure provides a surgical instrument including a housing, a gripper assembly, a drive motor, a damping element, and an actuation mechanism. The gripper assembly is disposed at the distal end of the housing. The drive motor is drivably connected to the gripper assembly. The damping element is connected to the housing. The actuation mechanism has a first operating position and a second operating position. The actuation mechanism includes a control unit and a connecting unit, the control unit and the connecting unit being operably connected. The connecting unit is movably connected to the damping element, such that the connecting unit moves relative to the damping element in response to the actuation unit, causing the actuation mechanism to move from the first operating position to the second operating position, and the damping element applies damping to the connecting unit to hold the actuation mechanism in the first operating position or the second operating position. In response to the movement of the control unit of the actuation mechanism relative to the connecting unit in the operating position, the control unit sends a signal to the drive motor, causing the drive motor to drive the gripper assembly to move. The surgical instrument of this disclosure makes the position adjustment of the actuation mechanism very convenient and easy to operate.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a surgical instrument. Background Technology

[0002] Compared to traditional surgery, minimally invasive surgery offers advantages such as less trauma, fewer complications, and reduced pain, and has become the standard for diagnosis and treatment of many common surgical diseases. In minimally invasive surgery, a small-diameter perforation is typically used as the surgical channel to access and treat internal tissues or blood vessels. Due to the small diameter of the perforation, multiple laparoscopic surgical instruments are usually required to facilitate the procedure. These instruments, such as those with gripper components at the ends, help to grasp tissues, blood vessels, sutures, needles, or other surgical instruments during the operation, facilitating the treatment of tissues or blood vessels. Summary of the Invention

[0003] The embodiments disclosed herein are intended to provide a surgical instrument.

[0004] This disclosure is achieved through the following technical solution: a surgical instrument, comprising: case; A gripper assembly is disposed at the distal end of the housing; A drive motor, wherein the drive motor is drivably connected to the gripper assembly; A damping element, which is connected to the housing; An actuation mechanism having a first operating position and a second operating position; the actuation mechanism includes a control unit and a connecting unit, the control unit being operably connected to the connecting unit; the connecting unit being movably connected to a damping member, such that the connecting unit moves relative to the damping member in response to the actuation unit's movement, causing the actuation mechanism to move from the first operating position to the second operating position, and the damping member applying damping to the connecting unit to hold the actuation mechanism in the first operating position or the second operating position; In response to the movement of the control unit of the actuation mechanism relative to the connecting unit in the control position, the control unit sends a signal to the drive motor, causing the drive motor to drive the gripper assembly to move.

[0005] For example, the connecting unit has a connecting portion, the damping member has an accommodating space, the connecting portion is movably disposed in the accommodating space, and the connecting portion cooperates with the inner wall of the accommodating space to cause the damping member to generate damping on the connecting portion.

[0006] For example, the damping element is elastic.

[0007] For example, at least a portion of the outer surface of the connecting part is arc-shaped, and the inner wall of the accommodating space is adapted to the shape of the connecting part.

[0008] For example, the control unit has a rotating shaft; the rotating shaft is rotatably disposed through the connecting unit so that the control unit and the connecting unit are rotatably connected; In response to the rotation axis of the control unit pushing against the connecting unit, the connecting unit moves relative to the damping element, overcoming the damping of the damping element; In response to the rotation of the control unit relative to the connection unit, the control unit sends a first signal to the drive motor, causing the drive motor to drive the gripper assembly to perform a first movement.

[0009] For example, the control unit includes a first control unit and a second control unit movably disposed on the first control unit; the first control unit is rotatably connected to the connection unit; In response to the first control unit pushing against the connecting unit, the connecting unit moves relative to the damping element, overcoming the damping of the damping element; In response to the first control unit rotating relative to the connecting unit, the first control unit sends a first signal to the drive motor, causing the drive motor to drive the gripper assembly to perform a first movement; In response to the movement of the second control unit relative to the first control unit, the second control unit sends a second signal to the drive motor, causing the drive motor to drive the gripper assembly to perform a second movement.

[0010] For example, the first motion is a rotational motion, and the second motion is an opening motion or a closing motion.

[0011] For example, the first control unit has a rotating shaft; the rotating shaft is rotatably disposed through the connecting unit so that the first control unit is rotatably connected to the connecting unit.

[0012] For example, the first control unit includes a rotation operation component and a rotation sensing component; the rotation operation component is rotatably connected to the connection unit; In response to rotation of the rotation operation component relative to the connection unit, the rotation sensing component captures the motion of the rotation operation component and sends the first signal to the drive motor.

[0013] For example, there is a gap between the rotating shaft and the connecting unit.

[0014] For example, the second control unit includes an opening / closing operation component and an opening / closing sensing component; In response to the movement of the opening / closing operation component relative to the first control unit, the opening / closing sensing component captures the movement of the opening / closing operation component and sends the second signal to the drive motor.

[0015] For example, the opening and closing operation component includes an opening and closing element, which is pivotally connected to the first control unit; In response to the opening / closing member rotating relative to the rotating unit, the opening / closing sensing component captures the movement of the opening / closing member and sends the second signal to the drive motor.

[0016] For example, the second signal includes a closing signal and an opening signal; the second motion includes a closing motion and an opening motion; The opening and closing operation component includes two opening and closing parts, each of which is pivotally connected to the first control unit; In response to the two opening and closing members approaching each other, the opening and closing sensing component sends the closing signal to the drive motor, causing the drive motor to drive the gripper assembly to perform the closing movement; In response to the two opening and closing members moving away from each other, the opening and closing sensing component sends the opening signal to the drive motor, causing the drive motor to drive the gripper assembly to perform the opening movement.

[0017] For example, the opening and closing operation assembly further includes an elastic element disposed between the two opening and closing elements; In response to the two opening and closing elements approaching each other, the elastic element is compressed to store energy, and in response to the elastic element releasing energy, the elastic element drives the two opening and closing elements away from each other.

[0018] For example, the opening and closing operation assembly further includes a linkage assembly and a limiting shaft, wherein the linkage assembly includes a first rod body and a second rod body; The first rod is pivotally connected to one of the opening and closing components, and the second rod is pivotally connected to the other opening and closing component; the first rod and the second rod are pivotally connected via a limiting shaft; The first control unit has a limiting groove, and the limiting shaft is movably located in the limiting groove; In response to the two opening and closing members moving closer or further apart, both the first link and the second link move, and the limiting shaft moves along the limiting groove.

[0019] For example, the gripper assembly includes a first gripper arm and a second gripper arm, the first gripper arm and the second gripper arm being movably connected; In response to the control unit sending a first signal to the drive motor, the drive motor drives the first clamping arm and the second clamping arm to rotate, causing the gripper assembly to rotate.

[0020] In response to the control unit sending a second signal to the drive motor, the drive motor drives the first clamping arm to move relative to the second clamping arm, so that the gripper assembly performs an opening or closing motion. For example, the surgical instrument further includes a control module, a motion conversion unit, and a transmission component; one part of the first clamping arm is rotatably connected to the second clamping arm, and the other part of the first clamping arm is rotatably connected to the transmission component; the drive motor includes a first drive motor and a second drive motor. Both the first drive motor and the second drive motor are electrically connected to the control module; both the first drive motor and the second drive motor are drivably connected to the motion conversion unit; the transmission component is operably connected to the motion conversion unit, and the transmission component is drivably connected to the first clamping arm. In response to the control module receiving the first signal, the second driving member rotates to drive the motion conversion unit to move, causing the transmission member to rotate, thereby the transmission member drives the first clamping arm to rotate to drive the second clamping arm to rotate, causing the gripper assembly to rotate.

[0021] In response to the control module receiving the second signal, the first drive member rotates to drive the motion conversion unit to move, causing the transmission member to move to drive the first clamping arm to move relative to the second clamping arm, so that the gripper assembly performs an opening or closing motion.

[0022] For example, the motion conversion unit includes a first motion component, a second motion component, and a third motion component; the first driving component is drivably connected to the first motion component, and the first motion component is drivably connected to the second motion component; the second driving component is drivably connected to the third motion component; the transmission component is operably connected to both the second motion component and the third motion component. In response to the rotation of the first driving member to drive the first moving member to rotate, the first moving member drives the second moving member to move in order to drive the transmission member to move; In response to the rotation of the second driving member, the third moving member is driven to rotate, and the third moving member drives the transmission member to rotate.

[0023] For example, the housing has a mounting portion, and the second moving member is circumferentially fixed and axially movable to the mounting portion; The first moving component is sleeved on the second moving component, and the first moving component and the second moving component form one of a sliding screw drive and a ball screw drive. Alternatively, one of the first moving component and the second moving component is provided with a sliding part, and the other is provided with a guide groove extending along its circumference. The sliding component is movably disposed in the guide groove. In response to the rotation of the first moving component, the guide groove moves relative to the sliding part, causing the second moving component to move. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a surgical instrument according to an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a portion of the surgical instrument according to an embodiment of this disclosure; Figure 3 This is a schematic diagram of the actuation mechanism according to an embodiment of the present disclosure, and the damping component is also shown. Figure 4 This is a schematic diagram of the structure of the actuation mechanism according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the structure of the damping component according to an embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of the control unit according to an embodiment of the present disclosure; Figure 7 This is a schematic diagram of the control unit according to an embodiment of the present disclosure; the transmission unit is not shown. Figure 8 This is a cross-sectional view of the actuation mechanism according to an embodiment of the present disclosure; Figure 9 This is a diagram showing the cooperation relationship between the transmission unit and the rotary encoder according to an embodiment of this disclosure; Figure 10 This is a schematic diagram of the structure of the opening and closing operation component according to an embodiment of this disclosure; Figure 11 This is a cross-sectional view of the opening and closing operation component according to an embodiment of this disclosure; Figure 12 This is a diagram showing the interaction between the opening / closing sensing magnet and the opening / closing encoder according to an embodiment of this disclosure. Figure 13-14 This is a partial schematic diagram of a surgical instrument according to some embodiments of the present disclosure, mainly to illustrate the cooperation between the first drive assembly, the second drive assembly, and the housing; Figure 15 This is a cross-sectional view of a surgical instrument according to some embodiments of the present disclosure, mainly to illustrate the cooperation between the first drive assembly, the second drive assembly, and the transmission component; Figure 16 This is a schematic diagram of the structure of the first moving part of some embodiments of this disclosure; Figure 17 This is a cross-sectional view of a first moving member of some embodiments of this disclosure; Figure 18 This is a schematic diagram of the structure of the second moving part in some embodiments of this disclosure; Figure 19 This is a cross-sectional view of a second moving member according to some embodiments of this disclosure; Figure 20 This is a schematic diagram of the structure of a portion of the housing according to some embodiments of this disclosure, mainly to show the mounting part; Figure 21 This is a schematic diagram of the cooperation between the third moving component and the transmission component in some embodiments of this disclosure; Figure 22 This is a schematic diagram of the structure of the third moving component in some embodiments of this disclosure; Figure 23 These are schematic diagrams of the transmission components according to some embodiments of this disclosure; Figure 24 This is a cross-sectional view of a surgical instrument according to other embodiments of this disclosure, mainly to illustrate the cooperation between the first drive assembly, the second drive assembly, and the transmission component; Figure 25 This is a schematic diagram of the structure of the first moving part in some other embodiments of this disclosure; Figure 26 This is a schematic diagram of the structure of the second moving part in some other embodiments of this disclosure; Figure 27 This is a cross-sectional view of a surgical instrument according to some embodiments of the present disclosure, mainly to illustrate the cooperation between the first drive assembly, the second drive assembly, and the transmission component; Figure 28 This is a schematic diagram of the structure of the first moving part in some other embodiments of this disclosure; Figure 29 This is a schematic diagram of the structure of the second moving part in some other embodiments of this disclosure; Figure 30 This is a schematic diagram of the structure of a portion of a surgical instrument according to some embodiments of the present disclosure, mainly to illustrate the structure of the first drive assembly and the second drive assembly; Figure 31 This is a schematic diagram of the gripper assembly of some embodiments of this disclosure; Figure 32 This is a cross-sectional view of a gripper assembly according to some embodiments of this disclosure; Figure 33 This is a schematic diagram of the structure of the second clamping arm according to some embodiments of this disclosure; Figure 34 This is a schematic diagram of the structure of the snake-bone rotation joint in some embodiments of this disclosure; Figure 35This is a schematic diagram of the snake skeleton structure according to some embodiments of the present disclosure, mainly to show the first side of the snake skeleton; Figure 36 This is a schematic diagram of the snake skeleton structure according to some embodiments of the present disclosure, mainly to show the second side of the snake skeleton; Figure 37 yes Figure 24 Another angle, mainly to further showcase the first side of the snake bone; Figure 38 These are schematic diagrams of the distal joints in some embodiments of this disclosure; Figure 39 These are schematic diagrams of the proximal joint structure of some embodiments of this disclosure; Figure 40 This is a schematic diagram of the structure of a pitch drive unit according to some embodiments of this disclosure; The reference numerals in the above figures are: 100 - Housing; 101 - Mounting part; 102 - First slot; 200-First moving component; 202-Sliding part; 203-Toothed part; 204-Internal thread; 210-Second moving component; 212-First insertion part; 213-Guide groove; 214-Pushing part; 215-External thread; 220-Helical groove; 221-Ball; 230-First driving component; 231-First transmission shaft; 232-Transmission gear; 240-Third moving component; 241-Second insertion part; 250-Second driving component; 251-Second transmission shaft; 300 - Actuation mechanism; 310 - Control unit; 3100 - Rotation operation component; 3101 - Base part; 3102 - Limiting groove; 3103 - Rotation shaft; 3104 - Rotation sensing magnet; 3105 - Rotation encoder; 3106 - Rotation axis; 3110 - Opening and closing operation component; 3111 - Opening and closing element; 3112 - Elastic element; 3113 - First rod; 3114 - Second rod; 3115 - Limiting shaft; 3118 - Connecting shaft; 3119 - Pivot part; 3116 - Opening and closing sensing magnet; 3117 - Opening and closing encoder; 320 - Connecting unit; 321 - Connecting part; 322 - Frame part; 330 - First gear; 331 - Second gear; 400 - Transmission component; 401 - Second slot; 402 - Drive slot; 500 - First plane; 501 - Second plane; 600-Gripper assembly; 610-First gripper arm; 611-First clamping part; 620-Second gripper arm; 621-Second clamping part; 622-Base part; 623-Seat part; 624-Connecting part; 625-First stop part; 626-Second stop part; 631-First rotating shaft; 632-Second rotating shaft; 633-Pull rod; 634-Drive shaft; 700 - Support base; 701 - Holding part; 800-Snake-bone rotation joint; 801-Distal joint; 802-Proximal joint; 810-Snake-bone; 811-First surface; 812-Second surface; 813-Protrusion; 814-Groove; 815-Positioning hole; 816-Central hole; 910 - First pitch traction rope; 911 - Second pitch traction rope; 912 - First storage component; 913 - Pitch drive component; 914 - First storage shaft; 920 - First yaw traction rope; 921 - Second yaw traction rope; 1000-Casing; 1100 - Damping element; 1101 - Accommodation space. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0026] It is important to understand that the terms "proximal" and "distal" used in this article are relative to the clinician manipulating the surgical instrument. The clinician typically manipulates the instrument by manipulating its housing. "Proximal" refers to the part closer to the clinician, while "distal" refers to the part farther from the clinician. That is, the housing is the proximal end, and the gripper assembly is the distal end. For example, the proximal end of a component refers to the end relatively closer to the housing, and the distal end refers to the end relatively closer to the gripper assembly. However, surgical instruments can be used in many directions and positions; therefore, these terms expressing relative positional relationships are not limited or absolute.

[0027] In this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluding cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0028] In minimally invasive surgery, to achieve multi-degree-of-freedom suturing, dissection, and coagulation, surgical instruments with opening and closing functions to hold suture needles, sutures, or tissues are required, as well as surgical instruments capable of rotating the suture needle around its own axis to achieve suturing, thereby meeting surgical needs. To achieve the aforementioned opening and closing functions and to rotate the suture needle around its own axis, this disclosure provides a surgical instrument.

[0029] Please see Figures 1-2 The surgical instrument includes a housing 100, a gripper assembly 600, a drive motor, a damping element 1100, and an actuation mechanism 300. The gripper assembly 600 is located at the distal end of the housing 100. The drive motor is drivably connected to the gripper assembly 600. The damping element 1100 is connected to the housing 100.

[0030] The actuation mechanism 300 has control positions. The control positions include a first control position and a second control position. The actuation mechanism 300 includes a control unit 310 and a connection unit 320, the control unit 310 and the connection unit 320 being operably connected. The connection unit 320 is movably connected to a damping member 1100, such that the connection unit 320 moves relative to the damping member 1100 in response to the actuation of the control unit 310, causing the actuation mechanism 300 to move from the first control position to the second control position, and the damping member 1100 applies damping to the connection unit 320 to hold the actuation mechanism 300 in either the first control position or the second control position.

[0031] The first and second control positions are not specific locations. During the adjustment of the position of the actuation mechanism 300, there will be multiple control positions. The first and second control positions are only used to illustrate the switching between two control positions.

[0032] In response to movement of the control unit 310 of the actuation mechanism 300 relative to the connecting unit 320 in the control position, the control unit 310 sends a signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to move. During surgery using surgical instruments, the gripper assembly 600 is located inside the abdominal cavity, while the actuation mechanism 300 is located outside the abdominal cavity. The surgeon generates and transmits the necessary signals by manipulating the control unit 310 of the actuation mechanism 300 outside the abdominal cavity, causing the drive motor to receive the signals and drive the gripper assembly 600 to perform the necessary movements inside the abdominal cavity to assist in the surgery.

[0033] When using surgical instruments, the relative position between the instruments and the surgeon is not constant. When the surgeon manipulates the control unit 310, its position may be inconvenient, leading to difficulty and effort in operation. Therefore, the surgical instrument of this disclosure is equipped with a connection unit 320 connected to a damping element 1100, allowing the surgeon to adjust the position of the actuation mechanism 300 according to their operating habits and needs. This makes the position of the actuation mechanism 300 more suitable for the surgeon's hand, facilitating manipulation of the control unit 310 and making the operation of the surgical instruments simpler and less strenuous. Simultaneously, after adjusting the position of the actuation mechanism 300, the damping element 1100 automatically locks the position, ensuring the actuation mechanism 300 remains in a suitable position for the surgeon's operation, eliminating the need for manual fixing and making the adjustment of the actuation mechanism 300's position extremely convenient and easy to operate.

[0034] Adjusting the position of the actuation mechanism, for example, when a doctor applies force to the control unit 310 to push it against the connecting unit 320, the connecting unit 320 overcomes the damping of the damping element 1100 and moves relative to the damping element 1100, thus changing the position of the actuation mechanism 300. When the doctor releases the control unit 310, the connecting unit 320 stops moving under the damping action of the damping element 1100, thus keeping the actuation mechanism 300 in the current control position.

[0035] The control unit 310 is driven to trigger the movement of the gripper assembly. For example, a doctor applies force to the control unit 310 to move it relative to the connecting unit 320. The control unit 310 sends a signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to move.

[0036] refer to Figure 3-4 and Figure 8 The connecting unit 320 has a connecting portion 321. (See reference) Figure 5 The damping element 1100 has a receiving space 1101. (Reference) Figure 3 and Figure 8 The connecting portion 321 is movably accommodated in the accommodating space 1101, allowing the connecting portion 321 to rotate within the accommodating space 1101. The connecting portion 321 engages with the inner wall of the accommodating space 1101 to provide damping to the connecting portion 321 via the damping member 1100. The damping provided by the damping member 1100 ensures that the relative position between the connecting portion 321 and the accommodating space 1101 remains unchanged when the control unit 310 is not subjected to external force.

[0037] The connecting part 321 is housed in the damping member 1100, which facilitates the fixing of the damping member 1100 to it. The mating structure and mating principle between the damping member 1100 and the connecting unit 320 are very simple, avoiding complex mating structures and ensuring reliability.

[0038] The damping element 1100 is elastic, and the connecting portion 321 is housed in the accommodating space 1101. This is equivalent to the damping element 1100 wrapping around the connecting portion 321, and the damping element 1100 compressing the connecting portion 321, thus providing damping to the connecting portion 321. When a force is applied to the control unit 310 to push against the connecting unit 320, under the action of the external force, the connecting portion 321 of the connecting unit 320 overcomes the damping of the damping element 1100, causing the connecting unit 320 to move relative to the damping element 1100.

[0039] At least a portion of the outer surface of the connecting portion 321 is arc-shaped, for example, referring to... Figure 4 The connecting part 321 is spherical. The inner wall of the accommodating space 1101 is adapted to the shape of the connecting part 321, thereby facilitating the rotation of the connecting part 321 in the accommodating space 1101.

[0040] The damping component can be made of rubber, such as ethylene propylene rubber or nitrile rubber, with a Shore D hardness of 50-90. The rotational torque required for the connection 321 to rotate relative to the damping component 1100 is not less than 0.3 Nm.

[0041] refer to Figure 6-8 The control unit 310 has a rotating shaft 3103, which is rotatably disposed through the connecting unit 320 to rotatably connect the control unit 310 and the connecting unit 320. Thus, the control unit 310 can push against the connecting unit 320 via the rotating shaft 3103, and the control unit 310 can also rotate relative to the connecting unit 320 via the rotating shaft 3103. In response to pushing the connecting unit 320 against the rotating shaft 3103 of the control unit 310, the connecting portion 321 rotates in the accommodating space 1101, and the connecting unit 320 swings about its connecting portion 321 relative to the damping member 1100. Thus, the connecting unit 320 moves relative to the damping member 1100 against the damping of the damping member 1100. In response to the rotation of the control unit 310 relative to the connecting unit 320, the control unit 310 sends a first signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to perform a first movement.

[0042] The control unit 310 includes a first control unit and a second control unit movably disposed on the first control unit. The first control unit is rotatably connected to the connection unit 320.

[0043] In response to the first control unit pushing against the connecting unit 320, the connecting unit 320 moves relative to the damping member 1100, overcoming the damping of the damping member 1100. In response to the first control unit rotating relative to the connecting unit 320, the first control unit sends a first signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to perform a first movement.

[0044] The first control unit can be driven to push against or rotate relative to the connecting unit 320 by applying force to it. When applying force to the first control unit, the first control unit can be directly manipulated, or the second control unit located therein can be manipulated to apply force, so that the second control unit drives the first control unit to rotate.

[0045] In response to the movement of the second control unit relative to the first control unit, the second control unit sends a second signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to perform a second movement.

[0046] The first movement is a rotational movement. That is, by driving the first control unit to rotate, the doctor can rotate the gripper assembly 600 to meet the needs of the surgery. For example, when the gripper assembly 600 is holding a suture needle, driving the gripper assembly 600 to rotate causes the suture needle to rotate around its own axis to meet the surgical requirements. The second movement is an opening or closing movement. By driving the second control unit to move relative to the first control unit, the doctor can open or close the gripper assembly 600 to meet the needs of the surgery.

[0047] refer to Figure 6-8 The first control unit has a rotating shaft 3103. The rotating shaft 3103 is rotatably disposed through the connecting unit 320 so that the first control unit is rotatably connected to the connecting unit 320. The second control unit is disposed on the first control unit, thereby realizing the rotatable connection between the actuation unit as a whole and the connecting unit 320.

[0048] refer to Figure 3-4 The first control unit includes a rotation operation component 3100 and a rotation sensing component connected to the rotation operation component 3100. The rotation operation component 3100 is rotatably connected to the connection unit 320. In response to the rotation of the rotation operation component 3100 relative to the connection unit 320, the rotation sensing component captures the movement of the rotation operation component 3100 and sends a first signal to the drive motor.

[0049] refer to Figure 3-4 and Figure 6-8 The rotation operation assembly 3100 includes a base portion 3101 and a rotation shaft 3103 connected to each other. The rotation shaft 3103 is rotatably disposed through the connecting unit 320 so that the rotation operation assembly 3100 is rotatably connected to the connecting unit 320. In response to applying a force to the base portion 3101 to drive the rotation shaft 3103 to push against the connecting unit 320, the connecting unit 320 moves relative to the damping member 1100. In response to applying a force to the base portion 3101 to drive the rotation shaft 3103 to rotate relative to the connecting unit 320, the rotation sensing assembly sends a first signal to the drive motor.

[0050] refer to Figure 8-9The rotation sensing component includes a rotation sensing magnet 3104 and a rotation encoder 3105. The rotation sensing magnet 3104 is connected to a rotation shaft 3103, and the rotation encoder 3105 is disposed in the connecting unit 320. When the base part 3101 drives the rotation shaft 3103 to push against the connecting unit 320, the rotation sensing magnet 3104 and the rotation encoder 3105 move synchronously when the connecting unit 320 moves relative to the damping member 1100, and the rotation encoder 3105 does not emit a signal. When the base part 3101 drives the rotation shaft 3103 to rotate relative to the connecting unit 320, the rotation sensing magnet 3104 is driven to rotate relative to the rotation encoder 3105, and the rotation encoder 3105 emits a first signal to the drive motor.

[0051] refer to Figure 3-4 and Figure 8 The connecting unit 320 includes a frame portion 322, which is connected to the connecting portion 321. The rotating shaft 3103 of the rotating operation component 3100 passes through the connecting portion 321 and is partially located in the frame portion 322.

[0052] In some embodiments of this disclosure, a rotation sensing magnet 3104 is disposed on a rotating shaft 3103, and a rotation encoder 3105 is disposed on a frame portion 322. When the base portion 3101 drives the rotating shaft 3103 to rotate relative to the connecting unit 320, the rotation sensing magnet 3104 is driven to rotate relative to the rotation encoder 3105, and the rotation encoder 3105 sends a first signal to the drive motor.

[0053] In some embodiments, the actuation mechanism 300 further includes a transmission unit. (See reference) Figure 6 and Figure 8-9 The transmission unit includes a meshing first gear 330 and a second gear 331. Both the first gear 330 and the second gear 331 are housed within a frame portion 322 and rotatably connected to the frame portion 322 via a rotating bearing. The portion of the rotating shaft 3103 of the rotating operation assembly 3100 located within the frame portion 322 is connected to the first gear 330. A rotation sensing magnet 3104 is disposed on the second gear 331. A rotation encoder 3105 is disposed on the frame portion 322. When the base portion 3101 drives the rotating shaft 3103 to rotate relative to the connecting unit 320, the rotating shaft 3103 drives the first gear 330 and the second gear 331 to rotate, causing the rotation sensing magnet 3104 to rotate relative to the rotation encoder 3105. The rotation encoder 3105 then sends a first signal to the drive motor.

[0054] As described above, when a force is applied to the first control unit, the first control unit can be manipulated directly, or a force can be applied by manipulating the second control unit disposed thereon, causing the second control unit to drive the first control unit to rotate. The second control unit is movably disposed on the base portion 3101. In response to applying a force to the second control unit, causing the second control unit to drive the base portion 3101 to rotate around the rotation axis 3106, or in response to applying a force to the base portion 3101, causing the base portion 3101 to rotate around the rotation axis 3106, causing the rotation axis 3103 to push against the connecting unit 320. (See reference) Figure 6 The rotation axis 3106 is the central axis of the rotation axis 3103. When using surgical instruments, the doctor can choose to apply force to either the second control unit or the base part 3101 according to actual needs and ease of operation.

[0055] There is a gap between the rotating shaft 3103 and the connecting unit 320, meaning they are loosely fitted. Therefore, when the doctor rotates the control unit 310 to rotate the rotating shaft 3103 relative to the connecting unit 320, the friction between them is small. Simultaneously, the connecting unit 320 is restricted by the damping element 1100, preventing it from being driven by the rotating shaft 3103. However, when the doctor wants to adjust the position of the actuation mechanism 300, the doctor applies force to the control unit 310, causing its rotating shaft 3103 to push against the connecting unit 320. Although there is a gap between the rotating shaft 3103 and the connecting unit 320, the rotating shaft 3103 will inevitably come into contact with the connecting unit 320 during its movement, thus pushing against it. This allows the connecting unit 320 to overcome the damping of the damping element 1100 and move relative to it.

[0056] The second control unit includes an opening / closing operation component 3110 and an opening / closing sensing component. In response to movement of the second control unit relative to the first control unit, the opening / closing sensing component detects the movement of the opening / closing operation component 3110 and sends a second signal to the drive motor.

[0057] refer to Figure 4 , Figure 6-7 and Figure 10-12 The opening / closing operation assembly 3110 includes an opening / closing element 3111, which is pivotally connected to the first control unit. In response to applying a force to the opening / closing element 3111 to rotate it relative to the rotating unit, the opening / closing sensing assembly detects the movement of the opening / closing element 3111 and sends a second signal to the drive motor.

[0058] The second signal emitted by the opening / closing sensing component includes a closing signal and an opening signal. The second movement of the gripper assembly 600 includes a closing movement and an opening movement.

[0059] refer to Figure 6-7 and Figure 10 The opening and closing operation component 3110 includes two opening and closing elements 3111, each pivotally connected to the first control unit. In response to applying force to the two opening and closing elements 3111 to bring them closer together, the opening and closing sensing component sends a closing signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to close. In response to the two opening and closing elements 3111 moving away from each other, the opening and closing sensing component sends an opening signal to the drive motor, causing the drive motor to drive the gripper assembly 600 to open. Thus, the second control unit transmits the doctor's hand movements to the gripper assembly 600 to control its movement. Simultaneously, because the movements of the opening and closing elements 3111 and the gripper assembly 600 are mutually corresponding, it facilitates the doctor's rapid execution of the required actions of the gripper assembly 600.

[0060] refer to Figure 10 The opening and closing mechanism 3110 also includes an elastic element 3112 disposed between the two opening and closing elements 3111. In response to applying a force to the two opening and closing elements 3111 to bring them closer together, the elastic element 3112 is compressed to store energy. In response to releasing the force applied to the two opening and closing elements 3111, the elastic element 3112 releases energy to drive the two opening and closing elements 3111 away from each other. By incorporating the elastic element 3112, when the doctor releases their grip to release the force applied to the two opening and closing elements 3111, the two opening and closing elements 3111 automatically open, allowing the gripper assembly 600 to open, thereby increasing operational convenience and allowing the gripper assembly 600 to be opened without additional doctor intervention.

[0061] refer to Figure 8 and Figure 11-12 The opening / closing sensing assembly includes an opening / closing sensing magnet 3116 and an opening / closing encoder 3117. The opening / closing sensing magnet 3116 is disposed on one of the opening / closing members 3111, and the opening / closing encoder 3117 is disposed on the base portion 3101. In response to the two opening / closing members 3111 approaching each other, causing the opening / closing sensing magnet 3116 to move relative to the opening / closing encoder 3117, the opening / closing encoder 3117 sends a closing signal to the drive motor. In response to the two opening / closing members 3111 moving away from each other, causing the opening / closing sensing magnet 3116 to move relative to the opening / closing encoder 3117, the opening / closing encoder 3117 sends an opening signal to the drive motor.

[0062] The opening / closing operation component 3110 also includes a connecting shaft 3118. (See reference) Figure 6-7 , Figure 10The two opening and closing elements 3111 are pivotally connected via a connecting shaft 3118, and the connecting shaft 3118 is connected to the base portion 3101 of the first control unit. This makes each opening and closing element 3111 pivotally connected to the first control unit.

[0063] refer to Figure 10-12 Each opening / closing element 3111 also includes a pivot portion 3119, which is pivotally connected to the connecting shaft 3118. An opening / closing sensing magnet 3116 is disposed at the pivot portion 3119 of one of the opening / closing elements 3111.

[0064] refer to Figure 6-7 and Figure 10 The opening / closing operation assembly 3110 also includes a linkage assembly and a limiting shaft 3115. The linkage assembly includes a first rod 3113 and a second rod 3114. The first rod 3113 is pivotally connected to one of the opening / closing elements 3111, and the second rod 3114 is pivotally connected to the other opening / closing element 3111. The first rod 3113 and the second rod 3114 are pivotally connected via the limiting shaft 3115. The first control unit has a limiting groove 3102, in which the limiting shaft 3115 is movably located. (Reference) Figure 6-7 The limiting groove 3102 is provided on the base part 3101.

[0065] In response to the two opening / closing components 3111 moving closer or further apart, both the first and second connecting rods move, and the limiting shaft 3115 moves along the limiting groove 3102. By connecting the two opening / closing components 3111 with a connecting rod assembly, the movements of the two components are correlated. When each component moves, the connecting rod assembly moves, exerting a force on the other component, thus enabling the movements of the two components to be synchronized. Simultaneously, by limiting the movement of the limiting shaft 3115 along the limiting groove 3102, its trajectory is restricted, allowing it to move only along the groove. This restricts the movement trajectories of the two components, ensuring the consistency and synchronization of their movements.

[0066] refer to Figure 31 The gripper assembly 600 includes a first gripper arm 610 and a second gripper arm 620, which are movably connected. In response to the control unit 310 sending a first signal to the drive motor, the drive motor drives the first gripper arm 610 and the second gripper arm 620 to rotate, causing the gripper assembly 600 to rotate. In response to the control unit 310 sending a second signal to the drive motor, the drive motor drives the first gripper arm 610 to move relative to the second gripper arm 620, causing the gripper assembly 600 to open or close.

[0067] refer to Figure 30 The surgical instrument also includes a control module, a motion conversion unit, and a transmission component 400. The drive motors include a first drive motor 230 and a second drive motor 250. Both the first drive motor 230 and the second drive motor 250 are electrically connected to the control module, thereby receiving commands from the control module. Both the first drive motor 230 and the second drive motor 250 are drivably connected to the motion conversion unit, and the transmission component 400 is operably connected to the motion conversion unit and drivably connected to the first clamping arm 610.

[0068] In response to the control module receiving a first signal, the second drive motor 250 rotates to drive the motion conversion unit, causing the transmission member 400 to rotate. The transmission member 400 then drives the first clamping arm 610 and the second clamping arm 620 to rotate, causing the gripper assembly 600 to rotate. For example, the transmission member 400 drives the first clamping arm 610 to rotate, which in turn drives the second clamping arm 620 to rotate, causing the gripper assembly 600 to rotate. The first signal includes a forward rotation signal and a reverse rotation signal, and the rotation of the gripper assembly 600 includes both forward and reverse rotation. For example, in response to the control module receiving a forward rotation signal, the control module sends a forward rotation command to the second drive motor 250 to make the second drive motor 250 rotate forward. This causes the transmission member 400 to drive the first clamping arm 610 to rotate forward, which in turn drives the second clamping arm 620 to rotate forward, causing the gripper assembly 600 to rotate forward. In response to the control module receiving a reverse rotation signal, the control module sends a reverse rotation command to the second drive motor 250 to make the second drive motor 250 rotate in the opposite direction. As a result, the transmission component 400 drives the first clamping arm 610 to rotate in the opposite direction, thereby driving the second clamping arm 620 to rotate in the opposite direction, so that the gripper assembly 600 performs a reverse rotation movement.

[0069] In response to the control module receiving a second signal, the first drive motor 230 rotates to drive the motion conversion unit, causing the transmission member 400 to move and drive the first gripper arm 610 to move relative to the second gripper arm 620, thereby causing the gripper assembly 600 to perform an opening or closing movement. For example, in response to the control module receiving a closing signal, the control unit sends a closing command to the first drive motor 230 to make the first drive motor 230 rotate in the forward direction, causing the transmission member 400 to move in the forward direction to drive the first gripper arm 610 toward the second gripper arm 620, thereby causing the gripper assembly 600 to perform a closing movement. In response to the control module receiving an opening signal, the control unit sends an opening command to the first drive motor 230 to make the first drive motor 230 rotate in the reverse direction, causing the transmission member 400 to move in the reverse direction to drive the first gripper arm 610 away from the second gripper arm 620, thereby causing the gripper assembly 600 to perform an opening movement.

[0070] The terms "forward" and "reverse" mentioned above are only used to indicate two opposite directions of motion.

[0071] refer to Figure 32 The gripper assembly 600 also includes a pull rod 633. One part of the first gripper arm 610 is rotatably connected to the second gripper arm 620, and the other part of the first gripper arm 610 is rotatably connected to the pull rod 633. A transmission member 400 is connected to the pull rod 633. In response to movement of the transmission member 400, the transmission member 400 drives the pull rod 633 to move, causing the first gripper arm 610 to rotate relative to the second gripper arm 620, thereby causing the gripper assembly 600 to perform an opening or closing movement. In response to rotation of the transmission member 400, the transmission member 400 drives the pull rod 633 to rotate, causing the pull rod 633 to drive the first gripper arm 610 to rotate, and the first gripper arm 610 drives the second gripper arm 620 to rotate, thereby causing the gripper assembly 600 to rotate.

[0072] refer to Figures 31-32 The first clamping arm 610 includes a first clamping portion 611, a pivot portion, and a connecting portion. The second clamping arm 620 includes a second clamping portion 621 and a base portion 622. The pivot portion of the first clamping arm 610 is rotatably connected to the base portion 622 of the second clamping arm 620 via a first pivot 631. The first clamping arm 610 can rotate about the first pivot 631, causing its first clamping portion 611 to move closer to or further away from the second clamping portion 621, thereby causing the gripper assembly 600 to perform an opening or closing movement. The connecting portion of the first clamping arm 610 is rotatably connected to the pull rod 633 via a second pivot 632.

[0073] refer to Figure 32 The gripper assembly 600 also includes a drive shaft 634. One end of the drive shaft 634 is connected to the transmission member 400, and the other end is connected to the pull rod 633. The pull rod 633 is rotatably connected to the connection part of the first gripper arm 610 via the second rotating shaft 632, thereby realizing the drivable connection between the transmission member 400 and the first gripper arm 610.

[0074] refer to Figure 15 , Figure 24 and Figure 27 The motion conversion unit includes a first moving component 200, a second moving component 210, and a third moving component 240. A first drive motor 230 is drivably connected to the first moving component 200, and the first moving component 200 is drivably connected to the second moving component 210. A second drive motor 250 is drivably connected to the third moving component 240. A transmission component 400 is operably connected to both the second moving component 210 and the third moving component 240.

[0075] In response to the rotation of the first drive motor 230 to drive the first moving member 200 to rotate, the first moving member 200 drives the second moving member 210 to move to drive the transmission member 400 to move, thereby causing the transmission member 400 to drive the first clamping arm 610 to move relative to the second clamping arm 620, thereby causing the gripper assembly 600 to perform an opening or closing movement, thus realizing the opening and closing function of the gripper assembly 600 for clamping needles, sutures or tissues, etc.

[0076] In response to the rotation of the second drive motor 250, which drives the third moving member 240 to rotate, and the third moving member 240 drives the transmission member 400 to rotate, the gripper assembly 600 rotates. This enables the gripper assembly 600 to rotate after clamping, thus meeting surgical requirements. For example, when gripping a suture needle, the rotation of the gripper assembly 600 can cause the suture needle to rotate around its own axis, thereby meeting the suturing requirements.

[0077] refer to Figure 20 The housing has a mounting part 101, for reference Figure 15 , Figure 24 and Figure 27 The first moving member 200 is rotatably sleeved on the mounting portion 101. The second moving member 210 is circumferentially fixed and axially movable to the mounting portion 101, thereby restricting the movement of the second moving member 210, allowing the second moving member 210 to move relative to the mounting portion 101 but preventing it from rotating relative to the mounting portion 101. In response to the rotation of the first moving member 200, the first moving member 200 drives the second moving member 210 to move, causing the second moving member 210 to drive the transmission member 400 to move.

[0078] refer to Figure 18-20 , Figure 26 and Figure 29 The second moving member 210 is operably connected to the mounting portion 101 via a first limiting structure, such that the second moving member 210 is circumferentially fixed and axially movable relative to the mounting portion 101. The first limiting structure includes a first slot 102 and a first insertion portion 212. The first slot 102 is disposed in one of the second moving member 210 and the mounting portion 101, and the first insertion portion 212 is disposed in the other of the second moving member 210 and the mounting portion 101. (See reference) Figures 19-20 , Figure 26 and Figure 29 In some embodiments of this disclosure, the first insertion portion 212 is disposed on the second moving member 210, and the first slot 102 is disposed on the mounting portion 101.

[0079] Both the first slot 102 and the first insertion portion 212 are provided with a first plane 500. The first insertion portion 212 is movably located within the first slot 102, and the first plane 500 of the first slot 102 engages with the first plane 500 of the first insertion portion 212, so that the second moving member 210 is circumferentially fixed and axially movable connected to the mounting portion 101. When the second moving member 210 tends to rotate, the first plane 500 of the second moving member 210 abuts against the first plane 500 of the mounting portion 101, thereby restricting the rotation of the second moving member. When the second moving member 210 moves, the first plane 500 of the second moving member 210 moves along the first plane 500 of the mounting portion 101, and the movement of the second moving member 210 is not restricted.

[0080] In some embodiments of this disclosure, both the first slot 102 and the first plug-in portion 212 have two first planes 500. One of the first planes 500 of the first plug-in portion 212 mates with one of the first planes 500 of the first slot 102, and the other first plane 500 of the first plug-in portion 212 mates with the other first plane 500 of the first slot 102.

[0081] refer to Figure 15 , Figure 24 and Figure 27 The first moving part 200 is mounted on the second moving part 210. (Reference) Figure 24-26 In some embodiments of this disclosure, a cam drive structure is formed between the first moving member 200 and the second moving member 210 to enable a drivable connection between them. One of the first moving member 200 and the second moving member 210 is provided with a sliding portion 202, and the other has a guide groove 213 extending obliquely along its circumference. In response to rotation of the first moving member 200, the guide groove 213 moves relative to the sliding portion 202, causing the second moving member 210 to move within the first moving member 200.

[0082] refer to Figure 24-26 In some embodiments of this disclosure, the first moving member 200 is provided with a sliding portion 202, which is, for example, a spherical sliding portion 202, and the outer wall of the second moving member 210 is provided with a guide groove 213 extending obliquely in its circumference. In response to the rotation of the first moving member 200, the sliding portion 202 slides along the guide groove 213, thereby driving the second moving member 210 to move within the first moving member 200.

[0083] refer to Figure 15-19 and Figure 27-29In some embodiments of this disclosure, a lead screw drive structure is formed between the first moving member 200 and the second moving member 210 to enable a drivable connection between the first moving member 200 and the second moving member 210. The lead screw drive structure may be, for example, a sliding lead screw drive structure or a ball screw drive structure.

[0084] refer to Figure 15-19 In some embodiments of this disclosure, a sliding screw transmission structure is formed between the first moving member 200 and the second moving member 210. The inner wall of the first moving member 200 is provided with an internal thread 204, and the outer wall of the second moving member 210 is provided with an external thread 215. The internal thread 204 and the external thread 215 are, for example, trapezoidal threads. In response to the rotation of the first moving member 200, the internal thread 204 of the first moving member 200 engages with the external thread 215 of the second moving member 210, thereby driving the second moving member 210 to move.

[0085] refer to Figure 27-29 In some embodiments of this disclosure, a ball screw drive structure is formed between the first moving member 200 and the second moving member 210. A plurality of balls 221 are provided between the first moving member 200 and the second moving member 210. Helical grooves 220 are formed on the inner wall of the first moving member 200 and the outer wall of the second moving member 210 to accommodate the plurality of balls 221. In response to rotation of the first moving member 200, the plurality of balls 221 roll between the first moving member 200 and the second moving member 210, thereby driving the second moving member 210 to move.

[0086] By setting a cam transmission structure or a lead screw transmission structure between the first moving part 200 and the second moving part 210, the rotational motion of the first moving part 200 is converted into the translational motion of the second moving part 210, thereby driving the translational motion of the transmission part 400 and thus driving the motion of the first clamping arm 610.

[0087] By setting a cam drive structure or a lead screw drive structure between the first moving part 200 and the second moving part 210, the first moving part 200 and the second moving part 210 rotate relative to each other so that the gripper assembly 600 moves to open or close. The relative position of the first moving part 200 and the second moving part 210 can be stably maintained. When the gripper assembly 600 is subjected to external force, the first gripping arm 610 will not move relative to the second gripping arm 620, so that the gripper assembly 600 can maintain a closed clamping state to achieve stable clamping. At the same time, the use of cam drive or lead screw drive makes the transmission structure between the first moving part 200 and the second moving part 210 simple and reliable.

[0088] The transmission member 400 is axially fixed and circumferentially movable to the second moving member 210, and is also circumferentially fixed and axially movable to the third moving member 240. Therefore, the second moving member 210 does not restrict the rotational movement of the transmission member 400, and the third moving member 240 does not restrict the movement of the transmission member 400. In response to the movement of the second moving member 210, the second moving member 210 drives the transmission member 400 to move relative to the third moving member 240, thereby causing the transmission member 400 to drive the first clamping arm 610 to move relative to the second clamping arm 620, causing the gripper assembly 600 to open or close. In response to the rotation of the third moving member 240, the third moving member 240 drives the transmission member 400 to rotate relative to the second moving member 210, thereby causing the transmission member 400 to drive the gripper assembly 600 to rotate.

[0089] In this disclosed surgical instrument, the driving force of the first drive motor 230 and the second drive motor 250 is transmitted to the transmission component 400 through a motion conversion unit. The transmission component 400 then drives the gripper assembly 600 to perform opening, closing, or rotational movements. This eliminates the need for two independent transmission mechanisms, simplifying the transmission structure of the surgical instrument and improving its reliability. Furthermore, since the second moving component 210 does not restrict the rotational movement of the transmission component 400, and the third moving component 240 does not restrict the linear movement of the transmission component 400, the linear and rotational movements of the transmission component 400 are decoupled and relatively independent, eliminating motion interference and ensuring transmission stability, thus improving the operational reliability of the surgical instrument.

[0090] The transmission component 400 and the third moving component 240 are operably connected via a second limiting structure, such that the transmission component 400 and the third moving component 240 are circumferentially fixed and axially movable. (Reference) Figure 15 , Figure 21-24 and Figure 27 The second limiting structure includes a second slot 401 and a second insertion portion 241. The second slot 401 is disposed in one of the transmission member 400 and the third moving member 240, and the second insertion portion 241 is disposed in the other of the transmission member 400 and the third moving member 240.

[0091] Both the second slot 401 and the second insertion portion 241 are provided with a second plane 501. The second insertion portion 241 is movably located within the second slot 401, and the second plane 501 of the second slot 401 engages with the second plane 501 of the second insertion portion 241, so that the transmission member 400 and the third moving member 240 are circumferentially fixed and axially movable. In response to the rotation of the third moving member 240, the second plane 501 of the second slot 401 abuts against the second plane 501 of the second insertion portion 241, so that the third moving member 240 drives the transmission member 400 to rotate. In response to the movement of the transmission member 400, the second plane 501 of the transmission member 400 moves along the second plane 501 of the third moving member 240, thereby the movement of the transmission member 400 is not restricted.

[0092] refer to Figure 21-23 In some embodiments of this disclosure, both the second slot 401 and the second insertion portion 241 have two second planes 501. One of the second planes 501 of the second insertion portion 241 mates with one of the second planes 501 of the second slot 401, and the other second plane 501 of the second insertion portion 241 mates with the other second plane 501 of the second slot 401.

[0093] In some embodiments of this disclosure, the second insertion portion 241 is disposed on the third moving member 240, and the second slot 401 is disposed on the transmission member 400.

[0094] The transmission component 400 and the second moving component 210 are operably connected via a third limiting structure, such that the transmission component 400 and the second moving component 210 are axially fixed and circumferentially movable. (Reference) Figure 15 , Figure 24 and Figure 27 The transmission member 400 is located within the second moving member 210, and the third limiting structure includes a drive groove 402 and a pushing part 214. The drive groove 402 is disposed in one of the transmission member 400 and the second moving member 210, and the pushing part 214 is disposed in the other of the transmission member 400 and the second moving member 210. The pushing part 214 is movably located in the drive groove 402, such that the transmission member 400 and the second moving member 210 are axially fixed and circumferentially movable. In response to the movement of the second moving member 210, the pushing part 214 abuts against the inner wall of the drive groove 402, causing the second moving member 210 to drive the transmission member 400 to move. In response to the rotation of the third moving member 240, the third moving member 240 drives the transmission member 400 to rotate relative to the second moving member 210, and the pushing part 214 rotates relative to the drive groove 402.

[0095] For example, refer to Figure 19 The inner wall of the second moving member 210 is provided with a pushing part 214, which protrudes from the inner wall of the second moving member 210. (Refer to...) Figure 21The outer wall of the transmission member 400 is provided with a drive groove 402 extending in its circumferential direction. In some embodiments of this disclosure, the abutting portion 214 extends in an annular shape in the circumferential direction of the second moving member 210. In response to the movement of the second moving member 210, the abutting portion 214 abuts against the inner wall of the drive groove 402, causing the second moving member 210 to drive the transmission member 400 to move. In response to the third moving member 240 driving the transmission member 400 to rotate, the abutting portion 214 rotates in the drive groove 402.

[0096] refer to Figure 15 , Figure 24 and Figure 27 In some embodiments of this disclosure, the third moving member 240 is partially inserted into the mounting portion 101 and partially inserted into the second moving member 210 to be operatively connected to the transmission member 400.

[0097] refer to Figure 30 The drive motor also includes a transmission gear set. The outer wall of the first moving member 200 is provided with a toothed portion 203, and the first drive motor 230 is meshed with the toothed portion 203 of the first moving member 200 via the transmission gear set. In response to the rotation of the first drive motor 230, the first drive motor 230 drives the transmission gear set to rotate, causing the first moving member 200 to rotate and drive the second moving member 210 to move, thereby causing the transmission member 400 to move and drive the gripper assembly 600 to perform an opening or closing movement.

[0098] The transmission gear set includes transmission gears 232. The number and position of the transmission gears 232 can be set according to requirements. (Refer to...) Figure 30 In some embodiments of this disclosure, a transmission gear 232 is provided and is disposed close to the first moving member 200 to mesh with the toothed portion 203 of the first moving member 200.

[0099] refer to Figure 30 To facilitate the arrangement of the first drive motor 230, the drive motor also includes a first transmission shaft 231. The output shaft of the first drive motor 230 is drivably connected to a transmission gear set via the first transmission shaft 231, so that the setting distance between the first drive motor 230 and the first moving part 200 can be adjusted. The first transmission shaft 231 can be a single shaft or multiple shafts connected by a coupling.

[0100] refer to Figure 30 The second drive motor 250 is drivably connected to the third transmission member 400. In response to the rotation of the second drive motor 250, the second drive motor 250 drives the third transmission member 400 to rotate, thereby causing the transmission member 400 to rotate to drive the gripper assembly 600 to rotate.

[0101] refer to Figure 30To facilitate the arrangement of the second drive motor 250, the drive motor also includes a second transmission shaft 251. The output shaft of the second drive motor 250 is drivably connected to the third transmission component 400 via the second transmission shaft 251, so that the setting distance between the second drive motor 250 and the third moving component 240 can be adjusted. The second transmission shaft 251 can be a single shaft or multiple shafts connected by couplings.

[0102] refer to Figure 1 and Figures 31-32 The surgical instrument also includes a support 700, a rotating joint, a cannula 1000, and a housing 100. The cannula 1000 extends distally from the housing 100, the rotating joint is located at the distal end of the cannula 1000, and the support 700 is located at the distal end of the rotating joint. The gripper assembly 600 is rotatably connected to the support 700, so that when the rotating joint swings, the gripper assembly 600 can tilt relative to the cannula 1000, thereby facilitating the adjustment of the angle of the gripper assembly 600 to meet surgical needs. The first drive motor 230, the drive gear set, and the second drive motor 250 are all located in the housing 100. One end of the drive shaft 634 is connected to the transmission component 400, and the other end passes sequentially through the cannula 1000, the rotating joint, and the support 700 before being connected to the first gripper arm 610 via a pull rod 633.

[0103] refer to Figures 31-32 The base of the second clamping arm 620 is rotatably connected to the support base 700. (Reference) Figure 33 The base portion 622 of the second clamping arm 620 includes a seat portion 623 and a connecting portion 624. The second clamping portion 621 of the second clamping arm 620 is connected to the distal end of the seat portion 623, and the connecting portion 624 is disposed at the proximal end of the seat portion 623. The connecting portion 624 is rotatably inserted through the support base 700.

[0104] refer to Figure 33 The diameter of the joint portion 624 is smaller than that of the seat portion 623, thereby forming a first stop portion 625 between the distal end of the joint portion 624 and the proximal end of the seat portion 623. The joint portion 624 also has a second stop portion 626, which is disposed near the first stop portion 625.

[0105] refer to Figure 32 The support base 700 has a retaining portion 701 at its distal end. The retaining portion 701 is rotatably disposed between the first stop portion 625 and the second stop portion 626 and abuts against both the first stop portion 625 and the second stop portion 626. This allows the base of the second clamping arm 620 to be axially fixed and circumferentially movable connected to the support base 700. In response to the rotation of the transmission member 400, the first clamping arm 610 rotates to drive the second clamping arm 620 to rotate, and the engaging portion 624 of the base portion 622 rotates relative to the support base 700.

[0106] refer to Figures 31-32 and Figure 34 The rotating joint is, for example, a snake-bone rotating joint 800. The snake-bone rotating joint 800 includes a distal joint 801, a proximal joint 802, and a plurality of snake bones 810 located between the distal joint 801 and the proximal joint 802.

[0107] refer to Figures 31-32 and Figure 34 The snake bone 810 is a basic unit of rotational joint that can be bent. Each snake bone 810 is disc-shaped, and the distal joint 801 and proximal joint 802 are both cylindrical.

[0108] refer to Figures 35-37 Each snake bone 810 includes a first surface 811 and a second surface 812 facing each other. A protrusion 813 is provided on the first surface 811, extending radially along the first surface 811. A groove 814 is provided on the second surface 812, extending radially along the second surface 812. The protrusion 813 of each snake bone 810 is perpendicular to the extending direction of its groove 814.

[0109] refer to Figures 31-32 and Figure 34 Multiple snake bones 810 are sequentially connected between the distal joint 801 and the proximal joint 802. The first surface 811 and the second surface 812 of every two adjacent snake bones 810 are connected, such that the protrusion 813 of each snake bone 810 is embedded in the adjacent groove 814. (Reference) Figure 31 and Figure 34 The distal joint 801 is connected to the support base 700, for example, integrally formed. The distal joint 801 has a groove 814, and the protrusion 813 of the snake bone 810 adjacent to the distal joint 801 is embedded in the groove 814 of the distal joint 801. The proximal joint 802 is fixedly connected to the sleeve 1000, and the proximal joint 802 has a protrusion 813, which is embedded in the groove 814 of the snake bone 810 adjacent to it. When the rotating joint is subjected to external tensile forces in different directions, the multiple snake bones 810 bend in different directions.

[0110] refer to Figures 35-37 The protrusion 813 is a semi-circular protrusion 813, and the groove 814 is a semi-circular groove 814. The semi-circular protrusion 813 and the semi-circular groove 814 allow them to connect smoothly and move flexibly.

[0111] refer to Figures 35-37 Each snake bone 810 has a central hole 816 and a positioning hole 815. Both the central hole 816 and the positioning hole 815 penetrate the first surface 811 and the second surface 812 of the snake bone 810. (Reference) Figures 38-39Both the distal joint 801 and the proximal joint 802 are provided with a central hole 816 and a positioning hole 815 that pass through them.

[0112] refer to Figures 35-37 The central hole 816 is located at the central axis of the snake bone 810. Two of the positioning holes 815 of each snake bone are arranged opposite each other on both sides of the central hole 816 along the extension direction of the protrusion 813, and the other two positioning holes 815 are arranged opposite each other on both sides of the central hole 816 along the extension direction of the groove 814.

[0113] refer to Figure 38 The central hole 816 of the distal joint 801 is opened at its central axis. Two of the positioning holes 815 of the distal joint 801 are arranged opposite to each other on both sides of the central hole 816 along the extension direction of the groove 814. The other two positioning holes 815 of the distal joint 801 are arranged opposite to each other on both sides of the central hole 816 along the extension direction of the protrusion 813 of the adjacent snake bone 810. The line connecting the other two positioning holes 815 is perpendicular to the extension direction of the groove 814 of the distal joint 801.

[0114] refer to Figure 39 The central hole 816 of the proximal joint 802 is located at its central axis. Two positioning holes 815 of the proximal joint 802 are positioned opposite each other on both sides of the central hole 816 along the extending direction of its protrusion 813. The other two positioning holes 815 of the proximal joint 802 are positioned opposite each other on both sides of its central hole 816 along the extending direction of the groove 814 of the adjacent snake bone 810, and the line connecting the other two positioning holes 815 is perpendicular to the extending direction of the protrusion 813 of the proximal joint 802.

[0115] As described above, the first clamping arm 610 is drivably connected to the transmission component 400 via a drive shaft 634. One end of the drive shaft 634 is connected to the transmission component 400, and the other end of the drive shaft 634 passes sequentially through the sleeve 1000, the central hole 816 of the proximal joint 802, the central hole 816 of each snake bone 810, and the central hole 816 of the distal joint 801, and is then connected to the first clamping arm 610 via a pull rod 633. Thus, the drive shaft 634 can drive the first clamping arm 610 to move.

[0116] Surgical instruments also include pitch drive units and yaw drive units.

[0117] refer to Figure 40 The pitch drive unit includes a first pitch traction rope 910, a second pitch traction rope 911, a first storage component 912, and a pitch drive component 913. The first storage component 912 and the pitch drive component 913 are both disposed in the housing 100.

[0118] The first storage component 912 includes a first storage tube and a first storage shaft 914. The first storage shaft 914 is connected to the pitch drive component 913, and the first storage tube is sleeved on the first storage shaft 914. The outer wall of the first storage tube is provided with a rope groove. One end of the first pitch traction rope 910 and the second pitch traction rope 911 are both connected to the first storage tube and partially wound in the rope groove of the first storage tube. The winding direction of the first pitch traction rope 910 is opposite to the winding direction of the second pitch traction rope 911.

[0119] The snake-bone rotary joint 800 has an initial state in which it is not rotating and its orientation is parallel to the extension direction of the sleeve 1000. The snake-bone rotary joint 800 also has a rotating state in which it rotates and its orientation forms an angle with the extension direction of the sleeve 1000.

[0120] As described above, multiple snake bones 810 are sequentially connected between the distal joint 801 and the proximal joint 802. The first surface 811 and the second surface 812 of every two adjacent snake bones 810 are connected, such that the protrusion 813 of each snake bone 810 is embedded in the adjacent groove 814. When the snake bone rotation joint 800 is in the initial state, the central holes 816 of the distal joint, the multiple snake bones 810, and the proximal joint 802 are arranged in a row along the extension direction of the sleeve 1000. The positioning holes 815 are also arranged in four rows along the extension direction of the sleeve 1000. The four rows of positioning holes 815 are defined as the first group of positioning holes 815, the second group of positioning holes 815, the third group of positioning holes 815, and the fourth group of positioning holes 815. Some positioning holes 815 in each group are located in the groove 814, and some positioning holes 815 are located in the protrusion 813.

[0121] refer to Figure 34 and Figure 40 One end of the first pitch traction rope 910 is connected to the first storage tube, and the other end of the first pitch traction rope 910 passes through the sleeve 1000 and then through the first set of positioning holes 815 in sequence before being fixedly connected to the distal joint 801.

[0122] One end of the second pitch traction rope 911 is connected to the first storage tube, and the other end of the second pitch traction rope 911 passes through the sleeve 1000 and then through the second set of positioning holes 815 in sequence before being fixedly connected to the distal joint 801.

[0123] In response to the forward rotation of the pitch drive 913, the first storage shaft 914 rotates forward, causing the first storage cylinder to rotate forward. The first pitch traction rope 910 is tightened, and the second pitch traction rope 911 is released at the same time, causing each snake bone 810 to move so that the snake bone rotation joint 800 swings in the first pitch direction, thereby causing the gripper assembly 600 to swing in the first pitch direction.

[0124] In response to the reverse rotation of the pitch drive 913, the first storage shaft 914 rotates in the reverse direction, causing the first storage cylinder to rotate in the reverse direction. The first pitch traction rope 910 is released, and the second pitch traction rope 911 is tightened at the same time, causing each snake bone 810 to move so that the snake bone rotation joint 800 swings in the second pitch direction, thereby causing the gripper assembly 600 to swing in the second pitch direction.

[0125] Combination Figure 34 The yaw drive unit includes a first yaw traction rope 920, a second yaw traction rope 921, a second storage component, and a yaw drive component. Both the second storage component and the yaw drive component are housed in the housing 100. The structure of the yaw drive unit is largely the same as that of the pitch drive unit.

[0126] The second storage component includes a second storage tube and a second storage shaft. The second storage shaft is connected to the yaw drive component, and the second storage tube is sleeved on the second storage shaft. The outer wall of the second storage tube is provided with a rope groove. One end of both the first yaw traction rope 920 and the second yaw traction rope 921 is connected to the second storage tube and is partially wound in the rope groove of the second storage tube. The winding direction of the first yaw traction rope 920 is opposite to the winding direction of the second yaw traction rope 921.

[0127] One end of the first sway traction rope 920 is connected to the second storage tube, and the other end of the first sway traction rope 920 passes through the sleeve 1000 and then through the third set of positioning holes 815 in sequence before being fixedly connected to the distal joint 801.

[0128] One end of the second sway traction rope 921 is connected to the second storage tube, and the other end of the second sway traction rope 921 passes through the sleeve 1000 and then through the fourth set of positioning holes 815 in sequence before being fixedly connected to the distal joint 801.

[0129] In response to the forward rotation of the yaw drive, the forward rotation of the second storage shaft causes the second storage cylinder to rotate in the forward direction, the first yaw traction rope 920 is tightened, and the second yaw traction rope 921 is released at the same time, causing each snake bone 810 to move so that the snake bone rotation joint 800 swings along the first yaw direction, thereby causing the gripper assembly 600 to swing along the first yaw direction.

[0130] In response to the reverse rotation of the yaw drive, the second storage shaft rotates in the opposite direction, causing the second storage cylinder to rotate in the opposite direction. The first yaw traction rope 920 is released, and the second yaw traction rope 921 is tightened at the same time, causing each snake bone 810 to move so that the snake bone rotation joint 800 swings in the second yaw direction, thereby causing the gripper assembly 600 to swing in the second yaw direction.

[0131] It should be noted that each traction rope is always kept taut and remains taut when released.

[0132] In summary, the surgical instrument connection unit 320 of this disclosure is connected to the damping element 1100, allowing the surgeon to adjust the position of the actuation mechanism 300 according to their own operating habits and needs. This makes the position of the actuation mechanism 300 more suitable for the surgeon's hand operation, facilitating the surgeon's manipulation of the control unit 310 and making the operation of the surgical instrument simpler and less strenuous. Furthermore, after the position of the actuation mechanism 300 is adjusted, the damping element 1100 automatically locks the position of the actuation mechanism 300, keeping it in a position suitable for the surgeon's operation without requiring manual fixation, making position adjustment very convenient and easy to operate.

[0133] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0134] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this disclosure and are not intended to limit the scope of protection of this disclosure. All equivalent implementations or modifications made without departing from the spirit of the art of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A surgical instrument, characterized by include: case; A gripper assembly is disposed at the distal end of the housing; A drive motor, wherein the drive motor is drivably connected to the gripper assembly; A damping element, which is connected to the housing; An actuation mechanism having a first operating position and a second operating position; the actuation mechanism includes a control unit and a connection unit, the control unit being operably connected to the connection unit; The connecting unit is movably connected to the damping member, such that the connecting unit moves relative to the damping member in response to the actuation unit, so that the actuation mechanism moves from the first control position to the second control position, and the damping member applies damping to the connecting unit so that the actuation mechanism is held in the first control position or the second control position. In response to the movement of the control unit of the actuation mechanism relative to the connecting unit in the control position, the control unit sends a signal to the drive motor, causing the drive motor to drive the gripper assembly to move.

2. The surgical instrument of claim 1, wherein, The connecting unit has a connecting portion, the damping member has an accommodating space, the connecting portion is movably disposed in the accommodating space, and the connecting portion cooperates with the inner wall of the accommodating space to cause the damping member to generate damping on the connecting portion.

3. The surgical instrument of claim 1 or 2, wherein, The damping element is elastic.

4. The surgical instrument of claim 2, wherein, At least a portion of the outer surface of the connecting part is arc-shaped, and the inner wall of the accommodating space is adapted to the shape of the connecting part.

5. The surgical instrument of claim 1, wherein, The control unit has a rotating shaft; the rotating shaft is rotatably inserted through the connecting unit so that the control unit and the connecting unit are rotatably connected; In response to the rotation axis of the control unit pushing against the connecting unit, the connecting unit moves relative to the damping element, overcoming the damping of the damping element; In response to the rotation of the control unit relative to the connection unit, the control unit sends a first signal to the drive motor, causing the drive motor to drive the gripper assembly to perform a first movement.

6. The surgical instrument according to claim 1, characterized in that, The control unit includes a first control unit and a second control unit movably disposed on the first control unit; the first control unit is rotatably connected to the connection unit; In response to the first control unit pushing against the connecting unit, the connecting unit moves relative to the damping element, overcoming the damping of the damping element; In response to the first control unit rotating relative to the connecting unit, the first control unit sends a first signal to the drive motor, causing the drive motor to drive the gripper assembly to perform a first movement; In response to the movement of the second control unit relative to the first control unit, the second control unit sends a second signal to the drive motor, causing the drive motor to drive the gripper assembly to perform a second movement.

7. The surgical instrument according to claim 6, characterized in that, The first motion is a rotational motion, and the second motion is an opening motion or a closing motion.

8. The surgical instrument according to claim 6, characterized in that, The first control unit has a rotating shaft; the rotating shaft is rotatably disposed through the connecting unit so that the first control unit is rotatably connected to the connecting unit.

9. The surgical instrument according to claim 6, characterized in that, The first control unit includes a rotation operation component and a rotation sensing component; the rotation operation component is rotatably connected to the connection unit; In response to rotation of the rotation operation component relative to the connection unit, the rotation sensing component captures the motion of the rotation operation component and sends the first signal to the drive motor.

10. The surgical instrument according to any one of claims 5 or 8, characterized in that, There is a gap between the rotating shaft and the connecting unit.

11. The surgical instrument according to claim 6, characterized in that, The second control unit includes an opening / closing operation component and an opening / closing sensing component; In response to the movement of the opening / closing operation component relative to the first control unit, the opening / closing sensing component captures the movement of the opening / closing operation component and sends the second signal to the drive motor.

12. The surgical instrument according to claim 11, characterized in that, The opening and closing operation component includes an opening and closing element, which is pivotally connected to the first control unit. In response to the opening / closing member rotating relative to the rotating unit, the opening / closing sensing component captures the movement of the opening / closing member and sends the second signal to the drive motor.

13. The surgical instrument according to claim 12, characterized in that, The second signal includes a closing signal and an opening signal; the second movement includes a closing movement and an opening movement; The opening and closing operation component includes two opening and closing parts, each of which is pivotally connected to the first control unit; In response to the two opening and closing members approaching each other, the opening and closing sensing component sends the closing signal to the drive motor, causing the drive motor to drive the gripper assembly to perform the closing movement; In response to the two opening and closing members moving away from each other, the opening and closing sensing component sends the opening signal to the drive motor, causing the drive motor to drive the gripper assembly to perform the opening movement.

14. The surgical instrument according to claim 13, characterized in that, The opening and closing operation component also includes an elastic element, which is disposed between the two opening and closing components; In response to the two opening and closing elements approaching each other, the elastic element is compressed to store energy, and in response to the elastic element releasing energy, the elastic element drives the two opening and closing elements away from each other.

15. The surgical instrument according to claim 13, characterized in that, The opening and closing operation component also includes a linkage assembly and a limiting shaft, and the linkage assembly includes a first rod body and a second rod body; The first rod is pivotally connected to one of the opening and closing components, and the second rod is pivotally connected to the other opening and closing component; the first rod and the second rod are pivotally connected via a limiting shaft; The first control unit has a limiting groove, and the limiting shaft is movably located in the limiting groove; In response to the two opening and closing members moving closer or further apart, both the first link and the second link move, and the limiting shaft moves along the limiting groove.

16. The surgical instrument according to claim 1, characterized in that, The gripper assembly includes a first gripper arm and a second gripper arm, wherein the first gripper arm and the second gripper arm are movably connected. In response to the control unit sending a first signal to the drive motor, the drive motor drives the first clamping arm and the second clamping arm to rotate, causing the gripper assembly to rotate. In response to the control unit sending a second signal to the drive motor, the drive motor drives the first gripper arm to move relative to the second gripper arm, so that the gripper assembly performs an opening or closing motion.

17. The surgical instrument according to claim 16, characterized in that, The surgical instrument further includes a control module, a motion conversion unit, and a transmission component; one part of the first clamping arm is rotatably connected to the second clamping arm, and the other part of the first clamping arm is rotatably connected to the transmission component; the drive motor includes a first drive motor and a second drive motor. Both the first drive motor and the second drive motor are electrically connected to the control module; both the first drive motor and the second drive motor are drivably connected to the motion conversion unit; the transmission component is operably connected to the motion conversion unit, and the transmission component is drivably connected to the first clamping arm. In response to the control module receiving the first signal, the second driving member rotates to drive the motion conversion unit to move, causing the transmission member to rotate, thereby the transmission member drives the first clamping arm to rotate to drive the second clamping arm to rotate, causing the gripper assembly to rotate. In response to the control module receiving the second signal, the first drive member rotates to drive the motion conversion unit to move, causing the transmission member to move to drive the first clamping arm to move relative to the second clamping arm, so that the gripper assembly performs an opening or closing motion.

18. The surgical instrument according to claim 17, characterized in that, The motion conversion unit includes a first motion component, a second motion component, and a third motion component; the first driving component is drivably connected to the first motion component, the first motion component is drivably connected to the second motion component, and the second driving component is drivably connected to the third motion component. The transmission component is operably connected to both the second moving component and the third moving component; In response to the rotation of the first driving member to drive the first moving member to rotate, the first moving member drives the second moving member to move in order to drive the transmission member to move; In response to the rotation of the second driving member, the third moving member is driven to rotate, and the third moving member drives the transmission member to rotate.

19. The surgical instrument according to claim 18, characterized in that, The housing has a mounting portion, and the second moving member is circumferentially fixed and axially movablely connected to the mounting portion; The first moving component is sleeved on the second moving component, and the first moving component and the second moving component form one of a sliding screw drive and a ball screw drive. Alternatively, one of the first moving component and the second moving component is provided with a sliding part, and the other is provided with a guide groove extending along its circumference. The sliding component is movably disposed in the guide groove. In response to the rotation of the first moving component, the guide groove moves relative to the sliding part, causing the second moving component to move.

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