Surgical instrument and surgical robot

Abstract

The utility model provides a surgical instrument and a surgical robot, and the surgical instrument comprises a guide rod which is internally provided with a containing cavity; the connecting mechanism is arranged in the containing cavity, and one end of the connecting mechanism is used for being connected with an external unit; and the end effector is rotationally connected with the other end of the connecting mechanism, and a through hole enabling the end, where the end effector is located, to communicate with the end, where the external unit is located, of the guide rod is formed in the guide rod.

Description

[0001] This application is a divisional application of the Chinese patent application filed with the China Patent Office on June 28, 2023, with application number 202321674399.2 and titled "End Effector, Surgical Instrument and Surgical Robot". Technical Field

[0002] The utility model relates to the field of medical instruments, in particular to a surgical instrument and a surgical robot comprising the surgical instrument. Background Art

[0003] The birth of minimally invasive surgery has largely overcome the defects of traditional surgical operations such as large wounds, large amounts of bleeding, many complications, and high surgical risks. Using surgical robots to assist doctors in minimally invasive surgery can make minimally invasive surgery more precise and stable, greatly improving the safety of surgery. Therefore, minimally invasive surgery is gradually gaining favor from medical staff and patients, and has become a new field of medical research and clinical application.

[0004] The surgical robot includes an operating arm, which includes a surgical instrument at the end and an instrument drive unit operably connected to the surgical instrument to actuate the surgical instrument. The surgical instrument includes a driven mechanism connected to the instrument drive unit and an end effector connected to the driven mechanism. The instrument drive unit drives the driven mechanism, which in turn drives the end effector to perform surgical operations in the human body instead of human hands. Common end effectors include clamp-type instruments, which include two swinging parts. Through the relative opening and closing of the two swinging parts, the surgical site is clamped, sheared, and other operations are performed.

[0005] In the prior art, when a surgical instrument is used to perform a minimally invasive surgery, the end effector is extended into the patient's body, and smoke may be generated during operation. If the smoke is not guided to the outside in time, it may affect the field of view of the laparoscope. Utility Model Content

[0006] The utility model aims to provide a surgical instrument and a surgical robot comprising the surgical instrument. The surgical instrument can provide a path for connecting the inner space of a guide rod with the outside, thereby preventing the generated smoke from affecting the surgical field of view.

[0007] In order to achieve the above-mentioned purpose, the utility model provides a surgical instrument, which includes: a guide rod, a housing cavity is arranged inside the guide rod; a connecting mechanism, the connecting mechanism is arranged in the housing cavity, one end of the connecting mechanism is used to connect with an external unit; an end effector, the end effector is rotatably connected to the other end of the connecting mechanism, and a through hole is arranged in the guide rod so that the end where the end effector is located and the end where the external unit is located are connected to each other.

[0008] The guide rod may include a sleeve and a guide member connected to one end of the sleeve, the through hole is arranged in the guide member, and the through hole includes a guide hole and a smoke exhaust hole that are spaced apart from each other.

[0009] The through hole may be provided at a distal end of the guide rod, and / or the external unit may be provided with a communication channel communicating with the through hole.

[0010] The end effector may include a first swinging member and a second swinging member, wherein the first swinging member and the second swinging member are pivotally connected via a central rotation axis.

[0011] The connecting mechanism may be a driven mechanism or an electrical connecting piece, and the external unit may be an external driving unit or a power supply unit.

[0012] The driven mechanism may be configured to be connected to the external unit, and the driven mechanism may be disposed in the guide hole.

[0013] The driven mechanism may include a first driving member and a second driving member, the first swinging member and the second swinging member are rotatably connected to the first driving member and the second driving member respectively, the guide member is arranged at an end of the sleeve close to the end actuator, and the guide hole includes a first guide hole for accommodating the first driving member and a second guide hole for accommodating the second driving member, and the smoke exhaust hole is arranged between the first guide hole and the second guide hole.

[0014] The first driving member may include a first push-pull rod and a first connecting rod connected to each other, and the second driving member may include a second push-pull rod and a second connecting rod rotatably connected to each other, wherein, when the external unit is an external driving unit, the external driving unit drives the first push-pull rod and the second push-pull rod respectively.

[0015] In the case where the external driving unit is a power supply unit, the surgical instrument may be an energy instrument, and the power supply unit supplies power to the energy instrument via an electrical connector.

[0016] The guide member may have a first part embedded in the sleeve and a second part extending from the first part toward the end actuator, wherein the second part includes a first rotation support part and a second rotation support part facing each other and arranged along the outer periphery of the guide member, and the first swinging member and the second swinging member are rotatably arranged on the first rotation support part and the second rotation support part through a central rotation axis.

[0017] According to another aspect of the present invention, a surgical robot is further provided, the surgical robot comprising the surgical instrument as described above.

[0018] According to an embodiment of the utility model, a surgical instrument provided with a smoke exhaust hole to prevent the laparoscope field of view from being affected and a robot having the surgical instrument can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects and features of the present invention will become more apparent through the following description in conjunction with the accompanying drawings which exemplarily illustrate an example, in which:

[0020] Figure 1A and Figure 1B They are respectively a front view and a rear view of an end effector according to an embodiment of the utility model;

[0021] Figure 1C A schematic diagram showing an end effector according to an embodiment of the utility model when it is in zero position;

[0022] Figure 2A and Figure 2B The maximum cross-sectional area within the working range of two swing members with symmetrical and asymmetrical structures is shown respectively;

[0023] FIG. 3A to FIG. 3C A T-θ curve diagram of a swing member having a symmetrical structure is shown;

[0024] FIG. 4A to FIG. 4C A T-θ curve diagram of a swinging member with an asymmetric structure according to an embodiment of the utility model is shown;

[0025] FIG. 5A to FIG. 5D A T-θ curve diagram showing a process of obtaining the difference in angle between two swinging members of an asymmetric structure according to an embodiment of the utility model;

[0026] Figure 6 A perspective view showing an end portion of a surgical instrument according to an embodiment of the present utility model;

[0027] Fig. 7A and Figure 7B They are respectively a front view and a rear view of the surgical instrument after the sleeve is removed according to an embodiment of the utility model;

[0028] Figure 8 A schematic diagram showing the motion principle of the second swinging member and its driven structure in the surgical instrument is shown;

[0029] Fig. 9 A perspective view of a guide member according to the present invention is shown;

[0030] Fig.10 A perspective view of the guide member from another angle is shown.

[0031] Description of reference numerals:

[0032] 100-first swinging member; 110-first connecting part; 120-first operating part; 111-first driving part; 200-second swinging member; 210-second connecting part; 220-second operating part; 211-second driving part; 300-guide rod; 301-sleeve; 310-first guide hole; 320-second guide hole; 330-smoke exhaust hole; 350-guide member; 361-first rotating support part; 362-second rotating support part; 400-first driving member; 410-first push-pull rod; 420-first connecting rod; 500-second driving member; 510-second push-pull rod; 520-second connecting rod; 1201-first operating surface; 2201-second operating surface. DETAILED DESCRIPTION

[0033] The specific implementation of the utility model will be described below in conjunction with the accompanying drawings to clearly and completely illustrate the technical solution of the utility model. In the following description, many specific details are set forth to facilitate a full understanding of the solution of the utility model, but the solution of the utility model can be implemented in many other implementations different from those described herein, and those skilled in the art can make various modifications without violating the concept of the utility model, so the protection scope of the utility model is not limited by the specific implementation described below.

[0034] In addition, the terms "first" and "second" used in the following description are only used to distinguish one feature from another, and should not be understood as indicating or implying the order, quantity or importance of the indicated features. Unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or formed in one piece, and can be directly connected or indirectly connected through other intermediate components. For ordinary technicians in this field, the specific meaning expressed by the term should be understood according to the context.

[0035] The utility model relates to an end effector, which is a surgical tool at the end of a surgical instrument. The surgical instrument can be installed on the front end (also called the distal end) of a surgical robot for assisting in minimally invasive surgery. In minimally invasive surgery, the end of the surgical instrument extends into the patient's body through a tiny incision on the patient's body and reaches the lesion. During the operation, the surgical instrument swings with the incision as the distal fixed point to avoid the surgical instrument pulling on the wound. Therefore, the range of motion of the end effector and the appropriate clamping force (or shearing force) are crucial. However, existing end instruments are difficult to meet the demand for appropriate clamping force (or shearing force).

[0036] After analysis, this is because: when it is necessary to maintain clamping at a certain position, the clamping force is determined by the smaller force generated by the two swinging members at that position. That is, when the clamping forces of the two swinging members are superimposed, the force of one swinging member is affected by the other swinging member, so that the actual clamping force will be determined by the swinging member that provides the smaller force of the two swinging members. Since the minimum clamping force of the two swinging members in the entire range of motion is an important aspect for evaluating the clamping force of the end effector in the full range, it is particularly important to increase the minimum clamping force.

[0037] Therefore, within certain deflection angles, such as at the extreme position, it may not be possible to obtain a suitable clamping force (low clamping force), which in turn limits the deflection angle of the swinging member, making it difficult to simultaneously take into account the motion range of the end effector and the problem of suitable clamping force. In order to improve the clamping force of surgical tools within the working range, the present invention provides an end effector. The end effector according to an embodiment of the present invention is shown below with reference to the accompanying drawings.

[0038] Figure 1A and Figure 1B A schematic diagram of an end effector according to an embodiment of the utility model is shown. Figure 1C It is shown that when the end effector is coupled to a driven mechanism (such as the first drive member 400 and the second drive member 500 described below) and a supporting structure (such as the guide rod 300 described below), the two swing members are in zero position (i.e., the angle between the two swing members and the Z axis or the center plane mentioned below is 0 degrees).

[0039] like Figure 1A and Figure 1B As shown, the end effector may include a first swinging member 100 and a second swinging member 200, and the first swinging member 100 and the second swinging member 200 are pivotally connected by a central rotating shaft 150. As shown in the figure, preferably, the first swinging member 100 and the second swinging member 200 are asymmetric structures. Specifically, the first swinging member 100 and the second swinging member 200 are asymmetric structures relative to the central rotating shaft 150. Therefore, within the working range, the preferred torque range of the first swinging member 100 and the preferred torque range of the second swinging member 200 can be flexibly selected. Thereby, it can be achieved that at the swing angle within the working range, the difference in torque between the two is small, thereby making the actual clamping force larger.

[0040] It should be understood that the clamping force of the first swing member 100 and the second swing member 200 is achieved by the torque applied to them. Since the relationship between the clamping force and the torque is: T = F 0 *L 0 (F 0 is the clamping force, T is the torque, L is the 0= is the length of the lever arm), so when the structure of the swinging member is determined, the lever arm is also determined. Therefore, the magnitude of the clamping force depends only on the value of the torque, and the two are proportional. The greater the torque, the greater the clamping force.

[0041] In addition, it should be understood that the "working range" refers to the range within which the swing member can perform clamping operations within a predetermined swing angle range. Among them, the "swing angle" refers to the angle between the two swing members from the extreme position on one side to the extreme position on the other side.

[0042] Figure 2A and Figure 2B The maximum cross-sectional areas within the working range of two swing members with symmetrical structures and two swing members with asymmetrical structures when the swing angles are both θ are respectively shown.

[0043] like Figure 2A As shown, in the symmetrical structure, the two swinging members can swing left and right at the same angle relative to the zero position. When the swing angles are both θ, the swing angles of the two swinging members relative to the zero position are θ / 2. Since the surgical instrument equipped with the end effector can rotate around the Z axis, the position range (i.e., working range) that the end effector with a symmetrical structure can reach is:

[0044]

[0045] Figure 2A The shaded area shown in represents the maximum cross-sectional area within the working range of the end effector, and the shaded area is circular and perpendicular to the Z axis.

[0046] In the end effector having an asymmetric structure, the two swing members may swing only on one side of the zero position, or the swing angles of the two swing members relative to the zero position are different. Figure 2B The maximum cross-sectional area (shaded area) within the working range of the asymmetric end effector is shown. More specifically, Figure 2B The situation in which the two swinging members swing only on one side of the zero position is shown.

[0047] As shown in the figure, when other conditions are the same as those of the end effector with a symmetrical structure, the position range that the end effector with an asymmetric structure can reach is:

[0048] s2=π(L sinθ)L

[0049] It can be seen from this that when the swing angles of the two swing members are the same, the working range s2 of the end effector with an asymmetric structure is greater than the working range s1 of the end effector with a symmetric structure.

[0050] Similarly, when two swing members with an asymmetric structure swing on both sides of the zero position but with different swing angles relative to the zero position, for example, the two swing members swing to the left (by Figure 2A and Figure 2B The working range of the swing member is determined by the larger swing angle relative to the zero position swing, so its working range is:

[0051]

[0052] Obviously, s3 is also greater than s1.

[0053] It can be seen from this that when the swing angles of the two swing members are the same, the working range of the end effector with an asymmetric structure is greater than the working range of the end effector with a symmetric structure.

[0054] When the end effector rotates around the Z axis, the working range that the two swinging parts can reach is a conical surface, and the description of the above maximum cross-sectional area is only for the convenience of generally understanding the working range of symmetrical structures and asymmetrical structures, rather than for the precise calculation of the actual working range.

[0055] However, it should also be understood that reference Figure 2A and Figure 2B The introduction is only for the convenience of understanding the concept of "working range". In fact, the "working range" can be pre-set, that is, the working ranges of the symmetrical structure and the asymmetrical structure can be set to be the same as each other. In the following text, the angle value will be used to represent the working range of the swing member, where the working range can be greater than or equal to the swing angle. In the embodiments below, if it is described as "the working range is ±θ", it means that the working range is greater than the swing angle.

[0056] When the working ranges of an end effector with a symmetrical structure and an end effector with an asymmetrical structure are set to be the same, the clamping force of the symmetrical structure may not be able to meet the surgical requirements, which will be described in detail later.

[0057] Return to reference Figures 1A to 1C The first swing member 100 may include a first connection portion 110 and a first operating portion 120, and the angle between the first connection portion 110 and the first operating portion 120 may be a first angle ф1. The second swing member 200 may include a second connection portion 210 and a second operating portion 220, and the angle between the second connection portion 210 and the second operating portion 220 may be a second angle ф2. According to an embodiment of the utility model, the first angle ф1 may be greater than the second angle ф2.

[0058] In addition, the first connecting portion 110 and the second connecting portion 210 are symmetrical with respect to the central rotating shaft 150. Specifically, the first connecting portion 110 and the second connecting portion 210 may have the same length, or have the same structure and size. The first operating portion 120 and the second operating portion 220 may also have the same length, or have the same structure or size. In other words, the difference between the first swing member 100 and the second swing member 200 may only be the difference between the first angle and the second angle, that is, the first swing member 100 and the second swing member 200 form an asymmetric structure only due to the difference in the angle between the connecting portion and the operating portion. In this case, the torque range of the swing member within the working range can be changed by the difference in the angle between the two, so as to achieve a better actual clamping force.

[0059] According to an embodiment of the utility model, the first operating portion 120 and the second operating portion 220 have a first operating surface 1201 and a second operating surface 2201 facing each other, the angle between the first connecting portion 110 and the first operating surface 1201 is a first angle ф1, and the angle between the second connecting portion 210 and the second operating surface 2201 is a second angle ф2.

[0060] In addition, the first connecting part 110 has a first end and a second end, the second connecting part 210 has a first end and a second end, the first end of the first connecting part 110 has a first driving part 111, the first end of the second connecting part 210 has a second driving part 211, and the second end of the first connecting part 110 and the second end of the second connecting part 210 are pivotally connected via a central shaft 150.

[0061] The first operating portion 120 is fixedly connected to the second end of the first connecting portion 110 and protrudes outward relative to the first connecting portion 110 so that an angle between a line between the first driving portion 111 and the central shaft 150 and the first operating portion 120 is a first angle ф1.

[0062] The second operating portion 220 is fixedly connected to the second end of the second connecting portion 210 and protrudes outward relative to the second connecting portion 210 so that the angle between the line between the second driving portion 211 and the central shaft 150 and the second operating portion 220 is a second angle ф2.

[0063] According to an embodiment of the utility model, the first operating surface 1201 of the first operating portion 120 and / or the second operating surface 2201 of the second operating portion are coplanar with the central rotation axis 150. Therefore, the angle between the line between the first driving portion 111 and the central rotation axis 150 and the first operating surface 1201 is a first angle ф1, and the angle between the line between the second driving portion 211 and the central rotation axis 150 and the second operating surface 2201 is a second angle ф2.

[0064] In the present invention, the central rotation axis 150 is not necessarily an independent component independent of the first swing member 100 and the second swing member 200. It can also be a protruding structure fixed on the first swing member 100 or the second swing member 200 that can serve as a rotation axis, or it can be a protruding structure installed or integrally formed on the supporting structure of the first swing member 100 and the second swing member 200 (such as the guide rod 300 described below) that can serve as a rotation axis.

[0065] In addition, the first driving part 111 and the second driving part 211 can be a rotating shaft having an axis parallel to the axis of the central rotating shaft 150. Similarly, the first driving part 111 and the second driving part 211 can be independent components independent of the first swinging member 100 and the second swinging member 200, respectively, or can be a rotating shaft structure formed integrally with the first swinging member 100 and the second swinging member 200, respectively, and protruding from the corresponding swinging members.

[0066] In addition, the “line connecting the first drive unit / the second drive unit and the central rotating shaft 150” as described above refers to the line connecting the virtual central axis of the rotating shaft of the first drive unit / the second drive unit and the central axis of the central rotating shaft 150, and corresponds to the shortest distance between the virtual central axis of the rotating shaft of the first drive unit / the second drive unit and the central axis of the central rotating shaft 150.

[0067] The accompanying drawings only show the case where the end effector is a surgical forceps (i.e., the first swinging member 100 and the second swinging member 200 together constitute a surgical forceps), but the utility model is not limited thereto, and the end effector may also be a surgical scissors or other surgical tools. When the end effector is a surgical scissors or other surgical tools, they also have a structure with an asymmetric structure relative to the central shaft 150, and their specific structure is similar to that of the surgical forceps, that is, except for the functional structure (the structure of the first operating part and the second operating part), the remaining structure may be the same or similar to the end effector according to the utility model.

[0068] When the end effector with an asymmetric structure is applied to a surgical instrument, the actual clamping force of the swinging member with the asymmetric structure is greater than the actual clamping force of the swinging member with the symmetric structure. Furthermore, when the maximum swing angle of the two swinging members with the asymmetric structure is the same as the maximum swing angle of the two swinging members with the symmetric structure, the clamping force of the two swinging members with the asymmetric structure when they are offset to the extreme position (i.e., the maximum swing angle) is significantly greater than the clamping force of the swinging member with the symmetric structure, wherein the maximum swing angle is the angle between the two swinging members from the zero position ( Figure 2A and Figure 2B The maximum angle of the Z axis in the figure) when it swings to one side, such as Figure 2B The maximum swing angle is θ, Figure 2A The maximum swing angle is θ / 2.

[0069] In one embodiment, the two swinging members can be driven by two connecting rod structures respectively. The arrangement structures of the two connecting rod structures can be exactly the same or different, and they can independently drive the two swinging members so that the two swinging members can cooperate with each other to achieve operations such as clamping or shearing when they move independently.

[0070] The driving structure of the swing member and the connecting rod structure can be analyzed as equivalent to the offset crank slider structure. In this case, the first connecting portion 110 and the second connecting portion 210 can correspond to a part of the crank of the two crank slider structures respectively. Since the first connecting portion 110 and the second connecting portion 210 are fixedly connected to the first operating portion 120 and the second operating portion 220 respectively, the rotation of the first connecting portion 110 and the second connecting portion 210 can drive the first operating portion 120 and the second operating portion 220 to rotate synchronously.

[0071] Figure 3A The following is a curve showing how the torque applied to a swinging member by a crank slider structure changes with the change of the angle between the swinging member and the zero position, i.e., a T-θ curve. The T-θ curve is obtained by pre-given a ф value (i.e., the angle between the operating part and the connecting part in a swinging member) and a thrust F, which is determined by the following formula:

[0072] T=F*a*cos(β)*sin(α-β)

[0073]

[0074] β=arcsin((ca*sinα) / b)

[0075] Combination Figure 8 It can be seen from the schematic diagram of the motion principle of the offset crank slider structure shown that T is the torque applied to the swing member; F is the force applied to the slider (a vector with a direction); is the angle between the swinging member and the connecting portion; α is the angle between the line connecting the central axis of the central shaft 150 and the central axis of the driving portion 111 or 211 and the central plane; β is the angle between the connecting rod (corresponding to the first connecting rod 420 or the second connecting rod 520 below) and the vertical direction (in Figure 6 θ is the angle between the center axis of the driving part 111 or 211 and the center axis 150; b is the length of the connecting rod; c is the vertical distance between the center axis of the push-pull rod (corresponding to the first push-pull rod 410 and the second push-pull rod 510 below) and the center plane.

[0076] Thus, a curve diagram of the torque applied to the swing member and the angle through which the swing member rotates is obtained, such as Figures 3A to 3CAs shown, the abscissa represents the angle (a vector with direction) between the operating part and the zero position (ie, the center plane), the ordinate represents the torque of the operating part (proportional to the clamping force applied to the operating part), and the T-θ curve has a parabola-like shape.

[0077] According to the embodiment of the utility model, the first operating part 120 and the second operating part 220 are fixedly connected to the first connecting part 110 or the second connecting part 210 respectively. Therefore, when the setting structure of the crank slider structure is exactly the same, the shape of the curve formed by the change of the torque of each swinging member with the displacement is the same, and the difference in the angle between the operating part and the connecting part only makes the curve Figure 3A Move left and right on the coordinate axis.

[0078] It should be noted that Figure 3A Only one swinging member (the operating portion and the connecting portion of the swinging member form a predetermined angle) is shown in the torque curve generated when it swings within a range of -90 degrees to 90 degrees relative to the zero position under the drive of the equivalent offset crank slider structure. In addition, in the end effector with a symmetrical structure, since the angles of the two swinging members are the same, the T-θ curves of the two swinging members overlap, that is, Figure 3A The T-θ curve in can also be considered as the coincidence curve of two swinging parts with symmetrical structure.

[0079] Since the two swinging members need to swing to the same position to achieve clamping or shearing, when the two swinging members remain in contact, their deflection angles relative to the zero position (i.e., the position where the deflection angle is 0) are opposite to each other. For example, when one swinging member deflects 20 degrees relative to the zero position, the other swinging member needs to deflect -20 degrees relative to the zero position. Similarly, when one swinging member deflects 60 degrees relative to the zero position, the other swinging member needs to deflect -60 degrees relative to the zero position. It can be seen that when the end effector has a symmetrical structure, the T-θ curves of the two swinging members are symmetrical relative to the position of 0 degrees.

[0080] However, by Figure 3A It can be seen that the torque curve of a single swinging member is not symmetrical in itself, that is, when the two swinging members swing to the same position (that is, at the same swing angle relative to the zero position), the maximum torque they can provide is not the same. Therefore, the clamping force of the two swinging members should be determined by the swinging member that provides a smaller clamping force.

[0081] Therefore, within a predetermined swing angle range, the clamping force that can be achieved by the two swing members is determined by the swing member with the smaller clamping force among the two swing members.

[0082] Figure 3B The figure shows the T-θ curves of two swinging members with symmetrical structures when they cooperate in clamping operation. Figure 3C The figure shows a T-θ curve diagram provided by two swing members with symmetrical structures when they cooperate in clamping operation.

[0083] In the Figure 3A When the T-θ curve in is understood as the coincidence curve of two swinging parts with symmetrical structures, it is assumed that the two swinging parts are symmetrical structures and have Figure 3A When the T-θ curve is Figure 3B As shown, when the two swing members work together, the T-θ curve of one of the swing members is symmetrical about 0 degrees, and the T-θ curves of the two swing members intersect at 0 degrees.

[0084] Since the clamping force that can be achieved by the two swing members is determined by the swing member with the smaller clamping force, it can be obtained that Figure 3C The T-θ curve is shown in Figure 1. Figure 3C As shown, the torque curves of the two swing members are symmetrical relative to 0 degrees, and the torque of the two swing members at 0 degrees is the largest. In addition, as the swing members move away from zero degrees, the torque gradually decreases.

[0085] Now, the swing angle of the swing member is designed to be ±60 degrees (that is, the swing angle from one side to the other side is 120 degrees) as an example for further explanation. FIG. 3A to FIG. 3C As shown in FIG. 1 , when the swing angle of the swing member is designed to be ±60 degrees, the value of the torque (i.e., the magnitude of the clamping force) corresponds to Figure 3C The values ​​of 0 to 60 degrees and 0 to -60 degrees are shown in Table 1. Therefore, the maximum torque (clamping force) of the two swing members is their torque at 0 degrees (about 145 N·mm), and the minimum clamping force of the two swing members is their torque at 60 degrees (about 50 N·mm). It can be seen that as the two swing members approach the extreme position (i.e., the position at ±60 degrees), the clamping force decreases sharply, resulting in that when the two swing members swing to the extreme position, the clamping force may not meet the surgical requirements.

[0086] FIG. 4A to FIG. 4C The figures show the T-θ curves of the two swinging members of the end effector with an asymmetric structure, the T-θ curves of the two swinging members when working in cooperation with each other, and the T-θ curves jointly realized when working in cooperation with each other.

[0087] According to an embodiment of the utility model, by designing the two swinging members as an asymmetric structure, the curves of the two swinging members can be moved to the left or right relative to 0 degrees. In this case, when it is to achieve the same working range as the symmetrical structure, the difference in torque between the two swinging members can be selected to be smaller, so that the actual clamping force can be selected to be the larger torque value of the two, thereby increasing the clamping force when the swinging member swings to the extreme position.

[0088] FIG. 4A to FIG. 4CAn example is shown in which the intersection of the two curves is moved 15 degrees to the left, where we get Figure 4B and Figure 4C The curve process and Figure 3B and Figure 3C Similar, so the related description is omitted.

[0089] To achieve a ±60 degree working range, since the two swinging members can rotate around the Z axis (i.e., 0 degree), the working range can be achieved in the following ways: the two swinging members swing between -60 degrees and 0 degrees; the two swinging members swing between 0 degrees and 60 degrees; the two swinging members swing between -60 degrees and 60 degrees. In other words, the clamping force of the two swinging members can be taken from the range with the maximum torque between -60 degrees and 0 degrees, 0 degrees and 60 degrees, and -60 degrees and 60 degrees.

[0090] like Figure 4B and Figure 4C As shown, in the range of -60 degrees to 0 degrees, the maximum torque value of the two swinging members is at the position of -15 degrees, and the maximum torque value is about 170N·mm, and the minimum torque value is at the position of -60 degrees, and the minimum torque value is about 100N·mm. In the range of 0 degrees to 60 degrees, the maximum torque value is at the position of 0 degrees, and the maximum torque value is about 145N·mm, and the minimum torque value is at the position of 60 degrees, and the minimum torque value is about 45N·mm. In the range of -60 degrees to 60 degrees, the maximum torque value is at the position of -15 degrees, and the maximum torque value is about 170N·mm, and the minimum torque value is at the position of 60 degrees, and the minimum torque value is about 45N·mm. It can be seen that the two swinging members swing in the range of -60 degrees to 0 degrees, which can ensure the maximum clamping force while achieving a working range of ±60 degrees.

[0091] By comparing with the above-mentioned end effector with symmetrical mechanism, it can be seen that the torque of the two swinging parts of the asymmetric structure at the extreme position (about 100N·mm) is significantly greater than the torque of the two swinging parts of the symmetrical structure at the extreme position (about 50N·mm).

[0092] One of the main reasons is that in the range of -60 degrees to 0 degrees, the maximum clamping force of the two swinging members is at the position of -15 degrees, and the minimum is at the position of -60 degrees, and the 60-degree position with the minimum clamping force is deflected by 45 degrees relative to the -15-degree position with the maximum clamping force (less than the 60 degrees deflected in the symmetrical structure). Therefore, under the condition of achieving the same swing angle, the clamping force of the end effector with a symmetrical structure at the extreme position is reduced by a span of 60 degrees relative to the maximum clamping force, while the asymmetrical structure is reduced by a span of 45 degrees relative to the maximum clamping force. Therefore, compared with the end effector with a symmetrical structure, the two swinging members with an asymmetrical structure have less attenuation from the maximum clamping force to the minimum clamping force, so the asymmetrical structure can provide a larger clamping force when the swinging member swings to the position of -60 degrees.

[0093] FIG. 3A to FIG. 3C as well as FIG. 4A to FIG. 4C Only one hypothetical situation is shown, which is merely a principle illustration of how to obtain the structure of the present utility model.

[0094] According to the embodiment of the utility model, the curves of the two swinging members can be selected according to different ф values ​​so that the difference in torque of the two swinging members when working together is small. For example, the first angle ф1 can be greater than or equal to 90 degrees, and the second angle ф2 can be less than 90 degrees.

[0095] According to an embodiment of the utility model, the difference between the first angle ф1 and the second angle ф2 is less than or equal to 90 degrees.

[0096] In addition, when the two swing members want to achieve a deflection angle of ±60 degrees, the two swing members can be designed to have the maximum clamping force at 30 degrees, so that at the 30-degree position, only 30 degrees of swinging left and right can be achieved to achieve a swing angle of 60 degrees, thereby achieving a working range of ±60 degrees. In this case, the torque value of the span of only 30 degrees is reduced from the maximum clamping force to the minimum clamping force, so the maximum clamping force when deflected to the extreme angle can be maximized.

[0097] According to the embodiment of the utility model, by selecting the curves of the two swinging members, the minimum value and the maximum value of the torque of the two swinging members within the working range can be made close, so that the actual clamping force is more stable and the clamping performance of the end effector is improved.

[0098] Reference above FIG. 4A to FIG. 4C A method to obtain the maximum clamping force at the extreme angle is derived. FIG. 5A to FIG. 5C Another method of obtaining the maximum clamping force at the extreme angle is intuitively shown.

[0099] Figure 5AAs shown, firstly, a T-θ curve of a swinging member is obtained by presetting a ф value and a thrust F. As mentioned above, since the two swinging members can rotate around the Z axis (i.e., 0 degrees), the working range of ±60 degrees can be achieved in the following ways: the two swinging members swing between -60 degrees and 0 degrees; the two swinging members swing between 0 degrees and 60 degrees; the two swinging members swing between -60 degrees and 60 degrees. In other words, the clamping force of the two swinging members can be taken from the range with the maximum torque between -60 degrees and 0 degrees, 0 degrees and 60 degrees, and -60 degrees and 60 degrees.

[0100] In the above three working ranges (-60 degrees to 0 degrees, 0 degrees to 60 degrees, -60 degrees to 60 degrees), it can be seen from the T-θ curve of a swinging part that the larger the width of the selected horizontal axis (θ axis), the smaller the minimum torque value, so -60 degrees to 0 degrees and 0 degrees to 60 degrees are better than -60 degrees to 60 degrees.

[0101] For a single swinging member, since the swinging member rotates around the Z-axis, the clamping force effect finally achieved is the same whether in the working range of -60 degrees to 0 degrees or in the working range of 0 degrees to 60 degrees.

[0102] Therefore, the maximum torque value can be obtained in the working range of -60 degrees to 0 degrees or the working range of 0 degrees to 60 degrees by changing the ф value (ie, moving the T-θ curve along the horizontal axis).

[0103] Since the vertical axis (T axis) represents the torque of the crank, and the magnitude of the torque directly determines the magnitude of the clamping force, the closer the minimum value of the curve in the working range of -60 degrees to 0 degrees or the working range of 0 degrees to 60 degrees is to the top of the T-θ curve, it indicates that a single swinging member can achieve a greater clamping force.

[0104] Since the T-θ curve can be moved to different positions along the horizontal axis by changing the ф value, there are countless minimum torque values ​​within the working range of -60 degrees to 0 degrees or within the working range of 0 degrees to 60 degrees, and the torque value can be obtained by intercepting the curve within the above working range. Among all the interception schemes, only when the T values ​​at -60 degrees and 0 degrees are equal or when the T values ​​at 0 degrees and 60 degrees are equal, the minimum torque value within the intercepted curve range is the largest. Figure 5B The case where the T values ​​at -60 degrees and 0 degrees are equal is shown in the figure, so the ф value of a swing member can be determined, which is referred to as the ф1 value of the first swing member below.

[0105] Since the clamping is completed by the cooperation of two swinging parts, when the first swinging part is at -60 degrees relative to the zero position, the second swinging part is at +60 degrees relative to the zero position. Assuming that ф2 of the second swinging part is ф1, we can get Figure 5C .

[0106] It can be seen from 5C that when the included angles of the two swinging members are equal, the optimal interception scheme of the second swinging member is not within the working range of -60 degrees to 0 degrees, and the maximum values ​​of the minimum torque values ​​of the two swinging members cannot be superimposed within this working range. Therefore, the optimal clamping force can be obtained by changing the ф2 value (i.e., shifting the curve of the second swinging member to the left).

[0107] like Figure 5D As shown, when the curve of the second swing member is translated 60 degrees to the left along the θ axis, within the range of -60 degrees to 0 degrees, the clamping force at -60 degrees is equal to the clamping force at 0 degrees, and the optimal minimum clamping force can be achieved at this time.

[0108] Since the angle of the second swinging member when it translates along the θ axis is the angle △ф of the change of ф2, therefore, |ф1-ф2|=△ф=60, that is, when the working range of ±60 degrees is to be achieved, the difference in the angles between the two swinging members can preferably be 60 degrees.

[0109] In addition, through Figure 5D It can also be seen that the clamping curves of the two swing members in the range of -60 degrees to 0 degrees are symmetrical about their centers (ie, -30 degrees).

[0110] Therefore, according to an embodiment of the present invention, when a deflection angle of 60 degrees is desired, the first angle ф1 of the first swing member 100 and the second angle ф2 of the second swing member 200 can be preferably designed such that their difference is 60 degrees. More preferably, the first angle ф1 can range from 127 degrees to 137 degrees, and the second angle ф2 can range from 67 degrees to 77 degrees. According to one embodiment of the present invention, the first angle ф1 can be 132 degrees, and the second angle ф2 can be 72 degrees.

[0111] However, the present invention is not limited to this, and the values ​​of the first angle ф1 and the second angle ф2 may change according to the change of the working range to be achieved. For example, when the working range to be achieved is ±70 degrees, the difference between the first angle ф1 and the second angle ф2 may be 70 degrees, and the maximum clamping force is achieved at 35 degrees. When the working range to be achieved is ±50 degrees, the difference between the first angle ф1 and the second angle ф2 may be 50, and the maximum clamping force is achieved at 25 degrees. The present invention is not limited to this, and the first angle ф1 and the second angle ф2 may be designed to other angles according to actual needs. Of course, the maximum clamping force does not necessarily appear at the middle value of the working range, but may also appear at a non-middle value.

[0112] As a preferred solution, the maximum swing angle of the first swing member 100 and the second swing member 200 within the working range has two limit values, at which the clamping force between the first swing member 100 and the second swing member 200 is equal. Moreover, the difference between the clamping force at the limit value and the maximum clamping force within the working range is the smallest. In one embodiment, the maximum swing angle of the first swing member 100 and the second swing member 200 relative to the center plane has limit values ​​of 0 degrees and 60 degrees, and the clamping force between the first swing member 100 and the second swing member 200 at 0 degrees is equal to the clamping force between the first swing member 100 and the second swing member 200 at 60 degrees. In this case, the difference between the clamping force between the first swing member 100 and the second swing member 200 and the clamping force when the swing angle is 30 degrees is small.

[0113] According to another aspect of the present invention, a surgical instrument is provided. Figure 1A and Figure 1B The described end effector may be applied to a surgical instrument.

[0114] Figure 6 A three-dimensional view showing an end portion of a surgical instrument according to an embodiment of the present utility model is shown. Fig. 7A is a front view of the surgical instrument according to an embodiment of the utility model after the sleeve is removed, Figure 7B It is a rear view of the surgical instrument according to the embodiment of the utility model after the sleeve is removed.

[0115] The surgical instrument according to the present invention may include a driven mechanism connected to the first swing member 100 and the second swing member 200, the driven mechanism is connected to an external driving unit, and the driven mechanism together with the connecting portion of the swing member may be equivalent to the crank slider connection structure described above.

[0116] like Figure 6 , Fig. 7A and Figure 7B As shown, the surgical instrument further includes a guide rod 300, the guide rod 300 has an accommodating cavity inside, and at least part of the driven mechanism is accommodated in the accommodating cavity of the guide rod 300. A plane passing through the axis of the guide rod 300 and the axis of the central rotating shaft 150 is defined as a center plane (corresponding to the "zero position" as described above), and the first swinging member 100 and / or the second swinging member 200 can swing around the central rotating shaft 150 relative to the center plane.

[0117] According to an embodiment of the utility model, the swing angle of the first swing member 100 and / or the second swing member 200 relative to the center plane can range from -10 degrees to 70 degrees. The end effector of the utility model adopts an asymmetric structure, so it can easily achieve the swing angle to expand the working range of the surgical instrument.

[0118] Preferably, the first swing member 100 and / or the second swing member 200 can swing around the central rotation axis 150 relative to one side of the central plane. That is, the swing range of the first swing member 100 and / or the second swing member 200 can be 0 degrees to 70 degrees. However, the present invention is not limited thereto, and the swing angle of the first swing member 100 and / or the second swing member 200 relative to the central plane can also be 0 degrees to 60 degrees.

[0119] Since the surgical instrument can rotate around the central axis of the guide rod 300, the end effector also has rotational freedom. Even if the first swinging member 100 and / or the second swinging member 200 only swings on one side of the central plane, the working range of the surgical instrument can involve the entire circular surface centered on the Z axis.

[0120] According to the embodiment of the present invention, when the swing angle of the first swing member 100 and the second swing member 200 relative to the center plane is 30 degrees, the clamping force between the first swing member 100 and the second swing member 200 is the largest. As described above, the maximum clamping force indicates that the crank slider structure driving the first swing member 100 and the second swing member 200 is symmetrical relative to the center plane.

[0121] According to an embodiment of the utility model, the first swinging member 100 and the second swinging member 200 can be rotatably connected to the driven mechanism through the first driving part 111 and the second driving part 211 respectively, and the driven mechanism and the first driving part 111 and the second driving part 211 are all formed as a part of the crank slider structure. When the clamping force between the first swinging member 100 and the second swinging member 200 is the largest, the first driving part 111 and the second driving part 211 are also symmetrical relative to the center plane. Correspondingly, when the swing angle of the first swinging member 100 and the second swinging member 200 relative to the center plane is 0 degrees, the first driving part 111 and the second driving part 211 are asymmetrically arranged relative to the center plane.

[0122] According to an embodiment of the utility model, the swing angle of the surgical instrument having the above-mentioned end effector is greater than or equal to the difference between the first angle ф1 and the second angle ф2, so as to provide the maximum clamping force within a predetermined deflection angle range. That is, when the range of the working angle is equal to the difference between the first angle ф1 and the second angle ф2, and the maximum clamping force is provided at an angle where the swing angle is (ф1-ф2) / 2, it is possible to prevent the surgical instrument from rapidly attenuating when it deflects to the extreme position within the swing angle. That is, when the swing angle is θ, when the swing angle is at θ / 2, the clamping force between the first swing member 100 and the second swing member 200 is the largest. For example, when the swing angle is 60 degrees, when the swing angle is at 30 degrees, the clamping force between the first swing member 100 and the second swing member 200 is the largest.

[0123] Continue to refer to Figure 6 , Fig. 7A and Figure 7B According to the utility model, the driven mechanism of the surgical instrument may include a first driving member 400 and a second driving member 500. The first ends of the first driving member 400 and the second driving member 500 are used to be connected to an external driving unit, the first swinging member 100 is rotatably connected to the second end of the first driving member 400 through the first driving portion 111, and the second swinging member 200 is rotatably connected to the second end of the second driving member 500 through the second driving portion 211.

[0124] A first guide hole 310 and a second guide hole 320 are formed in the guide rod 300 and are spaced apart from each other. At least a portion of the first driving member 400 and the second driving member 500 are respectively disposed in the first guide hole 310 and the second guide hole 320 to guide the movement of the first driving member 400 and the second driving member 500 respectively.

[0125] The first driving member 400 may include a first push-pull rod 410 and a first connecting rod 420 that are connected to each other, and the first end of the first connecting portion 110 of the first swinging member 100 is rotatably connected to the first connecting rod 420 .

[0126] The second driving member 500 may include a second push-pull rod 510 and a second connecting rod 520 rotatably connected to each other, and the second end of the second connecting portion 210 of the second swinging member 200 is rotatably connected to the second connecting rod 520 .

[0127] In order to determine the moving paths of the first push-pull rod 410 and the second push-pull rod 510 in the guide rod 300 and avoid motion interference when the two move, the first guide hole 310 and the second guide hole 320 are provided. According to an embodiment of the utility model, the guide rod 300 includes a sleeve 301 and a guide member 350 connected to a first end of the sleeve 301, the first guide hole 310 and the second guide hole 320 are formed in the guide member 350, and the guide member 350 can be a component independent of the sleeve 301, or a component formed integrally with the sleeve 301.

[0128] At least a portion of the first push-pull rod 410 of the first driving member 400 and at least a portion of the second push-pull rod 510 of the second driving member 500 may be accommodated in the sleeve 301 .

[0129] According to an embodiment of the utility model, the guide member 350 is arranged at the first end of the sleeve 301, and the end effector is also arranged at the first end of the sleeve. When a minimally invasive surgery is performed using a surgical instrument, the end effector is extended into the patient's body, and smoke may be generated during operation. If the smoke is not guided to the outside in time, it may affect the field of view of the laparoscope.

[0130] To this end, the guide member 350 according to the present invention is further provided with a smoke exhaust hole 330, which guides smoke into the sleeve 301 of the guide rod 300 and guides the smoke along the internal channel to the second end of the sleeve 301 to discharge the smoke to the outside.

[0131] According to the embodiment of the present invention, the arrangement of the smoke exhaust hole 330 is not limited thereto, as long as a path that enables the first end and the second end of the guide rod 300 to communicate with each other can be realized in the guide rod 300 .

[0132] In addition, in order to prevent the smoke exhaust hole 330 from affecting the movement of the first push-pull rod 410 and the second push-pull rod 510, the smoke exhaust hole 330 may be spaced apart from the first guide hole 310 and the second guide hole 320. However, the present invention is not limited thereto, and the smoke exhaust hole 330 may also be arranged to communicate with at least one of the first guide hole 310 and the second guide hole 320, as long as the first guide hole 310 and the second guide hole 320 can guide the first push-pull rod 410 and the second push-pull rod 510 to move in a direction parallel to the center plane.

[0133] In addition, the first push-pull rod 410 and the second push-pull rod 510 are used to drive the first swing member 100 and the second swing member 200 respectively. The first push-pull rod 410 and the second push-pull rod 510 may correspond to the slider of the crank slider structure, which are connected to the first swing member and the second swing member through the first connecting rod 420 and the second connecting rod 520 respectively, that is, the first push-pull rod 410 and the second push-pull rod 510 are indirectly connected to the corresponding swing member through the connecting rod structure. However, the utility model is not limited to this. For example, the first push-pull rod 410 and the second push-pull rod 510 can also be connected to the corresponding swing member through a gear transmission mechanism, etc., as long as the corresponding swing member can swing when the push-pull rod moves in a direction parallel to the horizontal plane.

[0134] As described above, the first push-pull rod 410 and the second push-pull rod 510 are arranged parallel to each other. Figure 6 As shown, the first end of the first push-pull rod 410 and the first end of the second push-pull rod 510 are respectively inserted into the first guide hole 310 and the second guide hole 320, and the second end of the first push-pull rod 410 and the second end of the second push-pull rod 510 are respectively connected to the driving unit (not shown) arranged at the second end of the sleeve 301.

[0135] According to the embodiment of the utility model, as described above, according to the first push-pull rod 410, the first connecting rod 420, the first swinging member 100 and the rotation connection structure therebetween, the driving structure of the first swinging member 100 approximately constitutes a crank slider mechanism (specifically, an eccentric crank slider mechanism). Among them, the line between the first driving part 111 and the central shaft 150 at the rotation connection between the first connecting rod 420 and the first swinging member 100 constitutes a virtual crank, and the motion law of the virtual crank is the same as the motion law of the first swinging member 100. Therefore, the motion law of the first swinging member 100 can be obtained through the motion law of the virtual crank. In addition, the first push-pull rod 410 slides in the first guide hole 310, and its motion mode can be regarded as a movement driven by a slider with a preset sliding direction.

[0136] In addition, as indicated above, the structure formed between the first push-pull rod 410, the first connecting rod 420 and the first swinging member 100 is the same as the structure formed between the second push-pull rod 510, the second connecting rod 520 and the second swinging member 200. Therefore, the displacement of the second push-pull rod 510 and the angle of rotation of the second swinging member 200 also satisfy the above relationship.

[0137] Figure 8 A schematic diagram of the motion principle of the second swinging member and its driven structure in the surgical instrument is shown, and Figure 8 Specifically, the displacement of the second push-pull rod 510 and the swing angle of the second swing member 200 satisfy the following relationship:

[0138]

[0139] Wherein: s is the displacement of the second push-pull rod 510, which is a vector with a direction;

[0140] a is the length of the line connecting the central axis of the second driving part 211 and the central rotating shaft (150);

[0141] b is the length of the second connecting rod 520;

[0142] c is the vertical distance between the central axis of the second push-pull rod 510 and the central plane;

[0143] d is the horizontal distance between the central shaft 150 and the second connecting rod 520 and the second push-pull rod 510 (in Figure 8 The distance is based on the direction shown in the figure.

[0144] α is the angle between the line connecting the central axis of the central rotation shaft 150 and the central axis of the second driving part 211 and the central plane;

[0145] θ is the angle at which the second swing member 200 rotates under the drive of the second push-pull rod 510 , and is a vector with a direction.

[0146] In addition, the relationship between the first push-pull rod 410 and the swing angle of the first swing member 100 is the same as the displacement of the second push-pull rod 510 and the swing angle of the second swing member 200, so the detailed description thereof is omitted.

[0147] Fig. 9 A three-dimensional view of a guide member 350 provided at the end of a sleeve 301 according to the present invention is shown. Fig.10 A perspective view of the guide member 350 is shown at another angle.

[0148] like Fig. 9 and Fig.10 As shown, the guide member 350 as a whole may have a cylindrical shape, and the guide member 350 has a first part 351 embedded in the sleeve 301 and a second part 352 extending from the first part 351 toward the direction of the end actuator, the second part 352 includes a first rotating support part 361 and a second rotating support part 362 facing each other and arranged along the outer periphery of the guide member 350, and the first swinging member 100 and the second swinging member 200 are rotatably arranged on the first rotating support part 361 and the second rotating support part 362 through the central rotating shaft 150.

[0149] like Fig. 9 As shown, the first guide hole 310 , the second guide hole 320 and the smoke exhaust hole 330 are formed in the first rotation support portion 361 and the second rotation support portion 362 , and the smoke exhaust hole 330 is formed between the first guide hole 310 and the second guide hole 320 .

[0150] However, the present invention is not limited thereto, and the first guide hole 310 , the second guide hole 320 , and the smoke exhaust hole 330 may also be arranged in other forms.

[0151] According to another aspect of the utility model, a surgical instrument may include: a guide rod 300, wherein a receiving cavity is arranged inside the guide rod 300; a connecting mechanism, wherein the connecting mechanism is arranged in the receiving cavity, and one end of the connecting mechanism is used to connect with an external unit; an end effector, wherein the end effector is rotatably connected to the other end of the connecting mechanism, and a through hole is arranged inside the guide rod 300 so that one end where the end effector is located and one end where the external unit is located are interconnected.

[0152] The guide rod 300 may include a sleeve 301 and a guide member 350. The through hole may be arranged in the guide member 350. The through hole may include guide holes 310 and 320 and a smoke exhaust hole 330 that are arranged at intervals or at least partially connected to each other, and the driven mechanism is arranged in the guide hole.

[0153] As described above, the through hole may be provided at the distal end of the guide rod 300. In addition, the external unit may be provided with a communication channel, and the communication channel may be communicated with the through holes 310, 320, and 330.

[0154] According to an embodiment of the utility model, the connecting mechanism may be a driven mechanism or an electrical connector, and the external unit may be an external drive unit or a power supply unit. In the case where the external unit is an external drive unit, the two push-pull rods may be driven separately, but it is not necessarily achieved by using two separate drive structures. In a possible embodiment, the external drive unit may be set as a group and have two motion output positions, which may be respectively connected to the second end of the aforementioned first push-pull rod 410 and the second end of the second push-pull rod 510. In the case where the external unit is a power supply unit, the surgical instrument is an energy instrument, and the power supply unit supplies power to the surgical instrument such as an electric hook through the electrical connector, that is, the energy instrument may be an electric hook. In this case, the smoke generated by the energy instrument during operation can be exhausted through the through hole.

[0155] According to an embodiment of the present invention, the end effector disposed at the other end of the connecting structure may be the end effector described according to the above embodiment, and a detailed description thereof is omitted herein.

[0156] The driven mechanism may include a first driving member 400 and a second driving member 500. The structures of the first driving member 400 and the second driving member 500 and the structure of the guide rod 300 are the same as those according to the above embodiment, and a detailed description thereof is omitted here.

[0157] According to another aspect of the present invention, a surgical robot is further provided, the surgical robot comprising the surgical instrument as described above.

[0158] According to an embodiment of the utility model, a surgical instrument capable of increasing the working range of an end effector and a robot having the surgical instrument can be provided.

[0159] According to an embodiment of the utility model, a surgical instrument with increased clamping force when a swinging member swings to a limit angle and a robot having the surgical instrument can be provided.

[0160] According to an embodiment of the utility model, a surgical instrument provided with a smoke exhaust hole to prevent the laparoscope field of view from being affected and a robot having the surgical instrument can be provided.

[0161] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] Further, the features, structures or characteristics described in the utility model can be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the utility model. However, those skilled in the art will appreciate that the technical solution of the utility model can be practiced without one or more of the specific details, or other methods, components, materials, etc. can be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring various aspects of the utility model.

Claims

1. A surgical instrument, characterized in that: The surgical instrument comprises: A guide rod (300), wherein a receiving cavity is provided inside the guide rod (300); A connecting mechanism, wherein the connecting mechanism is arranged in the accommodating cavity, and one end of the connecting mechanism is used to connect with an external unit; The end effector is rotatably connected to the other end of the connection mechanism, and a through hole is provided in the guide rod so that one end where the end effector is located is connected to one end where the external unit is located.

2. The surgical instrument according to claim 1, characterized in that: The guide rod (300) comprises a sleeve (301) and a guide member (350) connected to one end of the sleeve, the through hole is arranged in the guide member (350), and the through hole comprises a guide hole and a smoke exhaust hole which are arranged at intervals from each other.

3. The surgical instrument according to claim 1, characterized in that: The through hole is provided at the end of the guide rod (300); and / or The external unit is provided with a communication passage, and the communication passage is communicated with the through hole.

4. The surgical instrument according to claim 2, characterized in that: The end effector comprises a first swinging member (100) and a second swinging member (200), wherein the first swinging member (100) and the second swinging member (200) are pivotally connected via a central rotating shaft (150).

5. The surgical instrument according to claim 4, characterized in that: The connecting mechanism is a driven mechanism or an electrical connecting piece, and the external unit is an external driving unit or a power supply unit.

6. The surgical instrument according to claim 5, characterized in that: in, The driven mechanism is configured to be connected to the external unit, and the driven mechanism is disposed in the guide hole.

7. The surgical instrument according to claim 6, characterized in that: The driven mechanism comprises a first driving member (400) and a second driving member (500), The first swing member (100) and the second swing member (200) are rotatably connected to the first driving member (400) and the second driving member (500), respectively. The guide member (350) is arranged at one end of the sleeve (301) close to the end effector, and the guide hole comprises a first guide hole (310) for accommodating the first driving member (400) and a second guide hole (320) for accommodating the second driving member (500), and The smoke exhaust hole (330) is arranged between the first guide hole (310) and the second guide hole (320).

8. The surgical instrument according to claim 7, characterized in that: The first driving member (400) includes a first push-pull rod (410) and a first connecting rod (420) connected to each other, and the second driving member (500) includes a second push-pull rod (510) and a second connecting rod (520) connected to each other in rotation. Wherein, when the external unit is an external driving unit, the external driving unit drives the first push-pull rod and the second push-pull rod respectively.

9. The surgical instrument according to claim 5, characterized in that: In the case where the external driving unit is a power supply unit, the surgical instrument is an energy instrument, and the power supply unit supplies power to the energy instrument through an electrical connector.

10. The surgical instrument according to any one of claims 4 to 9, characterized in that: The guide member (350) comprises a first portion (351) embedded in the sleeve (301) and a second portion (352) extending from the first portion (351) toward the end effector. Wherein, the second part (352) includes a first rotating support part (361) and a second rotating support part (362) facing each other and arranged along the outer periphery of the guide member (350), and the first swinging member (100) and the second swinging member (200) are rotatably arranged on the first rotating support part (361) and the second rotating support part (362) through a central rotating shaft (150).

11. A surgical robot, characterized in that: The surgical robot comprises a surgical instrument as described in any one of claims 1-10.

Images