Surgical instrument and medical system

Abstract

The utility model provides a surgical instrument and a medical system. The surgical instrument comprises a shaft part, a first joint seat, a second joint seat, a tail end executing assembly and a wire. The shaft portion extends along a central axis. The first joint seat is arranged at the far end of the shaft. The second joint seat is arranged at the far end of the first joint seat. The near end of the second joint seat is connected to the far end of the first joint seat in a rolling mode. The end execution assembly comprises a first clamping jaw and a second clamping jaw. The first jaw and the second jaw are each rotatably connected to a distal end of the second articulation mount about a third axis. One end of the wire is connected to the end execution assembly. And the other end extends to the near end of the shaft part. The wire includes a first section extending between the end effector assembly and the second articulation mount. And in the process that the tail end execution assembly moves relative to the first joint seat, the length of the first section of the wire is kept unchanged. The reliability and the service life of the surgical instrument can be improved.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical instruments, and more specifically to a surgical instrument and a medical system. Background Art

[0002] In robot-assisted minimally invasive surgery, the surgical instrument connected to the end of the robot enters the human body through a wound or natural orifice on the surface of the human body to operate on the tissue inside the human body. This type of surgical instrument mainly includes an actuator at the front end (such as surgical forceps, shearing tools or cauterization tools), a wrist joint, an axis joint and / or other joints that provide multiple degrees of freedom for the actuator, a main pipe extending from the rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument. The actuator and each joint at the front end are usually driven by multiple drive lines fixed thereon, which run through the main pipe of the surgical tool and are driven by the rear end transmission device. The wrist joint usually achieves pitch, yaw and other degrees of freedom under the drive of the drive line.

[0003] For electrosurgical instruments, it is usually necessary to set up a wire, one end of the wire is connected to the tissue contact part of the actuator, and the other end is connected to the electrosurgical energy generator. When the wrist joint moves, the wire should generally not extend beyond the instrument entity, nor should it be excessively squeezed or pulled by the parts of the instrument itself. The related technology binds the wire to the driving wire of the wrist joint, and uses the movement of the driving wire to pull the wire to move, so as to meet the above requirements. However, when the above scheme is applied to instruments with smaller diameters and more compact structures, the pulling and friction on the wire in a small space will increase, thereby reducing the reliability and service life of the instrument. Utility Model Content

[0004] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of this application does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0005] In order to at least partially solve the above problems, the present application provides a surgical instrument in a first aspect, the surgical instrument comprising:

[0006] a shaft portion extending along a central axis;

[0007] a first joint seat, the first joint seat being arranged at a distal end of the shaft;

[0008] A second joint seat, wherein the second joint seat is arranged at the distal end of the first joint seat, and the proximal end of the second joint seat is rollingly connected to the distal end of the first joint seat;

[0009] an end effector assembly, the end effector assembly comprising a first jaw and a second jaw, wherein the first jaw and the second jaw are each rotatably connected to a distal end of the second joint seat around a third axis; and

[0010] A guide wire, one end of which is connected to the end effector assembly and the other end of which extends to the proximal end of the shaft portion, wherein the guide wire includes a first section extending between the end effector assembly and the second joint seat;

[0011] Wherein, during the movement of the end effector assembly relative to the first joint seat, the length of the first section of the guide wire remains unchanged.

[0012] According to the surgical instrument of the first aspect of the present application, since the first section of the wire can maintain a constant length during the movement of the end actuator relative to the first joint seat, the friction between the wire and the second joint seat can be reduced or avoided, and the reliability of the first section of the wire at the second joint seat can be improved, thereby achieving the purpose of protecting the first section of the wire.

[0013] Optionally, one end of the first section of the wire is fixedly connected to the second joint seat.

[0014] Optionally, the first section of the conductive wire is wound around the third axis at least once.

[0015] Optionally, the first clamp includes a first rotating part, the second clamp includes a second rotating part, the first rotating part and the second rotating part are each rotatably connected to the distal end of the second joint seat, and the first section of the guide wire is located between the first rotating part and the second rotating part.

[0016] Optionally, the first rotating portion and the second rotating portion each include a first rib extending around the third axis, the first rib being used to prevent the wire from moving outward in a radial direction perpendicular to the third axis.

[0017] Optionally, the wire comprises a first wire and a second wire, the first wire is connected to the first jaw and used to transmit energy to the first jaw, the second wire is connected to the second jaw and used to transmit energy to the second jaw, and the first wire and the second wire each comprise the first segment;

[0018] When the first clamping jaw and the second clamping jaw rotate in the same direction around the third axis, the radius of curvature of the first section of the first wire and the radius of curvature of the first section of the second wire have opposite variation trends.

[0019] Optionally, the surgical instrument includes a wire winding post, an outer peripheral surface of which is configured to extend around the third axis, and the wire winding post is disposed between the first rotating portion and the second rotating portion.

[0020] Optionally, the surgical instrument includes a wire harness, which is fixed to the second joint seat, and the wire harness is arranged between the first rotating part and the second rotating part, the first section of the first wire is accommodated and constrained between the first clamp and the wire harness, and the first section of the second wire is accommodated and constrained between the second clamp and the wire harness.

[0021] Optionally, the wire harness comprises a second rib extending around the third axis, and the second rib is used to prevent the wire from moving outward in a radial direction perpendicular to the third axis.

[0022] Optionally, a central angle corresponding to the second rib is greater than 180°.

[0023] Optionally, the wiring harness is rotationally symmetric about the central axis.

[0024] Optionally, the distal end of the first joint seat is provided with a first tooth portion arranged around a first axis, the proximal end of the second joint seat is provided with a second tooth portion arranged around a second axis, the second tooth portion is meshed with the first tooth portion, the first axis and the second axis are not in the same plane as the third axis, the first axis and the second axis are parallel and define a first plane, and the geometric midplane of the wiring harness coincides with the first plane.

[0025] Optionally, the wiring harness comprises a first connecting portion and a second connecting portion, the first wire is fixed to the first connecting portion, and the second wire is fixed to the second connecting portion;

[0026] The first connection portion and the second connection portion are respectively located on two sides of the first plane; and / or

[0027] The first connection portion and the second connection portion are respectively located on two sides of the third axis.

[0028] Optionally, the first clamping jaw is provided with a first connection hole for passing the first wire, and the second clamping jaw is provided with a second connection hole for passing the second wire;

[0029] The first connection portion and the first connection hole are located on one side of the first plane, and the second connection portion and the second connection hole are located on the other side of the first plane.

[0030] Optionally, the first connection portion is closer to the first plane than the first connection hole; and / or

[0031] The second connection portion is closer to the first plane than the second connection hole.

[0032] Optionally, the first joint seat is provided with a first wire passage for the first wire to pass through and a second wire passage for the second wire to pass through;

[0033] When the surgical instrument is in a neutral state, the first wire passage and the second connecting portion are located on one side of the first plane, and the second wire passage and the first connecting portion are located on the other side of the first plane.

[0034] Optionally, the third axis intersects with the central axis and defines a second plane, and when the surgical instrument is in a neutral state, the first wire channel and the first connecting portion are located on one side of the second plane, and the second wire channel and the second connecting portion are located on the other side of the second plane.

[0035] Optionally, the distance between the first wire passage and the second plane is equal to the distance between the first connecting portion and the second plane; and / or

[0036] The distance between the second wire-passing channel and the second plane is equal to the distance between the second connecting portion and the second plane.

[0037] Optionally, the surgical instrument also includes a transmission assembly, which includes a first flexible member and a second flexible member, the first flexible member is connected to the first jaw and is used to drive the first jaw to rotate around the third axis, and the second flexible member is connected to the second jaw and is used to drive the second jaw to rotate around the third axis.

[0038] Optionally, the first clamping jaw is provided with a first guide groove extending around the third axis, and the first guide groove is used to accommodate and surround the first flexible member;

[0039] The second clamping jaw is provided with a second guide groove extending around the third axis, and the second guide groove is used to accommodate and surround the second flexible member.

[0040] The extension tracks of the first guide groove and the second guide groove are respectively perpendicular to the third axis.

[0041] Optionally, the first flexible member and the second flexible member are further away from the central axis than the conductive wire.

[0042] A second aspect of the present application provides a medical system, the medical system comprising:

[0043] A slave operating device, the slave operating device comprising at least one robotic arm; and

[0044] The above-mentioned surgical instrument is operably arranged on the robotic arm.

[0045] According to the medical system of the second aspect of the present application, the reliability and service life of the medical system can be improved by applying the above-mentioned surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0047] Figure 1 is a schematic diagram of a medical system according to an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of a patient-side robot according to an embodiment of the present application;

[0049] Figure 3 It is a partial stereoscopic view of a surgical instrument according to a preferred embodiment of the present application, wherein the surgical instrument is in a neutral state;

[0050] Figure 4 for Figure 3 A partially exploded perspective view of the surgical instrument shown;

[0051] Figure 5 for Figure 4 An assembly diagram of the wiring harness, the first wire and the second wire;

[0052] Figure 6 for Figure 4 A stereoscopic view of the wiring harness in FIG.

[0053] Figure 7 for Figure 4 A schematic diagram of an assembly of a wire harness, a first clamp and a first wire;

[0054] Figure 8 for Figure 4 A front view of the wire harness, the first clamp and the first wire;

[0055] Fig. 9 for Figure 4 Another front view of the wire harness, the first clamp and the first wire;

[0056] Fig.10 for Figure 4 Another front view of the wire harness, the first clamp and the first wire;

[0057] Fig.11 for Figure 3Another partial perspective view of the surgical instrument shown, wherein the surgical instrument is in a position during a yaw motion;

[0058] Fig.12 for Figure 3 Still another partial stereoscopic view of the surgical instrument shown, wherein the surgical instrument is in a position during a pitch motion;

[0059] Fig.13 for Figure 3 and Figure 4 A schematic diagram of the connection between the first joint seat and the second joint seat;

[0060] Fig.14 is a schematic diagram of a first joint seat from a perspective from the distal end to the proximal end according to a preferred embodiment of the present application;

[0061] Fig.15 is a schematic diagram of a second joint seat from a perspective from the distal end to the proximal end according to a preferred embodiment of the present application;

[0062] Fig.16 for Figure 3 A partial front view of the surgical instrument shown, wherein the surgical instrument is in a neutral position;

[0063] Fig.17 for Figure 3 Another partial elevation view of the surgical instrument shown, wherein the surgical instrument is in a position during a yaw motion;

[0064] Fig.18 for Figure 3 Still another partial elevation view of the surgical instrument shown, wherein the surgical instrument is in another position during the yaw motion;

[0065] Fig.19 is a partial stereoscopic view of a surgical instrument according to another preferred embodiment of the present application, wherein the surgical instrument is in a neutral state;

[0066] Fig. 20 for Fig.19 A partially exploded perspective view of the surgical instrument shown;

[0067] Fig.21 for Fig.19 A partial cross-sectional view of the surgical instrument shown, wherein the surgical instrument is in a neutral position; and

[0068] Fig. 22 for Fig.19 Another partial cross-sectional view of a surgical instrument is shown, wherein the surgical instrument is in a neutral position.

[0069] Description of reference numerals:

[0070] 100: Surgical instruments 120: End effector

[0071] 121: first clamping jaw 122: second clamping jaw

[0072] 130: shaft 150: rear end transmission device

[0073] 101: first tissue contact portion 102: first rotating portion

[0074] 102a: first guide groove 102b: winding post

[0075] 102d: first connecting hole 102e: first rib

[0076] 103: first pin 104: first wire

[0077] 105: first flexible member 105a: first arc section

[0078] 105b: second arc segment 106: second tissue contact portion

[0079] 107: second rotating portion 107a: second guide groove

[0080] 107d: second connection hole 109: second wire

[0081] 110: second flexible member 111: second joint seat

[0082] 111a1: second tooth portion 111a4: second arc surface

[0083] 111a5: second stopper 111c: second support plate

[0084] 111c1: Fifth wire passage 111c2: Sixth wire passage

[0085] 111c3: Seventh cable passage 112: Cable harness

[0086] 112a: second rib 112b: first connecting portion

[0087] 112c: second connection portion 112d: shaft hole

[0088] 113: first joint seat 113a1: first tooth portion

[0089] 113a3: first arc surface 113a4: first stopper

[0090] 113b: first support plate 113b1: first wire passage

[0091] 113b2: Second wire passage 113b3: Third wire passage

[0092] 113b4: fourth wire passage 115: tissue contact portion

[0093] 116: Insulation seat 116a: Wire groove

[0094] 116b: first inner wall surface 116c: second inner wall surface

[0095] 116d: guide groove 117: second pin

[0096] 118: Third pin 119: Wire

[0097] 181: First guide wheel 182: Second guide wheel

[0098] 200: Medical System 210: Doctor Console

[0099] 220: Patient-side robot 221: Robotic arm

[0100] 222: Arm 230: Imaging equipment

[0101] AX1: First axis AX2: Second axis

[0102] AX3: The third axis AX: The center axis

[0103] TP1: First plane TP2: First plane DETAILED DESCRIPTION

[0104] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.

[0105] In order to fully understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art.

[0106] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application, and the singular forms "a", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, integral bodies, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integral bodies, steps, operations, elements, components and / or combinations thereof.

[0107] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0108] The terms "distal end" and "proximal end" used in this application are directional terms, which are commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. In a remotely controlled surgical robot system, the "operator" refers to the robot next to the patient that holds and brakes the surgical instrument.

[0109] The terms "parallel" / "perpendicular" and similar expressions used in this application include an absolute parallel / perpendicular relationship and a roughly parallel / perpendicular relationship (for example, a relationship that differs from absolute parallel / perpendicular by a range of -5° to +5°), which can have equivalent effects.

[0110] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0111] The medical system 200 according to the embodiment of the present invention is a surgical robot system that can be remotely controlled to perform surgery. Figure 1 The medical system 200 may include a doctor's console 210, a patient-side robot 220, and an imaging device 230, which may communicate with each other.

[0112] The doctor's console 210 has a display unit for displaying the environment of the surgical instrument 100, a doctor's operation control mechanism, and an armrest. The display unit is provided with an observation window for the doctor to observe, the operation control mechanism is constructed so that its movement can correspond to the movement of the surgical instrument 100, and the armrest is used to place the doctor's arm. In addition, the doctor's console 210 also has other control switches that are convenient for the hand or foot to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0113] The imaging device 230 has a display screen, an endoscope controller, system electronics, an image processor, etc. In some examples, the imaging device 230 can be set independently of the doctor console 210 and the patient-side robot 220. In other examples, the imaging device 230 can be integrated into the doctor console 210 and / or the patient-side robot 220.

[0114] See also Figure 2 , the patient-side robot 220 can also be called a slave operation device. The patient-side robot 220 can include at least one mechanical arm 221, and the mechanical arm 221 has a plurality of connecting arms. Two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the mechanical arm 221 can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the surgical instrument 100). The end of the mechanical arm 221 is provided with a mechanical arm 222, and the surgical instrument 100 is detachably mounted on the mechanical arm 222. The surgical instrument 100 can be an instrument for performing surgical operations, such as an electric cauterizer, clamps, a vascular occluder, etc., or a camera for capturing images of the surgical area, such as an endoscope, etc., or other surgical instruments.

[0115] In some application scenarios, the robotic arm 221 can be configured to move around a remote center of motion (RCM) by mechanical means. For example, in laparoscopic surgery, RCM is defined as the port for entering the patient's abdominal cavity during surgery. During the operation, the robotic arm 221 is manipulated so that the holding arm 222 drives the surgical instrument 100 to achieve pitch, yaw, insertion and rotation movements. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision caused by the surgical instrument 100.

[0116] Continue to see Figure 2The surgical instrument 100 includes a rear transmission device 150, a shaft 130 and an end-actuating assembly 120 from the proximal end to the distal end. The rear transmission device 150 is in transmission connection with a driving device provided in the holding arm 222. The rear transmission device 150 can be connected to the end-actuating assembly 120 through a transmission assembly, and the end-actuating assembly 120 can be braked by the transmission assembly, wherein the transmission assembly can include a push-pull rod, a wire, a rope, a belt, etc. The shaft 130 is connected between the rear transmission device 150 and the end-actuating assembly 120 to space the rear transmission device 150 and the end-actuating assembly 120 and to support the end-actuating assembly 120. The end-actuating assembly 120 can include tools for surgical operations such as cutting tissues, such as hooks, shovels, needles, clamps, scissors, etc., and can also be an endoscope lens for image acquisition, etc.

[0117] Furthermore, a joint, such as a pitch joint, a yaw joint, etc., may be provided between the end effector 120 and the shaft 130 to improve the mobility of the end effector 120. The rear end drive device may drive the joint to move through a transmission component such as a push-pull rod, a wire, a rope, or a belt.

[0118] For surgical instruments that need to release energy (such as electrosurgical instruments), it is usually necessary to connect the end effector component 120 to the energy source through a wire. The energy (such as electrical energy) is transmitted to the end effector component 120 via the wire and released, so that the end effector component 120 can perform operations such as cutting and hemostasis on tissue.

[0119] Since the wire is connected to the end effector 120, the movement of the end effector 120 easily involves the wire to move with it. Therefore, when designing the routing of the wire, the following design requirements need to be met: try to avoid the wire extending beyond the surgical instrument 100 entity, which affects the surgical operation; prevent excessive pulling on the wire, which is easily damaged by the dual effects of tension and friction; prevent the parts of the surgical instrument from excessively squeezing the wire, causing damage to the wire.

[0120] In some designs, the wire is bound to the end effector or the transmission assembly of the wrist joint, and the movement of the transmission assembly pulls the wire to move, which can meet some of the above requirements to a certain extent. However, the inventors found that when this solution is applied to instruments with smaller diameters and more compact structures, the friction of the wire in a small space will increase, so a greater pulling force is required to cause the wire to move with the end effector and the transmission assembly, which will accelerate the damage of the wire, thereby reducing the reliability and service life of the instrument.

[0121] Based on this, the surgical instrument 100 and the medical system 200 having the surgical instrument 100 proposed in the embodiment of the present invention can improve or solve at least one of the above problems.

[0122] The design concept of the surgical instrument 100 of the present invention is as follows.

[0123] The surgical instrument includes a shaft, a first joint seat, a second joint seat and an end effector assembly from the proximal end to the distal end. The movement of the second joint seat relative to the first joint seat can achieve the pitch movement of the end effector assembly relative to the first joint seat and the shaft, and the movement of the end effector assembly relative to the second joint seat can achieve the yaw movement of the end effector assembly relative to the first joint seat and the shaft. One end of the wire is connected to the end effector assembly, and the other end extends to the proximal end of the shaft. The wire includes a first section extending between the end effector assembly and the second joint seat. During the movement of the end effector assembly relative to the first joint seat, the length of the first section of the wire remains unchanged.

[0124] Since one end of the wire is connected to the end effector assembly, the length of the first section of the wire remains unchanged, which means that during the movement of the end effector assembly relative to the first joint seat, the end of the first section away from the end effector assembly will not move relative to the second joint seat. In one example, the end of the first section away from the end effector assembly can be fixedly connected to the second joint seat.

[0125] Under this design concept, when the end actuator moves, there is no need to pull the wire to move relative to the second joint seat, thereby reducing or avoiding the friction between the wire and the second joint seat.

[0126] The following will be Figures 3 to 22 The illustrated embodiment exemplarily introduces the surgical instrument 100 according to the above-mentioned design concept.

[0127] First embodiment

[0128] See also Figures 3 to 18 According to the first embodiment of the present application, the surgical instrument 100 may include a shaft 130 , a first joint seat 113 , a second joint seat 111 , an end effector assembly 120 , and a guide wire 119 .

[0129] The distal end of the shaft 130 can support the first joint seat 113, the second joint seat 111 and the end effector assembly 120. The proximal end of the shaft 130 can be connected to the rear end transmission device 150. The shaft 130 is generally configured as a hollow rod to allow the wire 119 and the transmission assembly to pass therethrough. The shaft 130 extends along the central axis AX. The cross section of the shaft 130 perpendicular to its central axis AX can be a shape without corners such as a circle, an ellipse, etc.

[0130] The first joint seat 113 is arranged at the distal end of the shaft portion 130. The second joint seat 111 is arranged at the distal end of the first joint seat 113. The proximal end of the second joint seat 111 is rollingly connected to the distal end of the first joint seat 113 to form a pitch joint of the surgical instrument 100. The end effector assembly 120 is rotatably connected to the distal end of the second joint seat 111 around a third axis AX3. The end effector assembly 120 and the second joint seat 111 can rotate relative to each other around the third axis AX3 to at least form a yaw joint of the surgical instrument 100. As a result, the end effector assembly 120 of the surgical instrument 100 of this embodiment has at least two degrees of freedom, namely pitch and yaw. When the surgical instrument 100 does not yaw (pitch and yaw), the surgical instrument 100 as a whole extends along the central axis AX of the shaft portion 130, which is called the neutral state (also called the zero position state) of the surgical instrument 100.

[0131] One end of the wire 119 is connected to the end effector assembly 120, and the other end extends to the proximal end of the shaft 130 to be suitable for connecting to an energy source. The wire 119 is used to deliver energy, such as electrical energy, to the end effector assembly 120. The wire 119 may include a first section extending between the end effector assembly 120 and the second joint seat 111. In the process of the end effector assembly 120 moving relative to the first joint seat 113, the length of the first section of the wire 119 remains unchanged.

[0132] In other words, during the movement of the end-actuator assembly 120 relative to the first joint seat 113, one end of the first section of the wire 119 does not move relative to the second joint seat 111. The one end of the first section of the wire 119 here can be understood as the portion of the first section of the wire 119 that is arranged corresponding to the second joint seat 111. In this way, the first section of the wire 119 will not move relative to the second joint seat 111 due to the movement of the end-actuator assembly 120 relative to the first joint seat 113, thereby reducing or avoiding the friction between the wire and the second joint seat 111, and further improving the reliability of the first section of the wire 119 at the second joint seat 111, thereby achieving the purpose of protecting the first section of the wire 119. In this embodiment, one end of the first section of the wire can be fixedly connected to the second joint seat 111.

[0133] In this embodiment, the end effector assembly 120 includes a tool that can perform opening and closing movements, such as a clamp, a pair of scissors, etc. For ease of description, the tool that can perform opening and closing movements is referred to as a first clamp 121 and a second clamp 122. Figure 3The first clamping jaw 121 and the second clamping jaw 122 are each rotatably connected to the distal end of the second joint seat 111 around the third axis AX3. The rotation axis of the opening and closing movement and the rotation axis of the yaw movement of the end effector assembly 120 are colinear, which is conducive to reducing the number of joints, thereby further reducing the active space occupied by the surgical instrument 100 and reducing the number of parts.

[0134] See also Figure 3 and Figure 4 Specifically, the first clamping jaw 121 may include a first rotating portion 102 rotatably connected to the distal end of the second joint seat 111, and a first tissue contact portion 101 fixed to the distal end of the first rotating portion 102; the second clamping jaw 122 includes a second rotating portion 107 rotatably connected to the distal end of the second joint seat 111, and a second tissue contact portion 106 fixed to the distal end of the second rotating portion 107. When the energy transmitted by the wire 119 is electrical energy, the first rotating portion 102 and the second rotating portion 107 are usually constructed as insulating components, and therefore can also be respectively referred to as a first insulating seat and a second insulating seat.

[0135] See also Figure 4 , Fig.11 , Fig.12 ,as well as Figures 16 to 18 Further, the transmission assembly is used to actuate the end effector assembly 120 to move relative to the first joint seat 113. The transmission assembly may include a first flexible member 105 and a second flexible member 110. The first flexible member 105 is connected to the first clamping jaw 121, and the second flexible member 110 is connected to the second clamping jaw 122.

[0136] In an example, Figure 3 , Figure 4 , Figure 7 , Fig.11 as well as Fig.12 As shown, the first rotating portion 102 of the first clamp 121 is provided with a first guide groove 102a extending around the third axis AX3. Similarly, the second rotating portion 107 of the second clamp 122 is provided with a second guide groove 107a extending around the third axis AX3. The first guide groove 102a and the second guide groove 107a are arranged side by side along the third axis AX3. The first flexible member 105 can be arranged around the first guide groove 102a. The second flexible member 110 can be arranged around the second guide groove 107a. Optionally, the extension trajectory of the first guide groove 102a and the second guide groove 107a is perpendicular to the third axis AX3. Through this arrangement, it is beneficial to control the rotation of the first clamp 121 and the second clamp 122, so that the transmission assembly is actuated with a smaller driving force, the friction between the transmission assembly and the wire 119 and other components is reduced, and it helps to extend the service life of the transmission assembly and the wire 119.

[0137] See also Figure 3 and Figure 4 Optionally, the first flexible member 105 is clamped with the first rotating portion 102 via a terminal. The second flexible member 110 is clamped with the second rotating portion 107 via a terminal.

[0138] See also Figure 4 Optionally, the first flexible member 105 may include two traction ropes extending substantially in parallel. The two traction ropes may be integral or connected in separate parts. The rear end transmission device 150 may be used to pull one of the traction ropes separately or to pull both traction ropes simultaneously. When the rear end transmission device 150 pulls one of the traction ropes, the first clamping jaw 121 performs an opening and closing motion or a yaw motion. When the rear end transmission device 150 pulls both traction ropes simultaneously, the first clamping jaw 121 performs a pitching motion. Correspondingly, the second flexible member 110 may include two traction ropes extending substantially in parallel. The two traction ropes may be integral or connected in separate parts. The rear end transmission device 150 may be used to pull one of the traction ropes separately or to pull both traction ropes simultaneously. When the rear end transmission device 150 pulls one of the traction ropes, the second clamping jaw 122 performs an opening and closing motion or a yaw motion. When the rear end transmission device 150 pulls both traction ropes simultaneously, the second clamping jaw 122 performs a pitching motion. The specific structure of the rear end transmission device 150 and its control method for the first flexible member 105 and the second flexible member 110 can refer to the prior art, such as Chinese invention patent CN113208732A or Chinese invention patent CN113367796A, which are disclosed and will not be described in detail here.

[0139] See also Figures 3 to 12 , the proximal end of the end effector assembly 120 defines a wire groove (not shown). The first section of the wire 119 is contained in the wire groove. In the present embodiment, the wire groove is the space between the proximal end of the first jaw 121 and the proximal end of the second jaw 122. The proximal end of the first jaw 121 has a first rotating portion 102. The proximal end of the second jaw 122 has a second rotating portion 107. The first section of the wire 119 is disposed between the first rotating portion 102 and the second rotating portion 107. That is, the wire groove is defined by the first rotating portion 102 and the second rotating portion 107, and the first section of the wire 119 is contained in the wire groove. The first flexible member 105 and the second flexible member 110 extend outside the wire groove to avoid interference with the wire 119.

[0140] By accommodating the first section of the wire 119 through the wire trough, on the one hand, the movement range of the first section can be limited to prevent the first section from exceeding the physical part of the end-effector assembly; on the other hand, the first section can be isolated from other structures or components to prevent the first section from interfering with other structures or components, thereby better protecting the first section.

[0141] Further, see Figure 4 , Figure 5 , Figures 7 to 12 ,as well as Figures 16 to 18 , the wire 119 may include a first wire 104 and a second wire 109. The first wire 104 is connected to the first jaw 121 and is used to transmit energy to the first jaw 121, so that the energy is transmitted to the first tissue contact portion 101 via the first wire 104 and released. The second wire 109 is connected to the second jaw 122 and is used to transmit energy to the second jaw 122, so that the energy is transmitted to the second tissue contact portion 106 via the second wire 109 and released. Specifically, the first rotating portion 102 is provided with a first connection hole 102d for passing the first wire 104, and the wire 119 is connected to the first tissue contact portion 115 through the first connection hole 102d. The second rotating portion 107 is provided with a second connection hole 107d for passing the second wire 109, and the wire 119 is connected to the second tissue contact portion 115 through the second connection hole 107d.

[0142] In this embodiment, the first section of the conductive wire 119 is wound around the third axis AX3 for at least one cycle. Figure 4 , Figure 5 and Figure 7 , the first section of the first wire 104 and the first section of the second wire 109 are both wound around the third axis AX3 for at least one circle. On the one hand, this allows the first section of the wire 119 to have enough length to accommodate the movement of the end-actuator 120, so that the wire 119 itself will not generate tensile stress when the end-actuator 120 yaws, thereby protecting the wire 119; on the other hand, by wiring the first section in a winding form, the movement of the first section can be constrained to a certain extent, so as to reduce the risk of the first section exceeding the physical part of the end-actuator 120. It should be noted that "winding around the third axis AX3" means that the third axis AX3 is within the circle after the first section is wound, and it is not necessarily necessary to wind around the third axis AX3 as the center.

[0143] See also Figures 8 to 10 , shows the state of the first section of the first wire 104 when the first clamp 121 moves to different positions. Fig. 9 The first clamping jaw 121 is in a neutral position, Figure 8 and Fig.10 The first clamping jaw 121 moves in two opposite directions away from the neutral position. Fig. 9 The neutral position shown in the figure moves counterclockwise to Figure 8 When the first clamping jaw 121 moves from the position shown in FIG. Fig. 9 The neutral position shown is moved clockwise in the figure to Fig.10In the position shown, the radius of curvature of the first section of the first conductive line 104 gradually decreases.

[0144] Further, see Figure 4 and Figure 5 In order to fully utilize the wiring space of the surgical instrument 100, the first section of the first wire 104 and the first section of the second wire 109 enter the wire slot from opposite sides of the third axis AX3 and wind around the third axis AX3 in opposite directions. Therefore, when the first jaw 121 and the second jaw 122 rotate in the same direction around the third axis AX3, the curvature radius of the first section of the first wire 104 and the curvature radius of the first section of the second wire 109 have opposite changing trends. For example, when the first jaw 121 rotates from Fig. 9 The neutral position shown in the figure moves counterclockwise to Figure 8 When the first clamping jaw 121 is in the position shown in FIG. 1 , the curvature radius of the first section of the first wire 104 gradually increases, while the curvature radius of the first section of the second wire 109 gradually decreases; Fig. 9 The neutral position shown is moved clockwise in the figure to Fig.10 In the position shown, the curvature radius of the first section of the first conductive line 104 gradually decreases, while the curvature radius of the first section of the second conductive line 109 gradually increases.

[0145] Further, see Figure 4 and Figure 7 The first rotating portion 102 of the first clamping jaw 121 includes a first rib 102e, and the first rib 102e is arranged around the third axis AX3. The first rib 102e is used to prevent the first section of the first wire 104 from moving outward in a radial direction perpendicular to the third axis AX3, thereby preventing the first section from protruding from the wire groove. In one example, the central angle corresponding to the first rib 102e is greater than 180°. Similarly, the second rotating portion 107 of the second clamping jaw 122 also includes a first rib (not shown) with a similar structure and function.

[0146] Furthermore, a winding post is provided between the first rotating part 102 and the second rotating part 107 (i.e., in the wire groove). The outer peripheral surface of the winding post can be configured to extend around the third axis AX3. The winding post can limit the bending path of the first section of the wire 119 to a certain extent, so that it does not deviate from the third axis AX3, that is, the third axis AX3 is always within the circle after the first section of the wire 119 is wound. In one example, see Figure 4 and Figure 7The first rotating part 102 is provided with a winding post 102b. The winding post 102b protrudes from the surface of the first rotating part 102 toward the second rotating part 107. The outer peripheral surface of the winding post 102b is a cylindrical surface. The winding post 102b is used to define the bending path of the first section of the first conductive wire 104. Similarly, the second rotating part 107 is also provided with a winding post (not shown) with a similar structure, which is used to define the bending path of the first section of the second conductive wire 109.

[0147] In some other embodiments not shown, the outer peripheral surface of the winding rod can be a rotating surface other than a cylindrical surface, such as a conical surface or other variable diameter surface.

[0148] Further, see Figures 3 to 6 , Fig.11 and Fig.12 ,as well as Figures 16 to 18 , the surgical instrument 100 may include a wire harness 112. The wire harness 112 is fixed to the second joint seat 111 and is disposed between the first rotating portion 102 and the second rotating portion 107. The wire harness 112 divides the wire groove into two accommodating spaces (not marked). The first section of the first wire 104 is accommodated in the first accommodating space (not marked) between the first rotating portion 102 and the wire harness 112. The first section of the second wire 109 is accommodated in the second accommodating space (not marked) between the second rotating portion 107 and the wire harness 112. Thus, the first section of the first wire 104 and the first section of the second wire 109 are separated to prevent interference between the two.

[0149] The second ribs 112a are respectively provided on opposite sides of the wire harness 112, and the second ribs 112a are arranged around the third axis AX3. The second ribs 112a are used to prevent the first section of the wire from moving outward in a radial direction perpendicular to the third axis AX3, thereby preventing the first section from protruding from the wire groove. In one example, the central angle corresponding to the second ribs 112a is greater than 180°.

[0150] In one example, the first section of the wire 119 is constrained to move radially outward by the first rib 102e and the second rib 112a. The width of the second rib 112a and the first rib 102e (width parallel to the third axis AX3 direction) is roughly equivalent to the diameter of the wire. The radius of curvature of the second rib 112a and the first rib 102e is equivalent, and the two maintain a certain spacing without contact to avoid friction. Since the first section of the wire 119 is wound for at least one week, the wound part is difficult to maintain in a plane under a natural state, and stacking occurs at the overlap of the wire 119, so the rib twice the diameter of the wire 119 can more effectively prevent the wire from protruding from the wire slot. Of course, in other examples not shown, the first rib 102e or the second rib 112a with a width twice the diameter of the wire can also be set.

[0151] See also Figures 4 to 6 , further, the wiring harness 112 may include a first connection portion 112b and a second connection portion 112c. The first connection portion 112b and the second connection portion 112c are located at one end of the wiring harness 112 connected to the second joint seat 111. That is, the first connection portion 112b and the second connection portion 112c are located at the proximal end of the wiring harness 112. The first wire 104 is fixed to the first connection portion 112b, so that the first wire 104 is fixed to the second joint seat 111. The second wire 109 is fixed to the second connection portion 112c, so that the second wire 109 is fixed to the second joint seat 111. The first wire 104 and the second wire 109 are both fixed to the wiring harness 112, and the first wire 104 and the second wire 109 can be positioned by the first connection portion 112b and the second connection portion 112c. Optionally, see Fig.15 , the first connection portion 112b can be roughly aligned with the entrance of the first accommodation space, so that the first section of the first wire 104 extends into the first accommodation space with a relatively straight trajectory. The "alignment" described here can be understood as, when the surgical instrument 100 is in a neutral state, the projections of the first connection portion 112b and the entrance of the first accommodation space on a plane perpendicular to the central axis AX of the shaft portion 130 overlap or partially overlap. Similarly, the second connection portion 112c is roughly aligned with the entrance of the first accommodation space, so that the first section of the second wire 109 extends into the second accommodation space with a relatively straight trajectory. The "alignment" described here can be understood as, when the surgical instrument 100 is in a neutral state, the projections of the second connection portion 112c and the entrance of the first accommodation space on a plane perpendicular to the central axis AX of the shaft portion 130 overlap or partially overlap. Optionally, the harness 112 can be configured to be rotationally symmetrical. For example, when the surgical instrument 100 is in a neutral state, the axis of symmetry of the harness 112 is colinear with the central axis AX of the shaft portion 130.

[0152] Continue reading Figure 3 , Figure 4 , Figures 11 to 13 ,as well as Fig.15 , the distal end of the second joint seat 111 is hinged to the end effector assembly 120, for example, by means of an axial hole and a pin structure. In the present embodiment, the distal end of the second joint seat 111 may be constructed as a U-shaped joint, and the end effector assembly 120 is placed between the two arms of the U-shaped joint. The two arms of the U-shaped joint and the two jaws of the end effector assembly 120 may be hinged through the first pin 103. To this end, the wiring harness 112 is correspondingly provided with an axial hole 112d for the first pin 103 to pass through. In other examples not shown, two pins may also be provided to respectively connect the first jaw 121 and the second jaw 122 to the two arms of the U-shaped joint, in which case the wiring harness 112 may not have the axial hole 112d.

[0153] See also Figure 3 , Figure 4 ,as well as Figures 11 to 15 Further, the second joint seat 111 may also include a second support plate 111c. In this embodiment, the second support plate 111c is arranged at the bottom of the U-shaped joint, that is, the two arms of the U-shaped joint extend from the second support plate 111c toward the distal end. The second support plate 111c is provided with a through hole or a channel for guiding the direction of the wire 119, the first flexible member 105 and the second flexible member 110.

[0154] See also Fig.13 and Fig.15 Specifically, the second support plate 111c is provided with a seventh wire-passing channel 111c3 for the first wire 104 and the second wire 109 to pass through, as well as a fifth wire-passing channel 111c1 and a sixth wire-passing channel 111c2 for the first flexible member 105 and the second flexible member 110 to pass through respectively. The seventh wire-passing channel 111c3 is also used to install a wire harness 112. The wire harness 112 located in the seventh wire-passing channel 111c3 can guide the first wire 104 and the second wire 109 separately. The seventh wire-passing channel 111c3 is arranged in the middle position of the second support plate 111c. When the surgical instrument 100 is in a neutral state, the central axis of the seventh wire-passing channel 111c3 is colinear with the central axis AX of the shaft portion 130. Two fifth wire-passing channels 111c1 are provided. The positions of the two fifth wire-passing channels 111c1 are roughly aligned with the first guide groove 102a, thereby guiding the first flexible member 105 to extend into the first guide groove 102a parallel to the central axis AX of the shaft portion 130 after passing through the second support plate 111c. The "alignment" described here can be understood as that when the surgical instrument 100 is in a neutral state, the two fifth wire-passing channels 111c1 overlap or partially overlap with the projection of the first guide groove 102a on a plane perpendicular to the central axis AX of the shaft portion 130. Similarly, two sixth wire-passing channels 111c2 are provided. The positions of the two sixth wire-passing channels 111c2 are roughly aligned with the second guide groove 107a, thereby guiding the second flexible member 110 to extend into the second guide groove 107a parallel to the central axis AX of the shaft portion 130 after passing through the second support plate 111c. The “alignment” described here may be understood as that, when the surgical instrument 100 is in a neutral state, the two sixth wire-passing channels 111c2 overlap or partially overlap with the projection of the second guide groove 107a on a plane perpendicular to the central axis AX of the shaft portion 130 .

[0155] See also Fig.12 and Fig.13, the proximal end of the second joint seat 111 is provided with a second tooth portion 111a1 arranged around the second axis AX2. The second tooth portion 111a1 is arranged on the side of the second support plate 111c facing away from the U-shaped joint. The distal end of the first joint seat 113 is provided with a first tooth portion 113a1 arranged around the first axis AX1. The first tooth portion 113a1 is meshed with the second tooth portion 111a1 to limit the motion trajectory of the second joint seat 111 relative to the first joint seat 113. The first axis AX1 is parallel to the second axis AX2 and defines a first plane TP1, and the first plane TP1 is a virtual plane. The first axis AX1 and the second axis AX2 are not in the same plane as the third axis AX3, and optionally, are perpendicular to the same plane. When the surgical instrument 100 is in a neutral state, the first axis AX1 and the second axis AX2 both intersect with the central axis AX of the shaft portion 130, and optionally, intersect perpendicularly.

[0156] See also Fig.12 In one example, the first tooth portion 113a1 may include n transmission teeth and n-1 tooth grooves, where n is a positive integer and n≥3, and the transmission teeth and tooth grooves are arranged alternately. Correspondingly, the second tooth portion 111a1 includes n-1 transmission teeth and n tooth grooves, and the transmission teeth and tooth grooves are arranged alternately. For example, in the example shown in the figure, the first tooth portion 113a1 includes three transmission teeth and two tooth grooves, and the second tooth portion 111a1 includes two transmission teeth and three tooth grooves. Optionally, the transmission teeth in the first tooth portion 113a1 and the second tooth portion 111a1 may adopt an involute tooth profile.

[0157] The second joint seat 111 is connected to the first joint seat in a rolling manner, and it can be understood that the movement of the second joint seat 111 is pure rolling on the first joint seat 113. Specifically, when the second tooth portion 111a1 meshes and swings with the first tooth portion 113a1, the second joint seat 111 swings relative to the first joint seat 113, so that the second joint seat 111 revolves relative to the first axis AX1 and simultaneously rotates relative to the second axis AX2. In this process, the distance between the first axis AX1 and the second axis AX2 remains unchanged.

[0158] See also Figure 3 , Figure 4 ,as well as Figures 11 to 15Optionally, the first joint seat 113 and the second joint seat 111 are provided with a load-bearing structure to realize the force transmission. The distal end of the first joint seat 113 is provided with a first arc surface 113a3 protruding toward the second joint seat 111 and extending around the first axis AX1. The proximal end of the second joint seat 111 is provided with a second arc surface 111a4 protruding toward the first joint seat 113 and extending around the second axis AX2. The first arc surface 113a3 and the second arc surface 111a4 are in contact. The first arc surface 113a3 and the second arc surface 111a4 are the load-bearing structure. Specifically, the extension trajectory of the first arc surface 113a3 coincides with the pitch circle portion of the first tooth portion 113a1, and the extension trajectory of the second arc surface 111a4 coincides with the pitch circle portion of the second tooth portion 111a1. When the first joint seat 113 and the second joint seat 111 roll relative to each other, the meshing of the first tooth portion 113a1 and the second tooth portion 111a1 can ensure that the first arc surface 113a3 and the second arc surface 111a4 maintain contact and roll relative to each other. The arc surface can withstand the interaction force between the first joint seat 113 and the second joint seat 111 caused by the pulling force of the transmission component, which can reduce the wear of the tooth portion.

[0159] See also Figures 11 to 14 Optionally, two groups of first stoppers 113a4 are protrudingly formed on the end surface of the first joint seat 113 facing the second joint seat 111. The two groups of first stoppers 113a4 are symmetrically arranged on both sides of the first axis AX1. Two groups of second stoppers 111a5 are protrudingly formed on the end surface of the second joint seat 111 facing the first joint seat 113. The two groups of second stoppers 111a5 are symmetrically arranged on both sides of the second axis AX2. The two groups of second stoppers 111a5 are respectively arranged corresponding to the two groups of first stoppers 113a4. The abutment cooperation between the first stoppers 113a4 and the second stoppers 111a5 defines the extreme position of the rolling of the second joint seat 111 relative to the first joint seat 113.

[0160] See also Figure 3 , Figure 4 ,as well as Figures 11 to 14 , further, the first joint seat 113 may also include a first support plate 113b. The first support plate 113b is provided with a first wire passage 113b1 and a second wire passage 113b2 for the first wire 104 and the second wire 109 to pass through respectively. The first wire passage 113b1 and the second wire passage 113b2 are each provided with one. The first wire 104 and the second wire 109 each include a second section extending between the first joint seat 113 and the second joint seat 111. Specifically, the second section of the wire 119 extends between the first support plate 113b and the second support plate 111c.

[0161] In one example, the centers of the first wire-passing channel 113b1 and the second wire-passing channel 113b2 are located on the first plane TP1, and the centers of the first connecting portion 112b and the second connecting portion 112c of the wire harness 112 are also located on the first plane TP1, so that the extension tracks of the second sections of the first wire 104 and the second wire 109 are located on the first plane TP1. Thus, the movement of the second joint seat 111 relative to the first joint seat 113 will not affect the lengths of the second sections of the first wire 104 and the second wire 109.

[0162] See also Fig.16 In another example, the first wire-passing channel 113b1 and the second connection portion 112c are located on one side of the first plane TP1, and the second wire-passing channel 113b2 and the first connection portion 112b are located on the other side of the first plane TP1. That is, the first connection portion 112b and the second connection portion 112c are located on both sides of the first plane TP1. As a result, the two ends of the second section of the first wire 104 are located on both sides of the first plane TP1, and the two ends of the second section of the second wire 109 are located on both sides of the first plane TP1. In order to reduce the influence of the movement of the second joint seat 111 relative to the first joint seat 113 on the length of the second section of the first wire 104 and the second wire 109, the angle between the second section of the first wire 104 and the first plane is optionally less than 10°. Further optionally, the angle between the second section of the first wire 104 and the first plane is less than 5°. Further optionally, the angle between the second section of the first wire 104 and the first plane is less than 3°. The angle between the second section of the second wire 109 and the first plane is optionally less than 10°. Further optionally, the angle between the second section of the second conductive line 109 and the first plane is less than 5°. Still further optionally, the angle between the second section of the second conductive line 109 and the first plane is less than 3°.

[0163] Continue reading Fig.16 Optionally, the first connection portion 112b and the first connection hole 102d are located on one side of the first plane TP1, and the second connection portion 112c and the second connection hole 107d are located on the other side of the first plane TP1. This can prevent the first section of the first wire 104 and the first section of the second wire 109 from interfering with each other.

[0164] Further optionally, the first connection portion 112b is closer to the first plane than the first connection hole 102d. The second connection portion 112c is closer to the first plane TP1 than the second connection hole 107d. This can reduce the space occupied by the first section of the wire 119 along the third axis AX3 in the second joint seat 111. Accordingly, it is also beneficial to reduce the size of the proximal end of the wire harness 112 in a direction parallel to the third axis AX3.

[0165] Optionally, the cable tie 112 may be in a plate shape or other shapes. In the example where the cable tie 112 is in a plate shape, the cable tie 112 may be referred to as a cable tie plate.

[0166] Further, when the surgical instrument 100 is in a neutral state, the third axis AX3 intersects with the central axis AX and defines a second plane TP2 (eg, Fig. 9 , Fig.11 and Fig.15 As shown), the second plane TP2 is a virtual plane, the first wire-passing channel 113b1 and the first connecting portion 112b are located on one side of the second plane TP2, and the second wire-passing channel 113b2 and the second connecting portion 112c are located on the other side of the second plane TP2. That is, the first connecting portion 112b and the second connecting portion 112c are located on both sides of the third axis AX3. That is, the second sections of the first wire 104 and the second wire 109 are respectively located on both sides of the second plane TP2, thereby avoiding interference between the two. Optionally, the distance between the first wire-passing channel 113b1 and the second plane TP2 is equal to the distance between the first connecting portion 112b and the second plane TP2, and the second section of the first wire 104 extends parallel to the second plane TP2. Optionally, the distance between the second wire-passing channel 113b2 and the second plane TP2 is equal to the distance between the second connecting portion 112c and the second plane, and the second section of the second wire 109 extends parallel to the second plane TP2. Optionally, when the surgical instrument 100 is in a neutral state, the second segment of the first guide wire 104 and the second segment of the second guide wire 109 are rotationally symmetric about the central axis AX.

[0167] See also Fig.13 and Fig.14 Furthermore, the first support plate 113b is also provided with a third wire-passing channel 113b3 and a fourth wire-passing channel 113b4 for the first flexible member 105 and the second flexible member 110 to pass through respectively. Two third wire-passing channels 113b3 and two fourth wire-passing channels 113b4 are provided respectively. The third wire-passing channel 113b3 is substantially aligned with the fifth wire-passing channel 111c1 of the second support plate 111c, so that when the surgical instrument 100 is in a neutral state, the first flexible member 105 is guided to extend parallel to the central axis AX of the shaft portion 130 between the first joint seat 113 and the second joint seat 111. The fourth wire-passing channel 113b4 is substantially aligned with the sixth wire-passing channel 111c2 of the second support plate 111c, so that when the surgical instrument 100 is in a neutral state, the second flexible member 110 is guided to extend parallel to the central axis AX of the shaft portion 130 between the first joint seat 113 and the second joint seat 111.

[0168] See also Figure 3For example, the shaft portion 130 is provided with a channel (not shown) extending along the central axis AX. The wire 119 may include a third section extending in the channel. During the movement of the end actuator 120 with respect to the first joint seat 113, one end of the third section of the wire 119 does not move relative to the shaft portion 130. One end of the third section here can be understood as an end of the third section that is arranged corresponding to the distal end of the shaft portion 130. Alternatively, one end of the third section is the distal end of the third section. Generally speaking, a sealing gasket (not shown) is fixedly provided at the distal end of the shaft portion 130 to prevent liquid from flowing into the channel of the shaft portion 130. The wire 119 extends out of the channel of the shaft portion 130 after passing through the sealing gasket. In order to maintain the sealing, the sealing gasket exerts a radial extrusion force on the wire 119. Since one end of the third section of the wire 119 does not move relative to the shaft 130, one end of the third section of the wire 119 does not move relative to the sealing gasket, thereby reducing or avoiding the friction between the wire 119 and the sealing gasket, thereby achieving the purpose of protecting the wire 119 and ensuring the sealing of the contact position between the wire 119 and the sealing gasket.

[0169] Furthermore, since the first section can maintain a constant length during the movement of the end-actuator assembly 120 relative to the first joint seat 113, when the distal end of the third section does not move relative to the shaft 130, the second section of the wire 119 located between the first section and the third section can also maintain a constant length. This can reduce or avoid friction between the wire 119 and the first joint seat 113, thereby improving the reliability of the second section of the wire 119 at the first joint seat 113, thereby achieving the purpose of protecting the second section of the wire 119.

[0170] See also Figure 3 , Figure 4 ,as well as Figures 11 to 18 In this embodiment, the transmission assembly is further away from the central axis AX of the shaft portion 130 than the wire 119. Specifically, the first flexible member 105 and the second flexible member 110 are located on both sides of the wire 119 in a direction parallel to the third axis AX3. The first flexible member 105 is further away from the central axis AX than the wire 119. The second flexible member 110 is further away from the central axis AX than the wire 119. To a certain extent, the closer the wire 119 is to the central axis AX, the less the length of the wire 119 is affected by the movement of the end effector assembly 120 relative to the first joint seat 113.

[0171] like Fig.16As shown, when the surgical instrument 100 is in a neutral state, between the first joint seat 113 and the second joint seat 111, the first flexible member 105 is symmetrical with respect to the second flexible member 110 about the first plane TP1. The length of the first flexible member 105 between the first joint seat 113 and the second joint seat 111 is equal to the length of the second flexible member 110 between the first joint seat 113 and the second joint seat 111. Through this arrangement, during the pitching motion, it can be ensured that the length of the extension (retraction) of the first flexible member 105 at the wrist joint is the same as the length of the retraction (extension) of the second flexible member 110 at the wrist joint, which helps the rear end transmission device 150 to accurately control the pitching motion of the surgical instrument 100.

[0172] Second embodiment

[0173] See also Figures 19 to 22 The surgical instrument 100 provided in the second embodiment of the present application has Figures 2 to 18 Therefore, the same parts of the surgical instrument 100 of the second embodiment as those of the surgical instrument 100 of the first embodiment will not be described in detail. The following content focuses on the parts of the surgical instrument 100 of the second embodiment that are different from those of the surgical instrument 100 of the first embodiment.

[0174] In this embodiment, similar to the first embodiment, the end effector assembly 120 can rotate relative to the second joint seat 111 around the third axis AX3 to achieve yaw, and the second joint seat 111 can roll relative to the first joint seat 113 to achieve pitch. Different from the first embodiment, the end effector assembly 120 does not perform opening and closing movements.

[0175] In this embodiment, the end effector assembly 120 may include a tissue contacting portion 115. The tissue contacting portion 115 may be a tool such as a hook, a spatula, a needle, etc. for contacting tissue and releasing energy.

[0176] The surgical instrument 100 includes a wire 119. The wire 119 is used to transmit energy to the tissue contact portion 115, so that the energy is transmitted to the tissue contact portion 115 via the wire 119 and released. In this embodiment, the energy is electrical energy. During the movement of the end effector assembly 120 relative to the first joint seat 113, the length of the section of the wire 119 between the end effector assembly 120 and the first joint seat 113 remains unchanged.

[0177] The guide wire 119 may include a first section extending between the end effector assembly 120 and the second joint seat 111. When the surgical instrument 100 is in a neutral state, the first section of the guide wire 119 extends along the central axis AX of the shaft portion 130. When the end effector assembly 120 moves to a position deviating from the neutral position relative to the second joint seat 111, the first section bends adaptively. That is, the radius of curvature of the first section of the guide wire 119 changes as the end effector assembly 120 moves around the third axis AX3, and the length of the first section of the guide wire 119 remains unchanged. By arranging the first section to extend along the central axis AX when the surgical instrument 100 is in a neutral state, the friction between the guide wire 119 and the second joint seat 111 can be reduced or avoided, and the length of the first section can be kept unchanged, thereby achieving the purpose of protecting the first section of the guide wire 119.

[0178] Further, the wire 119 may include a second section extending between the first joint seat 113 and the second joint seat 111. When the surgical instrument is in a neutral state, the second section of the wire extends along the central axis AX. When the second joint seat 111 moves to a position deviating from the neutral position relative to the first joint seat 113, the second section adaptively bends. That is, the bending angle of the second section of the wire 119 changes as the second joint seat 111 moves relative to the first joint seat 113, and the length of the second section of the wire 119 remains unchanged. By arranging the second section to extend along the central axis AX when the surgical instrument 100 is in a neutral state, the friction between the wire 119 and the first joint seat 113 can be reduced or avoided, which is conducive to maintaining the length of the second section unchanged, thereby achieving the purpose of protecting the second section of the wire 119.

[0179] Continue reading Figures 19 to 22 For example, the end effector assembly 120 may further include an insulating seat 116. The insulating seat 116 is rotatably connected to the distal end of the second joint seat 111. The tissue contact portion 115 is fixed to the distal end of the insulating seat 116. A wire groove 116a is provided at the proximal end of the insulating seat 116. The wire groove 116a is open toward the second joint seat 111. One end of the wire 119 passes through the wire groove 116a and is connected to the tissue contact portion 115. The other end of the wire 119 extends toward the proximal end of the shaft portion 130 to be connected to the energy source. The wire groove 116a penetrates the insulating seat 116 at least in a direction that is perpendicular to the central axis AX and the third axis AX3 at the same time. During the rotation of the end effector assembly 120 relative to the second joint seat 111 around the third axis AX3, the wire groove 116a can provide a space for adaptive movement of the wire 119, and can reduce or avoid friction between the insulating seat 116 and the wire 119, thereby protecting the first section of the wire 119.

[0180] Optionally, the wire groove 116a is defined by at least a first inner wall surface 116b and a second inner wall surface 116c perpendicular to the third axis AX3. That is, the first inner wall surface 116b and the second inner wall surface 116c are arranged relatively in a direction parallel to the third axis AX3. The wire groove 116a is formed in the interval area between the first inner wall surface 116b and the second inner wall surface 116c. The distance between the first inner wall surface 116b and the second inner wall surface 116c is greater than the diameter of the wire. This enables the wire groove to reduce and avoid friction with the wire while accommodating the wire 119. Further, the distance between the first inner wall surface 116b and the central axis AX is equal to the distance between the second inner wall surface 116c and the central axis AX. In this embodiment, the first joint seat 113 is provided with a first wire passage 113b1 for the wire 119 to pass through. The second joint seat 111 is provided with a seventh wire passage 111c3 for the wire to pass through. The first wire-passing channel 113b1 and the seventh wire-passing channel 111c3 are aligned along the central axis AX. When the surgical instrument 100 is in a neutral state, the wire 119 can extend linearly along the central axis AX and pass through the first wire-passing channel 113b1 and the seventh wire-passing channel 111c3. The alignment here can be understood as that when the surgical instrument 100 is in a neutral state, the projections of the first wire-passing channel 113b1 and the seventh wire-passing channel 111c3 perpendicular to the central axis AX of the shaft portion 130 overlap. The first wire-passing channel 113b1 and the seventh wire-passing channel 111c3 can serve the purpose of constraining and positioning the wire 119. Similar to the first embodiment, in this embodiment, a virtual plane, namely the first plane TP1, is defined by the first axis AX1 of the first joint seat 113 and the second axis AX2 of the second joint seat 111. The first joint seat 113 and the second joint seat 111 achieve pure rolling motion through mutually meshing teeth. During this pure rolling motion, the first axis AX1 and the second axis AX2 are always perpendicular to the first plane TP1, and the distance between them remains unchanged. The second section of the wire 119 is defined to extend straight along the central axis AX through the first wire passage 113b1 and the seventh wire passage 111c3, and the position where the second section passes through the first wire passage 113b1 is flush with the first axis AX1, and the position where the second section passes through the seventh wire passage 111c3 is flush with the second axis AX2, so that when the second joint seat 111 rolls relative to the first joint seat 113, the length of the second section of the wire 119 will not change.

[0181] Continue reading Figures 19 to 22In this embodiment, the transmission assembly may include a first flexible member 105 and a second flexible member 110. The first flexible member 105 is connected to the end effector assembly 120 and is used to actuate the end effector assembly 120 to rotate around the third axis AX3, thereby achieving yaw motion. The second flexible member 110 is connected to the second joint seat 111 to actuate the second joint seat 111 to roll relative to the first joint seat 113, thereby achieving pitch motion.

[0182] Optionally, the first flexible member 105 may be connected to the insulating seat 116 via a terminal. Figures 19 to 22 The insulating seat 116 may include a guide groove 116d extending around the third axis AX3. The guide groove 116d is used to accommodate and wind the first flexible member 105. The extension track of the guide groove 116d is perpendicular to the third axis AX3. The guide groove 116d is arranged outside the wire groove 116a to avoid interference between the second flexible member 105 and the wire 119.

[0183] Optionally, the first flexible member 105 extends in a curved manner across the first plane TP1 between the first joint seat 113 and the second joint seat 111. During the movement of the second joint seat 111 relative to the first joint seat 113, the length of the first flexible member 105 on one side of the first plane TP1 increases, while the length on the other side of the first plane TP1 decreases, and the decrease in length can offset or partially offset the increase in length, so that the length of the first flexible member 105 between the first joint seat 113 and the second joint seat 11 remains unchanged or almost unchanged.

[0184] Further, see Figure 20 to Figure 22, the first flexible member 105 may include a first arc segment 105a extending around the first axis AX1 and a second arc segment 105b extending around the second axis AX2. The first arc segment 105a and the second arc segment 105b have the same curvature, and the first arc segment 105a and the second arc segment 105b are respectively located on both sides of the first plane TP1. In this way, the first flexible member 105 crosses the first plane TP1 between the first joint seat 113 and the second joint seat 111 and extends in a curved manner. Since the first arc segment 105a and the second arc segment 105b have the same curvature, during the rolling process of the second joint seat 111 relative to the first joint seat 113, the change in the wrap angle of the first arc segment 105a is equal to the change in the wrap angle of the second arc segment 105b, so the increase (decrease) in the length of the first arc segment 105a is equal to the decrease (increase) in the length of the second arc segment 105b. That is, when the second joint seat 111 makes a pitch motion relative to the first joint seat 113, the length of the first flexible member 105 between the first joint seat 113 and the second joint seat 11 remains unchanged, thereby achieving decoupling of the length of the first flexible member 105 and the pitch motion of the second joint seat 111.

[0185] Further, see Fig. 22 The second arc section 105 b and the guide groove 116 d may be located on the same side of the first plane TP1 to simplify the extension track of the first flexible member 105 and reduce the friction between the first flexible member 105 and the second joint seat 111 and the insulating seat 116 .

[0186] Specifically, the surgical instrument 100 may include a first guide wheel and a second guide wheel. The first guide wheel is arranged to be rotatably connected to the first joint seat 113 around a first axis AX1. The second guide wheel is rotatably connected to the second joint seat 111 around a second axis AX2. The first flexible member 105 is sequentially wound around the first guide wheel and the second guide wheel. The portion of the first flexible member 105 wound around the first guide wheel is located on one side of the first plane TP1. The portion of the first flexible member 105 wound around the second guide wheel is located on the other side of the first plane TP1. Among them, the portion of the first flexible member 105 wound around the first guide wheel is the above-mentioned first arc segment 105a. The portion of the first flexible member 105 wound around the second guide wheel is the above-mentioned second arc segment 105b.

[0187] See also Figure 20 to Figure 22 Optionally, the surgical instrument 100 may include two first guide wheels 181. The two first guide wheels 181 are arranged on both sides of the guide wire 119 in a direction parallel to the first axis AX1. The surgical instrument 100 may include two second guide wheels 182. The two second guide wheels 182 are arranged on both sides of the guide wire 119 in a direction parallel to the second axis AX2.

[0188] Among them, the first flexible member 105 may include two traction ropes extending approximately in parallel. The two traction ropes may be integrated or connected together in separate parts. One of the traction ropes can be pulled separately by the rear end transmission device 150. When the rear end transmission device 150 pulls one of the traction ropes, the end actuator 120 performs yaw motion. The two traction ropes are located on both sides of the wire 119 in a direction parallel to the first axis AX1. The two traction ropes are respectively wound around the guide grooves of the first guide wheel 181, the second guide wheel 182, and the insulating seat 116 in sequence.

[0189] See also Figures 19 to 22 Optionally, the two first guide wheels 181 are located inside the first joint seat 113. The two first guide wheels 181 can be mounted to the first joint seat 113 through the same second pin 117, or each can be mounted to the first joint seat 113 through a second pin 117. The two second guide wheels 182 are located inside the second joint seat 111. The two second guide wheels 182 can be mounted to the second joint seat 111 through the same third pin 118, or each can be mounted to the second joint seat 111 through a third pin 118.

[0190] See also Figure 20 to Figure 22 Optionally, the second flexible member 110 includes two traction ropes extending approximately in parallel. The distal ends of the two traction ropes are connected to the second joint seat 111. The two traction ropes are symmetrically arranged on both sides of the first plane TP1. And the two traction ropes are respectively located on both sides of the wire 119. In this way, by pulling one of the two traction ropes and releasing the other of the two traction ropes at the same time, the second joint seat 111 can be rolled relative to the first joint seat 113, that is, pitch motion is achieved. Optionally, the two traction ropes can be constructed as separate bodies, each of which is clamped to the second joint seat 111 through a terminal, for example, respectively clamped to the opposite ends of the second joint seat 111 along the third axis AX3.

[0191] In summary, the surgical instrument 100 of the present application can ensure that the length of the wire 119 does not change with the movement of the end effector assembly 120, while ensuring that the wire 119 does not exceed the entity of the surgical instrument 100. Therefore, there is no need to bind the wire 119 to components of the transmission assembly such as a traction rope, thereby avoiding or greatly reducing the friction of the wire 119 in the length direction, improving the reliability of the surgical instrument 100, and being able to extend the life of the surgical instrument 100.

[0192] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this article can indicate that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0193] The present application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.

Claims

1. A surgical instrument, characterized in that: The surgical instrument comprises: a shaft portion extending along a central axis; a first joint seat, the first joint seat being arranged at a distal end of the shaft; A second joint seat, wherein the second joint seat is arranged at the distal end of the first joint seat, and the proximal end of the second joint seat is rollingly connected to the distal end of the first joint seat; an end effector assembly, the end effector assembly comprising a first jaw and a second jaw, wherein the first jaw and the second jaw are each rotatably connected to a distal end of the second joint seat around a third axis; and A guide wire, one end of which is connected to the end effector assembly and the other end of which extends to the proximal end of the shaft portion, wherein the guide wire includes a first section extending between the end effector assembly and the second joint seat; Wherein, during the movement of the end effector assembly relative to the first joint seat, the length of the first section of the guide wire remains unchanged.

2. The surgical instrument according to claim 1, characterized in that: One end of the first section of the wire is fixedly connected to the second joint seat.

3. The surgical instrument according to claim 1, characterized in that: The first section of the conductive wire is wound around the third axis at least once.

4. The surgical instrument according to claim 3, characterized in that: The first clamping jaw includes a first rotating part, the second clamping jaw includes a second rotating part, the first rotating part and the second rotating part are each rotatably connected to the distal end of the second joint seat, and the first section of the guide wire is located between the first rotating part and the second rotating part.

5. The surgical instrument according to claim 4, characterized in that: The first rotating portion and the second rotating portion each include a first rib extending around the third axis, and the first rib is used to prevent the wire from moving outward in a radial direction perpendicular to the third axis.

6. The surgical instrument according to claim 4, characterized in that: The wire comprises a first wire and a second wire, the first wire is connected to the first jaw and used to transmit energy to the first jaw, the second wire is connected to the second jaw and used to transmit energy to the second jaw, the first wire and the second wire each comprising the first segment; When the first clamping jaw and the second clamping jaw rotate in the same direction around the third axis, the radius of curvature of the first section of the first wire and the radius of curvature of the first section of the second wire have opposite variation trends.

7. The surgical instrument according to claim 6, characterized in that: The surgical instrument includes a wire winding post, an outer peripheral surface of which is configured to extend with the third axis as a center, and the wire winding post is disposed between the first rotating part and the second rotating part.

8. The surgical instrument according to claim 6, characterized in that: The surgical instrument includes a wire harness, which is fixed to the second joint seat and is arranged between the first rotating part and the second rotating part. The first section of the first wire is accommodated and constrained between the first clamp and the wire harness, and the first section of the second wire is accommodated and constrained between the second clamp and the wire harness.

9. The surgical instrument according to claim 8, characterized in that: The wire harness comprises a second rib extending around the third axis, and the second rib is used to prevent the wire from moving outward in a radial direction perpendicular to the third axis.

10. The surgical instrument according to claim 9, characterized in that: The central angle corresponding to the second rib is greater than 180°.

11. The surgical instrument according to claim 8, characterized in that: The wiring harness is rotationally symmetric about the central axis.

12. The surgical instrument according to claim 8, characterized in that: The distal end of the first joint seat is provided with a first tooth portion arranged around a first axis, the proximal end of the second joint seat is provided with a second tooth portion arranged around a second axis, the second tooth portion is meshed with the first tooth portion, the first axis and the second axis are not in the same plane as the third axis, the first axis and the second axis are parallel and define a first plane, and the geometric midplane of the wiring harness coincides with the first plane.

13. The surgical instrument according to claim 12, characterized in that: The wire harness comprises a first connection portion and a second connection portion, the first wire is fixed to the first connection portion, and the second wire is fixed to the second connection portion; The first connection portion and the second connection portion are respectively located on two sides of the first plane; and / or The first connection portion and the second connection portion are respectively located on two sides of the third axis.

14. The surgical instrument according to claim 13, characterized in that: The first clamping jaw is provided with a first connection hole for passing the first wire, and the second clamping jaw is provided with a second connection hole for passing the second wire; The first connection portion and the first connection hole are located on one side of the first plane, and the second connection portion and the second connection hole are located on the other side of the first plane.

15. The surgical instrument according to claim 14, characterized in that: The first connection portion is closer to the first plane than the first connection hole; and / or The second connection portion is closer to the first plane than the second connection hole.

16. The surgical instrument according to claim 13, characterized in that: The first joint seat is provided with a first wire passage for the first wire to pass through and a second wire passage for the second wire to pass through; When the surgical instrument is in a neutral state, the first wire passage and the second connecting portion are located on one side of the first plane, and the second wire passage and the first connecting portion are located on the other side of the first plane.

17. The surgical instrument according to claim 16, characterized in that: The third axis intersects with the central axis and defines a second plane. When the surgical instrument is in a neutral state, the first wire passage and the first connecting portion are located on one side of the second plane, and the second wire passage and the second connecting portion are located on the other side of the second plane.

18. The surgical instrument according to claim 17, characterized in that: The distance between the first wire-passing channel and the second plane is equal to the distance between the first connecting portion and the second plane; and / or The distance between the second wire-passing channel and the second plane is equal to the distance between the second connecting portion and the second plane.

19. The surgical instrument according to any one of claims 1 to 18, characterized in that: The surgical instrument also includes a transmission assembly, which includes a first flexible member and a second flexible member, the first flexible member is connected to the first jaw and is used to drive the first jaw to rotate around the third axis, and the second flexible member is connected to the second jaw and is used to drive the second jaw to rotate around the third axis.

20. The surgical instrument according to claim 19, characterized in that The first clamping jaw is provided with a first guide groove extending around the third axis, and the first guide groove is used to accommodate and surround the first flexible member; The second clamping jaw is provided with a second guide groove extending around the third axis, and the second guide groove is used to accommodate and surround the second flexible member. The extension tracks of the first guide groove and the second guide groove are respectively perpendicular to the third axis.

21. The surgical instrument according to claim 19, characterized in that: The first flexible member and the second flexible member are further away from the central axis than the conductive wire.

22. A medical system, characterized in that: The medical system includes: A slave operating device, the slave operating device comprising at least one robotic arm; and The surgical instrument according to any one of claims 1 to 21, wherein the surgical instrument is operably arranged on the robotic arm.

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