Surgical tool and surgical robot

Abstract

The utility model relates to the field of medical instruments, and discloses a surgical tool and a surgical robot. The surgical tool comprises a tool arm and a tool head, the tool arm comprises an arm body and a first connecting part, and the first connecting part is arranged at the far end of the arm body; the tool head is used for being detachably connected with the tool arm and comprises a second connecting part, and the second connecting part is detachably connected with the first connecting part; and the tail end instrument is connected with the far end of the second connecting part. On the basis of the surgical tool, only the tool head of the surgical tool can be replaced under the condition that the surgical tool needs to be replaced, so that the cost of replacing the surgical tool can be reduced, and the safety and sanitation of the surgical tool can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly to a surgical tool and a surgical robot. Background Art

[0002] Laparoscopic surgery is a surgical form that has gradually developed and been widely used in recent years. It has advantages such as small incisions, greatly reducing the patient's recovery time, discomfort experience, and postoperative side effects. Performing laparoscopic surgery, especially single-port laparoscopic surgery, through a surgical robot system can optimize the surgical form through computer remote control technology.

[0003] The surgical tools used in laparoscopic surgery are costly, and the same surgical tool may be used in multiple surgeries, which may bring risks such as infection. Summary of the Utility Model

[0004] In some embodiments, the present disclosure provides a surgical tool, including:

[0005] A tool arm, the tool arm includes:

[0006] An arm body; and

[0007] A first connection part, provided at the distal end of the arm body;

[0008] A tool head, for detachably connecting with the tool arm, the tool head includes:

[0009] A second connection part, the second connection part is detachably connected with the first connection part; and

[0010] A distal instrument, the distal instrument is connected to the distal end of the second connection part.

[0011] In some embodiments, the distal instrument is electrically conductively connected to the distal end of the second connection part, and the second connection part can be electrically conductively connected to the first connection part.

[0012] In some embodiments, the first connection part includes:

[0013] A first groove, located at the distal end of the first connection part and extending axially;

[0014] A second groove, located at the distal end of the first connection part and extending axially, the first groove and the second groove are oppositely arranged; and

[0015] A transverse part, the transverse part is provided between the first groove and the second groove.

[0016] In some embodiments, the second connection part includes:

[0017] A first connection arm, located at the proximal end of the second connection part, the first connection arm is used to fit with the first groove;

[0018] A second connecting arm, located at the proximal end of the second connecting portion and disposed opposite to the first connecting arm, the second connecting arm being adapted to fit with the second groove; and

[0019] A third groove, located between the first connecting arm and the second connecting arm, the third groove being adapted to fit with the transverse portion.

[0020] In some embodiments, the proximal end of the first connecting arm or the second connecting arm includes a raised structure, and the raised structure can enhance the connection and / or conductivity between the first connecting arm or the second connecting arm and the first connecting portion.

[0021] In some embodiments, the tool head further includes:

[0022] An insulating housing, the insulating housing covering the second connecting portion and the proximal end of the end effector.

[0023] In some embodiments, the tool arm further includes:

[0024] An assembly structure, disposed at the distal end of the arm body, the assembly structure being connected to the first connecting portion and detachably connected to the insulating housing.

[0025] In some embodiments, the end effector includes: an electric hook body.

[0026] In some embodiments, the insulating housing includes:

[0027] A distal end portion of the housing, the distal end portion of the housing covering the second connecting portion and the proximal end of the electric hook body; and

[0028] A proximal end portion of the housing, the inner circumferential surface of the proximal end portion of the housing being threadedly connected to the assembly structure.

[0029] In some embodiments, the electric hook body includes:

[0030] A proximal end; and

[0031] A head, disposed at the distal end of the proximal end;

[0032] The head of the electric hook body protrudes from the insulating housing.

[0033] In some embodiments, the proximal end of the electric hook body includes:

[0034] An annular protrusion, the annular protrusion being disposed at the distal end of the proximal end;

[0035] The distal end portion of the insulating housing includes:

[0036] An annular groove, the annular groove being disposed at the distal end of the distal end portion of the housing, the annular groove being rotatably engaged with the annular protrusion.

[0037] In some embodiments, the tool head further includes: an insulating sheath that wraps a part of the electric hook body and exposes a part of the head of the electric hook body.

[0038] In some embodiments, the surgical tool further includes: a conductive rod that penetrates the arm body of the tool arm, and the distal end of the conductive rod is connected to the first connecting portion to transmit energy to the end effector.

[0039] In some embodiments, the arm body includes:

[0040] A first continuum structure, the first continuum structure includes:

[0041] A first base plate, a plurality of first spacer plates, and a plurality of first structural bones. The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate. The proximal ends of the plurality of first structural bones are configured to receive a pushing or pulling drive to drive the movement of the first continuum structure.

[0042] In some embodiments, the arm body further includes:

[0043] A second continuum structure, the second continuum structure includes:

[0044] A second base plate, a plurality of second spacer plates, and a plurality of second structural bones. The plurality of second structural bones pass through the plurality of second spacer plates and the second base plate. The proximal ends of the plurality of second structural bones are configured to receive a pushing or pulling drive to drive the movement of the second continuum structure. The first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

[0045] In some embodiments, the present disclosure further provides a surgical robot, including:

[0046] A surgical trolley including at least one robotic arm; and

[0047] At least one surgical tool as described in any one of some embodiments of the present disclosure, and at least one surgical tool is disposed at the distal end of at least one robotic arm.

[0048] Some embodiments of the present disclosure have one or more of the following technical effects: When it is necessary to replace the surgical tool, only the tool head can be replaced, which is beneficial to reducing the cost of replacing the surgical tool, and thus is beneficial to improving the safety and hygiene of the surgical tool; it can be used as an energy surgical tool to perform operations such as cutting and coagulating the patient's tissue; it can improve the reliability of the electrical connection between the first connecting portion and the second connecting portion; it is beneficial to improving the safety of the user in assembling and disassembling the tool head and the tool arm, and can avoid accidental injury to the patient's tissue by the second connecting portion and the proximal end of the end effector; only a part of the insulating outer skin exposed on the electric hook body can be used to perform surgical operations on the patient, which is beneficial to avoiding accidental injury to the patient's tissue that does not need to be operated; it can improve the flexibility of the surgical tool and facilitate performing surgical operations in the narrow and complex space inside the patient's body. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for description in the embodiments of the present disclosure. The drawings described below only show some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained according to the content of the embodiments of the present disclosure and these drawings.

[0050] Figure 1 A schematic structural diagram of a surgical tool in an assembled state according to some embodiments of the present disclosure;

[0051] Figure 2 A schematic structural diagram of a surgical tool in a disassembled state according to some embodiments of the present disclosure;

[0052] Figure 3 A schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure;

[0053] Figure 4 A schematic structural diagram of a tool head according to some embodiments of the present disclosure;

[0054] Figure 5 A sectional view of a surgical tool in a disassembled state according to some embodiments of the present disclosure;

[0055] Figure 6 A schematic structural diagram of the arm body of a tool arm according to some embodiments of the present disclosure;

[0056] Figure 7 A schematic structural diagram of the first continuum structure of the arm body according to some embodiments of the present disclosure;

[0057] Figure 8 A schematic structural diagram of a driving device according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0059] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0060] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements.

[0061] In the present disclosure, one end close to the operator (such as a doctor) is defined as the proximal end, proximal part, rear end, or rear part, and one end close to the surgical patient is defined as the distal end, distal part, front end, or front part. The end opposite to the proximal end, proximal part, rear end, or rear part is the distal end, distal part, front end, or front part. Alternatively, one end close to the operated object (such as the surgical patient) is defined as the distal end, distal part, front end, or front part, and the end opposite to the distal end, distal part, front end, or front part is the proximal end, proximal part, rear end, or rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical devices or surgical robots, and can also be used in other non-medical devices.

[0062] Figure 1 The schematic structural diagram of the surgical tool 100 in the assembled state according to some embodiments of the present disclosure is shown. Figure 2 The schematic structural diagram of the surgical tool 100 in the disassembled state according to some embodiments of the present disclosure is shown.

[0063] Figure 3 The schematic structural diagram of the surgical robot system 300 according to some embodiments of the present disclosure is shown. In some embodiments, the surgical tool 100 can be applied to the surgical robot system, for example Figure 3The surgical robot system 300 shown. The surgical robot system 300 can be various suitable surgical robot systems including a laparoscopic surgical robot system. As Figure 3 shown, the surgical robot system 300 can include a surgical trolley 310 and a main control trolley 320. The surgical trolley 310 can include at least one robotic arm 311. The main control trolley 320 can include at least one master manipulator 321. As Figure 3 shown, at least one robotic arm 311 can be movably arranged on the surgical trolley 310. In some embodiments, at least one robotic arm 311 can be a positioning arm of the surgical robot, and at least one surgical instrument 312 (e.g., clamp, curved scissors, endoscope, surgical tool 100, etc.) can be carried at the distal end of at least one robotic arm 311. At least one master manipulator 321 is arranged on the main control trolley 320 and can be used to receive the operation of the user on at least one master manipulator 321. The main control trolley 320 can be communicatively connected to the surgical trolley 310. During the operation, the surgical trolley 310 is usually located on the patient side, and the user can issue control instructions by operating at least one master manipulator 321 of the main control trolley 320 to control at least one surgical instrument 312 carried by the surgical trolley 310 to perform surgical operations on the patient.

[0064] As Figure 1 or Figure 2 shown, the surgical tool 100 can include a tool arm 110 and a tool head 120. Those skilled in the art can understand that Figure 1 or Figure 2 only a partial structure of the distal end of the tool arm 110 is shown, and the entire structure of the tool arm 110 is not shown. The tool arm 110 can include a first connection portion 111 and an arm body 112. The first connection portion 111 can be arranged at the distal end of the arm body 112.

[0065] As Figure 1 or Figure 2 shown, the tool head 120 can be detachably connected to the tool arm 110. Based on this, in the case of needing to replace the surgical tool, only the tool head 120 of the surgical tool 100 can be replaced, thereby reducing the cost of replacing the surgical tool. In some embodiments, the tool head 120 can be disposable, which is beneficial to improving the safety and hygiene of the surgical tool.

[0066] Figure 4 shows a schematic structural diagram of the tool head 120 according to some embodiments of the present disclosure. As Figure 4As shown, the tool head 120 may include a second connecting portion 121 and an end effector 122. The second connecting portion 121 may be detachably connected to the first connecting portion 111. Those skilled in the art can understand that when assembling or disassembling the tool arm 110 and the tool head 120, it is necessary to assemble or disassemble the first connecting portion 111 and the second connecting portion 121. As Figure 4 shown, the end effector 122 may be connected to the distal end of the second connecting portion 121. In some embodiments, the end effector 122 may be any suitable surgical tool such as an electrocautery hook, forceps, curved scissors, etc. The end effector 122 may perform any suitable surgical operation such as clamping, cutting, coagulating, etc. on the patient's tissue.

[0067] In some embodiments, the end effector 122 and the distal end of the second connecting portion 121 may be electrically conductively connected, and the second connecting portion 121 can be electrically conductively connected to the first connecting portion 111. Those skilled in the art can understand that in the assembled state as Figure 1 shown, the first connecting portion 111 and the second connecting portion 121 are electrically conductively connected. Based on this, the surgical tool 100 may be an energy surgical tool, and surgical operations such as cutting and coagulating can be performed through the surgical tool 100. In some embodiments, energy can be provided to the end effector 122 by providing energy to the first connecting portion 111, so that the end effector can perform surgical operations on the patient's tissue when contacting the patient's tissue.

[0068] In some embodiments, the end effector 122 and the second connecting portion 121 may be connected by a suitable method such as welding. In some embodiments, the end effector 122 and the second connecting portion 121 may be integrally formed.

[0069] Figure 5 Shows a cross-sectional view of the surgical tool 100 in a disassembled state according to some embodiments of the present disclosure. In some embodiments, as Figure 2 or Figure 5 shown, the surgical tool 100 may further include a conductive rod 130, and the conductive rod 130 may be used to transmit energy to the end effector 122. As Figure 5 shown, the conductive rod 130 may penetrate through the arm body 112 of the tool arm 110 so that the proximal end of the conductive rod 130 can be connected to a power source for providing energy. The distal end of the conductive rod 130 may be connected to the first connecting portion 111, so that energy can be transmitted to the second connecting portion 121 of the tool head 120 and then to the end effector 122. Based on this, the end effector 122 can perform surgical operations on the patient's tissue.

[0070] The structures of the first connecting portion 111 and the second connecting portion 121 may cooperate with each other so that they can be tightly connected in the assembled state and make the energy transmission between them more stable. In some embodiments, as Figure 2As shown, the first connecting portion 111 may include a first groove 1111, a second groove 1112, and a transverse portion 1113. The first groove 1111 is located at the distal end of the first connecting portion 111 and extends along the axial direction of the first connecting portion 111. The second groove 1112 is located at the distal end of the first connecting portion 111 and extends along the axial direction of the first connecting portion 111. As Figure 2 shown, the first groove 1111 and the second groove 1112 are disposed opposite to each other, for example, vertically opposite as shown in the figure. The transverse portion 1113 is disposed between the first groove 1111 and the second groove 1112.

[0071] In some embodiments, as Figure 4 shown, the second connecting portion 121 may include a first connecting arm 1211, a second connecting arm 1212, and a third groove 1213. Among them, the first connecting arm 1211 may be located at the proximal end of the second connecting portion 121, and the first connecting arm 1211 may be used to fit with the first groove 1111 of the first connecting portion 111. The second connecting arm 1212 is located at the proximal end of the second connecting portion 121 and is disposed opposite to the first connecting arm 1211 (for example, Figure 4 vertically opposite as shown in the figure), and the second connecting arm 1212 may be used to fit with the second groove 1112 of the first connecting portion 111. As Figure 4 shown, the third groove 1213 is located between the first connecting arm 1211 and the second connecting arm 1212, and the third groove 1213 may be used to fit with the transverse portion 1113 of the first connecting portion 111.

[0072] Those skilled in the art can understand that when assembling the tool arm 110 and the tool head 120, the first connecting arm 1211 of the second connecting portion 121 can extend into the first groove 1111 of the first connecting portion 111, the second connecting arm 1212 extends into the second groove 1112, and the transverse portion 1113 of the first connecting portion 111 extends into the third groove 1213 of the second connecting portion 121.

[0073] In some embodiments, the sizes and shapes of the first groove 1111 and the first connecting arm 1211 may be matched with each other. For example, the length, width, and height dimensions of the first groove 1111 may be respectively equal to the length, width, and height dimensions of the first connecting arm 1211. The sizes and shapes of the second groove 1112 and the second connecting arm 1212 may be matched with each other, and the sizes and shapes of the transverse portion 1113 and the third groove 1213 may be matched with each other. In some embodiments, the outer diameters of the first connecting portion 111 and the second connecting portion 121 may be substantially the same. Based on this, it is beneficial to make the connection between the first connecting portion 111 and the second connecting portion 121 tighter.

[0074] In some embodiments, the proximal end of the first connecting arm 1211 or the second connecting arm 1212 may include a raised structure for enhancing connection and / or conductivity. For example, Figure 5 The raised structure 51 provided on the first connecting arm 1211 is shown. The raised structure 51 can enhance the connection and / or conductivity between the first connecting arm 1211 and the first connecting portion 111. In the assembled state of the surgical tool 100, the raised structure 51 can maintain contact with the first connecting portion 111 of the tool arm 110, which is beneficial to avoiding the disconnection of contact between the first connecting portion 111 and the second connecting portion 121 caused by the movement of the surgical tool 100, thereby being beneficial to improving the stability of the conductive connection between the first connecting portion 111 and the second connecting portion 121.

[0075] As Figure 5 shown, the end effector 122 may include a proximal end portion 1221 and a head portion 1222 provided at the distal end of the proximal end portion 1221. In some embodiments, as Figure 4 or Figure 5 shown, the tool head 120 may further include an insulating housing 123. As Figure 5 shown, the insulating housing 123 may cover the second connecting portion 121 and the proximal end portion 1221 of the end effector 122. In some embodiments, when the user installs the tool head 120 onto the tool arm 110 or removes the tool head 120 from the tool arm 110, the user can contact the insulating housing 123 and perform the installation or removal operation, based on which the operation safety can be improved.

[0076] As Figure 5 shown, the head portion 1222 of the end effector 122 is exposed from the insulating housing 123. In the end effector 122, only the head portion 1222 exposed from the insulating housing 123 can perform surgical operations on the patient tissue, which is beneficial to avoiding accidental injury to the patient tissue caused by other parts of the tool head 120 (for example, the proximal end portion 1221 of the end effector 122).

[0077] In some embodiments, as Figure 1 , Figure 2 or Figure 5 shown, the end effector 122 may be an electric hook body. The electric hook body may include a proximal end portion covered by the insulating housing 123 and a distal end portion provided at the distal end of the proximal end portion and exposed from the head of the insulating housing 123.

[0078] In some embodiments, as Figure 2 or Figure 5 shown, the tool arm 110 may further include an assembly structure 113, and the assembly structure 113 may be used to connect with the insulating housing 123 of the tool head 120. As Figure 2 or Figure 5 shown, the assembly structure 113 may be provided at the distal end of the arm body 112. In some embodiments, asFigure 5 As shown, the proximal end of the assembly structure 113 can extend into the inner cavity of the distal end of the arm body 112 to be fixedly connected to the distal end of the arm body 112. As Figure 5 shown, the conductive rod 130 can penetrate the arm body 112, and the proximal end of the conductive rod 130 can extend out of the arm body to connect to a power source for supplying energy to the surgical tool 100.

[0079] The assembly structure 113 can be connected to the first connection portion 111, for example, fixedly connected by means such as adhesion and welding. In some embodiments, as Figure 5 shown, the first connection portion 111 can include a distal segment at the distal end and a proximal segment 1111 with a radial dimension smaller than that of the distal segment. The proximal segment 1111 can extend into the intermediate through hole of the assembly structure 113 to facilitate a closer connection between the first connection portion 111 and the assembly structure 113. In some embodiments, the assembly structure 113 can be made of an insulating material to enhance the safety of operations such as assembly and disassembly.

[0080] The assembly structure 113 of the tool arm 110 can be detachably connected to the insulating housing 123 of the tool head 120, for example, detachably connected by any suitable means such as screw connection (see Figure 5 ). In some embodiments, as Figure 5 shown, the insulating housing 123 can include a proximal end portion 1231 of the housing. The inner circumferential surface of the proximal end portion 1231 of the housing can be threadedly connected to the assembly structure 113 (for example, the outer circumferential surface of the assembly structure 113). The insulating housing 123 can further include a distal end portion 1232 of the housing. The distal end portion 1232 of the housing can cover the second connection portion 121 and the proximal end portion 1221 of the end instrument 122.

[0081] In some embodiments, the proximal end portion 1221 of the electric hook body can include an annular protrusion 12211. As Figure 5 shown, the annular protrusion 12211 can be provided at the distal end of the proximal end portion 1221 of the electric hook body. The distal end portion 1232 of the insulating housing 123 can include an annular groove 12321. As Figure 5 shown, the annular groove 12321 can be provided at the distal end of the distal end portion 1232 of the housing. The annular protrusion 12211 and the annular groove 12321 are rotatably engaged. Based on this, on the one hand, the axial movement of the electric hook body can be restricted, avoiding the electric hook body from sliding during the surgical operation on the patient. Those skilled in the art can understand that in the state where the tool arm 110 and the tool head 120 are assembled (see Figure 1 ), the first connection portion 111 fixed to the distal end of the tool arm 110 can restrict the rotational movement of the second connection portion 121 connected thereto and the end instrument 122 (for example, the electric hook body) connected to the second connection portion 121.

[0082] On the other hand, when assembling or disassembling the tool arm 110 and the tool head 120, for example, when performing threaded connection or disassembly on the assembly structure 113 of the tool arm 110 and the insulating housing 123 of the tool head 120, only the insulating housing 123 can be rotated, and the electric hook body does not need to be rotated, thus facilitating the assembly or disassembly of the tool arm 110 and the tool head 120.

[0083] In some embodiments, as Figure 5 shown, the tool head 120 may further include an insulating outer skin 124. The insulating outer skin 124 may wrap a part of the end effector 122. For example Figure 4 shown, the insulating outer skin 124 may wrap a part of the electric hook body and expose a part of the head 1222 of the electric hook body (e.g., Figure 4 the part indicated by 41 shown). Based on this, only the part of the electric hook body exposed from the insulating outer skin 124 can perform surgical operations on the patient's tissue, thereby avoiding accidental injury to the patient's tissue caused by the remaining part.

[0084] Figure 6 FIG. shows a schematic structural view of the arm body 112 of the tool arm 110 according to some embodiments of the present disclosure. In some embodiments, the arm body 112 may be a flexible arm to increase the degree of freedom of the surgical tool 100 and improve the flexibility of the surgical tool 100 in performing surgical operations in the body. As Figure 6 shown, in some embodiments, the arm body 112 of the tool arm 110 may include a first continuum structure 1121. Figure 7 FIG. shows a schematic structural view of the first continuum structure 1121 of the arm body 112 according to some embodiments of the present disclosure. As Figure 7 shown, the first continuum structure 1121 may include a first base plate 1121a, a plurality of first spacer plates (e.g., Figure 7 the first spacer plates 1121b-1, 1121b-2, 1121b-3 shown) and a plurality of first structural bones (e.g., Figure 7 the first structural bones 1121c-1, 1121c-2, etc. shown). The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate 1121a, and the proximal ends of the plurality of first structural bones are used to receive pushing or pulling drives to drive the movement of the first continuum structure 1121. In some embodiments, as Figure 7 shown, the first continuum structure 1121 may further include a first fixing plate 1121d. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 1121d. In some embodiments, the distal end of the first fixing plate 1121d may be connected to the assembly structure 113 (see Figure 5The proximal connection of (). In some embodiments, the assembly structure 113 may include a mounting disk 1131 located at the proximal end of the assembly structure 113, and the first fixing disk 1121d of the first continuum structure 1121 may be fixedly connected to the mounting disk 1131. In some embodiments, the mounting disk 1131 may be made of metal, and the first fixing disk 1121d and the mounting disk 1131 may be fixedly connected by welding. The proximal segment 1132 of the assembly structure 113 may extend out from the middle through-hole of the first fixing disk 1121d.

[0085] As Figure 7 shown, a plurality of first spacer disks may be arranged at intervals to enhance the stability of multiple first structural bones when being pushed or pulled. Figure 7 The first continuum structure 1121 shown in () includes three first spacer disks. Those skilled in the art can understand that the number of first spacer disks included in the first continuum structure 1121 is not limited to three, and the first continuum structure 1121 may include any suitable number of first spacer disks.

[0086] In some embodiments, the shapes of the first base disk 1121a, the first spacer disks, and the first fixing disk 1121d may be suitable structures such as a ring structure, a disk structure, etc., and the cross-section may be various shapes such as a circle, a rectangle, a polygon, etc.

[0087] In some embodiments, as Figure 6 shown, the arm body 112 may further include a second continuum structure 1122. The structure of the second continuum structure 1122 may be similar to the structure of the first continuum structure 1121 shown in Figure 7 . As Figure 6 shown, the second continuum structure may include a second base disk 1122a, a plurality of second spacer disks (for example, Figure 6 the second spacer disk 1122b shown) and multiple second structural bones (for example, Figure 6 the second structural bone 1122c shown). Multiple second structural bones 1122c pass through the plurality of second spacer disks 1122b and the second base disk 1122a, and the proximal ends of the multiple second structural bones 1122c are used to receive the driving force of pushing or pulling to drive the movement of the second continuum structure. As Figure 6 shown, the first continuum structure 1121 is located at the distal end of the second continuum structure 1122, and multiple first structural bones 1121c pass through the plurality of second spacer disks 1122b and the second base disk 1122a. In some embodiments, as Figure 6 shown, the second continuum structure 1122 may further include a second fixing disk 1122d. The distal ends of the multiple second structural bones 1122c are fixedly connected to the second fixing disk 1122d.

[0088] As Figure 6As shown, multiple second spacer discs 1122b can be arranged at intervals to enhance the stability of multiple second structural bones 1122c when pushed or pulled. Similar to the first continuum structure 1121, the second continuum structure can include any suitable number of second spacer discs 1122b.

[0089] In some embodiments, the shapes of the second base disc 1122a, the second spacer discs 1122b, and the second fixing disc 1122d can be suitable structures such as annular structures, disc-shaped structures, etc., and the cross-section can be various shapes such as circular, rectangular, polygonal, and so on.

[0090] In some embodiments, the arm body 112 can further include a first straight rod segment 1123 disposed between the first continuum structure 1121 and the second continuum structure. In some embodiments, as Figure 6 shown, the second fixing disc 1122d of the second continuum structure can be fixedly connected to the proximal end of the first straight rod segment 1123. In some embodiments, the arm body 112 can further include a second straight rod segment 1124 connected to the proximal end of the second continuum structure. For example, in a surgical robot system, during the process of performing a surgical operation using the surgical tool 100, the surgical tool 100 extends into the body through an opening (such as an incision or a natural opening, etc.) on the patient's body, and the second straight rod segment 1124 can pass through the opening.

[0091] Those skilled in the art can understand that the structure for increasing the degrees of freedom of the arm body 112 is not limited to the continuum structure, and can also be a suitable structure such as a snake bone structure, a combined structure of rods and joints, etc.

[0092] Those skilled in the art can understand that the arm body 112 can further include a housing ( Figure 6 or Figure 7 not shown, see Figure 5 the shown housing 1125) disposed outside the continuum arm body or the arm body of other structures. The housing can include an insulating material to insulate the arm body main body from the outside.

[0093] The proximal ends of multiple first structural bones 1121c and multiple second structural bones 1122c can be connected to a driving device. Figure 8 The structural schematic diagram of a driving device 800 according to some embodiments of the present disclosure is shown. In some embodiments, the driving device 800 can include a first driving mechanism 810. As Figure 8 , the first driving mechanism 810 is connected to the proximal end of the tool arm 110 of the surgical tool 100. In some embodiments, multiple first structural bones ( Figure 8 not shown, for example Figure 7 the first structural bone 1121c in Figure 8 not shown, for example Figure 6The second structural bone 1122c) therein connects the first driving mechanism 810 through a plurality of second spacer discs 1122b and a second base disc 1122a. The first driving mechanism 810 drives the bending of the first continuum structure 1121 in different directions in space by pushing and pulling a plurality of first structural bones 1121c, and drives the bending of the second continuum structure in different directions in space by pushing and pulling a plurality of second structural bones 1122c.

[0094] In some embodiments, the first driving mechanism 810 may include a plurality of double-headed screw assemblies. Each double-headed screw assembly may include a double-headed screw and a pair of sliders threadedly connected to two threaded segments of the double-headed screw. The double-headed screw can be driven to rotate, thereby driving a pair of sliders to move in opposite directions at the same speed. A pair of sliders may be connected to a pair of symmetric first structural bones 1121c or second structural bones 1122c, so as to push and pull the pair of symmetric first structural bones 1121c or second structural bones 1122c, driving the bending of the first continuum structure 1121 or the second continuum structure 1122.

[0095] In some embodiments, the first driving mechanism 810 may include a proximal continuum. The first continuum structure 1121 or the second continuum structure 1122 may be connected to the proximal continuum to form a linked dual continuum. The proximal continuum can be driven to bend by the double-headed screw assembly, thereby driving the bending of the first continuum structure 1121 or the second continuum structure 1122.

[0096] In some embodiments, as Figure 8 shown, the driving device may further include a second driving mechanism 820. The second driving mechanism 820 is connected to the arm body 112 of the tool arm 110 of the surgical tool 100 through the first driving mechanism 810 (for example, Figure 6is connected to the arm body 112) and is used to drive the arm body 112 to feed forward or backward, so as to realize the feeding forward or backward of the surgical tool 100 in the patient's body, or to enter or exit the patient's body. In some embodiments, the second driving mechanism 820 may be a linear driving mechanism for driving the linear movement of the arm body 112. In some embodiments, the second driving mechanism 820 may include a pedestal and a driving part. The pedestal may be used to support the first driving mechanism 810, and the driving part is used to drive the pedestal to move forward or backward. In some embodiments, the second driving mechanism 820 may include a bracket 821 with a chute, and a lead screw 822 is rotatably arranged on the bracket 821. A slider 823 is sleeved on the lead screw 822 as the pedestal. The slider 823 is in threaded cooperation with the lead screw 822 and is slidably arranged in the chute of the bracket 821. A motor 824 as the second driving unit may be arranged at one end of the bracket 821, and the output shaft of the motor 824 may be fixedly connected to the lead screw 822 through a coupling 825. In some embodiments, the second driving mechanism 820 may further include a sleeve 8231 for installing the first driving mechanism 810. The sleeve 8231 may be installed on the slider 823, or the sleeve 8231 may be integrally formed with the slider 823. The motor 824 drives the lead screw 822, thereby driving the slider 823 and the sleeve 8231 to linearly move along the chute, and thus the feeding movement of the surgical tool 100 can be realized. Those skilled in the art can understand that the second driving mechanism 820 is not limited to the above structure, as long as it can realize the driving mechanism for the feeding movement of the surgical tool, it does not deviate from the scope of the present disclosure.

[0097] Some embodiments of the present disclosure also provide a surgical robot. Figure 3 The structural schematic diagram of a surgical robot system 300 according to some embodiments of the present disclosure is shown. As Figure 3 , the surgical robot system 300 may include a surgical trolley 310 and at least one surgical tool as described in any one of some embodiments of the present disclosure (for example, Figure 1 the surgical tool 100 shown). The surgical trolley 310 may include at least one robotic arm 311. At least one robotic arm 311 may be the positioning arm of the surgical robot as Figure 3 shown. At least one surgical tool 100 may be arranged at the distal end of at least one robotic arm 311.

[0098] In some embodiments, the surgical robot system 300 may further include a main control cart 320. The surgical cart 310 and the main control cart 320 may be connected by wired transmission or wireless transmission. During the surgery, the user controls the surgical tools (such as the surgical tool 100, forceps, curved scissors, etc.) and / or imaging tools (such as an endoscope) included in the surgical cart 310 to perform operations by operating the master manipulator 321 included in the main control cart 320. The surgical cart 310 is usually located on the patient side and performs surgical operations on the patient in response to the control instructions of the main control cart 320. In some embodiments, the user can also adjust the pose of the surgical tool 100 by operating the master manipulator 321.

[0099] In some embodiments, the surgical robot system 300 may further include an equipment cart 330. The equipment cart 330 may include a power source (not shown in the figure), and the power source is used to connect to the conductive rod of the surgical tool 100 (for example, Figure 5 the shown conductive rod 130) to provide energy for the end effector, so that the end effector can perform surgical operations on the patient.

[0100] In some embodiments, the surgical cart 310 of the surgical robot system 300 may further include at least one driving device 313. At least one driving device 313 may be disposed between at least one surgical tool 312 and at least one robotic arm 311. As Figure 3 shown, the surgical cart 310 may include a single robotic arm 311, and multiple driving devices 313 may be disposed on the robotic arm 311. Those skilled in the art can understand that the surgical cart of the surgical robot system 300 may also include multiple robotic arms.

[0101] Those skilled in the art can understand that the surgical robot 300 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0102] In some embodiments, the tool arm 110 and the tool head 120 in the surgical tool (for example, the surgical tool 100) are detachably connected. Based on this, in the case of needing to replace the surgical tool, only the tool head 120 of the surgical tool 100 can be replaced, thereby reducing the cost of replacing the surgical tool. In some embodiments, the tool head 120 can be used once, which is beneficial to improving the safety and hygiene of the surgical tool.

[0103] In some embodiments, the structure of the first connecting portion of the tool arm cooperates with the structure of the second connecting portion of the tool head, and the two can be tightly connected in the assembled state, which helps to make the energy transmission between the two more stable.

[0104] In some embodiments, in the tool head, the convex structure included at the proximal end of the first connecting arm or the second connecting arm can be used for electrically connecting with the first connecting portion of the tool arm, which is beneficial to improving the stability of the electrical connection between the first connecting portion and the second connecting portion.

[0105] In some embodiments, when the user installs the tool head onto the tool arm or removes the tool head from the tool arm, the user can touch the insulating housing and perform the installation or removal operation. Based on this, the safety of the operation can be improved. In some embodiments, only the head of the end effector exposed from the insulating housing can perform surgical operations on the patient's tissue, which is beneficial to avoiding accidental injury to the patient's tissue caused by other parts of the tool head (for example, the proximal end of the end effector).

[0106] In some embodiments, based on the annular protrusion provided at the proximal end of the electric hook body and the annular groove provided on the distal end of the outer housing of the insulating housing, the axial movement of the electric hook body can be restricted, avoiding the sliding of the electric hook body during the surgical operation on the patient. When assembling or disassembling the tool arm and the tool head, the electric hook body can rotate within the insulating housing, thus facilitating the assembly or disassembly of the tool arm and the tool head.

[0107] In some embodiments, the insulating outer skin can wrap a part of the electric hook body and expose a part of the head of the electric hook body. Based on this, only the part of the electric hook body exposed from the insulating outer skin can perform surgical operations on the patient's tissue, thereby avoiding accidental injury to the patient's tissue caused by the remaining parts.

[0108] Note that the above are only exemplary embodiments of the present disclosure and the applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical tool, characterized in that: include: A tool arm, the tool arm comprising: Arm body; and A first connecting portion, disposed at the distal end of the arm; A tool head, used for detachably connecting with the tool arm, the tool head comprising: a second connection portion, the second connection portion being detachably connected to the first connection portion; and An end instrument is connected to the distal end of the second connecting portion.

2. The surgical tool according to claim 1, characterized in that: The first connecting portion comprises: A first groove, located at a distal end of the first connecting portion and extending in the axial direction; a second groove, located at a distal end of the first connecting portion and extending in the axial direction, the first groove and the second groove being arranged opposite to each other; and A lateral portion is disposed between the first groove and the second groove.

3. The surgical tool according to claim 2, characterized in that: The second connecting portion comprises: A first connecting arm, located at a proximal end of the second connecting portion, the first connecting arm being adapted to fit with the first groove; A second connecting arm, located at a proximal end of the second connecting portion and arranged opposite to the first connecting arm, the second connecting arm being adapted to fit into the second groove; and A third groove is located between the first connecting arm and the second connecting arm, and the third groove is used to adapt to the transverse portion.

4. The surgical tool according to claim 3, characterized in that: The proximal end of the first connecting arm or the second connecting arm includes a protruding structure, and the protruding structure can enhance the connection and / or conductivity between the first connecting arm or the second connecting arm and the first connecting portion.

5. The surgical tool according to claim 1, characterized in that: The end instrument is conductively connected to the distal end of the second connection portion, and the second connection portion can be conductively connected to the first connection portion.

6. The surgical tool according to claim 5, characterized in that: The tool head also includes: An insulating shell covers the second connecting portion and a proximal portion of the terminal instrument.

7. The surgical tool according to claim 6, characterized in that: The tool arm also includes: An assembly structure is arranged at the distal end of the arm body, and the assembly structure is connected to the first connecting portion and is detachably connected to the insulating shell.

8. The surgical tool according to claim 7, characterized in that: The end device comprises: an electric hook body.

9. The surgical tool according to claim 8, characterized in that: The insulating housing comprises: a distal end portion of the housing, the distal end portion of the housing covering the second connecting portion and the proximal end portion of the electric hook body; and The proximal portion of the outer shell has an inner circumferential surface that is threadedly connected to the assembly structure.

10. The surgical tool according to claim 8, characterized in that: The electric hook body comprises: a proximal portion; and A head, disposed at the distal end of the proximal portion; The head of the electric hook body is exposed from the insulating shell.

11. The surgical tool according to claim 10, characterized in that: The proximal portion of the electric hook body comprises: an annular protrusion, the annular protrusion being arranged at the distal end of the proximal portion; The housing distal end portion of the insulating housing comprises: An annular groove is arranged at the distal end of the distal end portion of the housing, and the annular groove is rotatably engaged with the annular protrusion.

12. The surgical tool according to claim 10, characterized in that: The tool head also includes: An insulating outer skin wraps a portion of the electric hook body and exposes a portion of the head of the electric hook body.

13. The surgical tool according to any one of claims 5 to 12, characterized in that: Also includes: A conductive rod, wherein the conductive rod passes through the arm body of the tool arm, and the distal end of the conductive rod is connected to the first connecting portion to transmit energy to the end instrument.

14. The surgical tool according to claim 13, characterized in that: The arm body comprises: A first continuum structure, the first continuum structure comprising: A first base plate, a plurality of first spacer plates and a plurality of first structural bones, wherein the plurality of first structural bones pass through the plurality of first spacer plates and the first base plate, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure to move.

15. The surgical tool according to claim 14, characterized in that: The arm body also includes: A second continuum structure, wherein the second continuum structure comprises: A second base plate, a plurality of second spacer plates and a plurality of second structural bones, wherein the plurality of second structural bones pass through the plurality of second spacer plates and the second base plate, the proximal ends of the plurality of second structural bones are used to receive a push or pull drive to drive the second continuum structure to move, the first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

16. A surgical robot, characterized in that: include: A surgical trolley, comprising at least one robotic arm; as well as At least one surgical tool as described in any one of claims 1-15, wherein the at least one surgical tool is disposed at the distal end of the at least one robotic arm.

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