Surgical instrument and surgical robot

Abstract

The utility model discloses a surgical instrument and a surgical robot, the surgical instrument comprises an outer rod, one end of the outer rod is provided with a deflection part, and the deflection part is provided with an end effector; the deflection rod is coaxially arranged in the outer rod, and intersecting shaft transmission assemblies matched with each other are arranged at the opposite ends of the deflection rod and the deflection piece correspondingly; and the driving rod is coaxially arranged in the deflection rod, and the driving rod drives the end effector to execute actions through a connecting assembly. The surgical robot comprises the surgical instrument, the deflection rod and the driving rod are sequentially nested in the outer rod, the deflection rod and the driving rod respectively drive deflection of the deflection part and action of the end effector, abnormal action of the end effector is avoided, and accurate and stable action of the surgical instrument is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a surgical instrument and a surgical robot. Background Art

[0002] Most traditional handheld rigid (link-type) instruments have only two degrees of freedom: the degree of freedom of clamping and the degree of freedom of rotation. Therefore, they cannot perform complex surgical operations in laparoscopic surgical robotic systems.

[0003] In order to give surgical instruments more degrees of freedom of movement, surgical instruments in the prior art use an inner and outer nested tube body and an inner rod mechanism, and realize the swing and opening and closing of the end effector through the axial movement and rotation of the inner rod mechanism. The rotation of the tube body drives the overall rotation of the forceps head, and the end effector has more degrees of freedom and can complete more complex surgical operations.

[0004] However, in the surgical instruments in the prior art, the deflection and opening and closing of the end effector are driven by the same inner rod. During actual operation, the opening and closing of the end effector easily drives the axial movement of the inner rod, thereby causing abnormal deflection of the end effector and causing abnormal movement of the surgical instrument. Utility Model Content

[0005] In order to solve the deficiencies in the prior art, the utility model provides a surgical instrument and a surgical robot. The surgical instrument and the surgical robot sequentially nest a yaw rod and a driving rod in an outer rod. The yaw rod and the driving rod respectively drive the yaw of the yaw component and the movement of the end effector, thereby avoiding abnormal movement of the end effector and ensuring precise and stable movement of the surgical instrument.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] In one aspect, the present invention provides a surgical instrument comprising:

[0008] An outer rod, one end of which is provided with a deflection member, the deflection member is pivotally connected to the outer rod, the pivot axis of the deflection member and the outer rod intersects the axis of the outer rod, and the deflection member is provided with an end effector;

[0009] a deflection rod, the deflection rod being coaxially arranged inside the outer rod, and the opposite ends of the deflection rod and the deflection member being respectively provided with intersecting shaft transmission assemblies that cooperate with each other;

[0010] A driving rod is coaxially arranged inside the yaw rod, and the driving rod drives the end effector to perform an action through a connecting component.

[0011] In the present invention, since the pivot axis of the deflection member and the outer rod intersects with the axis of the outer rod, the rotational movement of the outer rod can drive the deflection member and the end actuator thereon to rotate around the axis of the outer rod, which is one degree of freedom; secondly, due to the setting of the intersecting axis transmission assembly, the rotational movement of the deflection rod can drive the deflection member to rotate around the pivot axis of the deflection member and the outer rod, thereby realizing the deflection of the deflection member and the end actuator thereon relative to the axis of the deflection rod and the outer rod, which is one degree of freedom; thirdly, the setting of the driving rod drives the end actuator to perform related technical actions, which is one degree of freedom. Therefore, the three degrees of freedom of movement, especially the deflection and action of the end actuator, are driven by two different rod movements respectively, avoiding the situation where the driving members drive each other under different operations to cause misoperation, and the rotational movement has higher stability and accuracy than the linear movement on the axis.

[0012] In a further technical solution, the end effector includes a pliers blade bracket, a pliers blade, and a driving assembly for driving the pliers blade to move, and the driving assembly is connected between the pliers blade and the connecting assembly.

[0013] The pliers bracket is used to install the pliers. The drive assembly is independent of the pliers bracket as a driving part and plays a role of connecting and transmitting between the pliers and the connecting assembly.

[0014] In a further technical solution, the intersecting axis transmission assembly includes a first crown gear arranged at the end of the deflection rod and a second crown gear arranged at the end of the deflection member, the first crown gear and the second crown gear are meshed with each other, and the rotation axes of the first crown gear and the second crown gear intersect.

[0015] The crown gear has high rigidity, so the transmission stability is good and a variety of transmission angles can be selected.

[0016] In a further technical solution, the teeth of the first crown gear are distributed in an arc shape at the end of the deflection rod, and the central angle x corresponding to the arc has a value range of 10°≤x≤270°.

[0017] It can be understood that, when the transmission ratio is constant, the distribution range of the teeth of the first crown gear determines the angle at which it drives the second crown gear to rotate, that is, determines the angle of deflection of the yaw member, which directly affects the motion range of the end effector. Or, when the angle of deflection of the yaw member is constant, the distribution range of the teeth of the first crown gear determines its transmission ratio, which directly affects the sensitivity during operation. The range of 10° to 270° is sufficient to cover most application scenarios.

[0018] In a further technical solution, the teeth of the first crown gear are distributed at equal angles at the end of the deflection rod.

[0019] The teeth of the first crown gear are distributed at equal angles, so the transmission ratio of the first crown gear driving the second crown gear is fixed, that is, the driving of the yaw motion of the end effector by rotating the yaw rod is linear.

[0020] In a further technical solution, limiting structures are respectively provided at both ends of the gear tooth distribution of the first crown gear, and the limiting structures are provided at the ends of the deflection rod.

[0021] Since the oscillation of the deflection member rotates around the pivot axis between the deflection member and the outer rod, the deflection member itself has two stop points in the oscillation stroke. In order to prevent the deflection member from colliding with the outer rod due to the oscillation exceeding the stop points, limiting structures are provided at both ends of the tooth distribution of the first crown gear, thereby limiting the movement of the deflection member before the stop points of the movement in both directions of the deflection member, thereby improving safety.

[0022] In a further technical solution, the rotation axis of the second crown gear is perpendicular to the rotation axis of the first crown gear.

[0023] In a further technical solution, the pivot axis between the deflection member and the outer rod is perpendicular to the axis of the outer rod.

[0024] The yaw motion axis of the yaw member is perpendicular to the axis of the outer rod, that is, perpendicular to the axis of the yaw rod. Therefore, during operation, the yaw direction of the yaw member and the end effector thereon is stable during the driving process and will not tilt, which facilitates surgical operation.

[0025] In a further technical solution, the rotation axis of the second crown gear is coaxial with the pivot axis of the deflection member and the outer rod.

[0026] The rotation axis of the second crown gear is coaxial with the rotation center of the yaw member, that is, the rotation of the second crown gear and the yaw member is synchronized, avoiding interference between the two movements, and the yaw range of the end effector is larger, and the stroke of the end effector in the two yaw directions is the same.

[0027] In a further technical solution, two mounting ears are provided at the end of the outer rod, the deflection member is pivotally connected to the outer rod through one of the mounting ears, and the second crown gear on the deflection member is pivotally connected to the other mounting ear.

[0028] By providing two mounting ears to mount the deflection member, interference between the movement of the deflection member and the second crown gear is further avoided, thereby ensuring the deflection range of the end effector.

[0029] In a further technical solution, the drive assembly includes:

[0030] The connecting rod mechanism is used to drive the pliers blade to rotate around the rotation center of the pliers blade bracket.

[0031] By setting up a connecting rod mechanism, the driving force in a single direction can be converted into a force that drives the pliers to rotate, reducing the difficulty of operation.

[0032] In a further technical solution, the connecting assembly is a universal joint group, which includes a first universal joint connected to the end of the driving rod and a second universal joint connected to the connecting rod mechanism, and the first universal joint and the second universal joint are fixedly connected.

[0033] By setting up the universal joint group, the first universal joint can transmit the rotational force to the second universal joint in an inclined manner after the deflection member deflects, so that the movement of the end effector can still be controlled after the end effector deflects.

[0034] In a further technical solution, the connecting component is a transmission connecting rod, one end of which is connected to the driving rod, and the other end is connected to the connecting rod mechanism.

[0035] By setting a transmission connecting rod, the driving rod can transmit the linear driving force to the connecting rod mechanism at an angle after the deflection member deflects, so that the movement of the end effector can still be controlled after the end effector deflects.

[0036] In a further technical solution, the drive assembly further includes:

[0037] A screw nut is provided with a screw threadedly connected to the screw nut, the screw nut is fixedly connected to the second universal joint, and the screw is fixedly connected to the connecting rod structure.

[0038] The arrangement of the lead screw nut and the screw rod can convert the rotational motion of the second universal joint into the linear motion of the screw rod, thereby driving the pliers to rotate through the connecting rod mechanism to realize the action.

[0039] On the other hand, the present invention also provides a surgical robot, characterized in that it includes a surgical instrument as described in any one of the above technical solutions.

[0040] In a further technical solution, the surgical robot also includes an operating component, which is arranged at an end of the outer rod away from the deflection member; the operating component includes a first operating unit transmission connected to the outer rod, a second operating unit transmission connected to the deflection rod and a third operating unit transmission connected to the drive rod.

[0041] By respectively setting the operating units for the outer rod, the yaw rod and the drive rod on the operating assembly, the situation of linkage maloperation between multiple rods is further avoided, and safety is improved.

[0042] The beneficial effects are:

[0043] 1. The surgical instrument and surgical robot of the present invention sequentially nest a yaw rod and a driving rod in an outer rod. The yaw rod and the driving rod respectively drive the yaw of the yaw member and the movement of the end effector, thereby avoiding abnormal movement of the end effector and ensuring precise and stable movement of the surgical instrument.

[0044] 2. The pliers bracket is used to install the pliers. The drive assembly is independent of the pliers bracket as a driving part and plays a role of connection and transmission between the pliers and the connecting assembly.

[0045] 3. The crown gear has high rigidity, so the transmission stability is good and a variety of transmission angles can be selected.

[0046] 4. When the transmission ratio is constant, the distribution range of the teeth of the first crown gear determines the angle at which it drives the second crown gear to rotate, that is, it determines the deflection angle of the yaw part, which directly affects the motion range of the end effector. Alternatively, when the deflection angle of the yaw part is constant, the distribution range of the teeth of the first crown gear determines its transmission ratio, which directly affects the sensitivity during operation. The range of 10° to 270° is sufficient to cover most application scenarios.

[0047] 5. If the teeth of the first crown gear are distributed at equal angles, the transmission ratio of the first crown gear driving the second crown gear is fixed, that is, the driving of the yaw motion of the end effector by rotating the yaw rod is linear.

[0048] 6. Since the oscillation of the deflection member rotates around the pivot axis of the deflection member and the outer rod, the deflection member itself has two stop points in the oscillation stroke. In order to prevent the deflection member from colliding with the outer rod when the deflection member oscillates beyond the stop points, a limiting structure is set at both ends of the tooth distribution of the first crown gear, which limits the movement of the deflection member before the stop points of the movement in both directions of the deflection member, thereby improving safety.

[0049] 7. The yaw motion axis of the yaw member is perpendicular to the axis of the outer rod, that is, perpendicular to the axis of the yaw rod. Therefore, during operation, the yaw direction of the yaw member and the end effector thereon is stable during the driving process and will not tilt, which is convenient for surgical operation.

[0050] 8. The rotation axis of the second crown gear is coaxial with the rotation center of the yaw member, that is, the rotation of the second crown gear and the yaw member is synchronized, avoiding interference between the two movements, the yaw range of the end effector is larger, and the stroke of the end effector in the two yaw directions is the same.

[0051] 9. By providing two mounting ears to install the deflection member, interference between the movement of the deflection member and the second crown gear is further avoided, ensuring the deflection range of the end effector.

[0052] 10. By setting up a connecting rod mechanism, the driving force in a single direction can be converted into a force to drive the pliers to rotate, reducing the difficulty of operation.

[0053] 11. By setting up a universal joint group, the first universal joint can transmit the rotational force to the second universal joint in an inclined manner after the deflection member deflects, so that the movement of the end effector can still be controlled after the end effector deflects.

[0054] 12. By setting a transmission connecting rod, the driving rod can transmit the linear driving force to the connecting rod mechanism at an angle after the deflection member deflects, so that its movement can still be controlled after the end effector deflects.

[0055] 13. The arrangement of the lead screw nut and the screw rod can convert the rotational motion of the second universal joint into the linear motion of the screw rod, thereby driving the pliers to rotate through the connecting rod mechanism to achieve the action.

[0056] 14. By setting the operating units for the outer rod, the yaw rod and the driving rod respectively on the operating assembly, the linkage and misoperation between the multiple rods are further avoided, and the safety is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a partial three-dimensional structural diagram of a surgical instrument according to one embodiment of the present invention;

[0058] Figure 2 This is a schematic diagram of the principle of partial deflection of a surgical instrument in one embodiment of the present utility model;

[0059] Figure 3 yes Figure 2 A local enlarged structural diagram at point A in the middle;

[0060] Figure 4 This is a schematic diagram of a first swinging motion of a surgical instrument according to one embodiment of the present invention;

[0061] Figure 5 This is a schematic diagram of a second swinging motion of a surgical instrument according to one embodiment of the present invention;

[0062] Figure 6 This is a front view of the end portion of a deflection rod in one embodiment of the present invention;

[0063] Figure 7 yes Figure 6 A top view of

[0064] Figure 8 This is a schematic diagram of the transmission structure of the end effector of a surgical instrument in one embodiment of the present utility model;

[0065] Figure 9This is a partial cross-sectional structural diagram of a surgical instrument according to one embodiment of the present invention;

[0066] Figure 10 This is a schematic diagram of the transmission structure of the end effector of a surgical instrument according to another embodiment of the present invention;

[0067] Figure 11 This is a schematic diagram of the transmission structure of the end effector of a surgical instrument in yet another embodiment of the present utility model;

[0068] Figure 12 It is a schematic diagram of the overall structure of the surgical instrument according to an embodiment of the present utility model.

[0069] Figure numerals: 10, outer rod; 11, pivot axis of the deflection member and the outer rod; 12, mounting ear; 20, deflection rod; 21, first crown gear; 22, limiting structure; 30, driving rod; 31, connecting assembly; 311, first universal joint; 312, second universal joint; 313, transmission connecting rod; 32, screw nut; 33, screw; 40, deflection member; 41, second crown gear; 42, rotation axis of the second crown gear; 50, end effector; 51, pliers; 52, pliers bracket; 53, connecting rod mechanism; 60, operating assembly; 61, first operating unit; 62, second operating unit; 63, third operating unit; 64, insulating layer. DETAILED DESCRIPTION

[0070] The present invention will be further described below with reference to the accompanying drawings:

[0071] Example:

[0072] A surgical instrument, such as Figure 1 Shown, including:

[0073] The outer rod 10 has a deflection member 40 disposed at its upper end. The deflection member 40 is pivotally connected to the outer rod 10. The pivot axis 11 of the deflection member and the outer rod intersects the axis of the outer rod 10. The deflection member 40 is provided with an end effector 50.

[0074] Since the pivot axis 11 of the deflection member and the outer rod intersects with the axis of the outer rod 10, that is, when the deflection member 40 rotates around the pivot axis 11 of the deflection member and the outer rod, the force and stroke of the deflection in two directions are always proportional, with the axis of the outer rod 10 as the boundary, that is, the deflection in two directions is linear, which is of great significance in surgical operations in a narrow space. When the end effector of the surgical instrument moves to the surgical position, the linear deflection in two directions ensures that the deflection in any direction can be operated with the same force and stroke, providing a structural basis for the operator's precise operation.

[0075] like Figure 1 、 Figure 2 and Figure 3 As shown, the surgical instrument further includes a deflection rod 20, which is coaxially arranged inside the outer rod 10, and the opposite ends of the deflection rod 20 and the deflection member 40 are respectively provided with intersecting axis transmission assemblies that cooperate with each other;

[0076] like Figure 1 、 Figure 8 and Figure 9 As shown, the surgical instrument further includes a driving rod 30 , which is coaxially arranged inside the yaw rod 20 . The driving rod 30 drives the end effector 50 to perform an action through a connecting assembly 31 .

[0077] In the present invention, since the pivot axis 11 of the deflection member and the outer rod intersects with the axis of the outer rod 10, the rotational movement of the outer rod 10 can drive the deflection member 40 and the end actuator 50 thereon to rotate around the axis of the outer rod 10, which is one degree of freedom; secondly, due to the setting of the intersecting axis transmission assembly, the rotational movement of the deflection rod 20 can drive the deflection member 40 to rotate around the pivot axis 11 of the deflection member and the outer rod, thereby realizing the deflection of the deflection member 40 and the end actuator 50 thereon relative to the axis of the deflection rod 20 and the outer rod 10, which is one degree of freedom. Thirdly, the setting of the driving rod 30 drives the end actuator 50 to perform related technical actions, which is one degree of freedom. Therefore, the three degrees of freedom of movement, especially the deflection and action of the end actuator 50, are driven by two different rod movements respectively, thereby avoiding the situation where the driving members drive each other under different operations to cause misoperation.

[0078] In this embodiment, if Figure 2 As shown, the end effector 50 includes a pliers blade bracket 52 , a pliers blade 51 and a driving assembly for driving the pliers blade 51 to move, and the driving assembly is connected between the pliers blade 51 and the connecting assembly 31 .

[0079] The pliers bracket 52 is used to install the pliers 51 . The driving assembly is independent of the pliers bracket 52 as a driving part and plays a role of connecting and transmitting between the pliers 51 and the connecting assembly 31 .

[0080] In this embodiment, there are two forceps blades 51 , that is, the two forceps blades 51 form two executing parts of the surgical forceps.

[0081] The surgical instrument in this embodiment is a surgical forceps.

[0082] In this embodiment, if Figure 3 As shown, the intersecting axis transmission assembly includes a first crown gear 21 provided at the end of the deflection rod 20 and a second crown gear 41 provided at the end of the deflection member 40. The first crown gear 21 and the second crown gear 41 are engaged with each other, and the rotation axes 42 of the first crown gear 21 and the second crown gear intersect.

[0083] The crown gear has high rigidity, so the transmission stability is good and a variety of transmission angles can be selected.

[0084] In this embodiment, if Figure 6 and Figure 7 As shown, the teeth of the first crown gear 21 are distributed in an arc shape at the end of the deflection rod 20, and the value range of the central angle x corresponding to the arc is 10°≤x≤270°.

[0085] The central angle x corresponding to the arc in this embodiment is 160°.

[0086] It can be understood that, when the transmission ratio is constant, the distribution range of the teeth of the first crown gear 21 determines the angle at which it drives the second crown gear 41 to rotate, that is, determines the deflection angle of the deflection member 40, which directly affects the motion range of the end effector 50. Alternatively, when the deflection angle of the deflection member 40 is constant, the distribution range of the teeth of the first crown gear 21 determines its transmission ratio, which directly affects the sensitivity during operation. The range of 10° to 270° is sufficient to cover most application scenarios.

[0087] In this embodiment, the teeth of the first crown gear 21 are distributed at equal angles at the end of the deflection rod 20 .

[0088] The teeth of the first crown gear 21 are distributed at equal angles, so the transmission ratio of the first crown gear 21 driving the second crown gear 41 is fixed, that is, the driving of the yaw motion of the end effector 50 by rotating the yaw rod 20 is linear.

[0089] In this embodiment, if Figure 3 As shown, limiting structures 22 are respectively provided at both ends of the tooth distribution of the first crown gear 21 , and the limiting structures 22 are provided at the ends of the deflection rod 20 .

[0090] Since the deflection of the deflection member 40 rotates around the pivot axis 11 between the deflection member and the outer rod, the deflection member 40 itself has two stop points in its deflection travel. In order to prevent the deflection member 40 from deflecting beyond the stop points and colliding with the outer rod 10, limiting structures 22 are provided at both ends of the tooth distribution of the first crown gear 21 to limit the movement of the deflection member 40 before the stop points of the two directional movement of the deflection member 40, thereby improving safety.

[0091] In this embodiment, if Figure 3 As shown, the rotation axis 42 of the second crown gear is perpendicular to the rotation axis of the first crown gear 21 .

[0092] In this embodiment, if Figure 3 As shown, the pivot axis 11 of the yaw member and the outer lever is perpendicular to the axis of the outer lever 10 .

[0093] The yaw motion axis of the yaw member 40 is perpendicular to the axis of the outer rod 10, that is, perpendicular to the axis of the yaw rod 20. Therefore, during operation, the yaw direction of the yaw member 40 and the end effector 50 thereon is stable during the driving process and will not tilt, which facilitates surgical operation.

[0094] In this embodiment, if Figure 3 As shown, the rotation axis 42 of the second crown wheel is coaxial with the pivot axis 11 of the yaw member and the outer lever.

[0095] The rotation axis 42 of the second crown gear is coaxial with the rotation center of the yaw member 40, that is, the rotation of the second crown gear 41 and the yaw member 40 are synchronized, avoiding interference between the two movements, and the yaw range of the end effector 50 is larger, and the stroke of the end effector 50 in the two yaw directions is the same.

[0096] In this embodiment, if Figure 3 As shown, two mounting ears 12 are provided at the end of the outer rod 10 , the deflection member 40 is pivotally connected to the outer rod 10 via one of the mounting ears 12 , and the second crown gear 41 on the deflection member 40 is pivotally connected to the other mounting ear 12 .

[0097] By providing two mounting ears 12 to mount the deflection member 40 , interference between the movement of the deflection member 40 and the second crown gear 41 is further avoided, thereby ensuring the deflection range of the end effector 50 .

[0098] In this embodiment, if Figure 8 As shown, the drive components include:

[0099] The connecting rod mechanism 53 is used to drive the pliers 51 to rotate around the rotation center of the pliers 51 and the pliers bracket 52.

[0100] By providing the connecting rod mechanism 53 , it is possible to convert the driving force in a single direction into a force for driving the pliers 51 to rotate, thereby enabling the two pliers 51 to clamp or open.

[0101] In this embodiment, if Figure 8 As shown, the connecting assembly 31 is a universal joint group, which includes a first universal joint 311 and a second universal joint 312. The first universal joint 311 is connected to the end of the driving rod 30, and the second universal joint 312 is connected to the connecting rod mechanism 53. The first universal joint 311 and the second universal joint 312 are fixedly connected.

[0102] By providing the universal joint assembly, the first universal joint 311 can transmit the rotational force to the second universal joint 312 in an inclined manner after the deflection member 40 deflects, and the movement of the end effector 50 can still be controlled after the end effector 50 deflects.

[0103] In this embodiment, if Figure 8As shown, the drive assembly also includes:

[0104] The lead screw nut 32 is provided with a screw rod 33 threadedly connected thereto. The lead screw nut 32 is fixedly connected to the second universal joint 312 , and the screw rod 33 is fixedly connected to the connecting rod structure.

[0105] The arrangement of the lead screw nut 32 and the screw rod 33 can convert the rotational motion of the second universal joint 312 into the linear motion of the screw rod 33 , thereby driving the pliers 51 to rotate through the connecting rod mechanism 53 to realize the action.

[0106] A surgical robot comprises a surgical instrument according to any of the above embodiments.

[0107] In this embodiment, if Figure 12 As shown, the surgical robot also includes an operating component 60, which is arranged at an end of the outer rod 10 away from the deflection member 40; the operating component 60 includes a first operating unit 61 transmission-connected to the outer rod 10, a second operating unit 62 transmission-connected to the deflection rod 20 and a third operating unit 63 transmission-connected to the drive rod 30.

[0108] By providing operating units for the outer rod 10 , the yaw rod 20 and the driving rod 30 respectively on the operating assembly 60 , the linkage and erroneous operation between the multiple rods can be further avoided, thereby improving safety.

[0109] In another embodiment, Figure 10 As shown, the difference between this embodiment and the previous embodiment is that the connecting component 31 is a transmission connecting rod 313, one end of the transmission connecting rod 313 is connected to the driving rod 30, and the other end is connected to the connecting rod mechanism 53.

[0110] In this embodiment, the connecting rod mechanism 53 is driven not by the rotation of the driving rod 30 being converted into the linear motion of the screw rod 33 to drive the connecting rod mechanism 53 , but by the linear motion of the driving rod 30 directly.

[0111] By providing the transmission link 313 , the driving rod 30 can transmit the linear driving force to the link mechanism 53 in an oblique manner after the deflection member 40 deflects, and the movement of the end effector 50 can still be controlled after the end effector 50 deflects.

[0112] The degrees of freedom of the surgical instrument of this embodiment include:

[0113] The rotational movement of the outer rod 10 drives the deflection member 40 and the end effector 50 thereon to rotate around the axis of the outer rod 10, which is one degree of freedom. Secondly, the rotational movement of the deflection rod 20 drives the deflection member 40 to rotate around the pivot axis 11 of the deflection member and the outer rod, which is one degree of freedom. Thirdly, the linear movement of the drive rod 30 drives the end effector 50 to perform related technical actions, which is one degree of freedom.

[0114] In another embodiment, Figure 11 As shown, the difference between this embodiment and the previous embodiment is that the connection component 31 is a universal joint assembly.

[0115] In this embodiment, the link mechanism 53 is driven directly by the linear motion of the driving rod 30 to drive the link mechanism 53 to move and drive the end effector 50 to move.

[0116] Since the connecting assembly 31 is a universal joint assembly, the connecting assembly 31 can transmit the rotational force with an angle, and this angle is the deflection angle of the deflection member 40. Therefore, based on the degrees of freedom of the previous embodiment, the surgical instrument of this embodiment also includes the following degrees of freedom:

[0117] The rotational movement of the drive rod 30 drives the end effector 50 to rotate about the axis of the yaw member 40 .

[0118] In another embodiment, the difference between this embodiment and the above embodiment is that the forceps 51 of the end effector 50 is replaced by a surgical blade, and the number of the surgical blade is set to one.

[0119] Therefore, the surgical instrument in this embodiment is a scalpel.

[0120] In another embodiment, the difference between this embodiment and the above embodiment is that the driving rod 30 is a sleeve structure, so the coaxial hole on the driving rod 30 can allow the active cable to pass through, and the active cable is connected to the end effector 50 to provide energy to the end effector 50, thereby making the surgical instrument of this embodiment an active surgical instrument.

[0121] In another embodiment, the difference between this embodiment and the above embodiment is that the forceps 51 of the end effector 50 is replaced by an ultrasonic blade head, and the number of ultrasonic blade heads is set to one.

[0122] Therefore, the surgical instrument in this embodiment is an ultrasonic scalpel.

[0123] In another embodiment, the difference between this embodiment and the above embodiment is that the blades 51 of the end effector 50 are replaced by blades, which are a strong blade and a dynamic blade, and the number of the blades is set to two.

[0124] Therefore, the surgical instrument in this embodiment is a surgical scissors.

[0125] In another embodiment, the difference between this embodiment and the above embodiment is that the pliers 51 of the end effector 50 are replaced with pointed pliers 51 , and the number of pointed pliers 51 is two.

[0126] Therefore, the surgical instrument in this embodiment is a needle holder or surgical forceps.

[0127] In another embodiment, the difference between this embodiment and the above embodiment is that the intersecting axis transmission assembly includes a first bevel gear provided at the end of the deflection rod 20 and a second bevel gear provided at the end of the deflection member 40, the first bevel gear and the second bevel gear are meshed with each other, and the rotation axes of the first bevel gear and the second bevel gear intersect.

[0128] It is understandable that the intersecting shaft transmission can also be achieved through bevel gear transmission.

[0129] In another embodiment, the difference between this embodiment and the above embodiment is that the intersecting shaft transmission assembly is a hypoid gear transmission.

[0130] In the above embodiment, the transmission ratio of the first crown gear 21 and the second crown gear 41 is balanced, that is, the rotation angle of the deflection rod 20 is basically equal to the deflection angle of the deflection member 40. When x=160°, the positive and negative strokes of the deflection rod 20 are 80°, that is, the deflection strokes of the deflection member 40 are also plus or minus 80°.

[0131] In another embodiment, the difference between this embodiment and the above embodiment is that the teeth of the first crown gear 21 are distributed in an arc shape at the end of the deflection rod 20, and the central angle x corresponding to the arc is 10°. The driving range of 10 degrees is relatively small, so the rotation stroke of the deflection rod 20 is also relatively small. In this embodiment, the transmission of the intersecting axis transmission assembly is relatively small, that is, the small rotation angle of the deflection rod 20 is converted into a larger deflection angle of the deflection member 40. The surgical instrument in this embodiment is a special surgical instrument, which is aimed at surgical scenarios that require rapid reciprocating operations.

[0132] In another embodiment, the difference between this embodiment and the above embodiment is that the teeth of the first crown gear 21 are distributed in an arc shape at the end of the deflection rod 20, and the central angle x corresponding to the arc is 270°. The driving range of 270 degrees is relatively large, that is, the rotation stroke of the deflection rod 20 is relatively large. In this embodiment, the transmission ratio of the intersecting axis transmission assembly is relatively large, that is, the larger rotation angle of the deflection rod 20 is converted into a smaller deflection angle of the deflection member 40. The surgical instrument in this embodiment is for a surgical scene that requires a more precise deflection angle, so the larger transmission ratio allows the operator to control the deflection angle more accurately.

[0133] In another embodiment, this embodiment differs from the above embodiment in that the teeth of the first crown gear 21 are distributed at increasing angles at the end of the deflection rod 20 . In this embodiment, the tooth distribution angle gradually increases from the tooth distribution center to the two ends of the first crown gear 21 .

[0134] It can be understood that the tooth distribution of the first crown gear 21 corresponds to the tooth distribution of the second crown gear 41 .

[0135] In this embodiment, since the angle gradually increases, when the deflection rod 20 is rotated, the initial rotation is converted into a relatively large deflection angle of the deflection member 40. After that, the closer the stroke is to the end, the more the rotation of the deflection rod 20 is converted into a relatively small deflection angle of the deflection member 40. Therefore, the surgical instrument of this embodiment can achieve rapid adjustment and precise control.

[0136] In another embodiment, Figure 1 、 Figure 9 and Figure 12 As shown, the difference between this embodiment and the above embodiment is that, in this embodiment, the outer rod 10 is further covered with an insulating layer 64 to improve safety during surgery.

[0137] In another embodiment, this embodiment differs from the above embodiment in that, in this embodiment, the angle between the pivot axis of the deflection member and the outer rod and the axis of the outer rod is 70°.

[0138] In this embodiment, the pivot axis of the deflection member and the outer rod is not perpendicular to the axis of the outer rod. When the deflection member rotates around the pivot axis of the deflection member and the outer rod, the deflection member swings obliquely relative to the axis of the outer rod. The surgical instrument of this embodiment is used to perform special surgical operations.

[0139] In this embodiment, the rotation axis of the second crown gear is not perpendicular to the rotation axis of the first crown gear, and the angle between them is also 70°.

[0140] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall fall within the scope of the present invention as claimed.

Claims

1. A surgical instrument, characterized in that: include: An outer rod, one end of which is provided with a deflection member, the deflection member is pivotally connected to the outer rod, the pivot axis of the deflection member and the outer rod intersects the axis of the outer rod, and the deflection member is provided with an end effector; a deflection rod, the deflection rod being coaxially arranged inside the outer rod, and the opposite ends of the deflection rod and the deflection member being respectively provided with intersecting shaft transmission assemblies that cooperate with each other; A driving rod is coaxially arranged inside the yaw rod, and the driving rod drives the end effector to perform an action through a connecting component.

2. The surgical instrument according to claim 1, wherein: The end effector comprises a pliers blade support, a pliers blade and a driving assembly for driving the pliers blade to move, wherein the driving assembly is connected between the pliers blade and the connecting assembly.

3. The surgical instrument according to claim 1, wherein: The intersecting shaft transmission assembly includes a first crown gear provided at the end of the deflection rod and a second crown gear provided at the end of the deflection member, the first crown gear and the second crown gear are meshed with each other, and the rotation axes of the first crown gear and the second crown gear intersect.

4. The surgical instrument according to claim 3, characterized in that The teeth of the first crown gear are distributed in an arc shape at the end of the deflection rod, and the value range of the central angle x corresponding to the arc is 10°≤x≤270°.

5. The surgical instrument according to claim 4, characterized in that: The gear teeth of the first crown gear are distributed at equal angles at the end of the deflection rod.

6. The surgical instrument according to claim 4, characterized in that Limiting structures are respectively provided at both ends of the gear tooth distribution of the first crown gear, and the limiting structures are provided at the ends of the deflection rod.

7. The surgical instrument according to claim 3, characterized in that The rotation axis of the second crown gear is perpendicular to the rotation axis of the first crown gear.

8. The surgical instrument according to claim 7, wherein: The pivot axis of the deflection member and the outer rod is perpendicular to the axis of the outer rod.

9. The surgical instrument according to claim 8, characterized in that The rotation axis of the second crown gear is coaxial with the pivot axis of the yaw member and the outer lever.

10. The surgical instrument according to any one of claims 3 to 9, characterized in that: The end of the outer rod is provided with two mounting ears, the deflection member is pivotally connected to the outer rod through one of the mounting ears, and the second crown gear on the deflection member is pivotally connected to the other mounting ear.

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

12. The surgical robot according to claim 11, characterized in that: The surgical robot also includes an operating component, which is arranged at an end of the outer rod away from the deflection member; the operating component includes a first operating unit that is transmission-connected to the outer rod, a second operating unit that is transmission-connected to the deflection rod, and a third operating unit that is transmission-connected to the drive rod.

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