Surgical instrument end effector and surgical instrument

Abstract

The utility model discloses a surgical instrument end effector and a surgical instrument. The surgical instrument end effector comprises a forceps head assembly, an opening and closing transmission assembly, a deflection transmission assembly and a tube body. The opening and closing transmission assembly comprises an adapter, an opening and closing connecting rod and an opening and closing transmission rod which are sequentially connected in a pivoted mode. The deflection transmission assembly comprises a deflection base, a deflection connecting rod and a deflection transmission rod which are sequentially connected in a pivoted mode. The two ends of the deflection base are in pivot joint with the pipe body and the tong head assembly respectively. The opening and closing transmission rod and the deflection transmission rod are slidably arranged in the pipe body, and the pivoting directions of the deflection connecting rod, the deflection base and the opening and closing connecting rod are consistent; the pivoting distance between the two ends of the opening and closing connecting rod is smaller than the pivoting distance between the two ends of the deflection connecting rod; when the tong head assembly is in a closed state, the pivoted position of the two ends of the opening and closing connecting rod does not exceed the pivoted position of the two ends of the deflection connecting rod. The utility model has the advantages of smooth operation and flexible operation space.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical instrument field, concretely relates to a surgical instrument end effector and surgical instrument. BACKGROUND

[0002] The traditional handheld surgical instrument's forceps head usually adopts push rod rigid transmission, has open and close and rotation function, although the hand feeling is clear, but lacks the deflection function, leads to the insufficient flexibility in the surgical process. Along with the maturity of multi-joint surgical instrument technology, handheld robot surgical instrument emerges as the times require. These novel multi-degree of freedom surgical instrument forceps heads adopt wheel rope structure, although the flexibility is higher, but the rigidity is insufficient and the service life is shorter. Although open and close and deflection function can be realized through four steel wire ropes, but when carrying out the circumferential rotation, the steel wire rope is easy to wind, and there is the problem of limiting.

[0003] In order to solve these deficiencies, a surgical instrument end effector appears on the market, and the opening and closing and deflection of the forceps head are controlled by two connecting rod mechanisms respectively. However, when opening and closing and deflection operation is carried out, the instrument is easy to appear the jamming phenomenon, leading to the operation is not smooth enough.

[0004] Therefore, it is necessary to further improve the structure of the surgical instrument end effector to improve its flexibility and operation smoothness. UTILITY MODEL CONTENT

[0005] The utility model aims at solving one of the technical problems in the related art to some extent. To this end, the utility model provides a surgical instrument end effector and surgical instrument, which has the advantages of smooth operation and flexible operation space.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme in the first aspect:

[0007] A surgical instrument end effector, comprising a forceps head assembly, an opening and closing transmission assembly, a deflection transmission assembly and a pipe body;

[0008] The opening and closing transmission assembly comprises a adapter, an opening and closing connecting rod and an opening and closing transmission rod which are pivotally connected in sequence;

[0009] The deflection transmission assembly comprises a deflection base, a deflection connecting rod and a deflection transmission rod which are pivotally connected in sequence;

[0010] Both ends of the deflection base are pivotally connected with the pipe body and the forceps head assembly respectively; the opening and closing transmission rod and the deflection transmission rod are slidably arranged in the pipe body, and the pivot directions of the deflection connecting rod, the deflection base and the opening and closing connecting rod are consistent, so as to drive the opening or closing of the forceps head assembly through the axial movement of the opening and closing transmission rod along the pipe body, and drive the pivoting of the deflection base at one end of the pipe body through the axial movement of the deflection transmission rod along the pipe body.

[0011] The distance between the two pivots of the opening-closing link is less than the distance between the two pivots of the swing link.

[0012] When the jaw assembly is in the closed state, the position of the two pivots of the opening-closing link does not exceed the position of the two pivots of the swing link.

[0013] Optionally, the first end of the pipe body is hingedly connected to the first end of the swing base through a first hinge shaft.

[0014] The first end of the opening-closing link is hingedly connected to the first end of the adapter through a second hinge shaft, and the second end of the opening-closing link is hingedly connected to the first end of the opening-closing transmission link through a third hinge shaft.

[0015] When the jaw assembly is in the closed state, the distance between the second hinge shaft and the third hinge shaft is greater than or equal to the distance between the first hinge shaft and the third hinge shaft; and / or,

[0016] When the jaw assembly is in the open state, the position of the first hinge shaft is always between the second hinge shaft and the third hinge shaft.

[0017] Optionally, the side wall of the swing link is provided with a clearance groove, and the clearance groove is opposite to the opening-closing link. When the swing base is in the swing state, there is a movement gap between the opening-closing link and the clearance groove.

[0018] Optionally, the jaw assembly comprises two jaws, and the roots of the two jaws are respectively hingedly connected to the second end of the swing base through a sixth hinge shaft.

[0019] The second end of the adapter is respectively hingedly connected to the root of the jaw through a seventh hinge shaft, and the sixth hinge shaft and the seventh hinge shaft are in the same direction.

[0020] In the opening-closing direction of the jaw, the two seventh hinge shafts corresponding to the jaw are respectively located on the two sides of the jaw closing surface and are oppositely arranged.

[0021] On the same jaw, the direction from the sixth hinge shaft to the seventh hinge shaft forms an included angle with the closing surface of the two jaws.

[0022] Optionally, the swing base is provided with a guide hole communicating between the first end and the second end, and the adapter is slidingly arranged in the guide hole. The first end of the adapter is on the same side as the first end of the swing base, and the second end of the adapter is on the same side as the second end of the swing base. In the radial direction of the guide hole, the two seventh hinge shafts of the second end of the adapter are oppositely arranged.

[0023] Optionally, the root of the jaw head has a sliding surface, the sliding surfaces of the roots of the two jaw heads are oppositely arranged and are respectively in sliding connection with the two opposite surfaces of the second end of the adapter; the two seventh hinge shafts are respectively corresponding to the two opposite surfaces of the second end of the adapter and are arranged on the corresponding surfaces;

[0024] The sliding surface is provided with a sliding groove, the seventh hinge shaft is slidingly arranged in the sliding groove, and the sliding direction of the seventh hinge shaft in the sliding groove intersects with the abutting surface of the two jaw heads.

[0025] Optionally, during the opening of the jaw head assembly, the seventh hinge shaft moves away from the pipe body along the axial direction of the pipe body, and the seventh hinge shaft moves from one side of the sixth hinge shaft to the other side of the sixth hinge shaft along the axial direction of the pipe body.

[0026] Optionally, the adapter comprises a sliding column and a connecting plate connected to the end of the sliding column; the sliding column is slidingly connected in the guide hole and can slide along the axial direction of the guide hole; the two seventh hinge shafts are distributed along the radial direction of the sliding column;

[0027] When the jaw head assembly is in the open state, the end of the sliding column abuts against the jaw head; when the jaw head assembly is in the closed state, the end of the sliding column is at the maximum distance from the jaw head.

[0028] Optionally, the two sixth hinge shafts corresponding to the jaw head are coaxially arranged; in the opening and closing direction of the jaw head assembly, the sixth hinge shaft is located between the two seventh hinge shafts.

[0029] The adapter comprises a sliding rod and a pair of fork arms; the sliding rod is slidingly connected between the two ends of the yaw base; the first end of the sliding rod is hingedly connected with the opening and closing connecting rod, and the other end of the sliding rod is hingedly connected with one end of the two fork arms, and the other ends of the two fork arms correspond to the seventh hinge shafts and are hingedly connected with the corresponding jaw heads through the corresponding seventh hinge shafts.

[0030] Optionally, the yaw transmission rod forms a hollow channel, and the opening and closing transmission rod is slidingly arranged in the hollow channel and coaxial with the yaw drive transmission;

[0031] The yaw transmission rod comprises a second rod body and a connecting portion arranged outside the end of the second rod body; the yaw connecting rod is hingedly connected with the connecting portion; the second rod body is arranged in the pipe body.

[0032] A pair of support arms are arranged at the pipe opening of the pipe body, the support arms extend along the axial direction and are oppositely arranged in the radial direction; the connecting portion is located between the two support arms.

[0033] One end of the yaw base is hingedly connected with the support arm.

[0034] In the initial state, one side of the connecting part abuts against the pipe opening of the pipe body;

[0035] In the yawing state, the other side of the connecting part abuts against one end of the yawing base.

[0036] Optionally, the yawing base comprises a sleeve body, a pair of first connecting supports arranged at one end of the sleeve body and a pair of second connecting supports arranged at the other end of the sleeve body; in a first radial direction of the sleeve body, the two first connecting supports are oppositely arranged, and the first connecting supports are used for being hingedly connected with the jaw; in a second radial direction of the sleeve body, the two second connecting supports are oppositely arranged, and the second connecting supports are used for being hingedly connected with the pipe body; and the first radial direction intersects with the second radial direction.

[0037] In a second aspect, the application further provides a surgical instrument, which comprises the surgical instrument end effector in the first aspect and a handheld operating part connected with the pipe body, wherein the handheld operating part is in transmission connection with the opening and closing transmission rod and the yawing transmission rod respectively, and drives the axial movement of the opening and closing transmission rod and the yawing transmission rod respectively.

[0038] The features and advantages of the present application will be described in detail in the following specific embodiments and drawings. The best mode or means of the present application will be described in detail in conjunction with the drawings, but it is not a limitation of the technical scheme of the present application. In addition, the features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for convenience of representation, but all represent the same or similar structure or function components. BRIEF DESCRIPTION OF DRAWINGS

[0039] The present application will be further described in conjunction with the drawings as follows:

[0040] Figure 1 The figure is a sectional view of the surgical instrument end effector in the initial state along the pivoting direction of the yawing connecting rod.

[0041] Figure 2 The figure is a structural schematic view of the surgical instrument end effector in the initial state, and the dashed line part in the figure is the pipe body.

[0042] Figure 3 The figure is an exploded view of the surgical instrument end effector, which sequentially shows the combination of the yawing transmission assembly, the jaw assembly and the opening and closing transmission assembly, and the pipe body from left to right.

[0043] Figure 4Fig. 6 is a structural schematic diagram of the end effector of the surgical instrument in some embodiments, showing the relative position relationship of the first, second, third, fourth and fifth articulation axes in the initial state of the end effector.

[0044] Figure 5 Fig. 7 is a structural schematic diagram of the jaw assembly in some embodiments, showing the relative position relationship of the second, third, fourth and fifth articulation axes in the closed and deflected state of the jaw assembly.

[0045] Figure 6 Fig. 8 is a sectional schematic diagram of the end effector of the surgical instrument in some embodiments, showing the sectional view along the pivoting direction of the deflection link in the deflected and unopened state of the end effector.

[0046] Figure 7 Fig. 9 is a sectional schematic diagram of the end effector of the surgical instrument in some embodiments, showing the sectional view along the pivoting direction of the deflection link in the deflected and opened state of the end effector.

[0047] Figure 8 Fig. 10 is a structural schematic diagram of the combination of the jaw assembly and the opening and closing transmission assembly in some embodiments, showing the combination in the initial state of the jaw assembly.

[0048] Figure 9 Fig. 11 is a structural schematic diagram of the combination of the jaw assembly and the opening and closing transmission assembly in some embodiments, showing the combination in the opened state of the jaw assembly.

[0049] Figure 10 Fig. 12 is an exploded view of the combination of the jaw assembly and the opening and closing transmission assembly in some embodiments, showing the specific structure of the adapter and the jaw.

[0050] Figure 11 Fig. 13 is a structural schematic diagram of the jaw assembly and the adapter in some alternative embodiments, showing the position of the jaw assembly in the closed state under another implementation of the adapter.

[0051] Figure 12 Fig. 14 is a structural schematic diagram of the jaw assembly in some alternative embodiments, showing the jaw assembly in the opened state.

[0052] Figure 13 Fig. 15 is a structural schematic diagram of the jaw assembly in some alternative embodiments, showing the jaw assembly in the closed state.

[0053] Figure 14 Fig. 16 is a structural schematic diagram of the surgical instrument in some embodiments, showing the hand-held operating part and the end effector.

[0054] Fig. 17 is a structural schematic diagram of the surgical instrument in some alternative embodiments, showing the hand-held operating part and the end effector.

[0055] 1, hand-held operating part; 2, end effector;

[0056] 10, first hinge shaft; 20, second hinge shaft; 30, third hinge shaft; 40, fourth hinge shaft; 50, fifth hinge shaft; 60, sixth hinge shaft; 70, seventh hinge shaft; 80, eighth hinge shaft;

[0057] 100, jaw assembly; 110, jaw; 111, root; 112, clamping portion; 113, sliding groove;

[0058] 120, deflection base; 121, sleeve body; 122, first connecting bracket; 123, second connecting bracket; 124, guide hole;

[0059] 200, pipe body; 210, support arm;

[0060] 310, opening and closing connecting rod; 320, opening and closing transmission rod;

[0061] 410, deflection connecting rod; 420, deflection transmission rod; 421, second rod body; 422, connecting portion;

[0062] 500, adapter; 512, sliding column; 513, connecting plate; 521, fork arm; 522, sliding rod. DETAILED DESCRIPTION

[0063] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0064] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0065] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0066] In the description of the present use of new type, unless otherwise specified, the meaning of "a plurality of" is two or more, the meaning of "several" is one or more than one.

[0067] In this specification, "one embodiment" or "an example" or "an example" means that the specific features, structures or characteristics described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The appearance of the phrase "in one embodiment" at various locations in the specification does not necessarily refer to the same embodiment.

[0068] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , a surgical instrument end effector is shown, which is mainly used for minimally invasive surgical endoscopic surgery, which can be scissors, separating forceps, clip applying forceps, etc. Different types of forceps have different functions. Referring to Figure 14 , the surgical instrument includes a hand-held operating part and an end effector, which is connected to the hand-held operating part and cooperates with it to realize the functions of clamping, separating and shearing the target object during the operation.

[0069] The surgical instrument end effector mainly includes a forceps head assembly 100, a tube body 200, an opening and closing transmission assembly and a deflection transmission assembly.

[0070] Among them, one end of the tube body 200 is used to connect with the hand-held operating part, and the other end is installed with the forceps head assembly 100. The forceps head assembly has two relatively movable forceps heads and can be switched between open and closed states.

[0071] At the same time, the tube body 200 has a hollow channel. Most of the deflection transmission assembly is located in the hollow channel of the tube body. One end of the deflection transmission assembly is the execution end, and the other end is the operation end. Its operation end is driven through the hollow channel of the tube body and the corresponding mechanism transmission connection of the hand-held operating part, and the part of its execution end exposed from one end of the tube body not only provides a mounting base for the forceps head assembly, but also can drive the forceps head assembly to deflect relative to one end of the tube body. For example, the deflection transmission rod 420 can be slidably arranged in the tube body 200, and the deflection base is pivoted at one end of the tube body by moving the deflection transmission rod 420 along the axial direction of the tube body 200.

[0072] Most of the open-close transmission assembly is also arranged in the hollow channel of the tube body. One end of the open-close transmission assembly is an operation end, and the other end is an execution end. Similarly, the operation end is in transmission connection with the corresponding mechanism in the handheld operation part through the hollow channel of the tube body, and the execution end is exposed at one end of the tube body and connected with the jaw of the jaw assembly for controlling the opening and closing of the jaw assembly. For example, the open-close transmission rod is slidably arranged in the tube body 200 to drive the opening or closing of the jaw assembly 100 by moving the open-close transmission rod 320 along the axial direction of the tube body 200.

[0073] Specifically, the open-close transmission assembly includes a adapter 500, an open-close connecting rod 310 and an open-close transmission rod 320 which are pivotally connected in sequence. The open-close transmission rod 320 as the operation end is slidably arranged in the hollow channel of the tube body and can relatively move along the axial direction of the tube body. The adapter and the open-close connecting rod 310 constitute the execution end.

[0074] The yaw transmission assembly includes a yaw base 120, a yaw connecting rod 410 and a yaw transmission rod 420 which are pivotally connected in sequence. The yaw transmission rod 420 as the operation end is slidably arranged in the hollow channel of the tube body and can relatively move along the axial direction of the tube body. The yaw base 120 and the yaw connecting rod 410 constitute the execution end.

[0075] The yaw base is exposed outside the tube body, and one end of the yaw base is hinged to one end of the tube body, and the other end is connected with the jaw of the jaw assembly. In the radial direction of the tube body or the yaw direction, the hinge point between the yaw connecting rod and the yaw base is located outside the hinge point between the tube body and the yaw base.

[0076] More specifically, the two ends of the open-close connecting rod are pivotally connected with the adapter and one end of the open-close transmission rod 320 respectively, so as to control the opening or closing of the jaw assembly on the yaw base through the adapter.

[0077] The two ends of the yaw connecting rod 410 are pivotally connected with the yaw base and the yaw transmission rod 420 respectively, and the pivot directions of the yaw connecting rod 410, the yaw base 120 and the open-close connecting rod 310 are consistent, so as to control the pivoting of the yaw base at one end of the tube body.

[0078] It is easy to understand that the pivoting of the yaw base 120 and one end of the tube body switches the tube body 200 between the initial position and the yaw position. Referring to Figure 1 In the initial position, the yaw base 120 extends coaxially with the tube body 200; referring to Figure 5 、 Figure 6 and Figure 7 In the yaw position, an included angle is formed between the yaw base 120 and the tube body 200, and the included angle is obtuse, so that the jaw 110 at the other end of the yaw base 120 is yawed to a preset angle.

[0079] The switching of the jaw 110 of the surgical instrument end effector between the open and closed states is controlled by the opening and closing transmission assembly, while the switching of the yaw base 120 between the initial position and the yaw position is controlled by the yaw transmission assembly. It should be noted that the opening and closing movement plane of the jaw 110 and the yaw movement plane of the yaw base 120 can be parallel or intersecting, without limitation, and the perpendicular mode is used as an example in the embodiment.

[0080] The opening and closing transmission rod 320 and the yaw transmission rod 420 can independently move axially in the tube body 200 without interfering with each other, so as to facilitate the application of operating force to the opening and closing transmission rod 320 and the yaw transmission rod 420 for control. For example, the opening and closing transmission rod 320 and the yaw transmission rod 420 are placed in the hollow channel of the tube body 200; or one of them is a hollow structure and is sleeved outside the other.

[0081] In the embodiment, the distance between the two ends of the opening and closing link 310 is less than the distance between the two ends of the yaw link 410. Please refer to Figure 1 That is, the distance L1 between the two ends of the opening and closing link 310 is less than the distance L2 between the two ends of the yaw link 410. With the yaw angle as the demarcation, the region in the opening direction of the obtuse yaw angle is the inner side, and the region outside the yaw angle is the outer side. The opening and closing link 310 is located on the inner side of the yaw direction, and the yaw link 410 is located on the outer side of the yaw direction. Please refer to Figure 1 and Figure 6 When the jaw assembly is in the closed state, the position of the two ends of the opening and closing link 310 is not beyond the position of the two ends of the yaw link 410.

[0082] The inventor of the present application finds that the movement planes of the opening and closing link 310 and the yaw link 410 are parallel. When yawing, the opening and closing link 310 and the yaw link 410 form bidirectional hinged pivots on the inner and outer sides of the yaw angle respectively. In the process of driving the yaw link 410 to rotate and thereby driving the jaw assembly 100 to deflect on the pipe body 200 through the yaw transmission rod 420, the opening and closing transmission assembly is mainly driven. If the length ratio and positional relationship of the opening and closing link 310 and the yaw link 410 on the inner and outer sides of the yaw angle are not properly designed, on the one hand, transmission interference of the double rods may occur, resulting in a jamming phenomenon, affecting the operator's use; on the other hand, the length of the yawing part is also limited, so that the length between the hinge of the jaw 110 on the jaw assembly 100 and the hinge between the yaw base 120 and the pipe is difficult to further shorten under the condition of the same yaw angle, thereby limiting the operation space of the surgical instrument end effector in some situations. Therefore, in the present embodiment, the opening and closing link 310 and the yaw link 410 are designed such that the distance between the hinged shafts at both ends of the opening and closing link 310 is less than the distance between the hinged shafts at both ends of the yaw link 410, so that the length of the opening and closing link 310 can be less than the length of the yaw link 410. Not only can the jamming phenomenon caused by double transmission interference be reduced or even avoided to some extent, but also the use is more smooth under the condition of considering the yaw angle and the opening and closing angle, and the yaw length of the surgical instrument end effector can be reduced to some extent, providing more operation space for the user. In addition, the spatial position of the yawing end is more intuitive during operation, and it is easy to operate.

[0083] In some embodiments, as shown in Figures 1-4 the first end of the pipe body 200 is hinged to the first end of the yaw base 120 through a first hinged shaft 10. The first end of the opening and closing link 310 is hinged to the first end of the adapter through a second hinged shaft 20, and the second end is hinged to the first end of the opening and closing transmission rod 320 through a third hinged shaft 30. When the jaw assembly is in a closed state, the distance between the second hinged shaft 20 and the third hinged shaft 30 is greater than or equal to the distance between the first hinged shaft 10 and the third hinged shaft 30. Therefore, the yaw radius of the surgical instrument is small, which is easy to operate.

[0084] When the jaw assembly 100 is in a fully open state, the position of the first hinged shaft 10 is always between the second hinged shaft 20 and the third hinged shaft 30.

[0085] In some embodiments, as shown in Figure 5 , 6 and 7, the side wall of the yaw link 410 is provided with a clearance groove, and the clearance groove is opposite to the opening and closing link. There is a movement gap between the opening and closing link and the clearance groove when the yaw base 120 is in a yawing state.

[0086] In some embodiments, the projection of the axis of articulation between the opening-closing link 310 and the jaw assembly 100 and the projection of the axis of articulation between the tube 200 and the jaw assembly 100 coincide in the axial direction when the jaw assembly is in the closed state and the yaw base is in the initial state (coaxial with the tube). Figure 4 That is, the axis of the second articulation axis 20 and the axis of the first articulation axis 10 are approximately collinear. Considering the machining and assembly errors, the diameters of the first and second articulation axes, and the fact that the jaw 110 can not be fully closed due to the clamped object during actual use, the axial projections of the two articulation axes at least partially coincide. For example, if the diameters of the two articulation axes are the same, the coinciding area is at least half. In this way, since the two are approximately coincident, when yawing from this state, the opening-closing link 310 can remain relatively stationary, with little movement in the axial direction of the tube. During the entire yawing process, only the yawing link 410 and the yawing transmission rod 420 produce relative rotation, thus reducing the resistance to movement to some extent.

[0087] In some embodiments, the first end of the yawing link is articulated with the middle position of the yaw base through a fourth articulation axis 40. Please refer to Figure 2 , the axial direction of the fourth articulation axis 40 coincides with the axial direction of the first articulation axis 10. And in the radial direction of the yaw base, the fourth articulation axis 40 is located outside the first articulation axis 10. The second end of the yawing link is articulated with the first end of the yawing transmission rod 420 through a fifth articulation axis 50.

[0088] As shown in Figure 6 , when the jaw assembly is in the closed state and the yaw base is in the yawing state, the third articulation axis 30 and the fifth articulation axis 50 are located at the same position in the length direction of the tube 200. At this position, the third articulation axis 30 and the fifth articulation axis 50 have the minimum distance at this time, and both are located in the same radial plane of the tube 200.

[0089] In some embodiments, when the jaw assembly 100 is in the open state, especially in the fully open state, the position of the first articulation axis 10 is always located between the second articulation axis 20 and the third articulation axis 30.

[0090] In some embodiments, referring to Figure 2 , 3 , 4, 5, 8, 9 and 10, the jaw assembly 100 includes two jaws 110. The roots 111 of the two jaws 110 are respectively articulated with the second end of the yaw base 120 through a respective corresponding sixth articulation axis 60.

[0091] The second end of the adapter is hinged to the root of the jaw through the seventh hinge shaft 70. The axis of the sixth hinge shaft 60 and the seventh hinge shaft 70 are in the same direction. In the opening and closing direction of the jaw, the two seventh hinge shafts 70 corresponding to the jaw are respectively located on the two sides of the jaw closing surface and oppositely arranged. On the same jaw, the direction from the sixth hinge shaft 60 to the seventh hinge shaft forms an included angle between the closing surfaces of the two jaws, so as to further reduce the yaw radius of the surgical instrument, increase the opening and closing radius of the jaw, and facilitate the increase of the transmission force arm and the high force transmission efficiency. The included angle can refer to the angle A in Figure 9 and the angle B in Figure 11 .

[0092] In some embodiments, a guide hole 124 is arranged between the first end and the second end of the yaw base 120. Referring to Figure 6 , the adapter 500 is slidingly arranged in the guide hole 124. The first end of the adapter 500 is on the same side as the first end of the yaw base 120, and the second end of the adapter is on the same side as the second end of the yaw base 120. In the radial direction of the guide hole, the two seventh hinge shafts 70 of the second end of the adapter are oppositely arranged.

[0093] Specifically, as shown in Figure 9 , the jaw 110 includes a root 111 and a clamping portion 112 extending outwardly from the root 111, and the extension direction of the clamping portion 112 is the length direction of the jaw 110. The two jaws 110 are symmetrically distributed in the width direction, and the axis of the rotating shaft of the two jaws 110 is in the same direction as the thickness direction of the jaw 110.

[0094] The root of the jaw has a sliding surface, and the sliding surfaces of the roots of the two jaws are oppositely arranged and slidingly connected to the two opposite surfaces of the second end of the adapter 500. The two seventh hinge shafts 70 are respectively arranged on the corresponding surfaces corresponding to the two opposite surfaces of the second end of the adapter 500.

[0095] The opposite side of the root 111 of the jaw 110 is hinged to the corresponding connecting end of the adapter 500. The jaw 110 has a closing surface that can be closed when closed, and the closing surface is located on the clamping portion 112. With the closing surface of the jaw 110 as a boundary, on the same jaw 110, the hinge shafts of the jaw 110 and the yaw base 120 and the hinge shafts of the jaw 110 and the adapter 500 are respectively located on the two sides of the closing surface.

[0096] The sliding surface is provided with a sliding groove 113, and the seventh hinge shaft 70 is slidingly arranged in the sliding groove, and the sliding direction of the seventh hinge shaft 70 in the sliding groove intersects with the closing surfaces of the two jaws.

[0097] During the opening of the jaw assembly, the seventh hinge shaft 70 moves away from the pipe body 200 in the axial direction of the pipe body 200, and moves the seventh hinge shaft 70 from one side of the sixth hinge shaft 60 to the other side of the sixth hinge shaft in the axial direction of the pipe body.

[0098] In an example, the adapter 500 includes a sliding column 512 and a connecting plate 513 connected to the end of the sliding column 512. The sliding column 512 is slidingly connected in the guide hole 124 and can slide in the axial direction of the guide hole. Two seventh hinge shafts 70 are distributed in the radial direction of the sliding column 512.

[0099] When the jaw assembly is in an open state, the end of the sliding column 512 abuts against the jaw 110. When the jaw assembly is in a closed state, the end of the sliding column is maximally spaced from the jaw 110, see Figure 8 L3.

[0100] In an example, in the width direction of the jaw 110, the sliding groove 113 extends from one side of the root 111 to the other side. In an example, the extension direction of the sliding groove 113 is perpendicular to the extension direction of the clamping portion 112. The other end of the adapter 500 is hinged to the second connecting rod.

[0101] In an example, the root 111 of the jaw 110 is pie-shaped, and the two roots 111 of the two jaws 110 are opposite to each other, and the two surfaces opposite to the roots 111 form the sliding surface of the jaw 110.

[0102] When the jaw assembly is in a closed state, the extension direction of the sliding groove 113 is the same as the radial direction of the yaw base 120.

[0103] In other alternative embodiments, see Figure 11 , Figure 12 and Figure 13 , two sixth hinge shafts 60 corresponding to the jaw 110 are coaxially arranged. In the opening and closing direction of the jaw assembly, the sixth hinge shaft 60 is located between the two seventh hinge shafts 70.

[0104] The adapter includes a sliding rod 522 and a pair of fork arms 521. The sliding rod 522 is slidingly connected between the two ends of the yaw base 120. The first end of the sliding rod 522 is hinged to the opening and closing connecting rod, and the other end of the sliding rod 522 is hinged to one end of each of the two fork arms 521 through an eighth hinge shaft 80, and the other end of each of the two fork arms 521 corresponds to the seventh hinge shaft 70 and is hinged to the corresponding jaw through the corresponding seventh hinge shaft.

[0105] In some embodiments, the yawing transmission rod 420 has a hollow channel formed therein along a length direction of the yawing transmission rod 420, and the opening / closing transmission rod 320 is slidingly arranged in the hollow channel of the yawing transmission rod 420 and coaxial with the yawing transmission rod 420.

[0106] In some embodiments, the yawing transmission rod 420 comprises a second rod body 421 and a connecting portion 422 arranged outside an end of the second rod body 421. The yawing connecting rod 410 is hingedly connected to the connecting portion 422. The second rod body 421 is arranged in the tube body 200.

[0107] The tube body 200 is provided with a pair of support arms 210 extending in an axial direction and oppositely arranged in a radial direction. The connecting portion 422 is arranged between the two support arms 210.

[0108] One end of the yawing base 120 of the jaw assembly 100 is hingedly connected to the support arm 210.

[0109] In the initial state, the connecting portion 422 abuts against the tube opening of the tube body 200, and in the yawing state, the connecting portion 422 abuts against one end of the yawing base 120 of the jaw assembly 100.

[0110] In some embodiments, the yawing base 120 comprises a sleeve body 121, a pair of first connecting brackets 122 arranged at one end of the sleeve body 121, and a pair of second connecting brackets 123 arranged at the other end of the sleeve body 121. In a first radial direction of the sleeve body 121, the two first connecting brackets 122 are oppositely arranged, and the first connecting brackets 122 are used for being hingedly connected to the jaw 110. In a second radial direction of the sleeve body 121, the two second connecting brackets 123 are oppositely arranged, and the second connecting brackets 123 are used for being hingedly connected to the tube body 200. The first radial direction intersects the second radial direction. For example, the first radial direction is perpendicular to the second radial direction.

[0111] As shown in Figure 14 The present embodiments further provide a surgical instrument, which comprises a hand-held operating part and the surgical instrument end effector of the first aspect. The hand-held operating part is connected to the tube body 200, and the hand-held operating part is in transmission connection with the opening / closing transmission rod 320 and the yawing transmission rod 420 arranged in the tube body 200, respectively, and drives the opening / closing transmission rod 320 and the yawing transmission rod 420 to move in an axial direction of the tube body 200, respectively.

[0112] The above merely illustrates the specific implementation of the present application, but the protection scope of the present application is not limited to this, and the skilled in the art should understand that the present application includes but is not limited to the content described in the drawings and the above specific implementation. Any modification not deviating from the function and structural principle of the present application will be included in the scope of the claims.

Claims

1. A surgical instrument end effector, comprising a jaw assembly (100), an opening-closing transmission assembly, a yawing transmission assembly and a tube body (200), characterized in that, the opening-closing transmission assembly comprises a transmission adapter (500), an opening-closing connecting rod (310) and an opening-closing transmission rod (320) which are pivotally connected in sequence; the yawing transmission assembly comprises a yawing base (120), a yawing connecting rod (410) and a yawing transmission rod (420) which are pivotally connected in sequence; two ends of the yawing base (120) are pivotally connected with the tube body (200) and the jaw assembly (100) respectively; the opening-closing transmission rod (320) and the yawing transmission rod (420) are slidably arranged in the tube body (200), and the yawing connecting rod (410), the yawing base (120) and the opening-closing connecting rod (310) have the same pivot direction, so as to drive the jaw assembly (100) to open or close through the axial movement of the opening-closing transmission rod (320) along the tube body (200), and drive the yawing base to pivot at one end of the tube body through the axial movement of the yawing transmission rod (420) along the tube body (200); wherein the distance between the two ends of the opening-closing connecting rod (310) is smaller than the distance between the two ends of the yawing connecting rod (410); and when the jaw assembly is in a closed state, the position of the two ends of the opening-closing connecting rod (310) does not exceed the position of the two ends of the yawing connecting rod (410). 2.The surgical instrument end effector according to claim 1, characterized in that, the first end of the tube body (200) is hingedly connected with the first end of the yawing base through a first hinge shaft (10); the first end of the opening-closing connecting rod (310) is hingedly connected with the first end of the transmission adapter through a second hinge shaft (20), and the second end thereof is hingedly connected with the first end of the opening-closing transmission rod through a third hinge shaft (30); when the jaw assembly is in a closed state, the distance between the second hinge shaft (20) and the third hinge shaft (30) is greater than or equal to the distance between the first hinge shaft (10) and the third hinge shaft (30); and / or, when the jaw assembly (100) is in an open state, the position of the first hinge shaft (10) is always located between the second hinge shaft (20) and the third hinge shaft (30).

3. The surgical instrument end effector of claim 1, wherein, the side wall of the yawing connecting rod (410) is provided with a clearance groove, and the clearance groove is opposite to the opening-closing connecting rod; when the yawing base (120) is in a yawing state, there is a movement gap between the opening-closing connecting rod and the clearance groove.

4. The surgical instrument end effector of any of claims 1-3, wherein, the jaw assembly (100) comprises two jaws (110); the roots (111) of the two jaws (110) are hingedly connected with the second end of the yawing base (120) through a sixth hinge shaft (60) respectively; the second end of the transmission adapter is hingedly connected with the jaw roots through a seventh hinge shaft (70) respectively; the axis directions of the sixth hinge shaft (60) and the seventh hinge shaft (70) are consistent; In the opening and closing direction of the jaw, two seventh hinge shafts (70) corresponding to the jaw are respectively located on both sides of the jaw closing surface and oppositely arranged; on the same jaw, the direction from the sixth hinge shaft (60) to the seventh hinge shaft forms an included angle with the closing surface between the two jaws.

5. The surgical instrument end effector of claim 4, wherein, The first end and the second end of the deflection base (120) are provided with a guide hole (124) communicating between the two ends, the adapter (500) is slidingly arranged in the guide hole; and the first end of the adapter is on the same side as the first end of the deflection base (120), and the second end of the adapter is on the same side as the second end of the deflection base (120); in the radial direction of the guide hole, the two seventh hinge shafts at the second end of the adapter are oppositely arranged.

6. The surgical instrument end effector of claim 5, wherein, The root of the jaw has a sliding surface, and the sliding surfaces of the roots of the two jaws are oppositely arranged and slidingly connected with the two opposite surfaces of the second end of the adapter (510); the two seventh hinge shafts are respectively corresponding to the two opposite surfaces of the second end of the adapter and are arranged on the corresponding surfaces; The sliding surface is provided with a sliding groove (113), and the seventh hinge shaft (70) is slidingly arranged in the sliding groove, and the sliding direction of the seventh hinge shaft (70) in the sliding groove intersects with the closing surface of the two jaws.

7. The surgical instrument end effector of claim 5, wherein, In the opening process of the jaw assembly, the seventh hinge shaft (70) moves away from the pipe body (200) in the axial direction of the pipe body, and moves the seventh hinge shaft from one side of the sixth hinge shaft (60) to the other side of the sixth hinge shaft in the axial direction of the pipe body.

8. The surgical instrument end effector of claim 6, wherein, The adapter (510) includes a sliding column (512) and a connecting plate (513) connected to the end of the sliding column (512); the sliding column (512) is slidingly connected in the guide hole and can slide in the axial direction of the guide hole; two seventh hinge shafts (70) are distributed in the radial direction of the sliding column (512); In the case that the jaw assembly is in the open state, the end of the sliding column (512) abuts against the jaw (110); In the case that the jaw assembly is in the closed state, the end of the sliding column forms the maximum distance with the jaw (110).

9. The surgical instrument end effector of claim 4, wherein, Two sixth hinge shafts (60) corresponding to the jaw (110) are coaxially arranged; in the opening and closing direction of the jaw assembly, the sixth hinge shaft (60) is located between the two seventh hinge shafts (70); The adapter includes a sliding rod (522) and a pair of fork arms (521); the sliding rod (522) is slidingly connected between the two ends of the deflection base (120); the first end of the sliding rod (522) is hinged to the opening and closing connecting rod, and the other end of the sliding rod (522) is hinged to one end of the two fork arms (521), respectively, and the other end of the two fork arms (521) corresponds to the seventh hinge shaft (70) and is hinged to the corresponding jaw through the corresponding seventh hinge shaft.

10. The surgical instrument end effector of any of claims 1-3, wherein, The deflection transmission rod (420) forms a hollow channel, and the opening and closing transmission rod (320) is slidingly arranged in the hollow channel and coaxial with the deflection transmission rod (420); The yawing transmission rod (420) comprises a second rod body (421) and a connecting part (422) arranged outside the end of the second rod body (421); the yawing connecting rod (410) is hinged to the connecting part (422); and the second rod body (421) is arranged in the pipe body (200); A pair of support arms (210) are arranged at the pipe opening of the pipe body (200), the support arms (210) extend in the axial direction and are oppositely arranged in the radial direction; and the connecting part (422) is located between the two support arms (210); One end of the yawing base (120) is hinged to the support arm (210); In the initial state, one side of the connecting part (422) abuts against the pipe opening of the pipe body (200); In the yawing state, the other side of the connecting part (422) abuts against one end of the yawing base (120).

11. A surgical instrument comprising the surgical instrument end effector of any one of claims 1-10, wherein, A handheld operating part is further included, which is connected to the pipe body (200), and is in transmission connection with the opening / closing transmission rod (320) and the yawing transmission rod (420) respectively, and drives the axial movement of the opening / closing transmission rod (320) and the yawing transmission rod (420) respectively.

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