Surgical curved scissors and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses surgical curved scissors and a surgical robot system. The pair of surgical curved scissors comprises an arm body; the tool head is arranged at the far end of the arm body and comprises a supporting part fixedly arranged at the far end of the arm body; the first shearing part is fixedly arranged at the far end of the supporting part; the rotating part comprises a near end part and a second shearing part, the near end part is hinged to the supporting part, the second shearing part is arranged at the far end of the near end part, and the second shearing part is matched with the first shearing part; the driving assembly is connected with the near end part to drive the rotating part to open and close. The surgical curved scissors provided by the utility model are simple in structure and can be used for performing surgical operations such as shearing.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical instruments, and in particular to a surgical curved scissors and a surgical robot system. BACKGROUND

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

[0003] The surgical curved scissors is a common surgical tool used for cutting and other operations. However, the existing surgical curved scissors is large in size and difficult to be applied to laparoscopic surgery performed by a surgical robot system. UTILITY MODEL CONTENT

[0004] In some embodiments, the present disclosure provides a surgical curved scissors, comprising:

[0005] an arm body;

[0006] a tool head arranged at a distal end of the arm body, the tool head comprising:

[0007] a support portion fixedly arranged at the distal end of the arm body;

[0008] a first cutting portion fixedly arranged at a distal end of the support portion; and

[0009] a rotating member comprising a proximal end portion and a second cutting portion, the proximal end portion being rotatably connected to the support portion, the second cutting portion being arranged at a distal end of the proximal end portion, and the second cutting portion cooperating with the first cutting portion;

[0010] a driving assembly connected to the proximal end portion to drive the rotating member to open and close.

[0011] In some embodiments, the support portion comprises a rotating space and first and second bases oppositely arranged at two sides of the rotating space, the first cutting portion is fixedly arranged at a distal end of the first base, and a proximal end of the proximal end portion of the rotating member is arranged in the rotating space.

[0012] In some embodiments, the surgical curved scissors further comprises:

[0013] an insulating sleeve detachably sleeved outside the support portion.

[0014] In some embodiments, the first base comprises a first groove arranged laterally outside the distal end of the first base, and the first groove is capable of being engaged with at least a portion of the insulating sleeve; and / or

[0015] The second base comprises a second groove arranged laterally outside the distal end of the second base, and the second groove is capable of being engaged with at least a part of the insulating sleeve.

[0016] In some embodiments, the insulating sleeve comprises a protruding structure arranged circumferentially inside the distal end, and the protruding structure is capable of being engaged with the first groove and the second groove.

[0017] In some embodiments, the tool head further comprises:

[0018] a base, the support part being fixedly arranged at the distal end of the base;

[0019] The surgical curved scissors further comprises a connecting seat, and the connecting seat comprises:

[0020] a proximal connecting part for connecting with the distal end of the arm body; and

[0021] a distal connecting part sleeved on at least a part of the base.

[0022] In some embodiments, the driving assembly comprises:

[0023] a driving wire for receiving a pushing or pulling driving force; and

[0024] a sliding block connected with the distal end of the driving wire, the sliding block being connected with the rotating part and the support part through a pin structure.

[0025] In some embodiments, the first base comprises a first sliding groove, and the second base comprises a second sliding groove, the first sliding groove and the second sliding groove being oppositely arranged and extending along the length direction, and the proximal end part of the rotating part comprises a third sliding groove and a fourth sliding groove oppositely arranged.

[0026] In some embodiments, one end of the pin structure is slidably connected with the first sliding groove and the third sliding groove, and the other end of the pin structure is slidably connected with the second sliding groove and the fourth sliding groove.

[0027] In some embodiments, the base is in a cylindrical shape and comprises an internal cavity, and the driving wire penetrates through the internal cavity.

[0028] In some embodiments, the surgical curved scissors further comprises:

[0029] a sealing structure in a cylindrical shape, the sealing structure being arranged at least partially in the internal cavity, the sealing structure comprising an inner cylinder and an outer cylinder, a part of the inner cylinder being sealingly connected with the driving wire, and a part of the outer cylinder being sealingly connected with the inner circumferential surface of the base.

[0030] In some embodiments, the sealing structure further comprises a transition section arranged between the inner cylinder and the outer cylinder, at least a part of the transition section being stretchable.

[0031] In some embodiments, the driving wire is further used for conducting electricity to the support part and / or the rotating part.

[0032] In some embodiments, the arm body includes:

[0033] The first continuum structure includes:

[0034] The first base plate, multiple first spacer plates, and multiple first structural bones, with the multiple first structural bones passing through the multiple first spacer plates and the first base plate, and the proximal ends of the multiple first structural bones being used to receive push or pull drives to move the first continuum structure.

[0035] In some embodiments, the arm body further includes:

[0036] The second continuum structure includes:

[0037] The second base plate, multiple second spacer plates, and multiple second structural bones pass through multiple second spacer plates and the second base plate. The proximal ends of the multiple second structural bones are used to receive push or pull drives to move the second continuum structure. The first continuum structure is located at the distal end of the second continuum structure. Multiple first structural bones pass through multiple second spacer plates and the second base plate.

[0038] In some embodiments, this disclosure also provides a surgical robot system, including:

[0039] Operating room cart, including at least one robotic arm; and

[0040] Surgical bending shears, as in any of the embodiments of this disclosure, are disposed at the distal end of at least one robotic arm.

[0041] Some embodiments of this disclosure have one or more of the following technical effects: the surgical curved scissors can perform surgical operations such as mechanical cutting and electrical cutting; the surgical curved scissors have a simple and compact structure, are easy to assemble, and are easy to apply in minimally invasive surgery; they can prevent the outer periphery of the surgical curved scissors' tool head from burning the patient's tissue; the sealing structure, drive wire, and connecting seat can form an integral seal, which can prevent the patient's body fluids from penetrating into the internal structure of the surgical curved scissors during surgery, thereby facilitating thorough cleaning and disinfection of the surgical curved scissors and helping to avoid secondary infection. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0043] Figure 1 A schematic diagram of the structure of surgical bending scissors according to some embodiments of the present disclosure is shown;

[0044] Figure 2 A side view of the tool head of surgical curved scissors according to some embodiments of the present disclosure is shown;

[0045] Figure 3 A three-dimensional structural schematic diagram of the tool head of surgical curved scissors according to some embodiments of the present disclosure is shown;

[0046] Figure 4 A schematic diagram of the structure of the insulating sleeve of a surgical bending shear according to some embodiments of the present disclosure is shown;

[0047] Figure 5 A cross-sectional view of a portion of the structure of a surgical bending shear according to some embodiments of the present disclosure is shown;

[0048] Figure 6 A cross-sectional schematic diagram of the drive assembly and sealing structure according to some embodiments of the present disclosure is shown;

[0049] Figure 7 A schematic diagram of the structure of a first continuum of an arm body according to some embodiments of the present disclosure is shown;

[0050] Figure 8 A schematic diagram of the structure of a drive device according to some embodiments of the present disclosure is shown;

[0051] Figure 9 A schematic diagram of a surgical robot according to some embodiments of the present disclosure is shown.

[0052] List of reference numerals in the attached diagram:

[0053] 100. Surgical curved scissors; 10. Tool head; 11. Support part; 111. First base; 1111. First groove; 1112. First slide; 112. Second base; 1121. Second groove; 1122. Second slide;

[0054] 12. First shearing section; 13. Rotating component; 131. Proximal end; 1311. Fourth slide groove; 132. Second shearing section;

[0055] 14. Base; 141. Stepped structure; 142. Proximal section; 143. Distal section; C1. Groove structure;

[0056] 20. Arm body; 21. First continuous structure; 21a. First base plate; 21b-1, 21b-2, 21b-3. First spacer plates; 21c-1, 21c-2. First structural bone; 21d. First fixation plate;

[0057] 22. Second continuum structure; 22a. Second base plate; 22b. Second spacer plate; 22c. Second structural skeleton; 22d. Second fixing plate; 23. First straight rod segment; 24. Second straight rod segment;

[0058] 30. Drive assembly; 31. Drive wire; 32. Slider; 33. Pin structure;

[0059] 40. Insulating sleeve; 41. Proximal insulating sleeve; 411. Proximal portion; 412. First step structure; 413. Distal connection portion; 42. Distal insulating sleeve; 421. Distal portion; 422. Second step structure; 423. Proximal connection portion; 421. Protruding structure;

[0060] 50. Connector; 51. Proximal connector; 52. Distal connector;

[0061] 60. Sealing structure; 61. Inner cylinder; 62. Outer cylinder; 63. Transition section; 64. First sleeve; 65. Second sleeve;

[0062] 70. Drive unit; 71. First drive mechanism; 72. Second drive mechanism; 721. Bracket; 722. Lead screw; 723. Slider; 7231. Sleeve; 724. Motor; 725. Coupling;

[0063] 1000. Surgical robot system; 1010. Surgical trolley; 1011. Robotic arm; 1012. Surgical instruments; 1013. Drive unit; 1020. Main control trolley; 1021. Main operator. Detailed Implementation

[0064] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0065] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0066] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0067] In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear end, and the end opposite to the proximal end, proximal or rear end, or rear end is defined as the distal end, distal or front end, or front end. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal or front end, or front end, and the end opposite to the distal end, distal or front end, or front end is defined as the proximal end, proximal or rear end, or rear end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0068] Some embodiments of this disclosure provide a surgical curved scissors 100. Figure 1 A schematic diagram of a surgical scissors 100 according to some embodiments of the present disclosure is shown. In some embodiments, the surgical scissors 100 can be used in a surgical robot system, such as any suitable surgical robot system including a laparoscopic surgical robot system. In some embodiments, the surgical scissors 100 can be mounted on the distal end of at least one robotic arm of the surgical robot system, and the surgical scissors 100 can perform surgical operations under the control of the surgical robot system.

[0069] like Figure 1 As shown, the surgical curved scissors 100 may include a tool head 10 and an arm body 20. The tool head 10 may be located at the distal end of the arm body 20. Figure 2 A side view of the tool head 10 of a surgical curved scissors 100 according to some embodiments of the present disclosure is shown. Figure 2 As shown, the tool head 10 may include a support portion 11, a first shearing portion 12, and a rotating component 13. The support portion 11 may be fixedly disposed at the distal end of the arm body 20, for example, by means of adhesive bonding, welding, threaded connection, or other suitable methods, or by means of other components. The first shearing portion 12 may be fixedly disposed at the distal end of the support portion 11. For example, the first shearing portion 12 may be fixedly disposed at the distal end of the support portion 11 by means of welding, integral molding, or other suitable methods.

[0070] like Figure 2As shown, the rotating member 13 may include a proximal end portion 131 and a second shearing portion 132. The proximal end portion 131 may be rotatably connected to the support portion 11. In some embodiments, the support portion 11 may be hinged to the proximal end portion 131 by a pair of oppositely disposed pins. In other embodiments, the support portion 11 may be rotatably connected to the proximal end portion 131 of the rotating member 13 by a laterally disposed pivot shaft 113.

[0071] The second shearing part 132 can be disposed at the distal end of the proximal end 131, for example, by welding, integral molding, or other suitable means at the distal end of the proximal end 131. The second shearing part 132 can cooperate with the first shearing part 12. The first shearing part 12 and the second shearing part 132 can each include oppositely disposed blade portions. Those skilled in the art will understand that when the rotating member 13 rotates, the first shearing part 12 and the second shearing part 132 open and close, and the two blade portions disposed thereon interlock, thereby realizing the shearing operation.

[0072] like Figure 2 As shown, the surgical scissors 100 may further include a drive assembly 30. The drive assembly 30 may be connected to the proximal end 131 to drive the rotating member 13 to open and close, thereby driving the surgical scissors 100 to perform surgical operations such as cutting. In some embodiments, the distal end of the drive assembly 30 may be connected to the proximal end 131 of the rotating member 13 to drive the rotating member 13 to open and close. The proximal end of the drive assembly 30 may be used to receive a driving force, thereby causing the rotating member 13 to open and close under the action of the driving force.

[0073] Figure 3 A three-dimensional structural schematic diagram of the tool head 10 of a surgical curved scissors 100 according to some embodiments of the present disclosure is shown. Figure 3 As shown, the support portion 11 may include a rotation space and a first base 111 and a second base 112 disposed opposite to each other on both sides of the rotation space. The first shearing portion 12 may be fixedly disposed at the distal end of the first base 111. For example, the first shearing portion 12 may be fixed at the distal end of the first base 111 by a suitable method such as welding or integral molding. In some embodiments, the first base 111 and the second base 112 may extend distally to support the first shearing portion 12 and the second shearing portion 132 disposed at the distal end of the tool head 10.

[0074] like Figure 2 and Figure 3 As shown, the proximal end of the rotating member 13 can be disposed within the rotation space. When the tool head 10 is open, at least a portion of the proximal end of the proximal end 131 extends out of the rotation space. Those skilled in the art will understand that when the tool head 10 is closed, the proximal end 131 can retract into the rotation space.

[0075] In some embodiments, the first base 111 and the second base 112 may be plate-shaped and may be separated from each other so that the proximal end portion 131 of the rotating member 13 extends out of the rotation space. In other embodiments, the upper portions of the first base 111 and the second base 112 may be connected together, and the lower portions may be separated and spaced apart by a certain distance so that the proximal end portion 131 extends out of the rotation space at the lower portion.

[0076] In some embodiments, the cross-sections of the first base 111 and the second base 112 may be arc-shaped to expand the rotational space between them. In some embodiments, the outer peripheral surfaces of the first base 111 and the second base 112 may form part of a cylinder to facilitate the storage of the tool head 10 of the surgical curved scissors 100. Those skilled in the art will understand that this disclosure does not limit the shape of the first base 111 and the second base 112, and the first base 111 and the second base 112 may be any suitable shape, including the shapes described above.

[0077] The distal end of the drive assembly 30 may be located within the rotation space for connection with the rotating member 13. In some embodiments, the proximal end of the proximal end 131 of the rotating member 13 may include a first proximal end and a second proximal end that are disposed opposite to each other and separated from each other, so as to avoid the drive assembly 30 located within the rotation space during rotation. The distal end of the proximal end 131 may include a connecting portion that may be rotatably connected to the support portion 11. A second shearing portion 132 may be fixedly disposed at the distal end of the connecting portion.

[0078] In some embodiments, the surgical scissors 100 may also be connected to an external power source (e.g., a high-frequency energy generator) to conduct electricity to the tool head 10, thereby enabling the surgical scissors 100 to perform surgical operations such as electrocautery. Figure 4 A schematic diagram of the structure of the insulating sleeve 40 of a surgical bending scissors 100 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 4 As shown, the surgical scissors 100 may also include an insulating sleeve 40. The insulating sleeve 40 is detachably fitted over the support portion 11. Those skilled in the art will understand that the support portion 11 may include a conductive material, and the support portion 11 will also be conductive when an external power source conducts electricity to the tool head 10. Based on the insulating sleeve 40 fitted over the support portion 11, it is possible to prevent the support portion 11 from burning the patient's tissue.

[0079] like Figure 3As shown, in some embodiments, the first base 111 may include a first groove 1111. The first groove 1111 may be laterally disposed on the outer side of the distal end of the first base 111. The first groove 1111 is capable of engaging with at least a portion of the insulating sleeve 40. The second base 112 may include a second groove 1121, which may be laterally disposed on the outer side of the distal end of the second base 112. The second groove 1121 is capable of engaging with at least a portion of the insulating sleeve 40. Those skilled in the art will understand that at least a portion of the insulating sleeve 40 is capable of engaging with the first groove 1111 and the second groove 1121 to be fitted onto the tool head 10.

[0080] Figure 5 A cross-sectional view of a portion of the structure of a surgical bending shear 100 according to some embodiments of the present disclosure is shown. Those skilled in the art will understand that... Figure 5 The diagram shows a partial structure of the distal end of the surgical curved scissors 100, including a portion of the tool head 10, drive assembly 30, and insulating sleeve 40. In some embodiments, such as Figure 4 and Figure 5 As shown, the insulating sleeve 40 may include a proximal insulating sleeve 41 and a distal insulating sleeve 42, which can be tightly connected by a mutually mating connection structure to cover the outer peripheral surface of the tool head 10. For example, the proximal insulating sleeve 41 may include a proximal portion 411, a first step structure 412 disposed on the distal inner side of the proximal portion 411, and a distal connecting portion 413 located at the distal end of the first step structure 412. The outer diameter of the distal connecting portion 413 may be the same as the outer diameter of the proximal portion 411, and the inner diameter may be larger than the inner diameter of the proximal portion 411. The distal insulating sleeve 42 may include a distal portion 421, a second step structure 422 disposed on the proximal outer side of the distal portion 421, and a proximal connecting portion 423 located at the proximal end of the second step structure 422. The inner diameter of the proximal connecting portion 423 may be the same as the inner diameter of the distal portion 421, and the outer diameter may be smaller than the outer diameter of the distal portion 421. In the connected state, the distal connecting portion 413 of the proximal insulating sleeve 41 can be fitted over the proximal connecting portion 423 of the distal insulating sleeve 42. The distal edge of the distal connecting portion 413 can abut against the second stepped structure 422, and the distal edge of the proximal connecting portion 423 can abut against the first stepped structure 412. In some embodiments, adhesive can be applied between the inner circumferential surface of the distal connecting portion 413 and the outer circumferential surface of the proximal connecting portion 423 to make the connection tighter. In other embodiments, the proximal insulating sleeve 41 and the distal insulating sleeve 42 can be integrally formed.

[0081] like Figure 5As shown, the insulating sleeve 40 may include a protruding structure 421 disposed circumferentially on the inner side of its distal end. For example, the protruding structure 421 may be disposed on the inner side of the distal end of the insulating sleeve 42 of the insulating sleeve 40. The protruding structure 421 may engage with a first groove 1111 and a second groove 1121 disposed on the outer side of the distal ends of the first base 111 and the second base 112. In some embodiments, the protruding structure 421 may be annular, and a portion of the protruding structure 421 may engage with the first groove 1111 and the second groove 1121. In other embodiments, the protruding structure 421 may include multiple segments disposed circumferentially and spaced apart from each other, and engage with the first groove 1111 and the second groove 1121 respectively. Those skilled in the art will understand that this disclosure does not limit the shape of the protruding structure 421, and the shape of the protruding structure 421 may be any suitable shape including the shapes described above.

[0082] In some embodiments, such as Figure 2 and Figure 3 As shown, the tool head 10 may also include a base 14. A support portion 11 may be fixedly disposed at the distal end of the base 14. In some embodiments, the support portion 11 may be fixedly disposed at the distal end of the base 14 by a suitable method such as welding or integral molding. The surgical curved scissors 100 may also include a connecting seat 50. The connecting seat 50 may include a proximal connecting portion 51 and a distal connecting portion 52. The proximal connecting portion 51 is used for connection to the distal end of the arm body 20. The distal connecting portion 52 may be sleeved on at least a portion of the base 14. Figure 2 As shown, the radial dimension of the proximal connector 51 may be smaller than that of the distal connector 52. In some embodiments, the proximal connector 51 may extend into the distal structure of the arm body 20 to connect with the arm body 20.

[0083] like Figure 3 As shown, in some embodiments, the base 14 may include a stepped structure 141, a proximal segment 142 located near the proximal end of the stepped structure 141, and a distal segment 143 located far from the proximal end of the stepped structure 141. The distal segment 143 may be used to support the first base 111 and the second base 112. The connecting seat 50 may be located near the proximal end of the stepped structure 141 and fitted onto the proximal segment 142. In some embodiments, the proximal segment 142 may further include a groove structure C1 arranged circumferentially on the outer side, and the connecting seat 50 may include a protrusion structure (not shown) arranged circumferentially on the inner side. Based on this, it is beneficial to improve the stability of the connection between the connecting seat 50 and the proximal segment 142. In some embodiments, glue may be applied to the connection between the base 14 and the connecting seat 50 to stabilize the connection and prevent the patient's bodily fluids from seeping into the internal structure of the surgical scissors 100 through the gap between the base 14 and the connecting seat 50 during surgery.

[0084] like Figures 3 to 5As shown, in some embodiments, the drive assembly 30 may include a drive wire 31 and a slider 32. The drive wire 31 can be used to receive a pushing or pulling driving force. In some embodiments, the proximal end of the drive wire 31 can receive a pushing or pulling driving force from a surgical robot system (e.g., the drive structure of the surgical robot system). The slider 32 can be connected to the distal end of the drive wire 31. In some embodiments, the distal end of the drive wire 31 can be fixedly connected to the slider 32 by any suitable means (e.g., snap-fit, welding, etc.) so that the drive wire 31 can drive the slider 32 to move when it receives a driving force. In some embodiments, the slider 32 can be cylindrical, cubic, or irregularly shaped.

[0085] like Figure 2 and Figure 3 As shown, the slider 32 can be connected to the rotating member 13 and the support portion 11 via the pin structure 33. In some embodiments, the first base 111 may include a first slide groove 1112, and the second base 112 may include a second slide groove 1122. The first slide groove 1112 and the second slide groove 1122 may be arranged opposite to each other and both extend along the length direction. The proximal end portion 131 of the rotating member 13 may include a third slide groove (not shown) and a fourth slide groove 1311 arranged opposite to each other. In some embodiments, the third slide groove and the fourth slide groove 1311 may be respectively provided on the first proximal end portion and the second proximal end portion located at the proximal end portion 131 and separated from each other. In some embodiments, the position of the third slide groove may correspond to the position of the first slide groove 1112, and the position of the fourth slide groove 1311 may correspond to the position of the second slide groove 1122.

[0086] In some embodiments, one end of the pin structure 33 may be slidably connected to the first slide groove 1112 and the third slide groove, and the other end of the pin structure 33 may be slidably connected to the second slide groove 1122 and the fourth slide groove 1311. In some embodiments, the pin structure 33 may be fixedly inserted into the slider 32 radially. In other embodiments, the pin structure 33 may include two parts fixedly disposed on opposite sides of the slider 32 radially. Those skilled in the art will understand that the pin structure should be interpreted broadly and may include columnar components, columnar protrusions, bumps, etc.

[0087] Those skilled in the art will understand that, Figure 2 and Figure 3 In the open state, the surgical scissors 100 are in the closed state. When the surgical scissors 100 are in the closed state, the slider 32 can be located at the proximal end of the rotation space. In some embodiments, the drive wire 31 receives a pushing force, pushing the slider 32 connected to its distal end from the proximal end to the distal end, for example, moving it to... Figure 2 or Figure 3The position of slider 32 is shown in the diagram. Driven by pin structure 33 connected to slider 32, rotating member 13 rotates, and surgical scissors 100 open. When surgical scissors 100 are in the open state, under the pulling force received by drive wire 31, surgical scissors 100 can close under the pull of slider 32, thereby enabling the surgical operation of cutting.

[0088] like Figure 3 As shown, in some embodiments, the base 14 is cylindrical and includes an internal cavity through which the drive wire 31 passes. Based on this, the drive wire 31 can pass through the base 14, thereby connecting the distal end to the slider 32. The proximal end of the drive wire 31 can extend proximally via the base 14, thereby connecting to a drive structure located proximally.

[0089] In some embodiments, the surgical scissors 100 can be used to achieve monopolar functionality, such as performing surgical operations like monopolar electrocautery. In some embodiments, the drive wire 31 can also be used to conduct electricity to the tool head 10 (e.g., the support 11 and / or the rotating member 13). The proximal end of the drive wire 31 can be connected to the energy interface of the surgical scissors 100 to receive energy from an external power source (e.g., a high-frequency energy generator). In some embodiments, the drive wire 31 can be used to conduct electricity to the support 11 and the rotating member 13. The slider 32, the pin structure 33, the support 11, and the rotating member 13 can all comprise conductive materials. Electrical energy can be transmitted from the drive wire 31 to the slider 32, and then via the pin structure 33 to the support 11 and the rotating member 13. Based on this, the first shearing section 12 and the second shearing section 132 can be made conductive, allowing the user to perform monopolar surgical operations through either the first shearing section 12 or the second shearing section 132.

[0090] In other embodiments, the drive wire 31 can be used to conduct electricity to the rotating member 13. The drive wire 31, slider 32, pin structure 33, and rotating member 13 can form a conductive path. Electrical energy can be transferred from the drive wire 31 to the slider 32, and then to the rotating member 13 via the pin structure 33. Based on this, the second shear portion 132 at the distal end of the rotating member 13 can be conductive, and the user can perform unipolar surgical operations through the second shear portion 132. In some embodiments, both ends of the pin structure 33 can be covered with an insulating layer to insulate it from the support portion 11. The outer surface of the rotating member 13 can be covered with an insulating layer to insulate it from the support portion 11. In other embodiments, the support portion 11 may include an insulating material or be covered with an insulating layer to insulate it from the rotating member 13. In some embodiments, the outer peripheral surface of the drive wire 31 can also be covered with an insulating layer to insulate it from structures such as the support portion 11. Those skilled in the art will understand that the structure for insulating the support portion 11 from the conductive path is not limited to the structures listed above, but can be any suitable structure.

[0091] In some embodiments, the drive wire 31 can be used to conduct electricity to the support portion 11. The drive wire 31, slider 32, pin structure 33, and support portion 11 can form a conductive path. Electrical energy can be transmitted from the drive wire 31 to the slider 32, and then via the pin structure 33 to the support portion 11. Based on this, the first shearing portion 12 at the distal end of the support portion 11 can be conductive, and the user can perform unipolar surgical operations through the first shearing portion 12. In some embodiments, the outer peripheral surface of the pin structure 33 can be covered with an insulating layer to insulate it from the rotating member 13, and the two ends of the pin structure 33 may not have an insulating layer to conduct electricity to the support portion 11. In some embodiments, the inner side of the support portion 11 may include an insulating layer that is already insulated from the rotating member 13. In other embodiments, the rotating member 13 may include an insulating material or be covered with an insulating layer to insulate it from the support portion 11, pin structure 33, and slider 32. In some embodiments, the outer peripheral surface of the slider 32 may be covered with an insulating layer to insulate it from the rotating member 13. Those skilled in the art will understand that the structure for insulating the rotating member 13 from the conductive path is not limited to the structures listed above, and can be any suitable structure.

[0092] In some embodiments, the surgical scissors 100 may include various forms of sealing structures and employ various sealing methods to reduce contamination of the surgical scissors 100 (especially the internal structure of the surgical scissors 100) by the patient's blood and exudates.

[0093] Figure 6 A schematic cross-sectional view of the drive assembly 30 and the sealing structure 60 according to some embodiments of the present disclosure is shown. In some embodiments, the surgical bending shear 100 may include, for example, Figure 6 The diagram shows a cylindrical sealing structure 60. The sealing structure 60 may be at least partially disposed within the internal cavity to seal a structure located near the proximal end of the internal cavity. For example... Figure 6 As shown, the sealing structure 60 may include an inner cylinder 61 and an outer cylinder 62, with the outer cylinder 62 sleeved over the inner cylinder 61. Figure 6 As shown, in some embodiments, the sealing structure 60 may further include a transition section 63 located between the inner cylinder 61 and the outer cylinder 62, at least a portion of the transition section 63 being retractable.

[0094] like Figure 6As shown, a portion of the inner cylinder 61 of the sealing structure 60 can be sealingly connected to the drive assembly 30. For example, the inner surface of the inner cylinder 61 of the sealing structure 60 can be sealingly connected to the drive wire 31 of the drive assembly 30, for example, by bonding, thermoforming, or fastening with a ring clamp (e.g., a first clamp 64), etc. A portion of the outer cylinder 62 of the sealing structure 60 can be sealingly connected to the base 14. For example, the outer circumferential surface of the outer cylinder 62 of the sealing structure 60 can be sealingly connected to the inner circumferential surface of the base 14, for example, by bonding, thermoforming, or any suitable method. In some embodiments, the inner cylinder 61, the outer cylinder 62, and the transition section 63 can be integrally formed or connected by a suitable method such as bonding.

[0095] Based on this, during surgery, the drive wire 31 and the structure at the proximal end of the base 14 can be isolated from the surgical environment, thereby preventing bodily fluids from the patient and bacteria from the outside from entering the interior of the surgical scissors 100 (e.g., the interior of the arm body 20 and the base 14) through the pores. When cleaning and disinfecting the surgical scissors 100, the surgical scissors 100 can be cleaned without disassembling it, only the exposed parts of the surgical scissors 100 (e.g., the tool head 10), thereby improving the convenience of repeated cleaning and disinfection of the surgical scissors 100 and reducing or avoiding secondary infections.

[0096] In some embodiments, such as Figure 6 As shown, the sealing structure 60 may further include a first sleeve 64 fitted onto the outside of the inner cylinder 61 to ensure a tight and sealed connection between the sealing structure 60 and the drive wire 31 or the slider 32. The first sleeve 64 further enhances the sealing performance between the sealing structure 60 and the drive wire 31, helping to reduce the risk of slippage of the sealing structure 60 during telescopic movement. Figure 6 As shown, the sealing structure 60 may also include a second sleeve 65 disposed on the inner side of the outer cylinder 62, which can improve the sealing performance between the outer cylinder 62 and the base 14 of the sealing structure 60.

[0097] In some embodiments, at least a portion of the transition section 63 may include an elastic, stretchable material, such as rubber or a thermoplastic elastomer, or a flexible material, such as plastic or nonwoven fabric. In some embodiments, at least a portion of the transition section 63 may include a pleated portion that can extend or contract. Based on this, when the surgical scissors 100 open and close, and the drive assembly 30 and the tool head 10 move relative to each other (e.g., the slider 32 moves axially), the sealing structure 60 can adaptively deform, and the inner cylinder 61 of the sealing structure 60 can follow the movement of the drive assembly 30 under its influence. Therefore, sealing is achieved without affecting the relative movement between the drive assembly 30 and the tool head 10.

[0098] In some embodiments, the arm 20 may be a flexible arm to increase the degrees of freedom of the surgical scissors 100 and improve the flexibility of the surgical scissors 100 in performing surgical operations within the body. For example... Figure 1 As shown, in some embodiments, the arm 20 of the surgical scissors 100 may include a first continuum structure 21. Figure 7 A schematic diagram of the first continuum structure 21 of the arm body 20 according to some embodiments of the present disclosure is shown. For example... Figure 7 As shown, the first continuum structure 21 may include a first base disk 21a and a plurality of first spacer disks (e.g., Figure 7 The first spacer discs 21b-1, 21b-2, 21b-3 shown) and multiple first structural bones (e.g., Figure 7 The first structural bones 21c-1, 21c-2, etc., are shown. Multiple first structural bones pass through multiple first spacer discs and first base discs 21a. The proximal ends of these multiple first structural bones are used to receive pushing or pulling forces to move the first continuous structure 21. (See example...) Figure 1 As shown, the first continuum structure 21 may further include a first fixed disk 21d, and the tool head 10 may be disposed at the distal end of the first fixed disk 21d.

[0099] like Figure 7 As shown, multiple first spacer discs can be spaced apart to enhance the stability of multiple first structural bones when pushed or pulled. Figure 7 The first continuum structure 21 shown includes three first spacer disks. Those skilled in the art will understand that the number of first spacer disks included in the first continuum structure 21 is not limited to three, and the first continuum structure 21 may include any suitable number of first spacer disks.

[0100] In some embodiments, the first base disk 21a, the first spacer disk, and the first fixed disk 21d can be in the shape of a ring structure, a disk structure, or other suitable structures, and their cross-sections can be in various shapes such as circles, rectangles, and polygons.

[0101] In some embodiments, such as Figure 1 As shown, the arm body 20 may further include a second continuous structure 22. The structure of the second continuous structure 22 can be similar to that of... Figure 7 The structure of the first continuum structure 21 shown is similar. For example... Figure 1 As shown, the second continuum structure may include a second base disk 22a and a plurality of second spacer disks (e.g., Figure 1 The second spacer disc 22b shown) and multiple second structural bones (e.g., Figure 1 The second structural bone 22c shown is a plurality of second structural bones 22c passing through a plurality of second spacer discs 22b and a second base disc 22a. The proximal ends of the plurality of second structural bones 22c are used to receive push or pull drives to move the second continuum structure.Figure 1 As shown, the first continuum structure 21 is located at the distal end of the second continuum structure 22, and multiple first structural bones 21c pass through multiple second spacer discs 22b and second base discs 22a. In some embodiments, as Figure 1 As shown, the second continuum structure 22 may further include a second fixation disc 22d. The distal ends of multiple second structural bones 22c are fixedly connected to the second fixation disc 22d.

[0102] like Figure 1 As shown, multiple second spacer discs 22b can be spaced apart to enhance the stability of the multiple second structural bones 22c when pushed or pulled. Similar to the first continuous structure 21, the second continuous structure may include any suitable number of second spacer discs 22b.

[0103] In some embodiments, the second base disk 22a, the second spacer disk 22b, and the second fixed disk 22d can be in the shape of a ring structure, a disk structure, or other suitable structures, and their cross-sections can be in various shapes such as circles, rectangles, and polygons.

[0104] In some embodiments, the arm 20 may further include a first straight rod segment 23 disposed between the first continuous structure 21 and the second continuous structure. In some embodiments, such as Figure 1 As shown, the second fixed plate 22d of the second continuum structure can be fixedly connected to the proximal end of the first straight rod segment 23. In some embodiments, the arm body 20 may also include a second straight rod segment 24 connected to the proximal end of the second continuum structure. For example, in a surgical robot system, during surgical procedures using surgical scissors 100, the surgical scissors 100 extend into the patient's body through an opening (e.g., an incision or natural opening, etc.), and the second straight rod segment 24 may pass through the opening.

[0105] Those skilled in the art will understand that the structure used to increase the degrees of freedom of the arm 20 is not limited to a continuous structure, but can also be a snake bone structure, a combination of rods and joints, or other suitable structures.

[0106] The proximal ends of multiple first structural bones 21c and multiple second structural bones 22c can be connected to a drive device. Figure 8 A schematic diagram of a drive device 70 according to some embodiments of the present disclosure is shown. In some embodiments, the drive device 70 may include a first drive mechanism 71. Figure 8 As shown, the first drive mechanism 71 is connected to the proximal end of the surgical bending scissors 100. In some embodiments, multiple first structural bones ( Figure 8 Not shown, for example Figure 7 The first structural bone 21c-1 and 21c-2) and / or multiple second structural bones ( Figure 8 Not shown, for example Figure 1The second structural bone 22c passes through multiple second spacer discs 22b and a second base disc 22a and connects to the first drive mechanism 71. The first drive mechanism 71 drives the first continuous structure 21 to bend in different directions in space by pushing and pulling multiple first structural bones, and drives the second continuous structure 22 to bend in different directions in space by pushing and pulling multiple second structural bones 22c.

[0107] In some embodiments, the first drive mechanism 71 may include a plurality of double-ended screw assemblies, each double-ended screw assembly including a double-ended screw and a pair of sliders threadedly connected to two threaded segments of the double-ended screw. The double-ended screw can be driven to rotate, thereby causing the pair of sliders to move in opposite directions at the same speed. The pair of sliders may be connected to a pair of symmetrical first structural bones 21c or second structural bones 22c, thereby pushing and pulling the pair of symmetrical first structural bones 21c or second structural bones 22c, causing the first continuous structure 21 or second continuous structure 12 to bend.

[0108] In some embodiments, the first drive mechanism 71 may include a proximal continuum, and the first continuum structure 21 or the second continuum structure 22 may be connected to the proximal continuum to form a linked dual continuum. The proximal continuum can be driven to bend by the double-ended screw assembly, thereby causing the first continuum structure 21 or the second continuum structure 22 to bend.

[0109] In some embodiments, such as Figure 8 As shown, the drive device may further include a second drive mechanism 72, which is connected to the arm 20 of the surgical scissors 100 (e.g., via the first drive mechanism 71) through the first drive mechanism 71. Figure 1 The second drive mechanism 72 is connected to the arm body 20 in the middle and is used to drive the arm body 20 to feed or retract, thereby enabling the surgical curved shears 100 to feed or retract, or enter or exit the patient's body. In some embodiments, the second drive mechanism 72 may be a linear drive mechanism for driving the arm body 20 to move linearly.

[0110] In some embodiments, the second drive mechanism 72 may include a base and a drive unit. The base can be used to support the first drive mechanism 71, and the drive unit is used to drive the base forward or backward. In some embodiments, the second drive mechanism 72 may include a bracket 721 with a slide groove, on which a lead screw 722 is rotatably mounted. A slider 723 is fitted onto the lead screw 722 as a base. The slider 723 is threadedly engaged with the lead screw 722 and slidably disposed in the slide groove of the bracket 721. A motor 724, serving as a second drive unit, may be mounted at one end of the bracket 721. The output shaft of the motor 724 may be fixedly connected to the lead screw 722 via a coupling 725.

[0111] In some embodiments, the second drive mechanism 72 may further include a sleeve 7231 for mounting the first drive mechanism 71. The sleeve 7231 may be mounted on the slider 723, or the sleeve 7231 may be integrally formed with the slider 723. The motor 724 drives the lead screw 722, thereby driving the slider 723 and the sleeve 7231 to move linearly along the groove, thereby realizing the feed motion of the surgical scissors 100. Those skilled in the art will understand that the second drive mechanism 72 is not limited to the above structure; any drive mechanism capable of realizing the feed motion of the surgical tool is within the scope of this disclosure.

[0112] Some embodiments of this disclosure also provide a surgical robot system 1000. Figure 9 A schematic diagram of a surgical robot 1000 according to some embodiments of the present disclosure is shown. Figure 9 As shown, the surgical robot system 1000 may include a surgical cart 1010 and at least one surgical scissor as described in any of the embodiments of this disclosure, for example... Figure 1 The surgical scissors 100 are shown. The surgical cart 1010 may include at least one robotic arm 1011. The at least one robotic arm 1011 may be as follows: Figure 9 The positioning arm of the surgical robot system shown. The distal end of at least one robotic arm 1011 may carry at least one surgical instrument 1012, such as surgical scissors 100, clamps, endoscopes, etc.

[0113] In some embodiments, the surgical robot system 1000 may further include a master control carriage 1020. The surgical carriage 1010 and the master control carriage 1020 can be connected via wired or wireless transmission. The master control carriage 1010 may include at least one master operator 1021 for receiving user operations. During surgery, the user can control the surgical instruments 1012 (e.g., surgical scissors 100) mounted on the surgical carriage 1010 to perform operations by operating the master operator 1021 of the master control carriage 1020. The surgical carriage 1010 is typically located on the patient side and performs surgical operations on the patient in response to control commands from the master control carriage 1020. In some embodiments, the user can also adjust the position and orientation of the surgical scissors 100 by operating the master operator 1021.

[0114] In some embodiments, the surgical cart 1010 of the surgical robot system 1000 may further include at least one drive unit 1013. The at least one drive unit 1013 may be disposed between at least one surgical instrument 1012 and at least one robotic arm 1011, and the at least one drive unit 1013 may be used to drive the at least one surgical instrument 1012 to move and perform surgical operations. Figure 9As shown, the surgical cart 1010 may include a single robotic arm 1011, and multiple drive units 1013 may be disposed at the distal end of the robotic arm 1011. The structure of at least one drive unit 1013 may be consistent with... Figure 8 The structure of the drive unit 70 shown is similar and will not be described again to avoid repetition. Those skilled in the art will understand that the operating table of the surgical robot system 1000 may also include multiple robotic arms.

[0115] Those skilled in the art will understand that the surgical robot 1000 provided in this embodiment can be any suitable surgical robot, including laparoscopic surgical robots.

[0116] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A type of surgical curved scissors, characterized in that, include: Arm and body; A tool head, disposed at the distal end of the arm body, the tool head comprising: The support portion is fixedly installed at the distal end of the arm body; The first shearing part is fixedly disposed at the distal end of the support part; A rotating member includes a proximal end portion and a second shearing portion, the proximal end portion being rotatably connected to the support portion, the second shearing portion being disposed at the distal end of the proximal end portion, and the second shearing portion cooperating with the first shearing portion; and An insulating sleeve is detachably fitted over the support portion; The support includes a rotation space and a first base and a second base disposed opposite to each other on both sides of the rotation space. The first shearing part is fixedly disposed at the far end of the first base, and the proximal end of the proximal end of the rotating member is disposed within the rotation space. The first base includes a first groove, which is laterally disposed on the outer side of the distal end of the first base and is capable of engaging with at least a portion of the insulating sleeve; and / or, the second base includes a second groove, which is laterally disposed on the outer side of the distal end of the second base and is capable of engaging with at least a portion of the insulating sleeve. A drive assembly is connected to the proximal end to drive the rotating member to open and close.

2. The surgical curved scissors according to claim 1, characterized in that, The insulating sleeve includes a protrusion structure disposed circumferentially on the inner side of the distal end, the protrusion structure being capable of engaging with the first groove and the second groove.

3. The surgical curved scissors according to claim 1, characterized in that, The tool head also includes: The base, wherein the support portion is fixedly disposed at the distal end of the base; The surgical curved scissors also include a connecting seat, the connecting seat comprising: Proximal connector for connection to the distal end of the arm body; and The distal connection portion is fitted onto at least a portion of the base.

4. The surgical bending scissors according to claim 3, characterized in that, The driving component includes: A drive wire, used to receive the driving force of pushing or pulling; and The slider is connected to the distal end of the drive wire, and the slider is connected to the rotating member and the support part by a pin structure.

5. The surgical curved scissors according to claim 4, characterized in that, The first base includes a first slide groove, the second base includes a second slide groove, the first slide groove and the second slide groove are arranged opposite to each other and both extend along the length direction, and the proximal end of the rotating member includes a third slide groove and a fourth slide groove arranged opposite to each other.

6. The surgical bending scissors according to claim 5, characterized in that, One end of the pin structure is slidably connected to the first slide groove and the third slide groove, and the other end of the pin structure is slidably connected to the second slide groove and the fourth slide groove.

7. The surgical bending scissors according to claim 4, characterized in that, The base is cylindrical and includes an internal cavity, through which the drive wire passes.

8. The surgical curved scissors according to claim 7, characterized in that, Also includes: A sealing structure, in the form of a cylinder, is at least partially disposed within the internal cavity. The sealing structure includes an inner cylinder and an outer cylinder. A portion of the inner cylinder is sealed to the drive wire, and a portion of the outer cylinder is sealed to the inner circumferential surface of the base.

9. The surgical curved scissors according to claim 8, characterized in that, The sealing structure further includes a transition section disposed between the inner cylinder and the outer cylinder, at least a portion of which is retractable.

10. The surgical curved scissors according to claim 4, characterized in that, The drive wire is also used to conduct electricity to the support and / or rotating parts.

11. The surgical bending scissors according to any one of claims 1 to 10, characterized in that, The arm body includes: A first continuum structure, comprising: A first base plate, a plurality of first spacer plates, and a plurality of first structural bones, the plurality of first structural bones passing through the plurality of first spacer plates and the first base plate, the proximal ends of the plurality of first structural bones being used to receive push or pull drives to move the first continuum structure.

12. The surgical bending scissors according to claim 11, characterized in that, The arm also includes: The second continuum structure includes: The system comprises a second base plate, multiple second spacer plates, and multiple second structural bones, the multiple second structural bones passing through the multiple second spacer plates and the second base plate. The proximal ends of the multiple second structural bones are used to receive push or pull drives to move the second continuum structure. The first continuum structure is located at the distal end of the second continuum structure. The multiple first structural bones pass through the multiple second spacer plates and the second base plate.

13. A surgical robot system, characterized in that, include: Operating room cart, including at least one robotic arm; as well as The surgical bending scissors as described in any one of claims 1-12, wherein the surgical bending scissors are disposed at the distal end of the at least one robotic arm.

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