Surgical instrument and medical system

Abstract

The utility model provides a surgical instrument and a medical system. The surgical instrument comprises a shaft part, a first joint seat, a second joint seat, a tail end executing assembly and a wire. The shaft portion extends along a central axis. The first joint seat is arranged at the far end of the shaft part. The near end of the second joint seat is rotatably connected to the far end of the first joint seat around a first axis through a first rotating shaft. The end execution assembly is rotatably connected to the far end of the second joint seat around a second axis through a second rotating shaft. One end of the wire is connected to the end execution assembly, and the other end extends to the near end of the shaft part. The center line of the wire intersects the first axis and the second axis. In the process that the tail end execution assembly rotates relative to the first joint base, the length of the section, between the tail end execution assembly and the first joint base, of the wire is kept unchanged. According to the utility model, the reliability of the wire at the first joint seat can be improved, thereby achieving the purpose of protecting the wire.

Description

Technical Field

[0001] This utility model generally relates to the technical field of medical devices, and more specifically to a surgical instrument and medical system. Background Technology

[0002] In robot-assisted minimally invasive surgery, surgical instruments attached to the end effector of the robot enter the body through incisions or natural orifices on the surface to manipulate internal tissues. These surgical instruments primarily consist of actuators at the front end (e.g., surgical forceps, cutting tools, or cauterization tools), wrist joints, axial joints, and / or other joints providing multiple degrees of freedom for the actuators, a main circuit extending from the rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument. The actuators and joints at the front end are typically driven by multiple drive cables fixed to them, which run through the main circuit of the surgical instrument and are driven by the rear-end transmission device. The wrist joint typically achieves pitch, yaw, and other degrees of freedom movements driven by the drive cables.

[0003] For electrosurgical instruments, lead wires are typically required. One end of the lead wire connects to the tissue contact portion of the actuator, and the other end connects to the electrosurgical energy generator. In related technologies, because the wrist joint pulls on the lead wire during movement, it is usually necessary to bind the lead wire to the joint drive wire. This causes the lead wire and the bound joint drive wire to be subjected to tension during joint movement, reducing the lead wire's lifespan. How to rationally arrange the lead wires within a confined space is crucial to the performance and lifespan of the surgical instrument. Utility Model Content

[0004] The utility model description section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the first aspect of this utility model provides a surgical instrument, the surgical instrument comprising:

[0006] A shaft portion that extends along a central axis;

[0007] A first joint seat is disposed at the distal end of the shaft portion;

[0008] The proximal end of the second joint seat is rotatably connected to the distal end of the first joint seat via a first pivot about a first axis.

[0009] An end effector assembly, the end effector assembly being rotatably connected to the distal end of the second articulation seat via a second pivot about a second axis; and

[0010] A wire, one end of which is connected to the end effector assembly, and the other end of which extends to the proximal end of the shaft portion, wherein the centerline of the wire intersects the first axis and the second axis;

[0011] During the rotation of the end effector relative to the first joint seat, the length of the conductor in the section between the end effector and the first joint seat remains unchanged.

[0012] According to the surgical instrument of the first aspect of this utility model, during the movement of the end effector relative to the first articulator, the total length of the section of the wire located between the end effector and the first articulator remains unchanged, thereby preventing the portion of the wire connected to or in contact with the first articulator from moving relative to the first articulator. With this configuration, when the end effector moves, it is not necessary to pull the wire relative to the first articulator, thus reducing or avoiding pulling on the wire and friction between the wire and the first articulator, thereby improving the reliability of the wire at the first articulator and achieving the purpose of protecting the wire.

[0013] Optionally, the proximal end of the second joint seat has a first cavity, the first cavity opening toward the first joint seat, the wire passing through the first cavity and extending toward the end effector, the first cavity penetrating the second joint seat at least in a direction perpendicular to both the central axis and the first axis, and the first pivot extending outside the first cavity.

[0014] Optionally, the first cavity is defined by at least a first inner wall surface and a second inner wall surface perpendicular to the first axis, and the distance between the first inner wall surface and the second inner wall surface is greater than the diameter of the wire.

[0015] Optionally, when the surgical instrument is in a neutral state, the guide wire extends along the central axis between the end effector and the second articular seat.

[0016] Optionally, the end effector includes an insulating seat and a tissue contact portion, the tissue contact portion being fixed to the distal end of the insulating seat, the proximal end of the insulating seat having a second cavity, the second cavity opening toward the second joint seat, the wire passing through the second cavity and connecting to the tissue contact portion, the second cavity penetrating the insulating seat at least in a direction perpendicular to both the central axis and the second axis, and the second pivot extending outside the second cavity.

[0017] Optionally, the second cavity is defined by at least a third inner wall surface and a fourth inner wall surface perpendicular to the second axis, the distance between the third inner wall surface and the fourth inner wall surface being greater than the diameter of the wire.

[0018] Optionally, the second joint seat has a second wire passage for the wire to pass through, and the insulating seat has a third wire passage. When the surgical instrument is in a neutral state, the second wire passage and the third wire passage are aligned along the central axis.

[0019] Optionally, the surgical instrument further includes:

[0020] A first flexible member, connected to the second joint seat, is used to drive the second joint seat to rotate relative to the first joint seat about the first axis; and

[0021] A second flexible element is connected to the end effector assembly and is used to drive the end effector assembly to rotate about the second axis relative to the second articulator.

[0022] Optionally, the first flexible member includes a first flexible portion and a second flexible portion, the first flexible portion and the second flexible portion being located on opposite sides of the conductor along a direction parallel to the first axis.

[0023] The second joint seat includes a first guide groove and a second guide groove extending around the first axis. The extension trajectories of the first guide groove and the second guide groove are perpendicular to the first axis. The first guide groove and the second guide groove are located on both sides of the conductor in a direction parallel to the first axis. The first guide groove is used to accommodate the first flexible portion of the portion when the end effector rotates, and the second guide groove is used to accommodate the second flexible portion of the portion when the end effector rotates.

[0024] Optionally, the second flexible member includes a third flexible portion and a fourth flexible portion, the third flexible portion and the fourth flexible portion being located on opposite sides of the conductor along a direction parallel to the second axis.

[0025] The end effector includes an insulating base, the insulating base including a third guide groove and a fourth guide groove extending about the second axis, the extension trajectories of the third guide groove and the fourth guide groove being perpendicular to the second axis, the third guide groove and the fourth guide groove being located on both sides of the conductor in a direction parallel to the second axis, the third guide groove being used to accommodate the third flexible portion of the portion when the end effector rotates, and the fourth guide groove being used to accommodate the fourth flexible portion of the portion when the end effector rotates.

[0026] A second aspect of this utility model provides a medical system, the medical system comprising:

[0027] A slave operating device, the slave operating device including at least one robotic arm; and

[0028] The surgical instruments described above are operably mounted on the robotic arm.

[0029] According to the medical system of the second aspect of the present invention, by using the above-described surgical instruments, the lead wire can be protected during the rotation of the end effector relative to the first joint seat. Attached Figure Description

[0030] The following drawings, which illustrate embodiments of the present invention, are incorporated herein as part of the present invention for understanding the invention. The drawings show embodiments of the present invention and their descriptions, serving to explain the principles of the present invention. In the drawings,

[0031] Figure 1 This is a schematic diagram of a medical system according to an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of a patient-side robot according to an embodiment of this application;

[0033] Figure 3 This is a perspective view of the distal end of a surgical instrument according to an embodiment of the present application, wherein the surgical instrument is in a neutral position.

[0034] Figure 4 for Figure 3 Exploded stereoscopic view of the distal end of the surgical instrument shown;

[0035] Figure 5 This is another perspective view of the distal end of a surgical instrument according to an embodiment of the present application, wherein the surgical instrument is in a neutral state, and the first joint seat and the second joint seat are omitted in the figure.

[0036] Figure 6 This is another perspective view of the distal end of a surgical instrument according to an embodiment of the present application, wherein the surgical instrument is in a neutral state, and the first joint seat and the second joint seat are shown in dashed lines in the figure.

[0037] Figure 7 A cross-sectional view of the distal end of a surgical instrument according to an embodiment of this application, wherein the cutting plane coincides with a first plane and the surgical instrument is in a neutral state;

[0038] Figure 8 Another cross-sectional view of the distal end of a surgical instrument according to an embodiment of this application, wherein the cutting plane coincides with a second plane and the surgical instrument is in a neutral state;

[0039] Figure 9 A front view of the second joint seat according to an embodiment of this application, viewed from the proximal end to the distal end; and

[0040] Figure 10 This is a frontal view of the end-effector according to an embodiment of the present application, viewed from the near end to the far end.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100: Surgical instruments; 120: End effector.

[0043] 121: Insulating base; 121a: Second cavity

[0044] 121a1: Third inner wall surface; 121a2: Fourth inner wall surface

[0045] 121a3: Third guiding surface; 121a4: Fourth guiding surface

[0046] 121d: Third guide groove; 121e: Fourth guide groove

[0047] 121f: Third guide channel; 122: Tissue contact area

[0048] 123: Second rotating shaft; 130: Shaft section

[0049] 150: Rear-end transmission device; 101: Wire.

[0050] 102: First flexible component; 102a: First flexible part

[0051] 102b: Second flexible part; 103: Second flexible component

[0052] 103a: Third flexible section; 103d: Fourth flexible section

[0053] 105: Pin 110: First joint seat

[0054] 111: First leg; 111a: First shaft hole

[0055] 111b: Pin hole; 112: First limiting part

[0056] 113: First support section; 113a: First cable passage

[0057] 140: Second joint seat; 140a: First guide groove

[0058] 140b: Second cable tray; 141: Second support leg

[0059] 141a: Second shaft hole; 142: Second support part

[0060] 142a: Second cable guide channel; 143: First rotating shaft

[0061] 144: First cavity; 144a: First inner wall surface

[0062] 144b: Second inner wall surface; 144c: First guide surface

[0063] 144d: Second guiding surface

[0064] 145: Second limiting part; 147: First guide groove

[0065] 148: Second guide groove; 160: Guide wheel assembly

[0066] 170: First guide wheel assembly; 171: First guide wheel component

[0067] 172: Second guide wheel component; 180: Second guide wheel assembly

[0068] 181: Third guide wheel component; 182: Fourth guide wheel component

[0069] 200: Medical System 210: Doctor's Console

[0070] 220: Patient-side robot; 221: Robotic arm

[0071] 222: Mechanical arm; 230: Imaging device

[0072] AX1: First axis line; AX2: Second axis line

[0073] AX3: Third axis; AX: Central axis

[0074] TP1: First plane; TP2: Second plane Detailed Implementation

[0075] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the present invention.

[0076] To fully understand the embodiments of this utility model, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this utility model is not limited to the specific details familiar to those skilled in the art.

[0077] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of the invention. The singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0078] The ordinal numbers such as "first" and "second" used in this utility model are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this utility model are for illustrative purposes only and are not intended to be limiting.

[0079] In this invention, the terms "distal" and "proximal" are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator. In remotely operated surgical robot systems, the "operator" refers to the patient-side robot that holds and actuates the surgical instruments.

[0080] The terms “center,” “parallel,” “perpendicular,” “aligned,” and “symmetrical” used in this invention do not have to be precise, but can include typical engineering tolerances.

[0081] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings, which show representative embodiments of the present invention and are not intended to limit the present invention.

[0082] The medical system 200 according to an embodiment of the present invention is a surgical robot system capable of remotely controlling and performing surgery. See also... Figure 1 The medical system 200 may include a doctor's console 210, a patient-side robot 220, and an imaging device 230, which can communicate with each other.

[0083] The doctor's control console 210 includes a display unit for showing the environment of the surgical instruments 100, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments 100, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 210 also has other control switches that are easily touched or pressed by hand or foot for various functional operations and human-computer interaction.

[0084] The imaging device 230 includes a display screen, an endoscope controller, system electronics, an image processor, etc. In some examples, the imaging device 230 can be set up independently of the doctor's console 210 and the patient-side robot 220. In other examples, the imaging device 230 can be integrated into the doctor's console 210 and / or the patient-side robot 220.

[0085] See Figure 2 The patient-side robot 220 can also be referred to as a surgical device. The patient-side robot 220 may include at least one robotic arm 221, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 221 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument 100). The end effector of the robotic arm 221 is provided with a holding arm 222, on which the surgical instrument 100 is detachably mounted. The surgical instrument 100 may be an instrument for performing surgical procedures, such as an electrocautery device, clamp, or vascular occluder; it may also be a camera for acquiring images of the surgical area, such as an endoscope; or other surgical instruments.

[0086] In some applications, the robotic arm 221 can be configured to move mechanically around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port through which the surgical instrument enters the patient's abdominal cavity. During the surgery, manipulating the robotic arm 221 causes the holding arm 222 to drive the surgical instrument 100 to perform pitch, yaw, insertion, and rotation movements. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision caused by the surgical instrument 100.

[0087] See also Figure 2The surgical instrument 100 includes, from proximal to distal, a rear-end drive 150, a shaft 130, and an end effector 120. The rear-end drive 150 is connected to a drive unit located within the surgical arm 222. The rear-end drive 150 can be connected to the end effector 120 via a transmission assembly, and the transmission assembly brakes the end effector 120. The transmission assembly may include a push-pull rod, a line, a rope, a belt, etc. The shaft 130 connects the rear-end drive 150 and the end effector 120, separating them and supporting the end effector 120. The end effector 120 may include tools for surgical operations such as tissue cutting, such as hooks, spatulas, needles, clamps, scissors, etc., or an endoscope lens for image acquisition.

[0088] Furthermore, a joint, such as a pitch joint or a yaw joint, can be provided between the end effector 120 and the shaft 130 to improve the mobility of the end effector 120. The rear drive unit 150 can drive the joint to move through a drive assembly such as a push-pull rod, a line, a rope, or a belt.

[0089] For surgical instruments 100 that require energy release (such as electrosurgical instruments 100), it is usually necessary to connect the end effector 120 to the energy source via a wire 101. Energy (such as electrical energy) is transferred to the end effector 120 via the wire 101 and released, so that the end effector 120 can perform operations such as cutting and hemostasis on tissue.

[0090] Since the lead wire 101 is connected to the end effector 120, the movement of the end effector 120 can easily cause the lead wire 101 to move along with it. Therefore, when designing the routing of the lead wire 101, the following design requirements need to be met: the lead wire 101 should be kept away from the surgical instrument 100 to avoid affecting the surgical procedure; excessive pulling on the lead wire 101 should be prevented, as the lead wire 101 is easily damaged under the combined effects of tension and friction; and the parts of the surgical instrument 100 should be prevented from excessively compressing the lead wire 101, causing damage to the lead wire 101.

[0091] In some designs, the lead wire 101 is bound to the end effector 120 or the transmission component of the wrist joint, and the movement of the transmission component pulls the lead wire 101, which can meet some of the above requirements to a certain extent. However, the inventors have found that when this solution is applied to devices with smaller diameters and more compact structures, the friction experienced by the lead wire 101 in the confined space will increase. Therefore, a greater pulling force is required to make the lead wire 101 move with the end effector 120 and the transmission component, which will accelerate the damage of the lead wire 101, thereby reducing the reliability and service life of the device.

[0092] Based on this, the surgical instrument 100 and the medical system 200 having the surgical instrument 100 proposed in the embodiments of this application can improve or solve at least one of the above problems.

[0093] See Figure 3 The surgical instrument 100 includes, from proximal to distal, a shaft portion 130, a first articular seat 110, a second articular seat 140, and an end effector assembly 120.

[0094] The shaft portion 130 extends along the central axis AX. For example, the shaft portion 130 may be an elongated tube, with a hollow interior for housing the transmission components and the wires 101. In some examples, the shaft portion 130 may be designed as two or more sections that can move relative to each other, depending on the needs of the movement of the instrument.

[0095] The first joint seat 110 is disposed at the distal end of the shaft portion 130. For example, the first joint seat 110 may be fixed to the shaft portion 130. Or, for example, the first joint seat 110 may be connected to the shaft portion 130 by a parallel motion mechanism or a serpentine joint, so that the first joint seat 110 may move relative to the shaft portion 130.

[0096] The proximal end of the second articular seat 140 is rotatably connected to the distal end of the first articular seat 110 about a first axis AX1, for example via a first pivot 143, to form a pitch joint of the surgical instrument 100. Movement of the second articular seat 140 relative to the first articular seat 110 enables pitch movement of the end effector 120 relative to the first articular seat 110 and the shaft portion 130.

[0097] The end effector 120 is rotatably connected to the distal end of the second articular seat 140 about a second axis AX2, for example via a second pivot 123, to at least form a yaw joint of the surgical instrument 100. Movement of the end effector 120 relative to the second articular seat 140 enables yaw movement of the end effector 120 relative to the first articular seat 110 and the shaft portion 130.

[0098] One end of the wire 101 is connected to the end effector 120, and the other end extends to the proximal end of the shaft 130 for connection to an energy source. During the movement of the end effector 120 relative to the first articulator 110, the length of the section of the wire 101 between the end effector 120 and the first articulator 110 remains constant.

[0099] During the movement of the end effector 120 relative to the first articulation seat 110, one end of the wire 101 connected to the end effector 120 moves with the end effector 120. The fact that the length of the segment of wire 101 between the end effector 120 and the first articulation seat 110 remains constant means that, during the movement of the end effector 120 relative to the first articulation seat 110, the portion of the wire 101 connected to or in contact with the first articulation seat 110 will not move relative to the first articulation seat 110. For example, a portion of the wire 101 may be fixedly connected to the first articulation seat 110.

[0100] With the above settings, when the end effector 120 moves, it is not necessary to pull the wire 101 relative to the first joint seat 110, thereby reducing or avoiding the pulling of the wire 101 and the friction between the wire 101 and the first joint seat 110, thus protecting the wire 101.

[0101] For example, the guide wire 101 includes a first segment extending between the first joint seat 110 and the second joint seat 140, and a second segment extending between the second joint seat 140 and the end effector 120. During rotation of the end effector 120 relative to the first joint seat 110, the length of the first segment and the sum of the lengths of the second segment of the guide wire 101 remain constant. In some examples, both the length of the first segment and the length of the second segment of the guide wire 101 remain constant.

[0102] The fact that the lengths of the first and second segments of the conductor 101 remain constant means that, during the movement of the end effector 120 relative to the first joint seat 110, the end of the first segment furthest from the end effector 120 will not move relative to the first joint seat 110, and the end of the first segment closest to the end effector 120 (the end of the second segment furthest from the end effector 120) will not move relative to the second joint seat 140. In one example, the end of the first segment furthest from the end effector 120 may be fixedly connected to the first joint seat 110, and the end of the first segment closest to the end effector 120 (the end of the second segment furthest from the end effector 120) may be fixedly connected to the second joint seat 140.

[0103] Therefore, when the end effector 120 moves, it is not necessary to pull the wire 101 relative to the first joint seat 110 and the second joint seat 140, thereby reducing or avoiding the pulling of the wire 101 and the friction between the wire 101 and the first joint seat 110 and the second joint seat 140, and further protecting the wire 101.

[0104] In other words, during the movement of the end effector 120 relative to the first joint seat 110, one end of the first segment of the wire 101 does not move relative to the first joint seat 110, and the other end of the first segment of the wire 101 does not move relative to the second joint seat 140. Here, one end of the first segment of the wire 101 can be understood as the portion of the first segment of the wire 101 that corresponds to the first joint seat 110. The other end of the first segment of the wire 101 can be understood as the portion of the first segment of the wire 101 that corresponds to the second joint seat 140, that is, the portion of the second segment of the wire 101 that corresponds to the second joint seat 140. This ensures that the wire 101 does not move relative to the first joint seat 110 and the second joint seat 140 due to the movement of the end effector 120 relative to the first joint seat 110, thereby reducing or avoiding friction between the wire 101 and the first joint seat 110 and the second joint seat 140, thus improving the reliability of the wire 101 at the first joint seat 110 and the second joint seat 140, and achieving the purpose of protecting the wire 101.

[0105] See Figure 3 , Figure 4 ,as well as Figures 7 to 9 Exemplarily, a first cavity 144 is formed at the proximal end of the second articulator 140. The first cavity 144 opens toward the first articulator 110. The wire 101 passes through the first cavity 144 and extends toward the end effector 120. The first cavity 144 extends through the second articulator 140 at least in a direction perpendicular to both the central axis AX and the first axis AX1. By forming the first cavity 144 at the proximal end of the second articulator 140, and by allowing the wire 101 to pass through the first cavity 144, the wire 101 can be routed while simultaneously allowing the wire 101 to move adaptively during rotation of the second articulator 140, preventing it from being pulled. When the second articulator 140 moves relative to the first articulator 110 to a position deviating from the neutral state, the first segment adaptively bends. That is, the radius of curvature of the first segment of the wire 101 changes as the second articulator 140 moves about the first axis AX1, while the length of the first segment of the wire 101 remains constant.

[0106] See Figure 7 and Figure 9Optionally, the first cavity 144 is defined at least by a first inner wall surface 144a and a second inner wall surface 144b perpendicular to the first axis AX1. This can be understood as the first cavity 144 being defined at least by the first inner wall surface 144a and the second inner wall surface 144b, which are arranged opposite to and spaced apart along the first axis AX1. The distance between the first inner wall surface 144a and the second inner wall surface 144b is greater than the diameter of the wire 101. This allows the wire 101 to move relative to the first inner wall surface 144a and the second inner wall surface 144b, thereby reducing friction and pulling on the wire 101 from the inner wall of the first cavity 144.

[0107] See Figure 8 and Figure 9 Furthermore, the first cavity 144 is also defined by the first guide surface 144c and the second guide surface 144d shown in the figure. The first guide surface 144c and the second guide surface 144d each traverse and connect the first inner wall surface 144a and the second inner wall surface 144b. The first guide surface 144c and the second guide surface 144d are used to conform to the routing pattern of the wire 101 when the second joint seat 140 rotates about the first axis AX1, so as not to pull on the wire 101, and at the same time, to a certain extent, to restrict the direction of the wire 101 and prevent the wire 101 from exceeding the solid part of the second joint seat 140.

[0108] When the distal end of the surgical instrument 100 is in a neutral state, the first axis AX1 is perpendicular to and intersects the central axis AX, and the first axis AX1 and the central axis AX define a first plane TP1. The first plane TP1 is a virtual plane. When the distal end of the surgical instrument 100 is in a neutral state, the first plane TP1 intersects with the first inner wall surface 144a and the second inner wall surface 144b, respectively, and the first guide surface 144c and the second guide surface 144d are arranged opposite each other on both sides of the second plane TP2.

[0109] See 7 and Figure 8 For example, the second joint seat 140 has a second wire passage 142a through which the wire 101 passes. The second wire passage 142a communicates with the first cavity 144, so that the wire 101 can pass out of the second joint seat 140 through the second wire passage 142a. When the surgical instrument 100 is in a neutral state, the second wire passage 142a extends along the central axis AX.

[0110] See Figures 4 to 7 ,as well as Figure 10Exemplarily, the end effector 120 includes an insulating base 121 and a tissue contact portion 122. The tissue contact portion 122 is fixed to the distal end of the insulating base 121. A second cavity 121a is formed at the proximal end of the insulating base 121. The second cavity 121a opens toward the second articulation seat 140. A wire 101 passes through the second cavity 121a and connects to the tissue contact portion 122. The second cavity 121a extends through the insulating base 121 at least in a direction that is simultaneously perpendicular to the central axis AX and the second axis AX2. By forming the second cavity 121a at the proximal end of the insulating base 121, and by allowing the wire 101 to pass through the second cavity 121a, the wire 101 is allowed to travel while simultaneously allowing the wire 101 to move adaptively during rotation of the insulating base 121, preventing it from being pulled. When the end effector 120 moves relative to the second articulation seat 140 to a position deviating from the neutral state, the second segment adaptively bends. That is, the radius of curvature of the second segment of the conductor 101 changes as the end effector 120 moves about the second axis AX2, while the length of the second segment of the conductor 101 remains constant.

[0111] See Figure 8 and Figure 10 Optionally, the second cavity 121a is defined at least by a third inner wall surface 121a1 and a fourth inner wall surface 121a2 perpendicular to the second axis AX2. This can be understood as the second cavity 121a being defined at least by the third inner wall surface 121a1 and the fourth inner wall surface 121a2, which are arranged opposite to and spaced apart along the second axis AX2. The distance between the third inner wall surface 121a1 and the fourth inner wall surface 121a2 is greater than the diameter of the wire 101. This allows the wire 101 to move relative to the third inner wall surface 121a1 and the fourth inner wall surface 121a2, thereby reducing friction and pulling on the wire 101 from the inner wall of the second cavity 121a.

[0112] See Figure 7 and Figure 10 Furthermore, the second cavity 121a is also defined by the third guide surface 121a3 and the fourth guide surface 121a4 shown in the figure. The third guide surface 121a3 and the fourth guide surface 121a4 are arranged opposite to each other on both sides of the second axis AX2. The third guide surface 121a3 and the fourth guide surface 121a4 each traverse and connect the third inner wall surface 121a1 and the fourth inner wall surface 121a2. The third guide surface 121a3 and the fourth guide surface 121a4 are used to conform to the routing pattern of the wire 101 when the end effector 120 rotates about the second axis AX2, so as not to pull on the wire 101, and at the same time, to a certain extent, restrict the direction of the wire 101 and prevent the wire 101 from exceeding the solid part of the end effector 120. Optionally, the third guide surface 121a3 and the fourth guide surface 121a4 are arranged symmetrically.

[0113] When the distal end of the surgical instrument 100 is in a neutral state, the second axis AX2 is perpendicular to and intersects the central axis AX, and the second axis AX2 and the central axis AX define the second plane TP2. The second plane TP2 is a virtual plane. When the distal end of the surgical instrument 100 is in a neutral state, the second plane TP2 intersects the third inner wall surface 121a1 and the fourth inner wall surface 121a2, respectively, and the third guide surface 121a3 and the fourth guide surface 121a4 are arranged opposite each other on both sides of the first plane TP1.

[0114] See Figure 7 and Figure 8 For example, the insulating base 121 has a third wire passage 121f. The third wire passage 121f communicates with the second cavity 121a, allowing the wire to pass through the third wire passage 121f and connect to the tissue contact portion 122. When the surgical instrument 100 is in a neutral state, the second wire passage 142a extends along the central axis AX. Therefore, when the surgical instrument 100 is in a neutral state, the second wire passage 142a and the third wire passage 121f are aligned along the central axis AX.

[0115] In this embodiment, the tissue contact portion 122 can be a tool such as a hook, shovel, or needle used to contact tissue and release energy. Correspondingly, the number of wires 101 can be one. The wire 101 is used to deliver energy to the tissue contact portion 122, such that energy is transferred to and released via the wire 101. In this embodiment, the energy is electrical energy.

[0116] See Figures 3 to 8 For example, the transmission assembly of the surgical instrument 100 includes a first flexible element 102 and a second flexible element 103. The first flexible element 102 is connected to a second articulated seat 140 and is used to drive the second articulated seat 140 to rotate relative to the first articulated seat 110 about a first axis AX1. The second flexible element 103 is connected to an end effector 120 (specifically, an insulating seat 121) and is used to drive the end effector 120 to rotate relative to the second articulated seat 140 about a second axis AX2.

[0117] Optionally, the first flexible member 102 includes a first flexible portion 102a and a second flexible portion 102b. The first flexible portion 102a and the second flexible portion 102b are located on both sides of the guide wire 101 in a direction parallel to the first axis AX1. The second joint seat 140 includes a first guide groove 147 and a second guide groove 148 extending around the first axis AX1. The respective extension paths of the first guide groove 147 and the second guide groove 148 are perpendicular to the first axis AX1. The first guide groove 147 and the second guide groove 148 are located on both sides of the guide wire 101 in a direction parallel to the first axis AX1. That is, the first guide groove 147 and the second guide groove 148 are located on both sides of the first cavity 144 in a direction parallel to the first axis AX1. The first guide groove 147 is used to receive the first flexible portion 102a when the second joint seat 140 rotates relative to the first joint seat 110. The second guide groove 148 is used to receive the second flexible portion 102b when the second joint seat 140 rotates relative to the first joint seat 110.

[0118] The first flexible part 102a and the second flexible part 102b are each partially wrapped around the first axis AX1 in the second joint seat 140, and the first flexible part 102a and the second flexible part 102b are wrapped in opposite directions in the second joint seat 140.

[0119] During the rotation of the second joint seat 140 driven by the first flexible member 102, the first flexible part 102a and the second flexible part 102b move in opposite directions. In other words, during the rotation of the second joint seat 140 relative to the first joint seat 110, the winding length of one of the first flexible part 102a and the second flexible part 102b on the second joint seat 140 becomes shorter, while the winding length of the other of the first flexible part 102a and the second flexible part 102b on the second joint seat 140 becomes longer, and the sum of the lengths of the first flexible part 102a and the second flexible part 102b remains unchanged.

[0120] Optionally, the second flexible member 103 includes a third flexible portion 103a and a fourth flexible portion 103d. The third flexible portion 103a and the fourth flexible portion 103d are located on both sides of the conductor 101 in a direction parallel to the second axis AX2. Furthermore, the third flexible portion 103a and the fourth flexible portion 103d are located on both sides of the first flexible member 102 in a direction parallel to the second axis AX2. The insulating seat 121 includes a third guide groove 121d and a fourth guide groove 121e extending around the second axis AX2. The respective extension trajectories of the third guide groove 121d and the fourth guide groove 121e are perpendicular to the second axis AX2. The third guide groove 121d and the fourth guide groove 121e are located on both sides of the conductor 101 in a direction parallel to the second axis AX2. That is, the third guide groove 121d and the fourth guide groove 121e are located on both sides of the second cavity 121a in a direction parallel to the second axis AX2. The third guide groove 121d is used to receive the third flexible portion 103a of the portion when the end effector 120 rotates relative to the second joint seat 140. The fourth guide groove 121e is used to receive the fourth flexible portion 103d of the portion when the end effector 120 rotates relative to the second joint seat 140.

[0121] The third flexible portion 103a and the fourth flexible portion 103d are each partially wound around the second axis AX2 on the insulating base 121, and the winding directions of the third flexible portion 103a and the fourth flexible portion 103d on the insulating base 121 are opposite.

[0122] During the rotation of the end effector assembly 120 driven by the second flexible member 103, the third flexible portion 103a and the fourth flexible portion 103d move in opposite directions. In other words, during the rotation of the end effector assembly 120 relative to the second joint seat 140, the winding length of one of the third flexible portion 103a and the fourth flexible portion 103d on the insulating seat 121 becomes shorter, while the winding length of the other of the third flexible portion 103a and the fourth flexible portion 103d on the insulating seat 121 becomes longer, and the sum of the lengths of the third flexible portion 103a and the fourth flexible portion 103d remains unchanged.

[0123] Furthermore, to save axial space and reduce interference between the second flexible member 103 and the second joint seat 140, a first wire guide groove 140a and a second wire guide groove 140b are provided on opposite sides along the first axis AX1. One of the first wire guide groove 140a and the second wire guide groove 140b is used to guide and accommodate the third flexible part 103a, and the other is used to guide and accommodate the fourth flexible part 103d.

[0124] See Figures 3 to 8Exemplarily, the surgical instrument 100 includes at least one set of guide wheel assemblies 160. The at least one set of guide wheel assemblies 160 is disposed on and rotatable relative to the first joint seat 110. The guide wheel assemblies 160 are arranged sequentially in a direction parallel to the central axis AX1. One set of guide wheel assemblies 160 is rotatable about the first axis AX1. A second flexible member 103 is sequentially wound around each set of guide wheel assemblies 160. By adding the guide wheel assemblies 160, the direction of the second flexible member 103 on the first joint seat 110 is guided, reducing the impact of pitch joint movement on the length of the second flexible member 103 and preventing the second flexible member 103 from detaching from the first joint seat 110 and affecting the operation of the surgical instrument.

[0125] Optionally, at least one set of guide wheel assemblies 160 may include a first guide wheel assembly 170 and a second guide wheel assembly 180. The first guide wheel assembly 170 is rotatable about a first axis AX1 relative to the first joint seat 110. The second guide wheel assembly 180 is located axially near the first guide wheel assembly 170 at the shaft portion 130. The second guide wheel assembly 180 is rotatable about a third axis AX3 relative to the first joint seat 110. The third axis AX3 is parallel to the first axis AX1. A second flexible member 103 extends from the end effector 120 and is sequentially wound around the first guide wheel assembly 170 and the second guide wheel assembly 180.

[0126] The first guide wheel assembly 170 includes a first guide wheel member 171 and a second guide wheel member 172 arranged along a first axis AX1. The second guide wheel assembly 180 includes a third guide wheel member 181 and a fourth guide wheel member 182 arranged along a third axis AX3. The third guide wheel member 181 and the fourth guide wheel member 182 are respectively arranged in a one-to-one correspondence with the first guide wheel member 171 and the second guide wheel member 172. A third flexible part 103a is sequentially wound around the first guide wheel member 171 and the third guide wheel member 181 from the insulating base 121 to the distal side. A fourth flexible part 103d is sequentially wound around the second guide wheel member 172 and the fourth guide wheel member 182 from the insulating base 121 to the distal side.

[0127] When the surgical instrument 100 is in a neutral state, the portion of the third flexible part 103a that is wound around the first guide wheel member 171 and the portion that is connected to the end effector 120 and the first guide wheel member 171 are located on the first side of the first plane TP1, the portion of the third flexible part 103a that is wound around the third guide wheel member 181 is located on the second side of the first plane TP1, the portion of the fourth flexible part 103d that is wound around the second guide wheel member 172 and the portion that is connected to the end effector 120 and the second guide wheel member 172 are located on the second side of the first plane TP1, and the portion of the fourth flexible part 103d that is wound around the fourth guide wheel member 182 is located on the first side of the first plane TP1.

[0128] Furthermore, the proximal end of the second joint seat 140 is located between the first guide wheel member 171 and the second guide wheel member 172. In other words, the first guide wheel member 171 and the second guide wheel member 172 are located on both sides of the proximal end of the second joint seat 140 along the first axis AX1. In this way, the first guide wheel member 171 and the second guide wheel member 172 can guide the third flexible part 103a and the fourth flexible part 103d respectively on both sides of the proximal end of the second joint seat 140 along the first axis AX1, thereby preventing the third flexible part 103a and the fourth flexible part 103d from interfering with the wire 101.

[0129] The first rotating shaft 143 extends outside the first cavity 144 to prevent interference with the wire 101. For example, in Figure 3 , Figure 4 , Figure 7 as well as Figure 9 In the example shown, the proximal end of the second joint seat 140 is provided with a pair of first rotating shafts 143, which protrude in opposite directions along the first axis AX1 on the outer surface of the second joint seat 140. Correspondingly, the distal end of the first joint seat 110 is provided with a pair of first shaft holes 111a suitable for mounting the first rotating shafts 143. The first rotating shafts 143 are rotatably mounted in the first shaft holes 111a. The first shaft holes 111a may not be completely closed holes. The first guide wheel member 171 and the second guide wheel member 172 are each fitted onto the two first rotating shafts 143 in a one-to-one correspondence.

[0130] The second rotating shaft 123 extends outside the second cavity 121a to prevent interference with the wire 101. For example, in Figures 3 to 6 , Figure 8 as well as Figure 10 In the example shown, the near end of the insulating base 121 is provided with a pair of second rotating shafts 123, which protrude in opposite directions along the second axis AX2 onto the outer surface of the insulating base 121. Correspondingly, the far end of the second joint seat 140 is provided with a pair of second shaft holes 141a suitable for mounting the second rotating shafts 123. The second rotating shafts 123 are rotatably mounted within the second shaft holes 141a. The second shaft holes 141a may not be completely closed holes.

[0131] See Figure 3 , Figure 4 as well as Figure 7Optionally, the first joint seat 110 includes a first support portion 113 and two first legs 111 arranged opposite to each other and spaced apart along the first axis AX1. The first support portion 113 has the aforementioned first wire passage 113a. The first legs 111 are connected to the distal side of the first support portion 113. The proximal end of the second joint seat 140 is connected between the two first legs 111. The first guide wheel assembly 170 and the second guide wheel assembly 180 are also located between the two first legs 111. The distal end of the first legs 111 has a first shaft hole 111a.

[0132] Furthermore, each of the two support legs has a pin hole 111b. A pin 105 is provided between the two support legs. Each end of the pin 105 is connected to one of the two pin holes 111b. The third guide wheel component 181 and the fourth guide wheel component 182 are sleeved on the pin 105.

[0133] See Figure 5 Due to the presence of the pin 105, after the wire 101 exits from the first wire passage 113a, it passes through one side of the pin 105 and enters the first cavity 144 and the second wire passage 142a. During the rotation of the second joint seat 140 around the first axis AX1, the required space for the wire 101 to move on one side of the pin 105 is greater than that on the other side.

[0134] See Figure 8 and Figure 9 For example, the conductor 101 is at least partially located on the first side of the first plane TP1 at the third axis AX3.

[0135] When the surgical instrument 100 is in a neutral state, the first guide surface 144c is located on the first side of the first plane TP1, and the second guide surface 144d is located on the second side of the first plane TP1. The distance between the first guide surface 144c and the first plane TP1 decreases in the direction closer to the first joint seat 110. The first guide surface 144c has a first end and a second end spaced along the central axis AX, the first end being closer to the first joint seat 110 and closer to the first plane TP1 than the second end. At the junction of the first guide surface 144c and the second guide channel 142a, a smooth transition surface similar to a rounded corner can be provided, and the distance between this smooth transition surface and the first plane TP1 can increase in the direction closer to the first joint seat 110. The distance between the second guide surface 144d and the first plane TP1 also increases in the direction closer to the first joint seat 110. Furthermore, the maximum distance between the first guide surface 144c and the first plane TP1 is greater than the maximum distance between the second guide surface 144d and the first plane TP1.

[0136] See Figure 3 , Figure 4 as well as Figure 8For example, the distal end of the first joint seat 110 includes a pair of first limiting portions 112. The pair of first limiting portions 112 are disposed opposite to and spaced apart on both sides of the first plane TP1. The first limiting portions 112 protrude from the first support portion 113 toward the second joint seat 140. The first limiting portions 112 are located between the two first legs 111 along the first axis AX1. The proximal end of the second joint seat 140 includes a pair of second limiting portions 145. When the second joint seat 140 is in a neutral state, the pair of second limiting portions 145 are disposed opposite to and spaced apart on both sides of the second joint seat 140. The second limiting portions 145 are partial outer surfaces of the proximal end of the second joint seat 140. The second limiting portions 145 are arranged corresponding to the first limiting portions 112. During the rotation of the second joint seat 140 about the first axis AX1, the second limiting portions 145 can abut against the first limiting portions 112, thereby restricting the second joint seat 140 from continuing to rotate.

[0137] Optionally, the first joint seat 110 has a first wire-passing channel 113a. The first wire-passing channel 113a is disposed through the first support portion 113. Figure 8 As shown, the first line channel 113a is located on one side of the first plane TP1 and can extend in a direction parallel to the central axis AX.

[0138] See Figure 3 , Figure 4 , Figure 8 as well as Figure 9 Exemplarily, the second joint seat 140 includes a second support portion 142 and two second legs 141 arranged opposite to each other along a second axis AX2. The second support portion 142 has the aforementioned second wire passage 142a. The second wire passage 142a extends proximally to the first cavity 144. The second legs 141 are connected to the distal end of the second support portion 142. The two second legs 141 are spaced apart and arranged opposite to each other along the second axis AX2. The second legs 141 have second shaft holes 141a. The insulating seat 121 of the end effector 120 is connected to the two second legs 141 through the engagement of a second pivot 123 with the second shaft hole 141a.

[0139] According to the surgical instrument 100 and the medical system 200 using the surgical instrument 100 of this utility model embodiment, the lead wire 101 is not bound to the drive wires such as the first flexible member 102 and the second flexible member 103. Therefore, the lead wire 101 is not pulled by the drive wires during joint movement, and the lead wire 101 does not slide against the parts of the instrument, thereby improving the reliability and extending the life of the surgical instrument 100. Moreover, the lead wire 101 does not bend violently during joint movement, improving the reliability and life of the surgical instrument 100. Furthermore, the structure of this utility model is ingenious and simple, easy to assemble, and low in cost.

[0140] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0141] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this utility model to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this utility model, and all such variations and modifications fall within the scope of protection claimed by this utility model.

Claims

1. A surgical instrument, characterized in that, The surgical instruments include: A shaft portion that extends along a central axis; A first joint seat is disposed at the distal end of the shaft portion; The proximal end of the second joint seat is rotatably connected to the distal end of the first joint seat via a first pivot about a first axis. An end effector assembly, the end effector assembly being rotatably connected to the distal end of the second articulation seat via a second pivot about a second axis; and A wire, one end of which is connected to the end effector assembly, and the other end of which extends to the proximal end of the shaft portion, wherein the centerline of the wire intersects the first axis and the second axis; During the rotation of the end effector relative to the first joint seat, the length of the conductor in the section between the end effector and the first joint seat remains unchanged.

2. The surgical instrument according to claim 1, characterized in that, The second joint seat has a first cavity at its proximal end, the first cavity opening toward the first joint seat, the wire passing through the first cavity and extending toward the end effector, the first cavity penetrating the second joint seat at least in a direction perpendicular to both the central axis and the first axis, and the first pivot extending outside the first cavity.

3. The surgical instrument according to claim 2, characterized in that, The first cavity is defined by at least a first inner wall surface and a second inner wall surface perpendicular to the first axis, and the distance between the first inner wall surface and the second inner wall surface is greater than the diameter of the wire.

4. The surgical instrument according to claim 1, characterized in that, When the surgical instrument is in a neutral position, the guide wire extends along the central axis between the end effector and the second articular seat.

5. The surgical instrument according to claim 1, characterized in that, The end effector includes an insulating base and a tissue contact portion, the tissue contact portion being fixed to the distal end of the insulating base, the proximal end of the insulating base having a second cavity, the second cavity opening toward the second articulated seat, the wire passing through the second cavity and connecting to the tissue contact portion, the second cavity penetrating the insulating base at least in a direction perpendicular to both the central axis and the second axis, and the second pivot extending outside the second cavity.

6. The surgical instrument according to claim 5, characterized in that, The second cavity is defined by at least a third inner wall surface and a fourth inner wall surface perpendicular to the second axis, the distance between the third inner wall surface and the fourth inner wall surface being greater than the diameter of the wire.

7. The surgical instrument according to claim 5, characterized in that, The second joint seat has a second wire passage for the wire to pass through, and the insulating seat has a third wire passage. When the surgical instrument is in a neutral state, the second wire passage and the third wire passage are aligned along the central axis.

8. The surgical instrument according to claim 1, characterized in that, The surgical instruments also include: A first flexible member, connected to the second joint seat, is used to drive the second joint seat to rotate relative to the first joint seat about the first axis; and A second flexible element is connected to the end effector assembly and is used to drive the end effector assembly to rotate about the second axis relative to the second articulator.

9. The surgical instrument according to claim 8, characterized in that, The first flexible member includes a first flexible portion and a second flexible portion, which are located on opposite sides of the conductor along a direction parallel to the first axis. The second joint seat includes a first guide groove and a second guide groove extending around the first axis. The extension trajectories of the first guide groove and the second guide groove are perpendicular to the first axis. The first guide groove and the second guide groove are located on both sides of the conductor in a direction parallel to the first axis. The first guide groove is used to accommodate the first flexible portion of the portion when the end effector rotates, and the second guide groove is used to accommodate the second flexible portion of the portion when the end effector rotates.

10. The surgical instrument according to claim 8, characterized in that, The second flexible member includes a third flexible portion and a fourth flexible portion, which are located on opposite sides of the conductor along a direction parallel to the second axis. The end effector includes an insulating base, the insulating base including a third guide groove and a fourth guide groove extending about the second axis, the extension trajectories of the third guide groove and the fourth guide groove being perpendicular to the second axis, the third guide groove and the fourth guide groove being located on both sides of the conductor in a direction parallel to the second axis, the third guide groove being used to accommodate the third flexible portion of the portion when the end effector rotates, and the fourth guide groove being used to accommodate the fourth flexible portion of the portion when the end effector rotates.

11. A medical system, characterized in that, The medical system includes: A slave operating device, the slave operating device including at least one robotic arm; and The surgical instrument according to any one of claims 1 to 10, wherein the surgical instrument is operatively mounted on the robotic arm.

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