Surgical instrument and surgical robot system

Abstract

The utility model relates to the technical field of medical instruments, in particular to a surgical instrument and a surgical robot system.The surgical instrument comprises an outer rod, a deflection rod, a driving rod, a deflection piece and a pitching piece, and the pivot axis of the deflection piece and the outer rod is perpendicular to the axis of the outer rod; the pivoting axis of the deflection piece and the pitching piece is perpendicular to the pivoting axis of the deflection piece and the outer rod, and the end effector is arranged on the pitching piece; therefore, the rotation of the deflection part relative to the outer rod meets the deflection freedom degree of the end effector. The deflection rod drives the deflection piece to rotate around the pivot axis of the deflection piece and the outer rod, and deflection motion of the end effector is achieved. The pitching piece rotates around the deflection piece and the pivoting axis of the pitching piece relative to the deflection piece, and the motion freedom degree of pitching motion of the end effector is met. And the driving rod drives the pitching piece through the first connecting piece to rotate around the pivoting axis of the deflection piece and the pitching piece, so that the pitching motion of the end effector is realized.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a surgical instrument and surgical robot system. Background Technology

[0002] Minimally invasive surgery has been widely adopted due to its advantages such as less trauma and faster recovery. Robot-assisted minimally invasive surgical systems further improve the precision and stability of surgery. In these systems, the surgeon controls the surgical instruments at the slave end through a tiny incision on the patient's skin to perform the surgical procedure.

[0003] In the prior art, there are various design schemes aimed at improving the flexibility of surgical instruments. For example, Chinese utility model patent CN119055368A discloses a surgical instrument that enables the end effector to yaw along the instrument's axis. This design enhances the instrument's flexibility in a single plane to some extent. However, the end effector of this instrument can only achieve the yaw degree of freedom around the instrument's axis, lacking the degree of freedom to pitch around an axis perpendicular to the axis. This lack of freedom limits the instrument's flexibility in surgical operations. Utility Model Content

[0004] To address the problem of existing surgical instruments lacking pitch and roll freedom, this invention provides a surgical instrument and a surgical robot system.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] On the one hand, this utility model provides a surgical instrument, including:

[0007] An outer rod, one end of which is pivotally connected to a yaw member and a pitch member in sequence. The pivot axis of the yaw member and the outer rod is perpendicular to the axis of the outer rod, and the pivot axis of the yaw member and the pitch member is perpendicular to the pivot axis of the yaw member and the outer rod. An end effector is provided on the pitch member.

[0008] A sway bar is coaxially disposed inside the outer rod; the sway bar is used to drive the sway member to rotate about the pivot axis of the sway member and the outer rod.

[0009] A drive rod is coaxially disposed inside the yaw rod, and the drive rod is pivotally connected to the pitch member through a first connector; the drive rod is used to drive the pitch member to rotate about the pivot axis of the yaw member and the pitch member through the first connector.

[0010] Preferably, the drive rod is pivotally connected to the first connector via a second connector, the first connector being disposed between the yaw member and the pitch member; the yaw member is provided with a guide hole for the second connector to pass through, the second connector being coaxially disposed with the guide hole of the yaw member, and the second connector being able to move within the guide hole of the yaw member;

[0011] The pivot axes of the yaw and pitch components do not intersect with the axis of the guide hole.

[0012] Preferably, the drive rod is pivotally connected to the second connector via a third connector, the third connector being located between the outer rod and the deflector.

[0013] Preferably, the first connector and the pitching component are pivotally connected via a first universal joint.

[0014] Preferably, the second connector is pivotally connected to the first connector via a second universal joint.

[0015] Preferably, the third connector is pivotally connected to the second connector via a third universal joint.

[0016] Preferably, the drive rod is pivotally connected to the third connector via a fourth universal joint.

[0017] On the other hand, this utility model provides a surgical robot system, including surgical instruments according to any of the above-mentioned technical solutions.

[0018] The beneficial effects are:

[0019] In this invention, the pivot axis of the yaw member and the outer rod is perpendicular to the axis of the outer rod, and the pivot axis of the yaw member and the pitch member is perpendicular to the pivot axis of the yaw member and the outer rod. The end effector is mounted on the pitch member; therefore, the rotation of the yaw member relative to the outer rod satisfies the yaw degree of freedom of the end effector. The yaw rod drives the yaw member to rotate around the pivot axis of the yaw member and the outer rod, realizing the yaw motion of the end effector. The rotation of the pitch member relative to the yaw member around the pivot axis of the yaw member and the pitch member satisfies the pitch motion degree of freedom of the end effector. The drive rod drives the pitch member through the first connecting member to rotate around the pivot axis of the yaw member and the pitch member, realizing the pitch motion of the end effector. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the surgical instrument according to an embodiment of the present invention;

[0021] Figure 2 yes Figure 1 A sectional view;

[0022] Figure 3 This is a schematic diagram illustrating the working principle of the deflector component in this embodiment of the utility model;

[0023] Figure 4 This is a structural schematic diagram illustrating the working principle of the pitching component in this embodiment of the utility model;

[0024] Figure 5 This is a cross-sectional view of the pitching component in an embodiment of this utility model.

[0025] Figure label:

[0026] 10. Outer rod; 11. First axis; 20. Yaw rod; 21. First crown gear; 30. Drive rod; 40. Yaw member; 41. Second axis; 42. Second crown gear; 50. Pitch member; 61. First connecting member; 62. Second connecting member; 63. Third connecting member; 64. First universal joint; 65. Second universal joint; 66. Third universal joint; 67. Fourth universal joint; 70. End effector; 71. Screw; 72. Threaded sleeve. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] Example 1

[0029] Minimally invasive surgery has been widely adopted due to its advantages such as less trauma and faster recovery. Robot-assisted minimally invasive surgical systems further improve the precision and stability of surgery. In these systems, the surgeon controls the surgical instruments at the slave end through a tiny incision on the patient's skin to perform the surgical procedure.

[0030] In the prior art, there are various design schemes aimed at improving the flexibility of surgical instruments. For example, Chinese utility model patent CN119055368A discloses a surgical instrument that enables the end effector to yaw along the instrument's axis. This design enhances the instrument's flexibility in a single plane to some extent. However, the end effector of this instrument can only achieve the yaw degree of freedom around the instrument's axis, lacking the degree of freedom to pitch around an axis perpendicular to the axis. This lack of freedom limits the instrument's flexibility in surgical operations.

[0031] To address the lack of pitch and tilt freedom in existing surgical instruments, this embodiment provides a surgical instrument, such as... Figure 1 and Figure 2As shown, the surgical instrument includes an outer rod 10, a yaw member 40, a pitch member 50, an end effector 70, a yaw lever 20, and a drive lever 30. The yaw member 40 and the pitch member 50 are pivotally connected to one end of the outer rod 10 in sequence, wherein the pivot axis of the yaw member 40 and the outer rod 10 is perpendicular to the axis of the outer rod 10, and the pivot axis of the yaw member 40 and the pitch member 50 is perpendicular to the pivot axis of the yaw member 40 and the outer rod 10; the end effector 70 is mounted on the pitch member 50.

[0032] like Figure 2 As shown, the yaw rod 20 is coaxially disposed inside the outer rod 10, and the drive rod 30 is also coaxially disposed inside the outer rod 10, wherein the drive rod 30 is also coaxially disposed inside the yaw rod 20. The yaw rod 20 is used to drive the yaw member to rotate around the pivot axis of the yaw member and the outer rod. The drive rod 30 is pivotally connected to the pitch member 50 through the first connector 61; the drive rod 30 is used to drive the pitch member 50 to rotate around the pivot axis of the yaw member 40 and the pitch member 50 through the first connector 61.

[0033] In this embodiment, the pivot axis of the yaw member 40 and the outer rod 10 is perpendicular to the axis of the outer rod 10, and the pivot axis of the yaw member 40 and the pitch member 50 is perpendicular to the pivot axis of the yaw member 40 and the outer rod 10. The end effector 70 is mounted on the pitch member 50. Therefore, the rotation of the yaw member 40 relative to the outer rod 10 satisfies the yaw degree of freedom of the end effector 70, and the rotation of the pitch member 50 relative to the yaw member 40 about the pivot axis of the yaw member 40 and the pitch member 50 satisfies the pitch motion degree of freedom of the end effector 70. The drive rod 30 drives the pitch member 50 to rotate about the pivot axis of the yaw member 40 and the pitch member 50 through the first connecting member 61, thereby realizing the pitch motion of the end effector 70.

[0034] Example 2

[0035] like Figure 1 and Figure 2 As shown, this embodiment provides a surgical instrument, such as... Figure 1 and Figure 2 As shown, the surgical instrument includes an outer rod 10, a yaw member 40, a pitch member 50, an end effector 70, a yaw lever 20, and a drive lever 30. The yaw member 40 and the pitch member 50 are pivotally connected sequentially to one end of the outer rod 10. The pivot axis between the yaw member 40 and the outer rod 10 is a first axis 11, which is perpendicular to the axis of the outer rod 10. The pivot axis between the yaw member 40 and the pitch member 50 is a second axis 41, which is perpendicular to the first axis 11. The end effector 70 is mounted on the pitch member 50.

[0036] like Figure 2As shown, the yaw rod 20 is coaxially disposed inside the outer rod 10, and the drive rod 30 is also coaxially disposed inside the outer rod 10, wherein the drive rod 30 is also coaxially disposed inside the yaw rod 20. The drive rod 30 is pivotally connected to the pitch member 50 through the first connecting member 61, and the drive rod 30 is used to drive the pitch member 50 to rotate around the second axis 41 through the first connecting member 61.

[0037] like Figure 3 As shown, in this embodiment, the end of the deflector 20 is provided with a first crown gear 21, and the end of the deflector 40 is provided with a second crown gear 42. The first crown gear 21 and the second crown gear 42 mesh with each other, and the rotation axes of the first crown gear 21 and the second crown gear 42 intersect. Therefore, the deflector 20 along... Figure 3 Rotating in the direction of arrow B can cause the deflector 40 to deflect along the first axis 11 in the direction of arrow C through the meshing of the first crown gear 21 and the second crown gear 42.

[0038] In this embodiment, the pivot axis (first axis 11) of the yaw member 40 and the outer rod 10 is perpendicular to the axis of the outer rod 10, and the pivot axis (second axis 41) of the yaw member 40 and the pitch member 50 is perpendicular to the pivot axis (first axis 11) of the yaw member 40 and the outer rod 10. The end effector 70 is mounted on the pitch member 50. Therefore, the rotation of the yaw member 40 relative to the outer rod 10 about the first axis 11 satisfies the yaw degree of freedom of the end effector 70, and the rotation of the pitch member 50 relative to the yaw member 40 about the second axis 41 satisfies the pitch motion degree of freedom of the end effector 70. The drive rod 30 drives the pitch member 50 to rotate about the pivot axis (second axis 41) of the yaw member 40 and the pitch member 50 through the first connector 61, thereby realizing the pitch motion of the end effector 70.

[0039] like Figure 2 and Figure 4 As shown, in this embodiment, the drive rod 30 is pivotally connected to the first connector 61 via the second connector 62. The first connector 61 is located between the yaw member 40 and the pitch member 50. As the pitch angle between the pitch member 50 and the yaw member 40 is adjusted, the angle between the first connector 61 and the pitch member 50 will change, as will the angle between the first connector 61 and the second connector 62.

[0040] The oscillating member 40 is provided with a guide hole for the second connecting member 62 to pass through. The axis of the guide hole is coaxial with the axis of the oscillating member 40. The second connecting member 62 is coaxially arranged with the guide hole of the oscillating member 40 and moves within the guide hole of the oscillating member 40. The pivot axis of the oscillating member 40 and the pitch member 50 does not intersect with the axis of the guide hole; that is, the second axis 41 does not intersect with the axis of the guide hole.

[0041] Because of the restriction of the guide hole, the second connector 62 will only move along the axis of the deflector 40, and the second axis 41 does not intersect with the axis of the guide hole. In this way, the power transmitted by the second connector 62 will not pass through the second axis 41, ensuring that there will be no dead point.

[0042] The drive rod 30 is pivotally connected to the second connector 62 via a third connector 63, which is located between the outer rod 10 and the oscillating member 40. As the oscillation angle between the oscillating member 40 and the outer rod 10 is adjusted, the angle between the third connector 63 and the second connector 62 will change, as will the angle between the third connector 63 and the drive rod 30.

[0043] like Figure 4 As shown, the first connecting member 61 is pivotally connected to the pitch member 50 via a first universal joint 64; the second connecting member 62 is pivotally connected to the first connecting member 61 via a second universal joint 65; the third connecting member 63 is pivotally connected to the second connecting member 62 via a third universal joint 66; and the drive rod 30 is pivotally connected to the third connecting member 63 via a fourth universal joint 67. In this embodiment, each universal joint is a cross universal joint. Figure 4 In the process, when the drive rod 30 moves along its axial direction (in the direction of arrow A), the drive rod 30 sequentially drives the first connector 61 to move in the direction of arrow A through the fourth universal joint 67, the third connector 63, the third universal joint 66, the second connector 62, and the second universal joint 65. The movement of the first connector 61 in the direction of arrow A will drive the pitch component 50 to rotate around the second axis 41 (in the direction of arrow D), thereby realizing the pitch movement of the end effector 70.

[0044] like Figure 5 As shown, in this embodiment, the end effector 70 is connected to the screw 71. The screw 71 is connected to the first universal joint 64 via a threaded sleeve 72. The screw 71 and the threaded sleeve 72 are threadedly connected, and the threaded sleeve 72 is pivotally connected to the first universal joint 64. The rotation of the drive rod 30 can drive the threaded sleeve 72 to rotate. The rotation of the threaded sleeve 72 drives the screw 71 to move along the axial direction of the screw 71 through the thread, thereby driving the end effector 70 to open and close (the principle of the screw 71 moving along the axial direction to drive the end effector 70 to open and close is well known in the art and will not be described in detail here).

[0045] This application also discloses a surgical robot system, including the surgical instruments of any of the above embodiments.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A surgical instrument, characterized by include: An outer rod, one end of which is pivotally connected to a yaw member and a pitch member in sequence. The pivot axis of the yaw member and the outer rod is perpendicular to the axis of the outer rod, and the pivot axis of the yaw member and the pitch member is perpendicular to the pivot axis of the yaw member and the outer rod. The pitch component is equipped with an end effector; A sway bar is coaxially disposed inside the outer rod; the sway bar is used to drive the sway member to rotate about the pivot axis of the sway member and the outer rod. A drive rod is coaxially disposed inside the yaw rod, and the drive rod is pivotally connected to the pitch member through a first connector; the drive rod is used to drive the pitch member to rotate about the pivot axis of the yaw member and the pitch member through the first connector.

2. The surgical instrument of claim 1, wherein, The drive rod is pivotally connected to the first connector via a second connector, the first connector being located between the yaw member and the pitch member; the yaw member is provided with a guide hole for the second connector to pass through, the second connector being coaxially arranged with the guide hole of the yaw member, and the second connector being able to move within the guide hole of the yaw member; The pivot axes of the yaw and pitch components do not intersect with the axis of the guide hole.

3. The surgical instrument of claim 2, wherein, The drive rod is pivotally connected to the second connector via a third connector, which is located between the outer rod and the deflector.

4. The surgical instrument of claim 3, wherein, The first connector and the pitching component are pivotally connected via a first universal joint.

5. The surgical instrument of claim 4, wherein, The second connector is pivotally connected to the first connector via a second universal joint.

6. The surgical instrument of claim 5, wherein, The third connector is pivotally connected to the second connector via a third universal joint.

7. The surgical instrument of claim 6, wherein, The drive rod is pivotally connected to the third connector via a fourth universal joint.

8. A surgical robotic system, characterized by, Includes surgical instruments as claimed in any one of claims 1 to 7.

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