Surgical instrument and computer-assisted medical system

Abstract

The application provides a surgical instrument and a computer-aided medical system with a wider motion space, which comprises an execution member and a clamp assembly, an instrument rod, a two-degree-of-freedom wrist joint assembly, a first transmission assembly, a second transmission assembly, and an execution member driving mechanism and a wrist joint driving mechanism. The execution member driving mechanism comprises a rack movable along the length direction of the instrument rod. The proximal end of the first transmission assembly is connected to the rack through the instrument rod, the distal end of the first transmission assembly is connected to the execution member through the wrist joint assembly, and the proximal end of the second transmission assembly is connected to the wrist joint driving mechanism through the instrument rod. Wherein, the rack drives the execution member to move between the distal end and the proximal end of the clamp assembly through the first transmission assembly, and the wrist joint driving mechanism drives the deflection of the wrist joint assembly through the second transmission assembly.

Description

Technical Field

[0001] This application relates to the field of surgical instrument technology, and more specifically to surgical instruments and computer-aided medical systems. Background Technology

[0002] Computer-aided medical systems are high-end medical devices that have gradually emerged and developed alongside the advancement of minimally invasive surgery. They are primarily used to eliminate the adverse effects of large-area trauma caused by surgery on patients through minimally invasive means, thereby reducing patient pain and accelerating postoperative recovery. They can also reduce uncontrollable surgical risks caused by surgeon hand tremors during conventional surgery.

[0003] Computer-assisted medical systems use surgical instruments to perform surgical procedures. Some known surgical robots use surgical instruments with only a single degree of freedom in the wrist joint, limiting the working angle of the surgical instruments.

[0004] Therefore, this application provides a surgical instrument and a computer-aided medical system to at least partially solve the above-mentioned problems. Utility Model Content

[0005] The utility model description section introduces a series of simplified concepts, which will be further described in detail in the specific embodiments 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.

[0006] To at least partially solve the aforementioned technical problems, this application provides a surgical instrument, including an end effector, an instrument rod, a proximal device, a two-degree-of-freedom wrist joint assembly, and a transmission mechanism. The end effector includes an actuating member and a clamping assembly. The distal end of the instrument rod is connected to the end effector. The proximal device includes an actuating member drive mechanism and a wrist joint drive mechanism. The actuating member drive mechanism includes a rack movable along the length of the instrument rod. The wrist joint assembly includes a first joint and a second joint. The proximal end of the first joint is connected to the distal end of the instrument rod and is rotatable about a first axis. The proximal end of the second joint is connected to the first joint, and the distal end of the second joint is connected to the end effector. The second joint is rotatable about a second axis, which forms an angle with the first axis. The transmission mechanism includes a first transmission component and a second transmission component. The proximal end of the first transmission component passes through the instrument rod and is connected to the rack. The distal end of the first transmission component passes through the wrist joint assembly and is connected to the actuating member. The proximal end of the second transmission component passes through the instrument rod and is connected to the wrist joint drive mechanism. The distal end of the second transmission component is connected to the wrist joint assembly. The rack drives the actuator to move between the distal and proximal ends of the clamp assembly via the first transmission assembly, and the wrist joint drive mechanism drives the deflection of the wrist joint assembly via the second transmission assembly.

[0007] This application also provides a surgical robot, which includes the aforementioned surgical instruments.

[0008] According to the surgical instrument and computer-aided medical system of this application, by setting a two-degree-of-freedom wrist structure in conjunction with a clamp assembly having an actuating component, an enhanced surgical instrument with a wider range of motion can be provided. Attached Figure Description

[0009] To make the advantages of this application more readily apparent, the application briefly described above will be described in more detail with reference to the specific embodiments shown in the accompanying drawings. It is to be understood that these drawings depict only typical embodiments of this application and should not be considered as limiting its scope of protection. The application is described and explained with additional features and details through the drawings.

[0010] Figure 1 This is a schematic diagram of the computer-aided medical system of this application;

[0011] Figure 2 for Figure 2 A schematic diagram of the structure of a computer-aided medical system with a patient-side robotic arm equipped with surgical instruments.

[0012] Figure 3 This is a schematic diagram of the structure of surgical instruments according to some embodiments of this application;

[0013] Figure 4 for Figure 3 A bottom view of the proximal device of a surgical instrument;

[0014] Figure 5 for Figure 3 A schematic diagram of the exploded structure of the proximal device of a surgical instrument;

[0015] Figure 6 for Figure 3 A schematic diagram of the proximal device when the rack is in the first state;

[0016] Figure 7 for Figure 3 A schematic diagram of the proximal device when the rack is in the second state;

[0017] Figure 8 for Figure 3 A cross-sectional schematic diagram of the proximal device of a surgical instrument;

[0018] Figure 9 for Figure 3 A cross-sectional view of the surgical instruments, in which the end effector is in the open position;

[0019] Figure 10 for Figure 3A partial enlarged sectional view of the connection between the instrument rod and the drive seat of a surgical instrument, wherein the end effector is in a closed state;

[0020] Figure 11 for Figure 3 A partial sectional enlarged view of the end effector of a surgical instrument, wherein the end effector is in a closed state;

[0021] Figure 12 for Figure 3 A schematic diagram of the proximal device of a surgical instrument, wherein the housing is not shown;

[0022] Figure 13 for Figure 11 A three-dimensional schematic diagram of the proximal device of a surgical instrument in a sectional view, wherein the operating knob is shown in a cross-sectional view;

[0023] Figure 14 for Figure 12 A top view of the proximal device of a surgical instrument, where the housing and operating knobs are not shown;

[0024] Figure 15 for Figure 1 A three-dimensional schematic diagram of the proximal device of the surgical instrument, with the manual operation component in the first state;

[0025] Figure 16 for Figure 14 A three-dimensional schematic diagram of the proximal device of the surgical instrument, with the manual operation component in the second state;

[0026] Figure 17 for Figure 3 A schematic diagram of the structure of a linear motion element;

[0027] Figure 18 This is a schematic diagram of the wrist joint assembly of the surgical instrument in the embodiments of this application;

[0028] Figure 19 for Figure 18 A three-dimensional schematic diagram of the wrist joint assembly shown.

[0029] Figure 20 for Figure 18 Detailed diagram of the wrist joint assembly shown;

[0030] Figure 21 for Figure 18 A structural schematic diagram of the wrist joint assembly from another perspective;

[0031] Figure 22 for Figure 18 A structural schematic diagram of the wrist joint assembly from another perspective;

[0032] Figure 23This is a cross-sectional view of the clamp assembly locked in the open state in an embodiment of this application;

[0033] Figure 24 This is a cross-sectional view of the clamp assembly in the open state in an embodiment of this application;

[0034] Figure 25 for Figure 23 A partial enlarged view of the first locking part and the second locking part;

[0035] Figure 26 for Figure 24 A partial enlarged view of the first locking part and the second locking part;

[0036] Figure 27 This is a schematic diagram of another embodiment of the linear motion element in this application;

[0037] Figure 28 for Figure 27 A partial cross-sectional view of the proximal device;

[0038] Figure 29 This is a schematic diagram illustrating yet another embodiment of the linear motion element in this application;

[0039] Figure 30 for Figure 29 Enlarged view of the flexible rack;

[0040] Figure 31 This is a schematic diagram of the structure of the second embodiment of the proximal device of this application. Detailed Implementation

[0041] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application 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 to avoid confusion with embodiments of this application.

[0042] The preferred embodiments of this application will now be described with reference to the accompanying drawings. It should be noted that the terms "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0043] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order.

[0044] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may be available in addition to these detailed descriptions.

[0045] Reference Figure 1 and Figure 2 This application provides a computer-assisted medical system 1, which includes a surgical robot and surgical instruments 40 operably coupled to the surgical robot. The surgical robot includes a doctor's console 10, a patient-side robotic arm 20, and an imaging system 30.

[0046] The doctor's control console 10 includes a display unit for showing the surgical instruments and environment, an operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe. The actions of the operating control mechanism correspond to the actions of the surgical instruments. The armrests are for supporting the doctor's arms. In addition, the doctor's control console 10 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0047] The imaging system 30 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0048] The patient-side robotic arm 20 includes several robotic arms 24. Each robotic arm 24 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 24 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument). A holding arm 25 is provided at the end effector of the robotic arm 24. An instrument actuator 26 is mounted on the holding arm 25. A surgical instrument 40 or endoscope is detachably mounted on the instrument actuator 26. The instrument actuator 26 is movably mounted on the holding arm 25 along the length of the instrument shaft. The instrument actuator 26 is coupled to multiple drive discs of the surgical instrument 40 to drive the movement of the end effector of the surgical instrument.

[0049] The patient-side robotic arm 20 also includes a mobile trolley 21, an adjusting arm column 22, and multiple adjusting arms 23.

[0050] The mobile trolley 21 mainly includes a chassis, a handle, drive wheels, and driven wheels. An adjusting arm column 22 is mounted on the mobile trolley 21 so that the mobile trolley 21 can move the adjusting arm column 22. One end of the adjusting arm 23 is connected to the adjusting arm column 22. Multiple adjusting arms 23 can be raised and lowered individually. The adjusting arm column 22 is equipped with a drive device for raising and lowering the adjusting arms 23. A robotic arm 24 is mounted on the other end of the adjusting arm 23. Thus, the adjusting arm 23 is used to set the position of the robotic arm 24 relative to the patient.

[0051] Please refer to Figure 3 The surgical instrument 40 includes an end effector 100, a proximal device 200, an instrument rod 300, and a wrist joint assembly 330. The proximal device 200 is capable of driving the movement of the end effector 100, the deflection of the wrist joint assembly 330, and the rotation of the instrument rod 300. The proximal end of the instrument rod 300 is rotatably connected to the proximal device 200 about an axis AA of the instrument rod 300. The distal end of the instrument rod 300 is connected to the wrist joint assembly 330. The distal end of the wrist joint assembly 330 is connected to the end effector 100. The end effector 100 is used to extend into the patient's body to perform surgical procedures. The wrist joint assembly 330 is capable of movement with multiple degrees of freedom to change the position and posture of the end effector 100 during surgical procedures.

[0052] It should be noted that in this article, "proximal" and "distal" (e.g., proximal joint) are relative concepts. When used as adjectives, "proximal" is closer to the proximal device 200 and farther from the end effector 100, while "distal" is farther from the proximal device 200 and closer to the end effector 100. In addition, "proximal" and "distal" are also used as nouns in this article. For example, "proximal end of a component" refers to the end of the component that is closer to the proximal device, while "distal end of a component" refers to the end of the component that is farther from the proximal device.

[0053] The surgical instruments described in the embodiments of this application are described in detail below.

[0054] Drive scheme for the actuator of surgical instruments

[0055] Reference Figure 3 and Figure 9 In some embodiments of this application, the surgical instrument 40 is a stapler. The end effector 100 includes a clamp assembly 101 and an actuating member 130. The clamp assembly 101 is used to clamp tissue or blood vessels, etc., at the surgical site. The clamp assembly 101 includes a first clamping member 110 and a second clamping member 120. The second clamping member 120 is pivotally connected to the first clamping member 110. The actuating member 130 can close the second clamping member 120 to the first clamping member 110. The first clamping member 110 can be an anvil, and the second clamping member 120 can be a staple cartridge holder, which is used to install different types of staple cartridges (not shown), and the anvil is used for staple shaping.

[0056] The actuating member 130 is used to perform specific surgical operations, such as at least one of firing the anastomotic staples, closing the clamp assembly 101, and tissue cutting. Optionally, the actuating member 130 is a firing member for firing the anastomotic staples in the staple cartridge. Specifically, the firing member 130 advances within the staple cartridge seat 120 to push a slider to fire the anastomotic staples. Optionally, the actuating member 130 is operably engaged with a cam feature on the clamp assembly 101 to close the clamp assembly 101. Optionally, the actuating member 130 is provided with a cutting element for cutting tissue, or the actuating member 130 is operably engaged with a cutting element for cutting tissue. Figure 3 In this embodiment, the actuator 130 can achieve the firing of the anastomosis staple, the closing of the clamp assembly 101, and the tissue cutting.

[0057] In other embodiments of this application, the surgical instrument 40 is a vascular sealer, the clamp assembly 101 includes two clamping members that can rotate relative to each other, and the actuating member 130 is provided with a cutting element for cutting tissue.

[0058] In the embodiments of this application, such as Figures 3 to 9 As shown, the proximal device 200 includes a housing 280, a drive base 294 housed within the housing 280, and a first drive mechanism 201 disposed on the drive base 294. The drive base 294 is a frame for mounting the drive mechanism of surgical instruments, and includes a base plate and a frame mounted on the base plate.

[0059] like Figure 7 and Figure 8 As shown, the first drive mechanism 201 is an actuator drive mechanism. The first drive mechanism 201 includes a first drive disk 266, a drive assembly 220, and a linear motion element 241. The first drive disk 266 is coupled to the instrument driver of the surgical robot to receive actuation from the instrument driver and rotate. The drive assembly 220 connects the first drive disk 266 and the linear motion element 241. The linear motion element 241 is coupled to the actuator 130. The first drive disk 266 drives the linear motion element 241 to move along the length direction D of the instrument lever via the drive assembly 220. In other words, the linear motion element 241 acts as a translational member, causing the actuator 130 to move between the proximal and distal ends of the clamp assembly 101.

[0060] Optionally, the linear motion element 241 can be a rack. The drive assembly 220 has a rotatable output component that meshes with the rack 241 to convert the rotational motion of the first drive disk 266 into the linear motion of the rack 241, thereby driving the movement of the actuator 130 to control the action of the end effector 100 and thus complete the surgery.

[0061] like Figure 10 and Figure 11 As shown, at least a portion of the rack 241 passes through the instrument rod 300 to extend within the instrument rod 300 and couple to the actuating member 130.

[0062] In this embodiment, the direction of movement of the rack 241 is parallel to the rotation axis of the first drive disk 266. That is, the length direction D of the instrument lever 300 is parallel to the rotation axis of the first drive disk 266.

[0063] Alternatively, in some embodiments, such as Figure 6 , Figure 7 , Figures 9 to 10 ,as well as Figure 17 As shown, rack 241 is a rigid straight rack. The length direction of the straight rack is parallel to the length direction D of the instrument rod 300. Optionally, rack 241 is a rigid helical rack.

[0064] Furthermore, referring to Figure 10 and Figure 17 The rack 241 has a rack limiting portion 242. The rack limiting portion 242 includes a surface facing away from the toothed structure and two side surfaces connecting the surface with the toothed structure and the surface facing away from the toothed structure. Correspondingly, the proximal device 200 also has a guide portion 290, which is aligned with the instrument bar, through which the rack 241 enters the instrument bar. The guide portion 290 has a guide surface 291, which matches the surface of the rack limiting portion 242, and the rack limiting portion 242 translates along the guide surface 291.

[0065] The guide portion 290 has a limiting opening 292. The rack 241 extends into the guide portion 290 through the limiting opening 292. The limiting opening 292 is provided in a shape corresponding to the rack 241 and is used to limit the rack 241 in a direction perpendicular to the length direction D of the instrument bar 300 to achieve stable power transmission.

[0066] Optionally, in some embodiments, reference is made to Figure 27 and Figure 28 The linear motion element 241 is a flexible rack. The flexible rack can be releasably wound into the proximal device 200, thereby shortening the length of the proximal device 200 along the length direction of the instrument rod 300. It should be noted that the teeth of the flexible rack are rigid to stably mesh with the drive assembly, but the flexible rack as a whole can undergo flexible deformation, and its material can be nylon or metal.

[0067] Furthermore, such as Figure 28 As shown, a groove 443 is formed on the surface of the flexible rack away from the teeth. The groove 443 can release the stress on the flexible rack when it bends, making the flexible rack easy to deform.

[0068] Furthermore, the surgical instrument may also include a rack receiving wheel 467 for receiving the flexible rack.

[0069] Furthermore, the proximal device 200 also includes a rack constraint 490 for securing the flexible rack. Combined with Figure 10 and Figure 17 The rack constraint 490 is supported within the guide portion 290 via a limiting opening 292. A flexible rack is confined within the rack constraint 490. Specifically, the rack constraint 490 is generally cubic, and at least three inner surfaces of the rack constraint 490 confine the flexible rack, allowing the flexible rack located within the rack constraint 490 to extend and translate along the length of the instrument rod 300. A notch is provided at the proximal end of the rack constraint 490, through which the flexible rack engages with the drive assembly.

[0070] Alternatively, the flexible rack can also be as follows: Figure 29 and Figure 30 The chain rack shown. The chain rack includes a plurality of rack units 544. Each rack unit 544 includes at least one tooth, and adjacent rack units 544 are pivotally connected.

[0071] Furthermore, one end of the rack unit 544 includes a protruding mounting portion 545 extending out of the main body structure of the rack unit 544, and the other end has a recessed mounting portion 546. The protruding mounting portion 545 of one rack unit 544 extends into the recessed mounting portion 546 of another rack unit 544, so that the two rack units 544 are pivotally connected.

[0072] Furthermore, the chain rack can also be housed by a rack storage wheel and constrained by a rack constraint member 490.

[0073] In some embodiments of this application, reference is made to Figure 6 and Figure 7The drive assembly 220 includes a bevel gear set 702 and an output gear connected to the output section of the bevel gear set. The bevel gear set 702 is used to change the transmission direction between the actuator 130 and the first drive disk 266 (therefore, it can also be called a transmission steering mechanism), and the output gear is used to transmit the torque output by the bevel gear set 702 to the linear motion element 241. Specifically, the bevel gear set 702 includes a first bevel gear 223 and a second bevel gear 224 meshing with the first bevel gear 223. The first bevel gear 223 is the input section of the bevel gear set 702, and the second bevel gear 224 is the output section of the bevel gear set 702. The first bevel gear 223 is rotatable about an axis parallel to the rotation axis of the first drive disk 266, and the rotation axis of the second bevel gear 224 intersects (optionally, is perpendicular to) the rotation axis of the first bevel gear 223. The output gear is coupled to the second bevel gear 224, and the rotation axis of the output gear is perpendicular to the length direction D of the instrument lever 300. Optionally, when the rotation axis of the second bevel gear 224 is perpendicular to the rotation axis of the first bevel gear 223, the rotation axis of the output gear is parallel to or coincides with the rotation axis of the second bevel gear 224. Optionally, when the rotation axis of the second bevel gear 224 is not perpendicular to the rotation axis of the first bevel gear 223, the output gear and the second bevel gear can be driven by a non-parallel shaft gear system, for example, two helical gears with non-parallel shafts. The output gear can be a cylindrical gear (e.g., a spur gear as shown in the figure or a helical gear not shown) for meshing and driving the linear motion element 241.

[0074] In other embodiments, the first bevel gear 223 may also rotate about an axis that coincides with the axis of rotation of the first drive disk 266.

[0075] The drive assembly 220 also includes at least one set of cylindrical gears, which includes a gear set connected between the bevel gear set 702 and the output gear, and / or a gear set connected between the drive disk 266 and the bevel gear set 702. Optionally, the transmission ratio between the first bevel gear 223 and the second bevel gear 224 is greater than 1. The reduction ratio of the bevel gear set 702 is greater than any one of the at least one set of cylindrical gears. Thus, the second bevel gear, whose rotation axis intersects or is perpendicular to the rotation axis of the first drive disk 266, has a large number of teeth and a large volume, making full use of the space in the height direction (parallel to the length direction of the instrument rod) of the proximal device 200, leaving space in the length and width directions of the proximal device 200 for the first bevel gear 223, the output gear, and at least one set of cylindrical gears.

[0076] Please continue to refer to this. Figure 7 and Figure 8At least one set of cylindrical gears includes a first cylindrical gear set and a second cylindrical gear set. The first cylindrical gear set includes a first cylindrical gear 221 and a second cylindrical gear 222. The second cylindrical gear set includes a third cylindrical gear 225 and a fourth cylindrical gear 226 (the fourth cylindrical gear 226 is also an output gear).

[0077] The first cylindrical gear 221 is fixedly mounted coaxially with the first drive disk 266 via a rotating shaft, so that they can rotate synchronously.

[0078] The second cylindrical gear 222 meshes with the first cylindrical gear 221 for transmission. The rotation axis of the second cylindrical gear 222 is parallel to the rotation axis of the first cylindrical gear 221.

[0079] The first bevel gear 223 and the second cylindrical gear 222 are coaxially fixed and can rotate synchronously.

[0080] The third cylindrical gear 225 and the second bevel gear 224 are coaxially fixed and can rotate synchronously.

[0081] The fourth cylindrical gear 226 meshes with the third cylindrical gear 225 for transmission. The rotation axis of the fourth cylindrical gear 226 is parallel to the rotation axis of the third cylindrical gear 225.

[0082] The fourth cylindrical gear 226 meshes with the rack 241 for transmission. The rotation axis of the fourth cylindrical gear 226 is perpendicular to the direction of movement of the rack 241.

[0083] In this embodiment, the bevel gear set 702 in the drive assembly realizes the reversal of the input torque, and at least one cylindrical gear set transmits the torque of the drive disk to the rack located at the instrument lever, so as to realize the movement of the first drive disk 266 driving the rack 241.

[0084] Furthermore, the transmission ratio of the first cylindrical gear 221 and the second cylindrical gear 222 is greater than 1. This enables further deceleration of the drive assembly and increases the torque from the first drive disc 266.

[0085] Furthermore, the transmission ratio of the third cylindrical gear 225 and the fourth cylindrical gear 226 is equal to 1. Thus, the arrangement of the third cylindrical gear 225 and the fourth cylindrical gear 226 facilitates the arrangement of the rack 241 and the drive assembly 220.

[0086] Of course, the transmission ratio between the third and fourth cylindrical gears can be less than 1 or greater than 1.

[0087] It should be noted that the first cylindrical gear 221, the second cylindrical gear 222, the third cylindrical gear 225 and the fourth cylindrical gear 226 are cylindrical gears.

[0088] In some embodiments, the transmission ratio of the bevel gear set is greater than the transmission ratio of the second cylindrical gear and the first cylindrical gear, and / or the transmission ratio of the bevel gear set is greater than the transmission ratio of the fourth cylindrical gear and the third cylindrical gear. This results in a larger transmission ratio or reduction ratio of the bevel gear set, achieving an effect similar to that described above.

[0089] In some other embodiments, at least one set of cylindrical gears may have a reduction ratio greater than that of the bevel gear set. Alternatively, in another embodiment, such as... Figure 31 As shown, the drive assembly may further include a worm 626, a worm gear 627, and a cylindrical gear 628. The worm 626 is coaxially fixed to the first drive disk 266, thus enabling synchronous rotation. The worm gear 627 meshes with the worm 626. The axis of rotation of the worm gear 627 is perpendicular to the axis of rotation of the worm 626. The reduction ratio between the worm gear 627 and the worm 626 is greater than 1.

[0090] The cylindrical gear 628 and the worm gear 627 are coaxially fixed and can rotate synchronously. The cylindrical gear 628 meshes with the rack to drive the rack to move.

[0091] Manual rescue procedures for surgical instruments

[0092] In embodiments of this application, the surgical instrument further includes a manual drive mechanism 202. The manual drive mechanism 202 is used to perform manual rescue when the first drive mechanism is unable or inconvenient to drive the surgical instrument to perform operations. The manual rescue operation may be to open the closed clamp assembly 101 to release the clamped tissue or blood vessel, or to retract the cutting element, or to retract the firing component of the anastomosis staple.

[0093] Please refer to Figures 5 to 16 The manual drive mechanism 202 includes a manual operation component 203, a first driven member 230, and a second driven member. The manual operation component 203 is operably engaged with the first driven member 230. The first driven member 230 is coupled to the second driven member. The second driven member is part of a drive assembly, such as a first cylindrical gear 221, or other gear. The manual operation component 203 can be actuated to engage with the first driven member 230, thereby driving the second driven member to move the linear motion element 241 to perform manual rescue.

[0094] The manual operation assembly 203 includes an operation knob 210 and a connecting member 250 connected to the operation knob 210. The operation knob 210, the connecting member 250, and the first driven member 230 are coaxially arranged. The connecting member 250 can move between a first position and a second position along the length direction D of the instrument lever 300 when actuated by the operation knob 210. When the connecting member 250 is in the first position, the connecting member 250 is separated from the first driven member 230. When the connecting member 250 is in the second position, the connecting member 250 is coupled to the first driven member 230. At this time, continued rotation of the operation knob 210 can drive the first driven member 230 to rotate, thereby rotating the second driven member.

[0095] In this way, in the event of a malfunction such as the surgical robot being unable to drive the first drive mechanism, the operator can rotate the manual operation component 203, causing the connecting member 250 to move to the second position and couple with the first driven member 230. This rotation of the manual operation component 203 is then transmitted to the first driven member 230 and the second driven member, driving the actuator 130 to perform a rescue operation, such as opening the end effector 100 to release the surgical site and prevent injury to the patient. Furthermore, when the connecting member 250 is in the first position, it is separated from the first driven member 230, and the first driven member 230 rotates freely under the influence of the second driven member.

[0096] Optionally, such as Figure 13 As shown, the first driven member 230 includes a gear portion 231 that mates with a second driven member (e.g., a first cylindrical gear 221) and a tapered external spline 232 coupled to the connecting member 250. The gear portion 231 meshes with the second driven member in the drive assembly. The connecting member 250 includes a tapered internal spline 256. When the connecting member 250 is in the second position, the tapered external spline 232 extends into and meshes with the tapered internal spline 256.

[0097] Optionally, such as Figure 31 As shown, in some other embodiments of this application, the second driven member can be a worm 626, and the first driven member 230 can be connected to the proximal end of the worm 626 and coaxially arranged with the worm 626. The rotation of the first driven member drives the worm to rotate.

[0098] Optionally, such as Figure 8As shown, the surgical instrument also includes a first elastic element 260. The first elastic element 260 is a cylindrical spring. The two ends of the first elastic element 260 along the length D of the instrument rod 300 respectively abut against the connecting member 250 and the first driven member 230. When the operating knob 210 is not subjected to external force, the connecting member 250 is held in a first position separated from the first driven member 230 by the action of the first elastic element 260. When the operating knob 210 is rotated under the action of external force, the first elastic element 260 is compressed to allow the connecting member 250 to couple with the first driven member 230. When the external force is removed, the first elastic element 260 provides a force for the connecting member 250 to move proximally away from the first driven member 230 and return to the first position.

[0099] Specifically, the first driven member 230 is fixed to the drive seat 294. The proximal end of the tapered internal spline 256 of the connecting member 250 defines a cavity, one end of the first elastic member 260 abuts against the proximal wall of the cavity, and the other end abuts against the top surface of the proximal end of the tapered external spline 232.

[0100] like Figures 7 to 10 ,as well as Figure 13 As shown, the connecting member 250 also includes a first body 251 located near the end of the conical inner spline 256. The first body 251 is configured in a generally cylindrical shape. A notch 252 is formed on the side of the first body 251. A first engagement ramp 253 is formed in the notch 252.

[0101] In some embodiments, the notch 252 is further formed with a straight surface extending along the length direction D of the instrument rod. The straight surface continues the first engagement ramp 253 and extends to the first end face, and the straight surface and the first engagement ramp enclose at least a portion of the wall surface of the notch.

[0102] Accordingly, the operating knob 210 includes a cap-shaped body 296 and a locking lever 295. The locking lever 295 passes sequentially through the cap-shaped body 296, the connecting member 250, and the first driven member 230 along the length of the instrument lever, connecting the three to the drive seat. The cap-shaped body 296 and the connecting member 250 are translatable relative to the locking lever 295 along the length of the instrument lever.

[0103] The distal end of the cap-shaped body 296 is provided with a protrusion 211, which can extend into the notch 252. Furthermore, the protrusion 211 has a second clutch ramp 212 for abutting against the first clutch ramp 253.

[0104] The protrusion 211 is provided with a mating surface for engaging with the flat surface. The mating surface also has a flat structure and continues to the second engagement ramp and extends to the second end face. When the connecting member 250 is actuated and moved, when the mating surface of the protrusion 211 of the operating knob and the flat surface of the connecting member come into contact, the connecting member no longer moves relative to the operating knob along the length direction D of the instrument rod. The connecting member is in the second position, thereby realizing the joint rotation of the operating knob and the connecting member and driving the rotation of the first driven member 230.

[0105] When the connecting member 250 is in the first position, the rotation of the operating knob 210 causes the second clutch ramp 212 to abut against the first clutch ramp 253, and applies a thrust to the connecting member 250 through the first clutch ramp 253. This thrust includes a component along the length direction D of the instrument rod 300, which causes the connecting member 250 to move to the second position along the length direction D of the instrument rod 300. At this time, the connecting member 250 is coupled with the first driven member 230. Due to the limitation of the first driven member 230, the connecting member 250 cannot continue to translate, but can only rotate with the operating knob 210, thereby driving the rotation of the first driven member 230.

[0106] In other words, the manual operation component 203 has a first state and a second state. In the first state, the operation knob 210 is actuated and rotated, causing the connecting member 250 to move from a first position to a second position, so that the connecting member 250 and the first driven member 230 change from a separated state to a coupled state. After the connecting member 250 and the first driven member 230 are coupled, the operation knob 210 is further rotated, and the manual operation component 203 enters the second state. The rotation of the operation knob 210 causes the connecting member 250 to rotate, and also causes the first driven member 230 to rotate. The first state must pass before the rotation of the manual operation component 203 actuates the first driven member 230 to the second state, which can prevent the operation knob 210 from being accidentally operated. Furthermore, when the first drive mechanism 201 drives the linear motion element 241 to move, the accidental operation of the operation knob 210 will cause interference between the manual drive mechanism 202 and the first drive mechanism 201. The manual operation component 203 is designed to prevent interference from occurring.

[0107] Optionally, such as Figure 14 and Figure 15 As shown, the connecting member 250 includes a ratchet 254. The drive seat also includes a pawl 271. The pawl 271 engages with the ratchet 254 so that the ratchet 254 can only rotate in one direction to retract the linear motion element 241. This prevents accidental operation of the manual operation component 203.

[0108] Anti-unlocking scheme for manual rescue

[0109] Some embodiments of this application also provide a surgical instrument 40 having the function of preventing surgical instruments from separating from the surgical robot during manual rescue. (See also...) Figures 12 to 16 The surgical instrument 40 includes an instrument locking assembly 281, which includes an unlock button 2811 and a snap-fit ​​component 2812. The unlock button 2811 and the snap-fit ​​component 2812 are fixedly connected. The snap-fit ​​component 2812 is used to engage with an instrument driver or sterile adapter of the surgical robot to directly or indirectly secure or lock the surgical instrument 40 to the instrument driver. The unlock button 2811 is pivotally disposed relative to the driver housing, allowing the unlock button 2811 to deflect relative to the driver housing 294, thereby pivoting the snap-fit ​​component 2812. The instrument locking assembly 281 may also include a connecting bias member (not shown) that can act on the unlock button 2811 or the snap-fit ​​component 2812 to lock the instrument locking assembly 281 in a locked position. The connecting bias member can also be compressed to allow the instrument locking assembly 281 to deflect to an unlocked position. In other embodiments of this application, the unlock button 2811 is translated relative to the drive seat to drive the latching member 2812 to translate, so that the instrument locking assembly 281 moves between the locked position and the unlocked position.

[0110] During manual rescue operations, there is a possibility of accidental contact with the instrument locking components, which could cause the surgical instruments to detach from the instrument driver or sterile adapter, leading to an accident.

[0111] To address this issue, the surgical instrument 40 further includes a blocking member 282, which is connected to and actuated by the manual operation component 203. When the manual operation component 203 is in its first state, either in its initial state or preparing for manual intervention but failing to activate the second driven component, the blocking member 282 is outside the unlocking path of the instrument locking component 281. When the manual operation component 203 is in its second state, performing manual intervention and activating the second driven component, the end of the blocking member 282 moves into the unlocking path of the instrument locking component 281, preventing the instrument locking component 281 from being unlocked.

[0112] Optionally, the blocking member 282 may be connected to the connecting member 250. During the movement of the connecting member 250 from the first position to the second position, the blocking member 282 is actuated by the connecting member 250 and translated from outside the unlocking path of the instrument locking assembly 281 to the unlocking path of the instrument locking assembly 281. In other embodiments, the blocking member may be actuated by the connecting member 250 and rotated from outside the unlocking path of the instrument locking assembly 281 to the unlocking path of the instrument locking assembly 281. Alternatively, the blocking member may also be actuated by other components, such as the actuation of the manually operated knob 210.

[0113] refer to Figure 7 , Figure 12 , Figure 15 and Figure 16 Optionally, the surgical instrument may also include an adapter 263. The connecting member 250 and the blocking member 282 are connected via the adapter 263. The adapter 263 is disposed on the drive seat and rotatably connected to the connecting member 250. Rotation of the connecting member 250 by an operating knob does not cause rotation of the blocking member 282, but translation by an operating knob will cause translation of the blocking member 282. Specifically, the adapter 263 includes a mounting portion 2631 and an extension portion 2632 extending from the mounting portion 2631. The mounting portion 2631 is fitted around the outer periphery of the connecting member 250 to translate with the connecting member 250, and does not rotate with the connecting member 250 when the connecting member 250 rotates. The extension portion 2632 is disposed within an opening in the drive seat and is restricted from rotation. The extension portion 2632 extends from the mounting portion 2631 toward the instrument locking assembly 281, and the blocking member 282 is mounted at the end of the extension portion 2632. The blocking member 282 includes a connecting portion 2821 connected to the extension portion 2632 and a strip-shaped portion 2822 extending along the length direction of the instrument rod. In the second state of the manual operation component, the end of the strip-shaped portion 2822 is located on the unlocking path of the instrument locking component 281.

[0114] For further information, please continue to refer to [link / reference]. Figure 12 The connecting member 250 has a radially outwardly extending flange 264. For example, the flange 264 can be an annular flange. The mounting portion 2631 of the adapter member 263 is fitted onto the connecting member 250 and abuts against the surface of the flange 264 facing the first driven member 230. This facilitates the installation of the adapter member 263 onto the manual operation assembly 203.

[0115] In one embodiment, both the blocking member 282 and the unlocking button 2811 are located outside the frame of the drive base 294. A groove 283 extending along the length direction D of the instrument rod 300 is formed on the surface of the frame of the drive base 294. The strip-shaped portion 2822 of the blocking member 282 is located within the groove 283. The groove 283 constitutes the receiving and moving space for the strip-shaped portion 2822 of the blocking member. The extending direction of the groove 283 defines the moving direction of the blocking member 282. The extending direction of the groove 283 intersects the moving path of the unlocking button 2811.

[0116] like Figure 16As shown, when the connecting member 250 is in the second position, that is, when the manual operation component is in the second state, the strip-shaped portion 2822 of the blocking member 282 can be inserted into the rotation path of the unlock button 2811 to prevent the unlock button 2811 from moving. Therefore, when medical personnel operate the operating knob 210 to control the end effector 100, it can prevent accidental operation by medical personnel that could cause the surgical instrument to disengage from the instrument driver, thus avoiding potential risks.

[0117] Optionally, such as Figure 8 and Figure 12 As shown, the surgical instrument also includes a second elastic element 262. The second elastic element 262 may be a cylindrical spring, a leaf spring, or other elastic element. The second elastic element 262 abuts between the adapter 263 and the frame of the drive seat 294. The second elastic element 262 provides a force that tends to move the blocking member 282 away from the unlocking path of the instrument locking assembly.

[0118] wrist joint of surgical instruments

[0119] This application also provides a surgical instrument with a two-degree-of-freedom wrist joint.

[0120] Reference Figures 18 to 20 The wrist joint assembly 330 includes a first joint and a second joint. The proximal end of the first joint is connected to the distal end of the instrument rod, the distal end of the first joint is connected to the proximal end of the second joint, and the distal end of the second joint is connected to an end effector. The first joint is rotatable about a first axis AX1, and the second joint is rotatable about a second axis AX2. The second axis AX2 and the first axis AX1 form an angle, and both the second axis AX2 and the first axis AX1 form an angle with the length direction (i.e., the axial direction) of the instrument rod.

[0121] The wrist joint assembly includes a proximal joint member 331, an intermediate joint member 332, and a distal joint member 333. The intermediate joint member 332 and the proximal joint member 331 can deflect about a first axis AX1 to form a first joint. The distal joint member 333 and the intermediate joint member 332 can deflect about a second axis AX2 to form a second joint. The second axis AX2 and the first axis AX1 form an angle, allowing the first and second joints to perform yaw and pitch movements with two degrees of freedom.

[0122] In this embodiment, in the initial state of wrist extension, the first axis AX1 is perpendicular to the length direction of the instrument bar, and the second axis AX2 is perpendicular to the length direction of the instrument bar. Furthermore, the first axis AX1 and the second axis AX2 are perpendicular to each other in opposite planes.

[0123] The wrist joint assembly 330 also includes a first link 350 and a second link 351. The two ends of the first link 350 are rotatably connected to the proximal joint member 331 and the intermediate joint member 332, respectively. The axis of relative rotation between the first link 350 and the proximal joint member 331 is a third axis AX3, and the axis of relative rotation between the first link 350 and the intermediate joint member 332 is a fourth axis AX4. Both the third axis AX3 and the fourth axis AX4 are parallel to the first axis AX1. The first link 350 causes the intermediate joint member 332 to revolve around the third axis AX3 while simultaneously rotating around the fourth axis AX4, thereby achieving the first degree of freedom for the deflection of the intermediate joint member 332 and the proximal joint member 331 around the first axis AX1. Similarly, the two ends of the second link 351 are rotatably connected to the intermediate joint 332 and the distal joint 333, respectively. The axis of relative rotation between the second link 351 and the intermediate joint 332 is the fifth axis AX5, and the axis of relative rotation between the second link 351 and the distal joint 333 is the sixth axis AX6. Both the fifth axis AX5 and the sixth axis AX6 are parallel to the second axis AX2. The second link 351 causes the distal joint 333 to revolve around the fifth axis AX5 while rotating around the sixth axis AX6, thereby realizing the second degree of freedom for the distal joint 333 and the intermediate joint 332 to deflect around the second axis AX2. In this embodiment, the use of the first link 350 and the second link 351 allows for a larger rotation angle between the intermediate joint 332 and the distal joint 333. In particular, the combined revolution and rotation of the intermediate joint 332 and the distal joint 333 expands the motion space of the end effector and enables more precise control of its movement.

[0124] Furthermore, the first link 350 is located outside the proximal joint 331 and the intermediate joint 332, and the second link 351 is located outside the distal joint 333 and the intermediate joint 332.

[0125] Optionally, refer to Figure 20 The proximal joint 331 includes a first proximal arcuate portion 3311, the distal joint 333 includes a first distal arcuate portion 3331, and the intermediate joint 332 includes a second proximal arcuate portion 3321 and a second distal arcuate portion 3322. The second proximal arcuate portion 3321 is tangent to the first proximal arcuate portion 3311, and the second distal arcuate portion 3322 is tangent to the first distal arcuate portion 3331.

[0126] Furthermore, the proximal joint member 331 may also include a first proximal limiting portion 3313, with two first proximal limiting portions 3313 respectively continuing from both ends of the first proximal arcuate portion 3311; the distal joint member 333 includes a first distal limiting portion, with two first distal limiting portions 3333 respectively continuing from both ends of the first distal arcuate portion 3331; and the intermediate joint member 332 includes a second proximal limiting portion 3325 and a second distal limiting portion 3326, with two second proximal limiting portions 3325 respectively continuing from the second proximal... At both ends of the arc portion 3321, two second distal limiting portions 3326 are respectively connected to the two ends of the second distal arc portion 3322. The second proximal limiting portion 3325 and the first proximal limiting portion 3313 can abut to provide limiting for the deflection of the intermediate joint member 332 and the proximal joint member 331 around the first axis AX1. The second distal limiting portion 3326 and the first distal limiting portion 3333 can abut to provide limiting for the deflection of the intermediate joint member 332 and the distal joint member 333 around the second axis AX2.

[0127] Optionally, refer to Figure 20 The proximal joint member 331 includes a first proximal tooth portion 3312, the distal joint member 333 includes a first distal tooth portion 3332, and the intermediate joint member 332 includes a second proximal tooth portion 3323 and a second distal tooth portion 3324. The first proximal tooth portion 3312 and the second proximal tooth portion 3323 engage, and the first distal tooth portion 3332 and the second distal tooth portion 3324 engage.

[0128] Optionally, refer to Figure 20 The joint components of the wrist joint assembly may simultaneously include the aforementioned arcuate portion and toothed portion. For example, the proximal joint component 331 includes both a first proximal arcuate portion 3311 and a first proximal toothed portion 3312. The rotation axis of the first proximal arcuate portion 3311 and the rotation axis of the first proximal toothed portion 3312 are both third axes, and the first proximal arcuate portion 3311 is located outside or inside the first proximal toothed portion 3312. The intermediate joint component 332 includes both a second proximal arcuate portion and a second proximal toothed portion. The rotation axes of the second proximal arcuate portion and the second proximal toothed portion are both fourth axes, and the second proximal arcuate portion is located outside or inside the second proximal toothed portion. The first proximal arcuate portion 3311 and the second proximal arcuate portion are tangent to each other, and the first proximal toothed portion 3312 and the second proximal toothed portion are tangent to each other. Similarly, the intermediate joint component 332 also includes a second distal arcuate portion 3322 and a second distal toothed portion 3324. The rotation axes of the second distal arc portion 3322 and the second distal tooth portion 3324 are both the fifth axis, and the second distal arc portion is located inside or outside the second distal tooth portion. The distal joint 333 includes both the first distal arc portion and the first distal tooth portion. The rotation axes of the first distal arc portion and the first distal tooth portion are both the sixth axis, and the first distal arc portion is located inside or outside the first distal tooth portion.

[0129] Drive of the wrist joint of surgical instruments

[0130] The proximal device 200 includes a second drive mechanism 700 (i.e., a wrist joint drive mechanism) for driving the yaw and pitch of the wrist joint assembly.

[0131] The surgical instrument also includes a first transmission assembly 310 and a second transmission assembly 340. The first transmission assembly 310 passes through the instrument rod 300 and the wrist joint assembly 330 to connect the end effector drive mechanism and the actuating member 130 (e.g., the firing member). The second transmission assembly 340 passes through the instrument rod 300 and is disposed in the wrist joint assembly 330 to connect the second drive mechanism 700 and the wrist joint assembly 330.

[0132] The second drive mechanism 700 includes a second drive disc 268 and a third drive disc 269, and the second transmission assembly 340 includes two sets of tension elements. For example... Figure 17 , Figure 18 , Figure 21 as well as Figure 22 As shown, the multi-degree-of-freedom movement of the wrist joint assembly 330 is driven by tension elements 340. The same set of tension elements is connected to the same drive disk. For example, two sets of tension elements include a first set of tension elements 341 and a second set of tension elements 342. The first set of tension elements 341 is connected to a second drive disk 268, and the second set of tension elements 342 is connected to a third drive disk 269. The tension elements can be cables.

[0133] The same group of tension elements includes two tension elements.

[0134] The first group of tension elements 341 and the second group of tension elements 342 both pass through the instrument rod 300 and connect to the wrist joint assembly. The extension paths of the first group of tension elements 341 and the second group of tension elements 342 within the instrument rod 300 are different. Preferably, with the common axis of rotation of the wrist joint assembly 330 and the instrument rod 300 as the central axis, the two tension elements of the same group (e.g., the first tension element 341a and the second tension element 341b in the first group of tension elements 341) are arranged symmetrically within the instrument rod 300 and at the center of the wrist joint assembly 330. The two groups of tension elements bisect the cross-section of the wrist joint assembly 330 into four equal parts. That is, when the axis of the wrist joint assembly 330 is parallel to the axis of the instrument rod 300, the two groups of tension elements are positioned such that the wrist joint assembly 330 is positioned such that the two groups of tension elements are ... Figure 20 In the state shown, the cross-section is arranged in four equal parts within a circle (perpendicular to the axis of the instrument bar 300), and two tension elements connected to the same drive disc (e.g., the second drive disc 268 or the third drive disc 269) are arranged diagonally in the wrist joint assembly 330.

[0135] In this configuration, the proximal ends of two tension elements from the same set of tension elements are wound in opposite directions onto a winch on the same drive disc (e.g., the second drive disc 268 or the third drive disc 269). When the winch with the same set of tension elements rotates, one tension element can be tightened while the other is loosened, thus controlling the deflection of the wrist joint. The two drive discs (e.g., the second drive disc 268 or the third drive disc 269) adjust the two deflection degrees of freedom of the wrist joint assembly 330 via the two sets of tension elements, thereby adjusting the angle of the end effector 100.

[0136] Specifically, the first tension element 341a and the second tension element 341b are wound on the winch of the second drive disk 268, and the third tension element 342a and the fourth tension element 342b are wound on the winch of the third drive disk 269.

[0137] When both the second drive disk 268 and the third drive disk 269 rotate counterclockwise, the free end of the end effector 100 rotates upward.

[0138] When both the second drive disk 268 and the third drive disk 269 rotate clockwise, the free end of the end effector 100 rotates downward.

[0139] When the second drive disc 268 rotates counterclockwise and the third drive disc 269 rotates clockwise, the free end of the end effector 100 rotates to the left.

[0140] When the second drive disc 268 rotates clockwise and the third drive disc 269 rotates counterclockwise, the free end of the end effector 100 rotates to the right.

[0141] In this article, the “clockwise” and “counterclockwise” directions of rotation of the second drive disk 268 and the third drive disk 269 refer to the clockwise and counterclockwise directions as viewed from the direction from the end effector 100 toward the proximal device 200.

[0142] Please refer to Figure 22 and Figure 23 Each of the proximal joint component 331, intermediate joint component 332, and distal joint component 333 has four mounting through holes for two sets of tension elements to pass through. The four mounting through holes on each joint component are circumferentially spaced. Specifically, each of the four mounting through holes in the proximal joint component 331, intermediate joint component 332, and distal joint component 333 corresponds one-to-one with a tension element. The tension element passes through its corresponding mounting through hole. The wrist joint assembly 330... Figure 20 In the state shown, each hole on the proximal joint member 331 is aligned with a hole on the intermediate joint member 332 and a hole on the distal joint member 333 to pass through the same tension element.

[0143] In addition, the distal end of the tension element can be fixed to the distal joint 333 or to the clamp base of the surgical instrument, such as the aforementioned anvil.

[0144] Drive transmission of surgical instrument actuator

[0145] As previously described, the first drive mechanism 201 drives the actuating member 130 via the first transmission assembly 310. In some embodiments of this application, such as... Figure 9 and Figure 10 As shown, the first transmission assembly 310 includes a firing shaft assembly of the anastomosis device. The first transmission assembly 310 is movably disposed within the instrument rod 300 along the length direction D of the instrument rod 300. The proximal end of the first transmission assembly 310 is connected to a linear motion element 241, and the distal end is connected to an actuating member 130. The linear motion element 241, acting as a translational member, drives the first transmission assembly 310 to translate along the length direction of the instrument rod, thereby driving the actuating member 130 to translate between the proximal and distal ends of the end effector.

[0146] The first transmission assembly 310 includes a rigid rod 311 and a flexible rod assembly 312 connected together. The proximal end of the rigid rod 311 is rotatably connected to the linear motion element 241, so that the first transmission assembly 310 can rotate with the rotation of the instrument rod 300. The distal end of the rigid rod 311 is connected to the proximal end of the flexible rod assembly 312, the distal end of which passes through the wrist joint assembly 330 and is connected to the actuating member 130 (such as a firing member). The flexible rod assembly 312 is capable of bending with the deflection of the wrist joint assembly 330. The proximal end of the flexible rod assembly 312 is closer to the proximal device 200 than the proximal end of the wrist joint assembly 330, that is, the proximal end of the flexible rod assembly 312 extends beyond the proximal end of the wrist joint assembly 330 and extends toward the instrument rod 300, and the distal end of the flexible rod assembly 312 extends beyond the distal end of the wrist joint assembly 330 and extends toward the end effector 100. In this embodiment, the rigid rod 311 is used to transmit driving force, and the flexible rod assembly 312 can bend adaptively with the yaw or pitch motion of the wrist joint assembly 330 to realize the application of surgical instruments with multi-degree-of-freedom wrist joints in surgical robots.

[0147] like Figure 11As shown, the flexible rod assembly 312 includes a rope component 3121 and a spring 3122. The proximal end of the rope component 3121 is fixedly connected to the distal end of the rigid rod 311, and the distal end of the rope component 3121 is fixedly connected to the actuating member 130. The spring 3122 covers the rope component 3121, that is, the rope component 3121 is located within the spring cavity of the spring 3122. The proximal end of the spring 3122 abuts against the distal end of the rigid rod 311, and the distal end of the spring 3122 abuts against the actuating member 130, so that the spring 3122 is always in a compressed state. Thus, the spring 3122 provides a thrust on the actuating member 130, and the rope component 3121 provides a tension on the actuating member 130, so that the spring 3122 keeps the rope component 3121 always taut. When the first drive mechanism 201 drives the linear motion element 241 to move towards the distal end, the rigid rod 311 pushes the spring to move towards the distal end, and the spring 3122 pushes the actuator 130 to move towards the distal end. When the first drive mechanism 201 drives the linear motion element 241 to move towards the proximal end, the rigid rod 311 pulls the rope component 3121, which in turn pulls the actuator 130, causing the actuator 130 to move towards the proximal end.

[0148] Among them, such as Figure 9 and Figure 10 As shown, the first transmission assembly 310 may further include a support assembly 320. The proximal end of the support assembly 320 is connected to a proximal device (as described above at the guide portion 290), and the distal end of the support assembly 320 is connected to the proximal end of the wrist joint assembly 330. The support assembly 320 can isolate the first transmission assembly 310 from the second transmission assembly 340, preventing the rigid rod 311 and flexible rod assembly 312 in the first transmission assembly 310 from rubbing, entanglement, or interference with the tension element in the second transmission assembly 340.

[0149] Furthermore, the support assembly 320 may include a rigid rod protection tube 3201 and a wrist fixation member 3202. The rigid rod protection tube 3201 is a tubular component adapted to the rigid rod. The rigid rod passes through the rigid rod protection tube 3201. The proximal end of the rigid rod protection tube 3201 extends to the aforementioned guide portion 290 and abuts against the drive seat 294, while the distal end extends to the wrist fixation member 3202 and abuts against it. Both the drive seat 294 and the wrist fixation member 3202 are provided with limiting mechanisms to restrict the radial movement of the rigid rod protection tube 3201, thereby fixing the rigid rod protection tube 3201. The wrist fixation member 3202 is fixedly disposed with the instrument rod 300 and is used to fix the proximal joint member 331 of the wrist joint assembly 330. The wrist fixation member 3202 has a cavity for the flexible rod assembly 312 to pass through, with the proximal end of the flexible rod assembly 312 located within the cavity of the wrist fixation member 3202. A tension element is located between the rigid rod protection tube 3201 and the inner wall of the instrument rod 300. The wrist fixation member 3202 has a hole for the tension element to pass through. This hole is spaced apart from the cavity through which the flexible rod assembly 312 passes. The wrist fixation member 3202 constrains the movement of the flexible rod assembly 312 in the radial direction of the instrument rod 300.

[0150] The wrist joint assembly 330 has a central through hole in each of the proximal joint member 331, intermediate joint member 332, and distal joint member 333. The flexible rod assembly 312 can be inserted through the central through holes of the proximal joint member 331, intermediate joint member 332, and distal joint member 333.

[0151] Optionally, the flexible rod assembly 312 can be integrated with the rigid rod 311 to facilitate the installation of the first transmission assembly 310.

[0152] Surgical instrument jaw opening and closing scheme and staple loading scheme

[0153] by Figure 9 , Figure 11 , Figure 23 and Figure 24 Taking a stapler as an example, in some embodiments of this application, the first clamping member 110 is an abutment, the second clamping member 120 is a staple cartridge seat, and the actuating member 130 is configured as a firing member. The end effector 100 has an open state and a closed state. When the end effector 100 is in the open state, the distal end of the staple cartridge seat 120 moves away from the abutment 110. At this time, the end effector 100 can move relative to the patient's surgical site. When the end effector 100 is in the closed state, the distal end of the staple cartridge seat 120 moves towards the abutment 110. At this time, the end effector 100 can clamp the patient's surgical site.

[0154] The closing of the staple cartridge seat 120 and the pin seat 110 is actuated by the firing member 130. Optionally, a clamping biasing member is provided between the staple cartridge seat 120 and the pin seat 110, which keeps the staple cartridge seat 120 and the pin seat 110 in an open state when no external force is applied. The clamping biasing member can be a spring clip.

[0155] Specifically, refer to Figure 23 and Figure 24 The pin holder 110 includes a first track 111, which has a first track surface 111a. The pin cartridge holder 120 includes a second track 127, which has a second track surface 127a. A cam portion 127c is also provided on the second track 127. One end of the firing member 130 abuts against the first track surface 111a, and the other end of the firing member 130 abuts against the second track surface 127a. When the firing member 130 moves from the proximal end to the distal end of the clamp assembly 101 through the cam portion 127c, it drives the first track surface 111a and the second track surface 127a to move closer to each other, thereby closing the pin cartridge holder 120 and the pin holder 110. In this embodiment, the firing member 130, as an actuating member 130, can drive the pin cartridge holder 120 and the pin holder 110 to close.

[0156] like Figures 23 to 26 As shown, the staple cartridge holder 120 has a base 124. The base 124 is used to mount the staple cartridge 121. The base 124 has a first locking portion 122. The firing member 130 is movable between a locked position and an unlocked position in the longitudinal direction of the abutment 110. The firing member 130 includes a second locking portion 132, which, in the locked position, prevents the first locking portion 122 from rotating toward the abutment 110, thereby locking the abutment 110 and the staple cartridge holder 120 in the open state. In the unlocked position, the second locking portion 132 allows the first locking portion 122 to rotate toward the abutment 110, unlocking the staple cartridge holder 120 and the abutment 110 from the open state. When the end effector 100 is in the open state, the firing member 130 can be moved to the locking position, thereby locking the end effector 100 in the open state and preventing the end effector 100 from switching to the closed state, which facilitates loading and unloading of the nail cartridge 121.

[0157] Please return Figure 9The operating knob 210 can serve as one embodiment of an unlocking mechanism capable of switching the first clamping member 110 and the second clamping member 120 to an open state. The operating knob 210 can also be operably engaged with the firing member 130 as an unlocking mechanism to drive the firing member 130 from a locked position to an unlocked position. Specifically, the operating knob 210 can be pressed, i.e., moved distally along the length direction D of the instrument lever 300 as a pressing member, until it engages the firing member 130; continued pressing further pushes the firing member from the locked position to the unlocked position.

[0158] Specifically, the proximal end of the rack 241 extends into the recess of the cap-shaped body 296 of the operating knob 210. A gap 293 exists between the rack 241 and the bottom wall of the cap-shaped body 296. When the operating knob 210 is pressed, it directly contacts and pushes the rack 241 toward the end effector 100, thereby moving the firing member 130 from the locked position to the unlocked position via the firing shaft assembly (as described above, the first transmission assembly 310). By directly pushing the rack 241, rather than through the gear train in the first drive mechanism, the unlocking action can be made more effortless. It is understood that reusing the operating knob as the unlocking mechanism simplifies the surgical instrument structure; alternatively, a separate unlocking mechanism could be provided for the first clamping member 110 and the second clamping member 120 in their open states, without reusing the operating knob 210.

[0159] The manual operation component 203 and the first driven member 230 can be another embodiment of an unlocking mechanism that enables the first clamping member 110 and the second clamping member 120 to be switched to the open state.

[0160] Furthermore, as mentioned above, the operating knob 210 and the first driven member 230 are coaxially or coaxially arranged. The first driven member 230 is coupled to the linear motion element 241 through the first drive mechanism 201. The operating knob 210 is actuated to rotate so that the connecting member 250 of the manual operation component 203 is coupled to the first driven member 230, thereby driving the firing member 130 to translate proximally. The first driven member 230 can also serve as a pressing limiter for the operating knob to push the firing member 130. After pressing the operating knob to drive the firing member 130 to the unlocked position, the first driven member 230 abuts against the operating knob 210 and is blocked by the operating knob, preventing it from being pressed and moved further. This prevents the firing member 130 from continuing to move and causing the staple cartridge seat 120 and the staple seat 110 to close, thus causing the surgical instrument to malfunction. It is understandable that the structure of surgical instruments can be simplified by reusing the first driven component as the pressing limiter. Of course, the pressing limiter can also be set separately without reusing the first driven component 230.

[0161] This embodiment provides a locking method for the anvil 110 and the staple cartridge seat 120. Specifically, the first locking part 122 includes a first locking surface 123, and the second locking part 132 includes a second locking surface 131. In the locked position, the second locking surface 131 is located on the closed rotation path of the first locking surface 123 and is used to abut against the first locking surface 123 to prevent the staple cartridge seat 120 from rotating toward the anvil 110. It can be understood that the second locking part 132 can prevent the first locking part 122 from rotating toward the anvil 110 because, in the locked position, the second locking surface 131 may abut against the first locking surface 123, or it may not be abutting against the first locking surface 123. When the jaws are open, if the operator presses down on the upper staple cartridge seat 120 to close the jaws, the second locking surface 131 moves to abut against the first locking surface 123 to prevent the staple cartridge seat 120 from rotating. On the other hand, when the firing member 130 is in the unlocked position, the second locking part 132 and the first locking part 122 of the firing member 130 are misaligned, the second locking surface 131 moves away from the closed rotation path of the first locking surface 123, and the firing member 130 will no longer obstruct the rotation of the stud cartridge seat 120.

[0162] The first locking surface 123 is located on the side of the first locking part 122 facing the pin seat 110. Thus, the pin cartridge seat 120 forms an abutment space 125 below the first locking surface 123. The second locking surface 131 is located on the side of the firing member 130 facing away from the pin seat 110. When the end effector 100 is in the open state, when the firing member 130 is moved to the locked position, a portion of the structure of the firing member 130 enters the abutment space 125. The second locking surface 131 abuts against the first locking surface 123 to lock the end effector 100 in the open state, preventing the distal end of the pin cartridge seat 120 from deflecting towards the pin seat 110, thereby allowing the end effector 100 to switch to the closed state.

[0163] like Figure 26 As shown, the first locking surface 123 includes a proximal end and a distal end, with the distal end of the first locking surface 123 being closer to the distal end of the staple cartridge seat 120 than the proximal end of the first locking surface 123. When the end effector 100 is in the closed state, the proximal end of the first locking surface 123 is further away from the staple cartridge seat 110 than the distal end of the first locking surface 123. Therefore, when the end effector 100 is in the open state and the firing member 130 is in the locked position, the contact area between the firing member 130 and the first locking surface 123 is increased.

[0164] The second locking surface 131 includes a proximal end and a distal end, with the distal end of the second locking surface 131 being closer to the distal end of the staple cartridge seat 120 than the proximal end. The distal end of the second locking surface 131 is also further away from the staple holder 110 than the proximal end. Thus, the second locking surface 131 is a wedge-shaped surface. Therefore, when the end effector 100 is in the open state, during the movement of the firing member 130 from the unlocked position to the locked position, the second locking surface 131 can guide the rotation of the staple cartridge seat 120.

[0165] Furthermore, the firing member 130 includes a support surface. The support surface is capable of contacting the first rail 111. When the firing member is in the locked position, the first rail surface 111a of the first rail 111 supports the support surface 130a to provide a force for the second locking surface 131 to abut against the first locking surface 123.

[0166] Further, the second track 127 includes a second track surface 127a. The second track surface 127a includes a transition portion 127b, a cam portion 127c located at the distal end of the transition portion 127b, and a distal portion 127d located at the distal end of the cam portion. The extension direction of the transition portion 127b forms a certain angle with the length direction of the staple cartridge seat 120, while the distal portion 127d is parallel or approximately parallel to the length direction of the staple cartridge seat. The cam portion 127c is formed by bending from the transition portion 127b toward the distal portion 127d. When the firing member 130 is located in the transition portion 127b, due to the combined action of the firing member 130 and the first track surface 111a, the transition portion 127b is approximately parallel to the second locking portion 132. At this time, the staple cartridge seat 120 and the abutment seat 110 are in an open state under the action of the clamping biasing member. When the firing member 130 moves to the cam portion 127c, it presses against the cam portion 127c, causing the staple cartridge seat 120 to move toward the staple abutment seat 110 to close the jaws. When the firing member 130 moves to the distal portion 127d, the staple cartridge seat 120 and the staple abutment seat 110 remain in the closed state. The transition portion 127b is located distal to the unlocked position, and its length is sufficient to allow the firing member to completely disengage from the locked position.

[0167] This application 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 application to the scope of the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.

[0168] 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 this application. Terms such as “component” as used herein may refer to a single part or a combination of multiple parts. Terms such as “installation” or “installation” as used herein may refer to 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 herein 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.

Claims

1. A surgical instrument, characterized in that, include: An end effector, the end effector comprising an actuating member and a clamping assembly; An instrument lever, the distal end of which is connected to the end effector; A proximal device, the proximal device including an actuator drive mechanism and a wrist joint drive mechanism, the actuator drive mechanism including a rack movable along the length direction of the instrument bar; A wrist joint assembly, comprising a first joint and a second joint, wherein the proximal end of the first joint is connected to the distal end of the instrument bar, the first joint is deflectable about a first axis, the proximal end of the second joint is connected to the first joint, the distal end of the second joint is connected to the end effector, the second joint is deflectable about a second axis, the second axis and the first axis forming an angle; as well as A transmission mechanism, comprising a first transmission component and a second transmission component, wherein the proximal end of the first transmission component passes through the instrument rod and is connected to the rack, and the distal end of the first transmission component passes through the wrist joint assembly and is connected to the actuating member; the proximal end of the second transmission component passes through the instrument rod and is connected to the wrist joint drive mechanism, and the distal end of the second transmission component is connected to the wrist joint assembly. The rack drives the actuating member to move between the distal and proximal ends of the clamp assembly via the first transmission assembly, and the wrist joint drive mechanism drives the deflection of the wrist joint assembly via the second transmission assembly.

2. The surgical instrument according to claim 1, characterized in that, The actuator driving mechanism includes: A drive disk, the drive disk being rotatable about a first rotation axis parallel to the length direction of the instrument rod; A bevel gear set, comprising a first bevel gear and a second bevel gear meshing with the first bevel gear, the first bevel gear being rotatable about a second rotation axis parallel to or coincident with the first rotation axis and coupled to the drive disk to receive rotational input, and the second bevel gear being rotatable about a third rotation axis intersecting the second rotation axis; and An output gear is coupled to the second bevel gear, and the rotation axis of the output gear is perpendicular to the first rotation axis. The output gear and the rack mesh and drive each other.

3. The surgical instrument according to claim 2, characterized in that, The actuator driving mechanism further includes: The first cylindrical gear is coaxially and fixedly disposed with the drive disk; A second cylindrical gear, coaxially fixedly disposed with the first bevel gear, the second cylindrical gear meshing with the first cylindrical gear for transmission; and The third cylindrical gear is coaxially and fixedly disposed with the second bevel gear; The output gear meshes with the third cylindrical gear, and the output gear is a cylindrical gear.

4. The surgical instrument according to claim 1 or 2, characterized in that, The wrist joint assembly includes: A proximal articulated member, which is connected to the instrument rod; An intermediate joint member is connected to the proximal joint member, and the intermediate joint member and the proximal joint member constitute the first joint; A distal joint member, the distal joint member being connected to the intermediate joint member, the distal joint member and the intermediate joint member constituting the second joint; A first link, with its two ends rotatably connected to the proximal joint and the intermediate joint, respectively. The axis of relative rotation between the first link and the proximal joint is a third axis, and the axis of relative rotation between the first link and the intermediate joint is a fourth axis. The third axis, the fourth axis, and the first axis are parallel. The second link has its two ends rotatably connected to the intermediate joint and the distal joint, respectively. The axis of relative rotation between the second link and the intermediate joint is the fifth axis, and the axis of relative rotation between the second link and the distal joint is the sixth axis. The fifth axis, the sixth axis, and the second axis are parallel.

5. The surgical instrument according to claim 4, characterized in that, The first link is located outside the proximal joint and the intermediate joint, and the second link is located outside the distal joint and the intermediate joint. The first axis and the second axis are perpendicular.

6. The surgical instrument according to claim 5, characterized in that, The proximal joint includes a first proximal arc portion, the distal joint includes a first distal arc portion, and the intermediate joint includes a second proximal arc portion and a second distal arc portion. The second proximal arc portion is tangent to the first proximal arc portion, and the second distal arc portion is tangent to the first distal arc portion.

7. The surgical instrument according to claim 6, characterized in that, The proximal joint member includes a first proximal limiting portion, with two first proximal limiting portions respectively connecting to both ends of the first proximal arcuate portion. The distal joint member includes a first distal limiting portion, with two first distal limiting portions respectively connecting to both ends of the first distal arcuate portion. The intermediate joint member includes a second proximal limiting portion and a second distal limiting portion, with two second proximal limiting portions respectively connecting to both ends of the second proximal arcuate portion and two second distal limiting portions respectively connecting to both ends of the second distal arcuate portion. The second proximal limiting portion and the first proximal limiting portion can abut against each other to limit the deflection of the intermediate joint and the proximal joint member about the first axis, and the second distal limiting portion and the first distal limiting portion can abut against each other to limit the deflection of the intermediate joint and the distal joint member about the second axis.

8. The surgical instrument according to claim 4, characterized in that, The proximal joint member includes a first proximal tooth portion, the distal joint member includes a first distal tooth portion, and the intermediate joint member includes a second proximal tooth portion and a second distal tooth portion. The first proximal tooth portion and the second proximal tooth portion engage, and the first distal tooth portion and the second distal tooth portion engage.

9. The surgical instrument according to claim 1 or 2, characterized in that, The surgical instrument is a stapler, and the actuating member is also used to fire staples and / or to close the clamp assembly; the first transmission assembly includes a rigid rod and a flexible rod assembly, the proximal end of the rigid rod is connected to the rack, the distal end of the rigid rod is connected to the proximal end of the flexible rod assembly, the proximal end of the flexible rod assembly is closer to the proximal device than the proximal end of the wrist joint assembly, the distal end of the flexible rod assembly is connected to the actuating member, the flexible rod assembly passes through the wrist joint assembly, and the flexible rod assembly is configured to bend as the wrist joint assembly deflects.

10. A computer-aided medical system, characterized in that, This includes surgical robots and surgical instruments as described in any one of claims 1 to 9.

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