Surgical tool and surgical robot system

Abstract

The present disclosure relates to the field of medical instruments and discloses a surgical tool and a surgical robot system. The tool comprises an arm body and a joint mechanism. The arm body comprises a distal end, and the joint mechanism is arranged at the distal end of the arm body. At least one driving rod extends hermetically out of the distal end of the arm body, and the at least one driving rod is connected to the joint mechanism and configured for driving the joint mechanism. A whole sealing structure is formed by the driving rod and the arm body. With the movement of the driving rod not affected, the interior of the arm body is kept sealed and isolated from the joint mechanism on the outside to prevent body fluids from entering the arm body, thereby facilitating repeated cleaning and disinfection of the surgical tool.

Description

Surgical tools and surgical robotic systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent applications with application number 2023117844001, filed on December 23, 2023, and invention name “Surgical Tools and Surgical Robot Systems”, and with application number 2024100311377, filed on January 9, 2024, and invention name “Surgical Tools and Surgical Robot Systems”, the full texts of which are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to the field of medical devices, and in particular to a surgical tool and a surgical robot system. Background Art

[0004] Minimally invasive medical procedures often involve the use of surgical tools, which include various surgical implements such as clamps, cutting instruments, or needle holders. These implements are typically mounted on the end of a surgical tool and inserted directly or through a cannula into a small incision or natural orifice in the patient to perform the corresponding surgical procedure.

[0005] Surgical tools typically feature a drive transmission mechanism, such as a wire pulley assembly. This mechanism connects the distal end of a wire to a surgical actuator, while the proximal end passes through an arm and connects to the input of a motor. This mechanism converts the motor's rotational input into a linear push-pull motion on the wire, thereby controlling the actuator at the end of the surgical tool to perform surgical procedures at various locations. Because the wire must pass through the arm of the surgical tool before connecting to the drive motor, the long travel distance can easily cause the wire to loosen, affecting drive accuracy.

[0006] In addition, the drive transmission mechanism at the end of traditional surgical tools is an open structure and is exposed to the outside, making it difficult to clean and disinfect, and easily causing secondary contamination and infection. Summary of the Invention

[0007] In some embodiments, the present disclosure provides a surgical tool comprising:

[0008] the arm body, including the distal end;

[0009] a joint mechanism, disposed on the distal end of the arm; and

[0010] At least one driving rod is sealed and extends from the distal end of the arm body. The at least one driving rod is connected to the joint mechanism and is used to drive the joint mechanism.

[0011] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0012] a mobile station comprising at least one robotic arm; and

[0013] The at least one surgical tool as described in any embodiment of the present disclosure is detachably disposed at the distal end of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0015] FIG1 is a schematic structural diagram of a surgical tool according to some embodiments of the present disclosure;

[0016] FIG2 shows a side view of a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0017] FIG3 is a schematic structural diagram showing a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0018] FIG4 is a schematic diagram showing the structure of the connection between the driving rod and the arm body according to some embodiments of the present disclosure;

[0019] FIG5 is a schematic structural diagram of a driving rod according to some embodiments of the present disclosure;

[0020] FIG6 shows a longitudinal cross-sectional schematic diagram of a driving rod according to some embodiments of the present disclosure;

[0021] FIG7 is a schematic diagram showing a partial structure of a surgical tool according to some embodiments of the present disclosure;

[0022] FIG8 is a schematic structural diagram of a wrist joint assembly according to some embodiments of the present disclosure;

[0023] FIG9 is a schematic structural diagram of a pliers joint assembly according to some embodiments of the present disclosure;

[0024] FIG10 is a schematic structural diagram showing an end instrument and a wrist joint rotation mechanism in a state according to some embodiments of the present disclosure;

[0025] FIG11 is a schematic structural diagram showing an end instrument and a wrist joint rotation mechanism in another state according to some embodiments of the present disclosure;

[0026] FIG12 is a schematic diagram showing the structure of the slider and the loop drive wire according to some embodiments of the present disclosure;

[0027] FIG13 is a schematic structural diagram of an arm of a continuum surgical tool according to some embodiments of the present disclosure;

[0028] FIG14 is a partial structural schematic diagram of a continuum surgical tool according to some embodiments of the present disclosure;

[0029] FIG15 shows a schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0030] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0031] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In this disclosure, the end closest to the operator (e.g., doctor) is defined as the proximal end, near portion, or rear end, and the end closest to the patient being operated on is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0032] Figures 1, 2 and 3 respectively show a schematic structural diagram and a partial structural diagram of a surgical tool 1000 according to some embodiments of the present disclosure. For clarity of explanation, the arm body 100 in Figure 2 is shown, and the joint mechanism 300 in Figure 3 is not shown. As shown in Figures 1 to 3, the surgical tool 1000 may include an arm body 100, a joint mechanism 300 and at least one driving rod 240. The arm body 100 may include a distal end 180, and the joint mechanism 300 is arranged on the distal end 180 of the arm body 100. The joint mechanism 300 may include any movable joint, such as a hinge joint, a pulley joint, a gear joint, etc. At least one driving rod 240 extends out from the distal end 180 of the arm body 100 in a sealed manner, and at least one driving rod 240 is connected to the joint mechanism 300 for driving the joint mechanism 300.

[0033] Should be understood that sealing stretches out and can refer to that driving rod 240 stretches out from the surface of the far-end 180 of arm body 100, and keeps sealing connection with far-end 180 in motion process.Should be understood that in the present disclosure, far-end 180 should be done broad explanation, can refer to and be sealed with the surface direct sealing connection of the far-end 180 of arm body 100 or be sealed with the far-end 180 of arm body 100 indirectly with far-end 180 with far-end 180, such as be connected with the surface sealing connection of other parts on the far-end 180 that is arranged on arm body 100, for example, can be connected with the surface sealing connection of the mounting plate on the far-end 180 that is arranged on arm body 100, or be connected with the inner surface sealing connection of the support 140 (as shown in Figure 2) that is arranged on arm body 100 far-end.The surface of far-end 180 can be plane, also can be uneven surface.Like this, driving rod 240 and arm body 100 can form overall sealing structure. Without affecting the movement of the driving rod 240, the interior of the arm body 100 remains sealed and isolated from the external joint mechanism 300 to prevent body fluids, bacteria, and viruses from the patient from entering the interior of the arm body 100 through the pores during surgery, so as to facilitate repeated cleaning and disinfection of surgical tools.

[0034] FIG4 is a schematic diagram illustrating a structure in which a drive rod 240 is connected to the arm body 100 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG3 and FIG4 , at least one drive rod 240 may include one or more drive rods. Each drive rod 240 may be sealed and extended from the distal end 180 of the arm body 100. For example, the drive rod 240 may include various drive wires for pulling and / or pushing, such as nickel-titanium alloy wire, steel wire, flexible rod, rigid rod, and the like.

[0035] In some embodiments, the joint mechanism 300 may include at least one joint assembly. At least one drive rod 240 is connected to each of the at least one joint assemblies. The at least one drive rod 240 extends through the arm 100, with its proximal end configured to receive push or pull motions to drive the at least one joint assembly to open, close, and / or rotate. In some embodiments, the joint mechanism may also include an end instrument 200. The end instrument 200 is disposed at the distal end of the joint mechanism 300, and the at least one drive rod 240 can drive the joint mechanism 300 to open, close, and / or rotate the end instrument 200. In some embodiments, as shown in FIG1 , the arm 100 may include a distal end and a proximal end, with the joint mechanism 300 disposed at the distal end of the arm 100. At least one joint assembly is disposed between the end instrument 200 and the distal end of the arm 100, connected to the end instrument 200, and configured to drive the end instrument 200 to open, close, or rotate. It should be understood that the at least one joint assembly may include one or more joint assemblies. By disposing the joint mechanism 300 at the distal end of the arm 100, the direction of the end instrument 200 can be changed, meeting various surgical requirements.

[0036] It should be understood that the end instrument 200 may include an end effector, an endoscope, or other instruments. The end effector may include, for example, a separating forceps, a grasping forceps, scissors, a bipolar grasping forceps, a single-stage curved scissors, a needle holder, a clip applier, etc. The endoscope may include, for example, at least one imaging unit and an illumination unit, etc. Other instruments may include, for example, an electric hook, a drainage tube, or an aspirator, etc.

[0037] In some embodiments, as shown in Figures 3 and 4, at least one drive rod 240 may include multiple drive rods, and at least one joint assembly may include multiple joint assemblies. The multiple drive rods 240 are arranged at intervals, and the distal ends are respectively sealed and extended from the distal end 180 of the arm body 100, and are respectively connected to the multiple joint assemblies. It should be understood that the multiple drive rods 240 are arranged at intervals to avoid interference with each other and to independently drive the multiple joint assemblies. It should be understood that by providing multiple drive rods 240 to drive the movement of multiple joint assemblies, the movement of the joint mechanism 300 in multiple degrees of freedom can be achieved. For example, the degree of freedom of opening and closing, multiple degrees of freedom of rotation, etc.

[0038] Figures 5 and 6 respectively show a structural schematic diagram and a longitudinal cross-sectional schematic diagram of the drive rod 240 according to some embodiments of the present disclosure. In some embodiments, as shown in Figures 5 and 6, the drive rod 240 may include a rod body 245 and a seal 130. The distal end of the seal 130 is sealed and connected to the distal end of the rod body 245, and the proximal end of the seal 130 is sealed and connected to the distal end 180 of the arm body 100 to isolate at least a portion of the rod body 245 and the interior of the arm body 100 from the joint mechanism 300. It should be understood that at least a portion of the rod body 245 may include a portion of the rod body 245 that is wrapped by the seal 130. For example, the seal 130, the rod body 245 and the arm body 100 form an integral sealing structure, and the distal end of the rod body 245 extends out of the seal 130 to be connected to the joint mechanism 300 and is used to drive the unsealed joint mechanism 300.

[0039] In some embodiments, as shown in Figures 5 and 6 , the distal end of the seal 130 (e.g., the left side as shown in Figures 5 and 6 ) can be sealingly mounted on the distal end of the rod 245 of the drive rod 240, while the proximal end (e.g., the right side as shown in Figures 5 and 6 ) can be sealingly mounted on the distal end 180 of the arm 100. At least a portion of the seal 130 is deformable, with the rod 245 extending through the seal 130. This allows the seal 130 to adapt to the movement of the rod 245 (e.g., reciprocating and telescopic motion), achieving a seal without affecting the movement of the rod 245. It should be understood that deformability includes, but is not limited to, deforming through redundant portions, pleated portions, or the material itself being deformable. The at least partially deformable seal 130 can be deformable axially or radially, or the entire seal 130 can be deformable. In some embodiments, at least a portion of the seal 130 can be comprised of an elastic and stretchable material, such as rubber or a thermoplastic elastomer, or a flexible material, such as plastic or non-woven fabric.

[0040] In some embodiments, at least a portion between the distal and proximal ends of the seal 130 is configured to expand and contract with the movement of the rod 245 to isolate the interior of the arm 100 from the joint mechanism 300. This prevents body fluids, bacteria, and viruses from the patient from entering the interior of the arm 100 during surgery, facilitating repeated cleaning and disinfection of surgical tools.

[0041] In some embodiments, the seal 130 may include an axial portion 131 at a distal end and a radial portion 132 at a proximal end. The distal end of the axial portion 131 may be sealingly sleeved onto the distal end of the rod 245, while the radial portion 132 is sealingly disposed circumferentially (e.g., along the circumference of the axial portion 131 or the circumference of the radial portion 132) at the distal end of the arm 100, for example, to be sealingly connected to the proximal end of the stent 140. It should be understood that the axial portion 131 and the radial portion 132 may be integrally formed or sealingly connected, with the axial portion 131 being a main portion extending axially, and the radial portion 132 being a flange portion extending radially outward. In some embodiments, the axial portion 131 of the seal 130 may be cylindrical. In some embodiments, a smooth transition section may be provided at the junction of the axial portion 131 and the radial portion 132. The radial portion 132 is provided to increase the contact surface with the distal end of the arm 100, thereby facilitating a sealed connection with the arm 100. By forming a continuous sealing surface, a better sealing effect can be achieved.

[0042] In some embodiments, the axial portion 131 and radial portion 132 of the seal 130 can be integrally formed, and the radial portion 132 can further include a flange at the proximal end. The flange is used to seal with the distal end of the arm 100. It should be understood that the longitudinal cross-sections of the axial portion 131 and radial portion 132 can collectively form an "L" shape, a "J" shape, a "U" shape, or the like.

[0043] By providing a deformable seal 130, the drive rod 240 and the arm body 100 form an integral sealed structure, preventing body fluids from entering the interior of the arm body 100. During cleaning and disinfection, the distal end of the surgical tool can be maintained without disassembling, allowing repeated cleaning and disinfection of the forceps tip, thereby reducing or preventing secondary infection caused by body fluids entering the interior of the arm body 100. It will be appreciated by those skilled in the art that the sealed connection can be achieved using various suitable methods, such as bonding, thermoplasticization, clamps, and the like.

[0044] In some embodiments, as shown in Figure 5, the drive rod 240 may further include at least one snap ring 133. The seal 130 may be cylindrical. The snap ring 133 may be used to seal the distal end of the seal 130 to the distal end of the rod body 245, such as on the outer peripheral surface. It should be understood that the proximal end of the seal 130 may be sealed and connected to the distal end of the arm body 100 by bonding, thermoplasticization, a clamp, or the like. Providing the snap ring 133 may further ensure the sealing between the seal 130 and the rod body 245. The risk of the seal 130 slipping off during telescopic movement is reduced.

[0045] FIG7 illustrates a partial schematic diagram of a surgical tool 1000 according to some embodiments of the present disclosure. For clarity, FIG7 partially obscures the support 140. In some embodiments, as shown in FIG7 , the joint assembly may include at least one loop drive wire 230. Each of the at least one loop drive wire 230 forms at least one loop on at least one joint assembly. The distal end of at least one drive rod 240 is connected to each of the at least one loop drive wire 230, and the proximal end passes through the arm 100 to push or pull the at least one loop drive wire 230. It should be understood that the loop drive wire 230 may include a closed loop drive wire, such as a nickel-titanium alloy wire, a steel wire rope, a cable, a belt structure, a chain structure, or the like. The loop drive wire 230 may be distributed along the joint assembly and wound around the joint assembly. In some embodiments, the drive rod 240 may be a rod-shaped or tubular drive wire composed of nickel-titanium alloy wire. For example, the number of joint assemblies may be one or more, the number of loop drive wires 230 may be one or more, and the number of drive rods 240 may be one or more. It should be understood that the number of joint assemblies may be consistent with the number of loop drive wires 230 and drive rods 240 , or one joint assembly may include multiple loop drive wires 230 .

[0046] By connecting the drive rod through the arm to a drive device (such as a motor), the long travel of the wire rope connected to the joint assembly through the arm can be avoided, which can easily cause it to loosen. Replacing two wire ropes with a single nickel-titanium alloy wire can simplify the drive structure and increase drive precision.

[0047] In some embodiments, as shown in FIG2 , the joint assembly may further include a bracket 140. The bracket 140 is fixedly disposed at the distal end of the arm 100, and the end instrument 200 is disposed at the distal end of the bracket 140. It should be understood that the bracket 140 may be composed of multiple connecting rods or plate-like structures (e.g., distal plates, proximal plates, or side plates, etc.) to accommodate or support the joint mechanism 300.

[0048] FIG8 is a schematic diagram illustrating the structure of a wrist joint assembly 310 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG7 and FIG8 , at least one joint assembly may include at least one wrist joint assembly 310 , at least one looped drive wire 230 of the wrist joint assembly 310 may include a looped wrist joint drive wire 231 , and at least one drive rod 240 may include a wrist joint drive rod 241 .

[0049] As shown in Figure 7, the wrist joint assembly 310 may include a wrist joint base 311 and a wrist joint rotation mechanism 312. The wrist joint base 311 is fixedly arranged at the distal end of the support 140, and the wrist joint rotation mechanism 312 is rotatably arranged on the wrist joint base 311 and connected to the loop wrist joint drive wire 231. It is used to rotate around a first axis (for example, an axis parallel to the first pin 330) when the wrist joint drive rod 241 drives the loop wrist joint drive wire 231. For example, the wrist joint rotation mechanism 312 can be pivotally connected to the wrist joint base 311 via the first pin 330, and the first axis can be a rotation axis along the length direction of the first pin 330. The wrist joint drive rod 241 is used to push or pull the loop wrist joint drive wire 231 under the received drive, so as to drive the wrist joint rotation mechanism 312 to rotate around the first axis in a plane perpendicular to the first axis through the loop wrist joint drive wire 231. It should be understood that the wrist joint assembly 310 can be one or more, and multiple wrist joint assemblies 310 can move independently of each other. For example, the multiple wrist joint assemblies 310 may include two independent wrist joint assemblies whose rotation axes are perpendicular to each other. By providing the wrist joint assemblies 310, the end instrument 200 of the surgical tool can be bent and rotated, thereby increasing the flexibility of movement.

[0050] FIG9 illustrates a schematic structural diagram of a forceps joint assembly 350 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG7 and FIG9 , at least one joint assembly may include a forceps joint assembly 350. The end instrument 200 may include a first forceps head 210 and a second forceps head 220. The at least one loop drive wire 230 of the forceps joint assembly 350 may include at least one loop forceps joint drive wire 232, and the at least one drive rod 240 may include at least one forceps joint drive rod 242.

[0051] As shown in Figures 7 and 9, the pliers joint assembly 350 may further include a pliers joint opening and closing mechanism 351. The pliers joint opening and closing mechanism 351 is disposed on the wrist joint rotation mechanism 312 and is connected to at least one looped pliers joint drive wire 232. The first pliers head 210 and the second pliers head 220 are disposed on the pliers joint opening and closing mechanism 351. The pliers joint opening and closing mechanism 351 is configured to rotate with the wrist joint rotation mechanism 312 and to drive the first pliers head 210 and / or the second pliers head 220 to open and close about a second axis (e.g., an axis parallel to the second pin 340) when the at least one pliers joint drive rod 242 drives the at least one looped pliers joint drive wire 232. It should be understood that the pliers joint opening and closing mechanism 351 may be pivotally connected to the wrist joint rotation mechanism 312 via the second pin 340, and the second axis may be a rotation axis along the length of the second pin 340. For example, the pliers joint drive rod 242 is used to push or pull the looped pliers joint drive wire 232 under the received drive, so as to drive the pliers joint opening and closing mechanism 351 to rotate about the second axis in a plane perpendicular to the second axis through the looped pliers joint drive wire 232, thereby driving the first pliers head 210 and / or the second pliers head 220 to open and close in a plane perpendicular to the second axis. In some embodiments, the second axis can be perpendicular to the first axis.

[0052] It should be understood that the movement of the pliers joint opening and closing mechanism 351 and the movement of the wrist joint rotation mechanism 312 can be controlled independently or in coordination with each other. For example, when the wrist joint rotation mechanism 312 rotates, the pliers joint opening and closing mechanism 351 can drive the first pliers head 210 and / or the second pliers head 220 to open and close. Alternatively, when the wrist joint rotation mechanism 312 is not rotated, the pliers joint opening and closing mechanism 351 can drive the first pliers head 210 and / or the second pliers head 220 to open and close. It should be understood that in this disclosure, the pliers head should be interpreted broadly and can include the tool head of any opening and closing tool, including but not limited to pliers-type tools, scissors-type tools, etc. Those skilled in the art will understand that in some embodiments, the end instrument 200 is not an openable instrument, for example, it can be an endoscope, an electric hook, etc., and at least one joint component may not include the pliers joint component 350.

[0053] Figures 10 and 11 respectively illustrate the structures of the end instrument 200 and the wrist rotation mechanism 312 in different states according to some embodiments of the present disclosure. For simplicity, the loop drive wire 230 is not shown in Figures 10 and 11. In Figure 10, the first and second jaws 210, 220 of the end instrument 200 are in an open state, and the wrist rotation mechanism 312 is in a non-rotated state (e.g., the central longitudinal axis of the jaw base 3122 is substantially coaxial with the central longitudinal axis of the wrist base 311). In Figure 11, the first and second jaws 210, 220 of the end instrument 200 are in a closed state, and the wrist rotation mechanism 312 is in a rotated state (e.g., the central longitudinal axis of the jaw base 3122 is at an angle to the central longitudinal axis of the wrist base 311). The above is merely an example. The jaw opening and closing mechanism 351 and the wrist rotation mechanism 312 can be controlled according to actual needs to achieve operation in different states.

[0054] In some embodiments, as shown in Figures 7 and 8, the wrist joint rotation mechanism 312 may include a wrist joint rotation body 3121 and a clamp head base 3122. The wrist joint rotation body 3121 is rotatably connected to the wrist joint base 311 (e.g., via a pivot connection). The clamp head base 3122 is disposed on the wrist joint rotation body 3121. The wrist joint rotation body 3121 may include a rotating wheel capable of rotating about a first axis, and the clamp head base 3122 is fixedly connected to the rotating wheel so as to rotate with the rotating wheel.

[0055] In some embodiments, as shown in FIG8 , the clamp base 3122 may include a first clamp bracket 3122a and a second clamp bracket 3122b. The first clamp bracket 3122a and the second clamp bracket 3122b may be symmetrically arranged on the wrist joint rotator 3121. For example, the first clamp bracket 3122a and the second clamp bracket 3122b may extend distally in a direction perpendicular to the plane of the rotation axis (e.g., the first axis) of the wrist joint rotator 3121. A storage space is formed between the first clamp bracket 3122a and the second clamp bracket 3122b to accommodate the clamp joint opening and closing mechanism 351.

[0056] In some embodiments, as shown in FIG8 , the clamp base 3122 may further include a connecting plate 3122c. The first actuator bracket 3122a and the second actuator bracket 3122b are symmetrically arranged, and the connecting plate 3122c is fixedly arranged between the first clamp bracket 3122a and the second clamp bracket 3122b to fixedly connect the first clamp bracket 3922a and the second clamp bracket 3922b together. The connecting plate 3122c is integrally formed with or fixedly connected to the wrist joint rotating body 3121.

[0057] In some embodiments, as shown in FIG7 , a loop wrist joint drive wire guide hole 3111 and a loop clamp joint drive wire guide hole 3112 are respectively provided on the wrist joint base 311 located on both sides of the wrist joint rotating body 3121. The loop wrist joint drive wire 231 and the loop clamp joint drive wire 232 can pass through the loop wrist joint drive wire guide hole 3111 and the loop clamp joint drive wire guide hole 3112 respectively.

[0058] In some embodiments, as shown in FIG8 , the wrist joint assembly 310 may further include a wrist fixed pulley 313 . The wrist fixed pulley 313 is rotatably mounted on the bracket 140 (e.g., via a pivot connection). The distal end of the loop wrist joint drive wire 231 is wound around the wrist joint rotator 3121 , and the proximal end is wound around the wrist fixed pulley 313 . It should be understood that the wrist joint rotator 3121 and the wrist fixed pulley 313 may include circumferentially arranged wire grooves, with the distal end of the loop wrist joint drive wire 231 wound around the wire grooves of the wrist joint rotator 3121 and the proximal end wound around the wire grooves of the wrist fixed pulley 313 to form a closed loop. The wrist joint drive rod 241 may be connected to the loop wrist joint drive wire 231 between the distal and proximal ends of the loop wrist joint drive wire 231 . The wrist joint driving rod 241 pushes or pulls the loop wrist joint driving wire 231, driving the loop wrist joint driving wire 231 to reciprocate in a closed loop, thereby driving the wrist joint rotating body 3121 to rotate forward and reverse, and then driving the clamp head base 3122 to complete rotational motion in a plane perpendicular to the rotation axis of the wrist joint rotating body 3121.

[0059] In some embodiments, as shown in Figures 7 and 9, the clamp joint opening and closing mechanism 351 may include at least one clamp rotator (for example, the first clamp rotator 3511 and the second clamp rotator 3512 shown in Figure 7). The at least one clamp rotator is fixedly connected to the first clamp head 210 and / or the second clamp head 220 and is rotatably connected to the clamp head base 3122. The clamp joint assembly 350 may also include a first set of steering pulleys 352, a second set of steering pulleys 353 and at least one clamp fixed pulley (for example, a first clamp fixed pulley 354 and a second clamp fixed pulley 355). The first set of steering pulleys 352 and the second set of steering pulleys 353 are respectively rotatably connected to the clamp head base 3122, for example, by a pivot connection. It should be understood that the clamp rotator may include a rotating wheel. The clamp rotator may be fixedly connected to the clamp head or integrally formed. At least one fixed pulley is rotatably mounted on bracket 140. The distal end of at least one looped clamp joint drive wire 232 is wound around at least one clamp rotator, passing through the first and second sets of deflection pulleys 352 and 353, and the proximal end is wound around at least one fixed pulley. By providing multiple sets of deflection pulleys, the direction of rotation of the looped clamp joint drive wire 232 can be changed, thereby changing the rotation direction of the clamp rotator.

[0060] In some embodiments, as shown in Figures 7-9, the first set of diverting pulleys 352 and the second set of diverting pulleys 353 can be rotatably connected to the connecting plate 3122c. The first set of diverting pulleys 352 and the second set of diverting pulleys 353 can be symmetrically arranged on both sides of the connecting plate 3122c. In some embodiments, the at least one clamp rotator can include a clamp rotator connected to one of the first clamp head 210 and the second clamp head 220, and the other of the first clamp head 210 and the second clamp head 220 is fixedly arranged on the clamp head base 3122. The at least one loop clamp joint drive wire 232 includes a loop clamp joint drive wire, and the at least one fixed pulley includes a fixed pulley. In this way, it is possible to drive one clamp head to open and close relative to the other clamp head.

[0061] In some embodiments, as shown in Figures 7-9 , the proximal pulleys of the first set of steering pulleys 352 and the second set of steering pulleys 353 can be coaxially arranged with the wrist joint rotation mechanism 312. For example, the proximal pulleys of the first set of steering pulleys 352 and the second set of steering pulleys 353 can be pivotally connected to the wrist joint base 311 via a first pin 330. This simplifies the structure of the joint mechanism and makes the surgical tool tip more compact.

[0062] In some embodiments, as shown in Figures 7 and 9, the at least one clamp rotator can include a first clamp rotator 3511 and a second clamp rotator 3512. The first clamp rotator 3511 is fixedly connected to the first clamp head 210 and is rotatably connected to the clamp head base 3122. The second clamp rotator 3512 is fixedly connected to the second clamp head 220 and is rotatably connected to the clamp head base 3122. The at least one clamp fixed pulley includes a first clamp fixed pulley 354 and a second clamp fixed pulley 355, each rotatably mounted on the bracket 140. The at least one clamp joint drive rod 242 can include a first clamp joint drive rod 2421 and a second clamp joint drive rod 2422. The at least one loop clamp joint drive wire 232 includes a first loop clamp joint drive wire 2321 and a second loop clamp joint drive wire 2322. The first clamp joint drive rod 2421 can be connected to the first loop clamp joint drive wire 2321 to drive the first loop clamp joint drive wire 2321 to reciprocate. The second clamp joint drive rod 2422 can be connected to the second loop clamp joint drive wire 2322 to drive the second loop clamp joint drive wire 2322 to reciprocate. The distal end of the first loop clamp joint drive wire 2321 is wound around the first clamp rotating body 3511, bypassing the first and second sets of diverting pulleys 352 and 353, and the proximal end is wound around the first fixed pulley 354. The distal end of the second loop clamp joint drive wire 2322 is wound around the second clamp rotating body 3512, bypassing the first and second sets of diverting pulleys 352 and 353, and the proximal end is wound around the second fixed pulley 355. It should be understood that the structure of the fixed pulleys can be similar to that of the wrist fixed pulley. In some embodiments, the first fixed pulley 354 and the second fixed pulley 355 can be located at different positions along the axis of the bracket 140. It should be understood that the rotation axes of the first clamp rotating body 3511 and the second clamp rotating body 3512 are coaxial or parallel. By providing two clamp rotating bodies, it is possible to drive the two clamp heads to open and close.

[0063] Figure 12 shows a schematic structural diagram of the cooperation between the slider 150 and the loop drive wire 230 according to some embodiments of the present disclosure. In some embodiments, as shown in Figures 7 and 12, the joint mechanism 300 may further include at least one slider 150 and at least one guide mechanism 160. At least one slider 150 is fixedly connected to at least one loop drive wire 230 respectively. At least one guide mechanism 160 is fixedly arranged between the end instrument 200 and the distal end of the arm body 100 along the axial direction of the distal end of the arm body 100, and the slider 150 is slidably connected to the guide mechanism 160. The slider 150 is used to move linearly along the guide mechanism 160 under the drive of the drive rod 240. For example, as shown in Figure 7, at least one guide mechanism 160 can be arranged in the bracket 140 and fixedly connected to the bracket 140.

[0064] In some embodiments, the guide mechanism 160 may include a guide rod, and the slider 150 is provided with a corresponding through hole 1502, and the guide rod passes through the corresponding through hole 1502 to enable the slider 150 to move linearly along the guide rod. In some embodiments, the guide mechanism 160 may include a guide rail, and the slider 150 is provided with a corresponding slide groove, and the slider 150 is slidably set on the guide rail through the slide groove to enable the slider 150 to move linearly along the guide rail. The above is only an example and is not limited to this. The guide mechanism 160 may also include any other structure that can achieve guidance. It should be understood that the number of sliders 150 can be consistent with the number of drive rods 240, and the number of guide mechanisms 160 can be consistent with or inconsistent with the number of sliders 150.

[0065] In some embodiments, as shown in Figures 8 and 9, at least one slider 150 may include a wrist slider 151 and at least one jaw slider 152. The wrist slider 151 may be fixedly connected to the looped wrist drive wire 231, and the at least one jaw slider 152 may be fixedly connected to at least one looped jaw drive wire 232. The distal end of a wrist drive rod 241 is fixedly connected to the wrist slider 151, and the distal end of the at least one jaw drive rod 242 is fixedly connected to the at least one jaw slider 152. The proximal ends of the wrist drive rod 241 and the at least one jaw drive rod 242 are configured to receive push or pull motions to drive the wrist slider 151 and the at least one jaw slider 152 to reciprocate linearly along the corresponding guide mechanism 160. In some embodiments, the wrist slider 151 and the at least one jaw slider 152 (e.g., one of the jaw sliders 152) may be disposed on the same guide mechanism 160, as shown in Figure 7. This can reduce the number of guide mechanisms, simplify the structure, and facilitate miniaturization and lightweighting of the surgical tool.

[0066] As shown in Figure 12, the slider 150 may include a main body 1501 and a through hole 1502 and a connecting hole (not shown) provided on the main body 1501. As shown in Figure 6, the distal end of the drive rod 240 may include a connector 246 for cooperating with the connecting hole. The proximal end of the connector 246 may be fixedly connected to the distal end of the rod body 245 of the drive rod 240, such as by snapping or welding. The distal end of the connector 246 may be fixedly connected to the connecting hole. The main body 1501 of the slider 150 may be fixedly connected to the loop drive wire 230. By providing the connecting hole and the connector 246, the drive rod 240 can be made easier to process and assemble.

[0067] In some embodiments, the end instrument 200 may be a pair of scissors. The proximal end of at least one drive rod 240 (e.g., at least one forceps joint drive rod 242 or wrist joint drive rod 241) may be connected to a power supply (e.g., a monopolar energy generator). The at least one drive rod 240, at least a portion of the joint mechanism 300, and the end instrument 200 form a conductive pathway to form a single-pole surgical tool, facilitating monopolar manipulation to perform operations such as electroshearing and electrocuting. It should be understood that at least a portion of the joint mechanism 300 may be a conductive portion, and the joint mechanism 300 may also include an insulating portion.

[0068] In some embodiments, the end instrument 200 can be a clamp tool (for example, including a first clamp head 210 and a second clamp head 220), and the driving rod 240 can include multiple driving rods (for example, a first clamp joint driving rod 2421 and a second clamp joint driving rod 2422), and the first clamp joint driving rod 2421 and the second clamp joint driving rod 2422 are respectively connected to the power supply device (for example, the proximal ends of the first clamp joint driving rod 2421 and the second clamp joint driving rod 2422 are used to connect to the bipolar energy generator respectively), and the first clamp joint driving rod 2421 and the second clamp joint driving rod 2422 are insulated from each other, the first clamp joint driving rod 2421 and the first clamp head 210 form a first conductive path, and the second clamp joint driving rod 2422 and the second clamp head 220 form a second conductive path, and the first conductive path and the second conductive path are insulated from each other to form a bipolar surgical tool, which is convenient for bipolar operations to complete operations such as electrocoagulation.

[0069] In some embodiments, the proximal end of the first clamp joint drive rod 2421 is used to connect a monopolar energy generator and a bipolar energy generator, respectively, and the proximal end of the second clamp joint drive rod 2422 is used to connect a bipolar energy generator. The first clamp head 210 and the second clamp head 220 of the end instrument 200 respectively form a first conductive path and a second conductive path insulated from each other with the first clamp joint drive rod 2421 and the second clamp joint drive rod 2422 to achieve monopolar or bipolar operation. In this way, it is possible to selectively perform monopolar operation or bipolar operation on the same surgical tool. It should be understood that in the present disclosure, the clamp head of the end instrument 200 should be interpreted broadly and can include the tool head of any opening and closing tool, including but not limited to, clamp-type tools, scissors-type tools, etc.

[0070] Those skilled in the art will appreciate that when a drive rod (e.g., the forceps joint drive rod 242) is connected to a power supply (e.g., when a conductive path is formed between the forceps joint drive rod 242 and the end instrument 200), an insulating member may be provided at an appropriate location on the surgical tool (e.g., at least a portion of the wrist joint rotation mechanism 312, or between the wrist joint rotation mechanism 312 and the end instrument 200) to prevent the non-operating portion of the surgical tool (e.g., the periphery of the wrist joint rotation mechanism 312) from becoming electrically charged and causing burns to normal tissue, thereby ensuring that the end instrument 200 can properly perform monopolar or bipolar operations. It will be appreciated that the insulating member may be a separate structural member or a portion of the wrist joint rotation mechanism 312.

[0071] In some embodiments, the distal end of the drive rod 240 may include an insulating coating to insulate the drive rod 240 from the end instrument 200. It should be understood that the proximal end of the drive rod 240 may be electrically charged, and the insulating coating insulates the distal end of the drive rod 240 from the slider 150 to prevent the slider 150 from conducting electricity, thereby preventing the end instrument 200 from forming a path between the slider 150 and the drive rod 240. It should be understood that an insulating member may also be provided between the distal end of the arm 100 and the joint mechanism 300 to insulate the arm 100 from the end instrument 200. In this way, a passive surgical tool, such as a non-electrical tissue grasper, can be formed.

[0072] In some embodiments, the arm 100 may include a rigid segment arm. Alternatively, the arm 100 may include a deformable arm. For example, the arm 100 may include a rigid arm at the proximal end and a deformable arm at the distal end. It should be understood that the deformable arm may include an articulated arm (e.g., a serpentine arm), a flexible arm (e.g., a flexible tube), a continuous arm, and the like.

[0073] FIG13 illustrates a schematic structural diagram of an arm of a continuum surgical tool according to some embodiments of the present disclosure. In some embodiments, the arm 100 of the continuum surgical tool may include a continuum structural arm. To simplify the description, the arm 100 only illustrates a schematic structural diagram including one distal continuum segment 110. As shown in FIG13 , the continuum structural arm may include at least one distal continuum segment 110. The distal continuum segment 110 may include a plurality of distal structural bones 111, a distal base plate 112, a distal stop plate 113, and at least one distal spacer plate 114 disposed between the distal base plate 112 and the distal stop plate 113. The distal ends of the plurality of distal structural bones 111 are fixedly connected to the distal stop plate 113. The plurality of distal structural bones 111 can slidably pass through the at least one distal spacer plate 114 and the distal base plate 112. The proximal ends of the plurality of distal structural bones 111 are configured to receive a push or pull drive to drive the distal continuum segment 110 to move. It should be understood that multiple distal structural bones 111 can be distributed in radially opposite positions, and by cooperatively pushing or pulling two structural bones in opposite positions, the distal continuum segment 110 can be driven to bend. It should be understood that the number of structural bones is not limited here and can be adjusted according to the actual load that the surgical tool needs to bear. The reliability and load capacity of the arm body 100 of the surgical tool 1000 can be improved by the continuum structural arm body. For example, if a structural bone is broken, it will not affect the movement of the arm body 100, thereby improving the safety of the surgical tool 1000.

[0074] In some embodiments, the distal stop disc 113 can be fixedly connected to the proximal end of the joint mechanism 300 of the surgical tool 1000. For example, the distal base disc 112, at least one distal spacer disc 114, and the distal stop disc 113 can be spaced apart, each disc having corresponding circumferentially spaced through-holes, through which the plurality of distal structural bones 111 can slide. In some embodiments, the distal base disc 112, the distal stop disc 113, and the distal spacer discs 114 can be shaped as suitable structures, such as rings or discs, and can have cross-sections of various shapes, such as circular, rectangular, and polygonal. The plurality of distal spacer discs 114 are spaced apart to enhance the stability of the plurality of distal structural bones 111 when pushed or pulled. It should be understood that the distal structural bones 111 can comprise thin elastic rods or tubes made of a superelastic material, such as a nickel-titanium alloy. Those skilled in the art will appreciate that the number of distal spacer discs 114 included in the distal continuum segment 110 can be any suitable number and is not limited herein. It should also be understood that the number of distal continuum segments 110 can also be two or more. By driving multiple distal continuum segments 110 to bend, the arm can bend in multiple degrees of freedom, thereby increasing the flexibility of the arm.

[0075] It should be understood that the distal continuum segment 110 can be deformed by pushing or pulling the distal structural bone 111 through a driving device. For example, the driving device puts the distal continuum segment 110 into a bent state by driving the distal structural bone 111. In some embodiments, the driving device may include a linear motion mechanism, a driving segment (e.g., a proximal continuum segment), or a combination of the two. The linear motion mechanism may be connected to the distal structural bone 111 of one or more distal continuum segments 110 to push or pull the distal structural bone 111, thereby driving the one or more distal continuum segments 110 to bend. The driving segment may include a fixation plate and multiple proximal structural bones, wherein one end of the multiple proximal structural bones is fixedly connected to the fixation plate. The other ends of the multiple proximal structural bones of the driving segment are connected to or integrally formed with the multiple distal structural bones 111 to achieve the bending of the distal continuum segment 110 by driving the bending of the segment.

[0076] Figure 14 shows a partial structural schematic diagram of a continuum surgical tool according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 14, the surgical tool 1000 may further include at least one transmission mechanism 500. At least one transmission mechanism 500 is respectively connected to the proximal end of at least one drive rod 240 for pushing or pulling at least one drive rod 240. In some embodiments, the transmission mechanism 500 may include a screw rod 510 and a nut 520 connected to the screw rod 510. The screw rod 510 is used to be connected to the motor of the drive device, and the nut 520 is connected to the proximal end of the drive rod 240. By driving the screw rod 510 to rotate by the motor, the nut 520 can be driven to move linearly along the screw rod 510 to push and pull the drive rod 240. It should be understood that the number of transmission mechanisms can be adjusted according to the number of drive rods 240.

[0077] In some embodiments, as shown in FIG14 , the transmission mechanism 500 may further include a double-ended screw 530 and a pair of nuts 540 connected to the double-ended screw 530. The double-ended screw 530 may be connected to the nuts 540, respectively, and the nuts 540 may be connected to the distal structural bone 111 of the distal continuum segment 110 or the proximal structural bone of the driving segment. When the double-ended screw 530 is driven to rotate, the nut 540 may be driven to move linearly in opposite directions at the same speed to achieve coordinated pushing and pulling of the two structural bones, thereby driving the distal continuum segment 110 to bend. It should be understood that multiple transmission mechanisms 500 may be a combination of a screw and a double-ended screw. The above is merely an example, and it should be understood that the transmission mechanism may include any mechanism capable of achieving linear motion.

[0078] Some embodiments of the present disclosure also provide a surgical robot system. Figure 15 shows a schematic structural diagram of a surgical robot system 10 according to some embodiments of the present disclosure. As shown in Figure 15, the surgical robot system 10 may include a mobile station 11 and a surgical tool (e.g., surgical tool 1000) as in any one of some embodiments of the present disclosure. The mobile station 11 may include at least one robotic arm 101, and the surgical tool 1000 may be detachably disposed at the distal end of the robotic arm 101. It should be understood that the robotic arm 101 may include a plurality of movable joints and connecting rods, and have multiple degrees of freedom. The surgical tool (e.g., surgical tool 1000) may be detachably disposed at the distal end of the robotic arm 101, and the robotic arm 101 is used to adjust the position and posture of the distal end of the surgical tool (e.g., the distal instrument 200).

[0079] In some embodiments, the surgical robot system 10 may further include a main control trolley 12. The mobile station 11 and the main control trolley 12 may be connected via wired transmission or wireless transmission. During surgery, the user controls the surgical tools and / or imaging tools (such as an endoscope) included in the mobile station 11 by operating the main operator 1201 included in the main control trolley 12 to perform operations. The mobile station 11 is usually located on the patient's side, responding to the control instructions of the main control trolley 12 to perform surgical operations on the patient. In some embodiments, the user can also control the opening and closing of the forceps (such as the first forceps 210 and / or the second forceps 220) of the surgical tool 1000 by operating the main operator 1201, or control the rotation of the wrist joint assembly 310 to drive the movement of the end instrument 200 of the surgical tool 1000.

[0080] In some embodiments, the mobile station 11 of the surgical robot system 10 may further include at least one drive device 102. The at least one drive device 102 may be disposed between at least one surgical tool (e.g., surgical tool 1000) and at least one robotic arm 101. As shown in FIG15 , the mobile station 11 may include a single robotic arm 101, and a plurality of drive devices 102 may be disposed on the robotic arm 101. Those skilled in the art will appreciate that the mobile station 11 may also include a plurality of robotic arms, and one or more drive devices may be disposed on each robotic arm, and the specific details are not limited here. Those skilled in the art will appreciate that the surgical robot 10 provided in this embodiment may be any suitable surgical robot, including a laparoscopic surgical robot.

[0081] The present disclosure also discloses the following embodiments:

[0082] Item 1: A surgical tool comprising:

[0083] an arm body, the arm body comprising a distal end and a proximal end;

[0084] A joint mechanism is provided at the distal end of the arm;

[0085] The joint mechanism includes at least one joint component, the joint component includes at least one loop drive wire, and the at least one loop drive wire forms at least one loop on the joint component; and

[0086] At least one driving rod, the distal ends of the at least one driving rod are respectively connected to the at least one loop driving wire, the at least one driving rod passes through the arm body, and the proximal end is used to receive drive to push or pull the at least one loop driving wire to drive the at least one joint assembly.

[0087] Item 2: The surgical tool according to Item 1, wherein the joint mechanism further comprises:

[0088] A bracket, fixedly arranged at the distal end of the arm;

[0089] The at least one joint assembly includes at least one wrist joint assembly, the at least one loop drive wire of the wrist joint assembly includes a loop wrist joint drive wire, the at least one drive rod includes a wrist joint drive rod, and the wrist joint assembly further includes:

[0090] A wrist joint base, fixedly arranged at the distal end of the bracket;

[0091] The wrist joint rotating mechanism is rotatably arranged on the wrist joint base and connected to the loop wrist joint driving wire, and is used for rotating around the first axis when the wrist joint driving rod drives the loop wrist joint driving wire.

[0092] Item 3: The surgical tool according to Item 2, wherein the joint mechanism further comprises:

[0093] An end instrument is provided at the distal end of the joint mechanism, and the end instrument comprises a first clamp head and a second clamp head;

[0094] The at least one joint assembly includes a pliers joint assembly, the at least one loop drive wire of the pliers joint assembly includes at least one loop pliers joint drive wire, the at least one drive rod includes at least one pliers joint drive rod, and the pliers joint assembly further includes:

[0095] The pliers joint opening and closing mechanism is arranged on the wrist joint rotation mechanism and is connected to the at least one loop pliers joint drive wire. The first pliers head and the second pliers head are arranged on the pliers joint opening and closing mechanism. The pliers joint opening and closing mechanism is used to rotate with the wrist joint rotation mechanism and is used to drive the first pliers head and / or the second pliers head to open and close around the second axis when the at least one pliers joint drive rod drives the at least one loop pliers joint drive wire.

[0096] Item 4: The surgical tool as described in Item 3, wherein the wrist joint rotation mechanism includes:

[0097] a wrist joint rotating body, rotatably connected to the wrist joint base; and

[0098] A clamp head base is arranged on the wrist joint rotating body;

[0099] The wrist joint assembly further comprises a wrist fixed pulley rotatably arranged on the bracket. The distal end of the loop wrist joint drive wire is wound around the wrist joint rotating body, and the proximal end is wound around the wrist fixed pulley.

[0100] Item 5: The surgical tool as described in Item 4, wherein the clamp joint opening and closing mechanism comprises:

[0101] At least one tongs rotating body, fixedly connected to the first tongs head and / or the second tongs head and rotatably connected to the tongs head base;

[0102] The pliers joint assembly also includes:

[0103] A first set of steering pulleys and a second set of steering pulleys are respectively rotatably connected to the clamp head base; and

[0104] at least one fixed pulley rotatably mounted on the support;

[0105] The distal end of the at least one loop clamp joint driving wire is wound around the at least one clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the at least one clamp fixed pulley.

[0106] Item 6: The surgical tool according to Item 5, wherein the at least one forceps rotator comprises:

[0107] a first tongs rotating body and a second tongs rotating body, wherein the first tongs rotating body is fixedly connected to the first tongs head and is rotatably connected to the tongs head base, and the second tongs rotating body is fixedly connected to the second tongs head and is rotatably connected to the tongs head base;

[0108] The at least one clamp pulley includes a first clamp pulley and a second clamp pulley, which are respectively rotatably arranged on the bracket;

[0109] The at least one loop clamp joint drive wire includes a first loop clamp joint drive wire and a second loop clamp joint drive wire. The distal end of the first loop clamp joint drive wire is wound around the first clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the first clamp fixed pulley. The distal end of the second loop clamp joint drive wire is wound around the second clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the two clamp fixed pulleys.

[0110] Item 7: The surgical tool according to any one of Items 1 to 7, wherein the joint mechanism further comprises:

[0111] at least one slider, each fixedly connected to the at least one loop drive wire; and

[0112] At least one guide mechanism is fixedly arranged at the distal end of the arm body along the axial direction of the distal end of the arm body, the slider is slidably connected to the guide mechanism, and the slider is used to move linearly along the guide mechanism under the drive of the driving rod.

[0113] Item 8: The surgical tool as described in any one of Items 1-7 further includes: at least one transmission mechanism, respectively connected to the proximal end of the at least one driving rod, for pushing or pulling the at least one driving rod.

[0114] Item 9: The surgical tool according to any one of Items 3 to 8, wherein the distal end of the driving rod comprises an insulating coating, and the insulating coating is used to insulate the driving rod and the end instrument from each other.

[0115] Item 10: The surgical tool according to any one of items 1 to 9,

[0116] The arm body includes a rigid segment arm body; or

[0117] The arm body includes a deformable arm body.

[0118] Item 11: The surgical tool according to Item 10, wherein the deformable arm comprises a continuum arm, and the continuum arm comprises:

[0119] at least one distal continuum segment, the distal continuum segment comprising a plurality of distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate;

[0120] The distal ends of the multiple distal structural bones are fixedly connected to the distal stop plate, the multiple distal structural bones can slidably pass through the at least one distal spacer plate and the distal base plate, and the proximal ends of the multiple distal structural bones are used to receive push or pull drive to drive the distal continuum segment movement.

[0121] Item 12: A surgical robot system comprising:

[0122] a mobile station comprising at least one robotic arm; and

[0123] At least one surgical tool as described in any one of items 1-11, wherein the at least one surgical tool is detachably disposed at the distal end of the robotic arm.

[0124] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical tool, characterized in that: include: The arm body, including the distal end; A joint mechanism, arranged on the distal end of the arm; as well as At least one driving rod is sealed and extends out from the distal end of the arm body. The at least one driving rod is connected to the joint mechanism and is used to drive the joint mechanism.

2. The surgical tool according to claim 1, characterized in that: The joint mechanism includes at least one joint assembly, and the at least one driving rod is respectively connected to the at least one joint assembly. The at least one driving rod extends through the arm body, and the proximal end is used to receive pushing or pulling movements to drive the at least one joint assembly to open and close and / or rotate.

3. The surgical tool according to claim 2, characterized in that: The at least one driving rod comprises a plurality of driving rods, and the at least one joint assembly comprises a plurality of joint assemblies. The plurality of driving rods are arranged at intervals, and their distal ends respectively extend out from the distal end seals of the arm body and are respectively connected to the plurality of joint assemblies.

4. The surgical tool according to any one of claims 1 to 3, characterized in that: The driving rod includes a rod body and a seal, wherein the distal end of the seal is sealedly connected to the distal end of the rod body, and the proximal end of the seal is sealedly connected to the distal end of the arm body to isolate at least a portion of the rod body and the interior of the arm body from the joint mechanism.

5. The surgical tool according to claim 4, characterized in that: The distal sealing sleeve of the seal is arranged at the distal end of the rod body, and the proximal sealing is arranged on the distal end of the arm body. At least a part of the seal is deformable for extending and retracting with the movement of the drive rod, and the rod body extends through the seal.

6. The surgical tool according to claim 5, characterized in that: The sealing member comprises an axial portion at the distal end and a radial portion at the proximal end. The distal sealing sleeve of the axial portion is arranged at the distal end of the driving rod, and the radial portion is arranged at the distal end of the arm body in a circumferential sealing manner.

7. The surgical tool according to claim 6, characterized in that: The axial portion of the seal is cylindrical, and the radial portion of the seal includes a flange located at the proximal end, and the flange is used for sealing connection with the distal end of the arm body.

8. The surgical tool according to any one of claims 1 to 7, characterized in that: Also includes: At least one transmission mechanism is respectively connected to the proximal end of the at least one driving rod and is used to push or pull the at least one driving rod.

9. The surgical tool according to any one of claims 2 to 8, characterized in that: The joint assembly comprises: at least one loop drive wire, forming at least one loop on the at least one joint component, The distal end of the at least one driving rod is respectively connected to the at least one loop driving wire of the at least one joint assembly, and is used to push or pull the at least one loop driving wire.

10. The surgical tool according to claim 9, characterized in that: The joint assembly also includes: A bracket, fixedly arranged at the distal end of the arm; The at least one joint assembly includes at least one wrist joint assembly, the at least one loop drive wire of the wrist joint assembly includes a loop wrist joint drive wire, the at least one drive rod includes a wrist joint drive rod, and the wrist joint assembly further includes: A wrist joint base, fixedly disposed at the distal end of the bracket; and The wrist joint rotating mechanism is rotatably arranged on the wrist joint base and connected to the loop wrist joint driving wire, and is used for rotating around the first axis when the wrist joint driving rod drives the loop wrist joint driving wire.

11. The surgical tool according to claim 10, characterized in that: The joint mechanism also includes: An end instrument is arranged at the distal end of the joint mechanism, and the end instrument comprises a first clamp head and a second clamp head; The at least one joint assembly comprises a pliers joint assembly, the at least one loop drive wire of the pliers joint assembly comprises at least one loop pliers joint drive wire, the at least one drive rod comprises at least one pliers joint drive rod, and the pliers joint assembly further comprises: The clamp joint opening and closing mechanism is arranged on the wrist joint rotation mechanism and is connected to the at least one loop clamp joint driving wire. The first clamp head and the second clamp head are arranged on the clamp joint opening and closing mechanism. The clamp joint opening and closing mechanism is used to rotate with the wrist joint rotation mechanism and is used to drive the first clamp head and / or the second clamp head to open and close around the second axis when the at least one clamp joint driving rod drives the at least one loop clamp joint driving wire.

12. The surgical tool according to claim 11, characterized in that: The wrist joint rotation mechanism comprises: A wrist joint rotating body, rotatably connected to the wrist joint base; and A clamp head base is arranged on the wrist joint rotating body; The wrist joint assembly also includes a wrist fixed pulley, which is rotatably arranged on the bracket. The distal end of the loop wrist joint drive wire is wound around the wrist joint rotating body for connection, and the proximal end is wound around the wrist fixed pulley.

13. The surgical tool according to claim 12, characterized in that: The clamp joint opening and closing mechanism comprises: At least one tongs rotating body, fixedly connected to the first tongs head and / or the second tongs head and rotatably connected to the tongs head base; The clamp joint assembly also includes: A first set of steering pulleys and a second set of steering pulleys are rotatably connected to the clamp head base respectively; and at least one clamp pulley rotatably disposed on the support; The distal end of the at least one loop clamp joint driving wire is wound around the at least one clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the at least one clamp fixed pulley.

14. The surgical tool according to claim 13, characterized in that: The at least one clamp swivel comprises: a first clamp rotating body and a second clamp rotating body, wherein the first clamp rotating body is fixedly connected to the first clamp head and is rotatably connected to the clamp head base, and the second clamp rotating body is fixedly connected to the second clamp head and is rotatably connected to the clamp head base; The at least one clamp pulley comprises a first clamp pulley and a second clamp pulley, which are respectively fixedly arranged on the bracket; The at least one loop clamp joint drive wire includes a first loop clamp joint drive wire and a second loop clamp joint drive wire, the distal end of the first loop clamp joint drive wire is wound around the first clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the first clamp fixed pulley, the distal end of the second loop clamp joint drive wire is wound around the second clamp rotating body, bypasses the first group of steering pulleys and the second group of steering pulleys, and the proximal end is wound around the second clamp fixed pulley.

15. The surgical tool according to any one of claims 9 to 14, characterized in that: The joint mechanism also includes: at least one slider, each fixedly connected to the at least one loop drive wire; and At least one guide mechanism is fixedly arranged at the distal end of the arm body along the axial direction of the distal end of the arm body, the slider is slidably connected to the guide mechanism, and the slider is used to move linearly along the guide mechanism under the drive of the drive rod.

16. The surgical tool according to any one of claims 11 to 15, characterized in that: The proximal end of the at least one driving rod is used to connect to a monopolar energy generator, and the at least one driving rod, at least a portion of the joint mechanism and the end instrument form a conductive path to achieve monopolar operation; or The at least one clamp joint driving rod comprises a first clamp joint driving rod and a second clamp joint driving rod, the proximal ends of the first clamp joint driving rod and the second clamp joint driving rod are used to connect to a bipolar energy generator, and the first clamp head and the second clamp head of the end instrument respectively form a first conductive path and a second conductive path insulated from each other with the first clamp joint driving rod and the second clamp joint driving rod to achieve bipolar operation; or The at least one clamp joint driving rod includes a first clamp joint driving rod and a second clamp joint driving rod, the proximal end of the first clamp joint driving rod is used to connect a monopolar energy generator and a bipolar energy generator, the proximal end of the second clamp joint driving rod is used to connect the bipolar energy generator, the first clamp head and the second clamp head of the end instrument respectively form a first conductive path and a second conductive path insulated from each other with the first clamp joint driving rod and the second clamp joint driving rod to achieve monopolar or bipolar operation.

17. The surgical tool according to any one of claims 11 to 15, characterized in that: The distal end of the driving rod comprises an insulating coating, and the insulating coating is used to insulate the driving rod from the end instrument; or The surgical tool further includes an insulating member, which is disposed on at least a portion of the structure of the wrist joint rotation mechanism, or between the wrist joint rotation mechanism and the end instrument, so as to prevent the non-operating portion of the surgical tool from being electrified.

18. The surgical tool according to any one of claims 1 to 17, characterized in that: The arm body comprises a rigid segment arm body; or The arm body comprises a deformable arm body.

19. The surgical tool according to claim 18, characterized in that: The deformable arm body comprises a continuum arm body, and the continuum arm body comprises: At least one distal continuum segment, the distal continuum segment comprising a plurality of distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate; The distal ends of the multiple distal structural bones are fixedly connected to the distal stop plate, the multiple distal structural bones can slidably pass through the at least one distal spacer plate and the distal base plate, and the proximal ends of the multiple distal structural bones are used to receive push or pull drive to drive the distal continuum segment movement.

20. A surgical robot system, characterized in that: include: a mobile station including at least one robotic arm; as well as At least one surgical tool as described in any one of claims 1-19, wherein the at least one surgical tool is detachably disposed at the distal end of the at least one robotic arm.

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