Surgical instrument transmission structure and surgical system

Abstract

The present application relates to a surgical instrument transmission structure and a surgical system. The surgical instrument transmission structure comprises: an instrument rod, configured for mounting an end tool of a surgical instrument; a first transmission rod, forming an angle with the instrument rod of greater than 0 degrees and less than 180 degrees; and a first connector, connected to the instrument rod and the first transmission rod. The first transmission rod can be driven to rotate around the axis of the first transmission rod and drive, by means of the first connector, the instrument rod to rotate around the axis of the instrument rod. In the present application, the first transmission rod and the instrument rod are arranged at an angle, so that the position of the instrument rod is located outside the visual field shielding range of an instrument box or a driving component, thereby facilitating the visual observation of the state of a surgical area.

Description

Surgical instrument transmission structure and surgical system TECHNICAL FIELD

[0001] The present patent relates to the technical field of medical equipment, in particular to a surgical instrument transmission structure and a surgical system. BACKGROUND

[0002] With the development of science and technology, the concept of "minimally invasive" has penetrated into various fields of surgical operations. In addition to laparoscopy and thoracoscopy, other methods such as microsurgery are widely used in hand surgery and other fields. The development of minimally invasive surgery represents a significant revolution in modern medicine, and through continuous research and development, it will provide safer, more accurate and efficient treatment options for patients worldwide.

[0003] With the development of science and technology, robotic medical assistance technology provides greater convenience for surgical operations. Robotic assistance technology can facilitate the operation of doctors, and minimally invasive surgical robots greatly increase the flexibility of surgical operations, allowing doctors to perform more delicate operations. A minimally invasive surgical robot generally consists of a doctor's console and a surgical arm system, which generally consists of multiple instrument holding arms and a mirror holding arm. The instrument holding arm is used to hold surgical instruments and perform corresponding actions according to the doctor's instructions, and the instrument holding arm is equipped with an instrument drive box.

[0004] However, there are still some problems with surgical robots in the prior art, for example, the instrument box of the surgical robot can block the view of the surgical area, making it inconvenient to observe the surgical area or obtain image information of the surgical area. SUMMARY

[0005] To solve or at least partially solve the above technical problems, the present patent provides a surgical instrument transmission structure and a surgical system.

[0006] The first aspect of the present invention discloses a surgical instrument transmission structure, comprising:

[0007] An instrument rod for mounting an end tool of a surgical instrument;

[0008] A first transmission rod, the angle between the first transmission rod and the instrument rod is greater than 0 degrees and less than 180 degrees;

[0009] A first connector connecting the instrument rod and the first transmission rod;

[0010] The first transmission rod can be driven to rotate around its own axis, and through the first connector, the instrument rod is driven to rotate around its own axis.

[0011] Optionally, in the surgical instrument transmission structure as described above, the first connector comprises:

[0012] A connecting joint, comprising:

[0013] a first segment connected to the first transmission rod,

[0014] a second segment connected to the instrument rod;

[0015] a limiting tube comprising a first straight tube section, a bent tube section and a second straight tube section arranged in sequence; the first transmission rod is connected to the first straight tube section, and the instrument rod is connected to the second straight tube section; the first segment and the second segment are both at least partially located in the bent tube section;

[0016] When the first segment rotates following the first transmission rod, it is guided and constrained by the bent tube section, so that the second segment drives the instrument rod to rotate.

[0017] Optionally, in the surgical instrument transmission structure as described above, the first segment is provided with two opposite first hinge sections;

[0018] the second segment is provided with two opposite second hinge sections;

[0019] The connecting section further comprises a connecting member having four connecting sections evenly distributed in the circumferential direction, which are respectively hinged to the first hinge sections and the second hinge sections.

[0020] Optionally, in the surgical instrument transmission structure as described above, the connecting member is provided with a through hole for the driving wire of the end tool to pass through.

[0021] Optionally, in the surgical instrument transmission structure as described above, the first segment and the second segment both have a flexible cylindrical structure composed of multiple layers of pleated side walls.

[0022] Optionally, the surgical instrument transmission structure as described above further comprises:

[0023] a first shaft sleeve arranged in the first straight tube section and sleeved on the first transmission rod and / or the first segment;

[0024] The first shaft sleeve is configured to be fixedly arranged in the axial direction of the first straight tube section and freely rotatable in the circumferential direction of the first straight tube section.

[0025] Optionally, in the surgical instrument transmission structure as described above, the first shaft sleeve is sleeved on the first segment;

[0026] The part of the first segment that protrudes out of the first shaft sleeve is keyed to the first transmission rod;

[0027] The transmission structure further comprises a first limiting member connected to the first segment for limiting the proximal end position of the spring tube wrapped on the driving wire of the end tool;

[0028] a second limiting member connected to the distal end of the instrument rod for limiting the distal end position of the spring tube wrapped on the driving wire of the end tool.

[0029] Optionally, the surgical instrument transmission structure as described above further comprises:

[0030] a second shaft sleeve, arranged in the second straight pipe section and sleeved on the instrument rod and / or the second segment;

[0031] the second shaft sleeve is configured to be fixedly arranged in the axial direction of the second straight pipe section and freely rotatable in the circumferential direction of the second straight pipe section;

[0032] the second shaft sleeve comprises:

[0033] a sleeve pipe section and an end cover section connected to the sleeve pipe section, the end cover section being connected to the end surface of the second straight pipe section, and the sleeve pipe section extending into the second straight pipe section;

[0034] the sleeve pipe section is threadedly connected to the instrument rod and / or the second segment;

[0035] the first segment is integrally formed on the first transmission rod, and the second segment is integrally formed on the instrument rod.

[0036] Optionally, in the surgical instrument transmission structure as described above, the angle between the first transmission rod and the instrument rod is greater than 0 degrees and less than 45 degrees.

[0037] Optionally, the surgical instrument transmission structure as described above further comprises:

[0038] a base, the base being provided with an inclined platform, the angle between the inclined platform and the first transmission rod and the instrument rod being complementary;

[0039] a limiting block, mounted on the inclined platform;

[0040] a bearing, sleeved on the first transmission rod and clamped between the limiting block and the inclined platform.

[0041] Optionally, the surgical instrument transmission structure as described above further comprises:

[0042] a driving shaft, vertically arranged on the base and located beside the inclined platform;

[0043] a driving cable, wound around the driving shaft and the first transmission rod, so as to rotate the first transmission rod through the rotation of the driving shaft.

[0044] Optionally, the surgical instrument transmission structure as described above further comprises:

[0045] a second transmission rod, the angle between the second transmission rod and the first transmission rod being greater than 0 degrees and less than 180 degrees;

[0046] a second connector, connecting the second transmission rod and the first transmission rod;

[0047] The second transmission rod can be driven to rotate around its own axis, and drive the first transmission rod to rotate around its own axis through the second connector.

[0048] A second aspect of the present application discloses a surgical system, comprising:

[0049] The surgical instrument transmission structure of the first aspect described above is provided with an end tool of a surgical instrument.

[0050] An image acquisition device is arranged towards the direction indicated by the instrument rod, and is used to acquire the surgical field of view.

[0051] Compared with the prior art, the present application has the following technical effects:

[0052] The first transmission rod of the present application can be arranged to be inclined to the driving component or the bottom plane of the instrument box under the condition of limited length, and under this premise, the instrument rod forms a certain angle with the first transmission rod and is connected and driven by the first transmission device, so that the instrument rod can be outside the visual shielding range of the driving component or the instrument box in the overhead angle, which is beneficial to the image acquisition device to acquire clear images above the surgical area, and is also beneficial to the surgical operator to directly observe the surgical area with naked eyes, thereby improving the surgical efficiency and reducing the surgical risk. The first segment and the second segment are connected through the connecting piece in the bent pipe part of the limiting pipe of the present application, and rigid connection is realized, the first segment can drive the second segment to rotate synchronously through the connecting piece, and compared with flexible connection, the precise start-stop control of the rotation movement of the end tool can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application, the related drawings will be briefly introduced below. It can be understood that the drawings described below are only used to illustrate some embodiments of the present application, and those skilled in the art can also obtain many other technical features and connection relationships not mentioned in the present application according to these drawings.

[0054] Fig. 1 is a schematic perspective view of a surgical instrument transmission structure according to an embodiment of the present application;

[0055] Fig. 2 is a schematic partial cross-sectional view of a surgical instrument transmission structure according to an embodiment of the present application;

[0056] Fig. 3 is a schematic cross-sectional view of another part of a surgical instrument transmission structure according to an embodiment of the present application;

[0057] Fig. 4 is a schematic cross-sectional view of a first connector of a surgical instrument transmission structure according to an embodiment of the present application;

[0058] Fig. 5 is a schematic view of a surgical instrument transmission structure with a flexible cylindrical structure according to an embodiment of the present application;

[0059] Fig. 6 is a partial exploded schematic view of a surgical instrument transmission structure according to an embodiment of the present patent;

[0060] Fig. 7 is a perspective view of a base of a surgical instrument transmission structure according to an embodiment of the present patent;

[0061] Fig. 8 is another perspective view of the base of the surgical instrument transmission structure according to an embodiment of the present patent;

[0062] Fig. 9 is a perspective view of another surgical instrument transmission structure according to an embodiment of the present patent.

[0063] Reference Signs List: A, surgical instrument transmission structure; 1, instrument rod; 2, first transmission rod; 3, first connector; 31, connecting joint; 311, first segment; 3111, first hinged part; 312, second segment; 3121, second hinged part; 313, connecting piece; 3131, connecting part; 314, through hole; 32, limiting tube; 321, first straight tube part; 322, bent tube part; 323, second straight tube part; 4, first shaft sleeve; 5, second shaft sleeve; 51, sleeve part; 52, end cover part; 6, first limiting piece; 7, second limiting piece; 8, base; 81, inclined platform; 9, limiting block; 100, bearing; 110, driving shaft; 120, driving cable; 130, second transmission rod; 140, second connector; 150, flexible cylindrical structure. DETAILED DESCRIPTION

[0064] The scheme in the embodiments of the present patent will be described in detail below with reference to the drawings in the embodiments of the present patent. Obviously, the described embodiments are only a part of the embodiments of the present patent, rather than all the embodiments. Based on the embodiments of the present patent, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present patent.

[0065] Embodiment One

[0066] The inventor found that in the mechanical arm of the surgical robot system at present, the instrument rod is usually vertically arranged below the driving component or the instrument box. However, the driving component or the instrument box itself has a certain volume, and in the process of surgery, the driving component or the instrument box above may cause visual field influence on the image acquisition device to acquire images from above the surgical area, or cause visual obstruction to the surgical operator, which is not conducive to improving the efficiency of the surgery. In order to solve the above problems, the first embodiment of the present patent discloses a surgical instrument transmission structure A, specifically, referring to Fig. 1, the surgical instrument transmission structure A comprises:

[0067] Instrument rod 1, used for mounting the end tool of a surgical instrument;

[0068] First transmission rod 2, the angle between the first transmission rod 2 and the instrument rod 1 is greater than 0 degrees and less than 180 degrees;

[0069] First connector 3, connecting the instrument rod 1 and the first transmission rod 2;

[0070] The first transmission rod 2 can be driven to rotate around its own axis, and through the first connector 3, drive the instrument rod 1 to rotate around its own axis.

[0071] After the first transmission rod 2 of the surgical instrument transmission structure A is driven to rotate around its own axis, and through the first connector 3, the rotation of the first transmission rod 2 is transmitted to the instrument rod 1, and the instrument rod 1 rotates around its own axis synchronously to drive the surgical instrument to rotate.

[0072] In this embodiment, the angle between the first transmission rod 2 and the instrument rod 1 is greater than 0 degrees and less than 180 degrees, so that the end of the instrument rod 1 can be located outside the projection of the instrument box or the driving part in the vertical direction, that is, the end of the instrument rod 1 and the surgical area where the end of the instrument rod 1 is located can be adjusted to be outside the line-of-sight shielding area of the instrument box or the transmission part. This setting reduces the obstruction of the instrument box and the driving part to the surgical area, making the field of view of the surgical area more open, which is conducive to observing or obtaining image information of the surgical area, conducive to the image acquisition device obtaining clear pictures from above the surgical area, conducive to improving the efficiency of the operation, shortening the operation time, and increasing the safety of the operation.

[0073] The surgical instrument transmission structure A set as above has the following technical effects compared with the prior art:

[0074] The first connector 3 connects the instrument rod 1 and the first transmission rod 2, so that the first transmission rod 2 can transmit its rotation to the instrument rod 1 through the first connector 3, and the instrument rod 1 rotates around its own axis synchronously to drive the surgical instrument to rotate for surgical operation; and the angle between the first transmission rod 2 and the instrument rod 1 is limited to a range greater than 0 degrees and less than 180 degrees, so that the end of the instrument rod 1 and the surgical area where the end of the instrument rod 1 is located are located outside the line-of-sight shielding area of the instrument box or the transmission part, reducing the obstruction of the instrument box and the driving part to the surgical area, making the field of view of the surgical area more open, which is conducive to observing or obtaining image information of the surgical area, conducive to the image acquisition device obtaining clear pictures from above the surgical area, conducive to improving the efficiency of the operation, shortening the operation time, and increasing the safety of the operation.

[0075] It is worth mentioning that the angle range between the first transmission rod 2 and the instrument rod 1 can be between 0 and 180 degrees according to the different rotating mechanisms arranged in the first connector 3. For example, when the rotating mechanism arranged in the first connector 3 is only a universal joint, the instrument rod 1 can rotate relative to the first transmission rod 2 within a range of 0 to 45 degrees. When the rotating mechanism arranged in the first connector 3 is two universal joints, the instrument rod 1 can rotate relative to the first transmission rod 2 within a range of 0 to 90 degrees. Similarly, when the rotating mechanism arranged in the first connector 3 is multiple universal joints, the instrument rod 1 can rotate relative to the first transmission rod 2 within a range of 0 to 180 degrees. The arrangement of multiple rotating mechanisms can expand the range of positions that the surgical instrument at the end of the instrument rod 1 can reach.

[0076] In addition, it should be noted that the connection between the first transmission rod 2 and the first connector 3 and the connection between the first connector 3 and the instrument rod 1 can have various forms according to different design and installation conditions. For example:

[0077] In some embodiments, the connection between the instrument rod 1 and the first transmission rod 2 and the first connector 3 can be achieved by a connecting structure, in other words, a corresponding hole slot and a connecting piece 313 are arranged at the connection to achieve the cooperation of the instrument rod 1, the first transmission rod 2 and the first connector 3 by inserting the connecting piece 313 into the hole slot and limiting the axial rotation between the instrument rod 1 and the first transmission rod 2. The connection by the connecting structure as described above is simple in structure and has the advantage of convenient disassembly, so that the staff can conveniently disassemble the connection between the instrument rod 1 and the first transmission rod 2 and perform maintenance.

[0078] In other embodiments, the connection between the instrument rod 1 and the first transmission rod 2 and the first connector 3 can also be a key connection, so that the first transmission rod 2 can drive the first connector 3 and the instrument rod 1 connected to the first connector 3 to rotate while transmitting the rotary force. The key connection structure is simple and only needs to arrange a key and a connecting slot at the connection of the first connector 3 or the instrument rod 1 corresponding to the first connector 3, which is convenient for disassembly, replacement and maintenance.

[0079] In some embodiments, the angle between the instrument rod 1 and the first transmission rod 2 is further limited to better adapt to the structural characteristics of the connecting member 313 in the adopted connection mode. Specifically, the angle between the first transmission rod 2 of the surgical instrument transmission structure A and the instrument rod 1 is greater than 0 degrees and less than 45 degrees. In order to adapt to the structural characteristics of the connecting member 313 and the first hinge 3111 and the second hinge 3121, and considering the visual field shielding condition of the instrument box or driving component to the surgical area, the angle between the first transmission rod 2 and the instrument rod 1 can be set to 0-45 degrees according to the specific situation. When the angle between the instrument rod 1 and the first transmission rod 2 is greater than 45 degrees, it is possible that the first hinge 3111 and the second hinge 3121 will interfere with each other during rotation, resulting in the inability to rotate. If rotation above 45 degrees is still required, the size of the first hinge 3111 and the second hinge 3121 needs to be reduced, but this will result in a lower structural strength of the first hinge 3111 and the second hinge 3121, which will reduce the reliability of the structure. Therefore, setting the angle between the first transmission rod 2 and the instrument rod 1 to 0-45 degrees can more reasonably adapt to the structural characteristics between the components.

[0080] The first embodiment of the present patent also discloses a surgical system, comprising:

[0081] The surgical instrument transmission structure A as described above, wherein the surgical instrument transmission structure A is provided with a terminal tool of a surgical instrument;

[0082] An image acquisition device (not shown in the figure) is arranged towards the direction indicated by the instrument rod 1 to acquire the surgical visual field.

[0083] The surgical system comprises the surgical instrument transmission structure A and the image acquisition device, wherein the surgical instrument transmission structure A is provided with a terminal tool of a surgical instrument, i.e. the aforementioned instrument rod 1, the instrument rod 1 is provided with a surgical instrument and sends the surgical instrument to the surgical area; the image acquisition device can be arranged outside the surgical instrument transmission structure A and towards the direction indicated by the instrument rod 1 to acquire the surgical visual field of the surgical area. Compared with the transmission structure in the prior art, the instrument rod 1 of the surgical instrument transmission structure A in the embodiment is outside the visual field shielding area of the transmission component or the instrument box, which reduces the visual field blind area around the surgical area, and the image acquisition device can more conveniently and comprehensively acquire the image of the surgical area.

[0084] Embodiment two

[0085] In the surgical process, in order to improve the safety in the surgical process, the stability and accuracy of the movement of the surgical instrument moving part have higher requirements. The second embodiment discloses a surgical instrument transmission structure A and a surgical system. The embodiment is further improved based on the first embodiment, and the improvement is that the structure of the first connector 3 is further limited, so that the rotary motion of the first transmission rod 2 can be effectively and stably transmitted to the instrument rod 1, and the stability and accuracy of the movement of the instrument rod 1 are ensured. Referring to FIG. 2, the first connector 3 of the surgical instrument transmission structure A comprises:

[0086] The connecting joint 31 comprises:

[0087] The first segment 311 is connected to the first transmission rod 2,

[0088] The second segment 312 is connected to the instrument rod 1;

[0089] The limiting tube 32 comprises a first straight tube part 321, a bent tube part 322 and a second straight tube part 323 arranged in sequence; the first transmission rod 2 is connected to the first straight tube part 321, the instrument rod 1 is connected to the second straight tube part 323, and the first segment 311 and the second segment 312 are both at least partially located in the bent tube part 322;

[0090] When the first segment 311 rotates following the first transmission rod 2, it is guided and constrained by the bent tube part 322, so that the second segment 312 drives the instrument rod 1 to rotate.

[0091] It should be noted that the first segment 311 is used to connect with the first transmission rod 2, that is, the first connector 3 is connected with the first transmission rod 2 through the first segment 311, and the connection relationship between the first connector 3 and the first transmission rod 2 has been mentioned in the above embodiment, which will not be described in detail here. Similarly, the second segment 312 is used to connect with the instrument rod 1, that is, the first connector 3 is connected with the instrument rod 1 through the second segment 312, and the connection relationship between the first connector 3 and the instrument rod 1 has been mentioned in the above embodiment, which will not be described in detail here.

[0092] In some embodiments, as shown in FIG. 2, the first segment 311 is located in the first straight pipe section 321 and extends into the elbow section 322 at least partially from the first straight pipe section 321; the second segment 312 is located in the second straight pipe section 323 and extends into the elbow section 322 at least partially from the second straight pipe section 323; and the first segment 311 and the second segment 312 located in the elbow section 322 are connected to each other. Therefore, in this embodiment, the first straight pipe section 321 corresponding to the first segment 311 is used to limit the radial position of the first segment 311 and thus determine the rotation axis of the first segment 311; the second straight pipe section 323 is the same. And the elbow section 322 is used to connect the first straight pipe section 321 and the second straight pipe section 323, and thus limit the positions of the two to make the rotation axes of the first segment 311 and the second segment 312 form a certain angle. Since the first segment 311 is used to be connected with the first transmission rod 2 and the second segment 312 is used to be connected with the instrument rod 1, the elbow section 322 limits the positions of the first straight pipe section 321 and the second straight pipe section 323 at the same time, and indirectly limits the angle between the first transmission rod 2 and the instrument rod 1. In other words, the angle between the first transmission rod 2 and the instrument rod 1 is determined by the elbow section 322. Therefore, when the first segment 311 rotates, the elbow section 322 can guide the first segment 311 to transmit the rotating motion to the second segment 312 in another axial direction, so that the first segment 311 can rotate around the fixed rotation axis in the pipe wall of the elbow section 322, while the first segment 311 can drive the second segment 312 to rotate around the fixed rotation axis, and the instrument rod 1 is driven to rotate synchronously by the second segment 312.

[0093] In addition, it is worth mentioning that the first transmission rod 2 is connected with the first straight pipe section 321, and the instrument rod 1 is connected with the second straight pipe section 323. Specifically, in some embodiments, as shown in FIG. 4, the first transmission rod 2 extends into the first straight pipe section 321 at least partially and is connected with the first segment 311 in the first straight pipe section 321, which enables the first straight pipe section 321 to limit the radial position of the first transmission rod 2, and thus enables the first transmission rod 2 to rotate around its fixed rotation axis, thereby improving the stability and accuracy of the rotation of the first transmission rod 2. Similarly, the instrument rod 1 extends into the second straight pipe section 323 at least partially and is connected with the second segment 312 in the second straight pipe section 323, which enables the second straight pipe section 323 to limit the radial position of the instrument rod 1, and thus enables the first transmission rod 2 to rotate around its fixed rotation axis, thereby improving the stability and accuracy of the rotation of the instrument rod 1. It should be noted that the first transmission rod 2 is connected with the first straight pipe section 321, which aims to limit the rotation of the first transmission rod 2 through the connection between the first transmission rod 2 and the first straight pipe section 321, so as to ensure the stability of the rotation of the first transmission rod 2; the instrument rod 1 is the same.

[0094] Through the first connector 3 and the limiting tube 32 arranged as above, the first transmission rod 2 can transmit its rotating motion to the instrument rod 1 through the first segment 311 and the second segment 312, and the rotating axis of the first transmission rod 2, the first segment 311, the second segment 312 and the instrument rod 1 is limited by the limiting tube 32, so that the driving force from the driving structure can be transmitted to the instrument rod 1 at an angle from the first transmission rod 2 to drive the surgical instrument to perform surgical operation.

[0095] In some embodiments, the connection between the first segment 311 and the second segment 312 can be rigid connection, so that the rotating motion of the first segment 311 can be synchronously transmitted to the second segment 312. For example, referring to FIGS. 2-4, the first segment 311 of the surgical instrument transmission structure A is provided with two opposite first hinge parts 3111;

[0096] The second segment 312 is provided with two opposite second hinge parts 3121;

[0097] The connecting piece 313 has four connecting parts 3131 evenly distributed in the circumferential direction, and the four connecting parts 3131 are respectively hinged with the first hinge parts 3111 and the second hinge parts 3121.

[0098] The two first hinge parts 3111 are oppositely arranged on the first segment 311, and the two second hinge parts 3121 are oppositely arranged on the second segment 312. At the same time, the two first hinge parts 3111 are connected to the two opposite connecting parts 3131 on the connecting piece 313, and the two second hinge parts 3121 are connected to the other two opposite connecting parts 3131 on the connecting piece 313. The four connecting parts 3131 are evenly distributed in the circumferential direction of the connecting piece 313, i.e. the four connecting parts 3131 can be distributed in a cross shape. When the first segment 311 is rotated by the first transmission rod 2, the first segment 311 drives the connecting piece 313 to rotate through the two first hinge parts 3111, the connecting piece 313 continues to drive the two second hinge parts 3121 to rotate, so that the second segment 312 rotates and drives the instrument rod 1 to rotate, realizing the transmission of rotating driving force.

[0099] In some embodiments, referring to FIG. 4, the connecting piece 313 of the surgical instrument transmission structure A is provided with a through hole 314 for the driving wire of the end tool to pass through.

[0100] The through hole 314 on the connecting piece 313 can pass through the driving wire, and the driving wire can drive the end tool to move. The size of the through hole 314 is suitable for the driving wire.

[0101] It should be noted that the driving wire is also called a rope or tendon, and is used in a wire driving mechanism. The wire driving mechanism is arranged flexibly, occupies a small space, and is suitable for transmission occasions with narrow space and multiple driving degrees of freedom. The driving wire can flexibly control the end tool to perform precise surgical operations.

[0102] In some other embodiments, the first segment 311 and the second segment 312 can also be flexibly connected, which can protect the internal structure and improve the structural reliability and stability. For example, as shown in FIGS. 4 and 5, the first segment 311 and the second segment 312 of the surgical instrument transmission structure A each have a flexible cylindrical structure 150 composed of multiple layers of pleated side walls.

[0103] The first segment 311 and the second segment 312 each have a flexible cylindrical structure 150 composed of multiple layers of pleated side walls. The flexible structure is used to protect the first hinge 3111 and the second hinge 3121, as well as the driving wire passing through the inside of the first hinge 3111, the second hinge 3121, and the connecting piece 313.

[0104] Embodiment Three

[0105] This embodiment is a further improvement based on Embodiment Two. This embodiment also proposes a surgical instrument transmission structure A and a surgical system, and proposes a first shaft sleeve 4 for internally limiting the first transmission rod 2 and / or the first segment 311, and a first limiting piece 6 and a second limiting piece 7 for limiting the sleeve pipe fitted on the driving wire. The arrangement of these limiting structures is conducive to stable transmission driving force inside the pipe. Specifically,

[0106] As shown in FIG. 6, the surgical instrument transmission structure A further comprises:

[0107] The first shaft sleeve 4 is arranged in the first straight pipe portion 321 and is fitted on the first transmission rod 2 and / or the first segment 311.

[0108] The first shaft sleeve 4 is configured to be fixedly arranged in the axial direction of the first straight pipe portion 321 and can freely rotate in the circumferential direction of the first straight pipe portion 321.

[0109] The first shaft sleeve 4 is arranged in the first straight pipe portion 321 and is fixedly arranged in the axial direction of the first pipe. The first shaft sleeve 4 can freely rotate in the circumferential direction, i.e., can rotate around its own axis. Depending on the specific situation, the first shaft sleeve 4 can be arranged on the first transmission rod 2 or on the first segment 311. When the first shaft sleeve 4 is long enough, it can be arranged on both the first transmission rod 2 and the first segment 311. The first shaft sleeve 4 can prevent the components fitted therein from being radially offset.

[0110] The first shaft sleeve 4 has the following technical effects:

[0111] The first shaft sleeve 4 can assist in fixing the position to prevent the direction from deviating due to vibration; reduce friction and wear: the first shaft sleeve 4 can reduce direct friction and wear when there is relative movement between the first straight pipe and the first segment 311 and / or the first transmission rod 2, protect the first segment 311 and / or the first transmission rod 2, and help prolong the service life of the surgical instrument transmission structure A. Save energy: by reducing friction, the first shaft sleeve 4 can also reduce energy loss. Reduce noise: setting the first shaft sleeve 4 can reduce the noise generated when the first transmission rod 2 or the first segment 311 rotates.

[0112] For example, as shown in FIGS. 4 and 6, the first shaft sleeve 4 of the surgical instrument transmission structure A is sleeved on the first segment 311;

[0113] The part of the first segment 311 that protrudes out of the first shaft sleeve 4 is keyed connected with the first transmission rod 2;

[0114] The surgical instrument transmission structure A further comprises: a first limiting piece 6 connected to the first segment 311, for limiting the proximal end position of the spring tube wrapped on the drive wire of the end tool;

[0115] A second limiting piece 7 is connected to the distal end of the instrument rod 1, for limiting the distal end position of the spring tube wrapped on the drive wire of the end tool.

[0116] The first shaft sleeve 4 is sleeved on the first segment 311, and the part of the first segment 311 that protrudes out of the first shaft sleeve 4 is keyed connected with the first transmission rod 2. Specifically, a protruding structure can be provided on the part of the first segment 311 that protrudes out of the first shaft sleeve 4, and a groove is provided on the corresponding part of the first transmission member connected with the first segment 311, the groove and the protruding structure cooperate to limit the relative rotation between the first segment 311 and the first transmission rod 2, so that the first segment 311 can be driven to rotate synchronously by the first transmission rod 2.

[0117] The first limiting piece 6 is arranged at the end of the first segment 311 axially away from the first hinge part 3111, and a limiting hole is formed on the first limiting piece 6, which can limit the proximal end position of the spring tube wrapped on the drive wire of the end tool, i.e. the spring tube wrapped on the drive wire is arranged starting from the limiting hole, so that the spring tube cannot move out of the limiting hole; in addition, a second limiting piece 7 is also arranged at the distal end of the instrument rod 1 to correspond to the first limiting piece 6, so as to limit the spring tube between the first limiting piece 6 and the second limiting piece 7, i.e. the distal end position is close to the position where the instrument rod 1 is installed with the end tool. Arranging the spring tube between the first limiting piece 6 and the second limiting piece 7 can prevent the drive wire from being twisted too much. In addition, it can also prevent the drive wire from moving too much, causing the moving parts of the end tool to move beyond the range.

[0118] In some preferred embodiments, referring to Figs. 4 and 6, the surgical instrument transmission structure A further comprises:

[0119] a second shaft sleeve 5 arranged in the second straight pipe section 323 and sleeved on the instrument rod 1 and / or the second section 312;

[0120] The second shaft sleeve 5 is configured to be fixed in the axial direction of the second straight pipe section 323 and freely rotatable in the circumferential direction of the second straight pipe section 323.

[0121] The surgical instrument transmission structure A can further be provided with the second shaft sleeve 5 arranged in the second straight pipe section 323. Depending on the specific case, the second shaft sleeve 5 can be configured on the instrument rod 1 or on the second section 312, so that the rotation axis of the instrument rod 1 or the second section 312 is limited within the second shaft sleeve 5. The second shaft sleeve 5 can also be arranged at the connection between the first transmission rod 2 and the first section 311 to simultaneously prevent the instrument rod 1 and the second section 312 from producing radial deviation.

[0122] Similar to the first shaft sleeve 4, the second shaft sleeve 5 has the following technical effects:

[0123] The second shaft sleeve 5 can assist in fixing the position and prevent directional deviation due to vibration when the instrument rod 1 and the second section 312 move; reduce friction and wear: the second shaft sleeve 5 reduces direct friction and wear when there is relative movement between the second straight pipe and the second section 312 and / or the instrument rod 1, protects the second section 312 and / or the instrument rod 1, and helps to prolong the service life of the surgical instrument transmission structure A. Save energy: by reducing friction, the second shaft sleeve 5 can also reduce energy loss. Reduce noise: the second shaft sleeve 5 can reduce the noise produced when the instrument rod 1 or the second section 312 rotates.

[0124] In addition, the second shaft sleeve 5 comprises:

[0125] a sleeve section 51 and an end cover section 52 connected to the sleeve section 51, the end cover section 52 being connected to the end face of the second straight pipe section 323, and the sleeve section 51 extending into the second straight pipe section 323;

[0126] The sleeve section 51 is threadedly connected to the instrument rod 1 and / or the second section 312;

[0127] The first section 311 is integrally formed on the first transmission rod 2, and the second section 312 is integrally formed on the instrument rod 1.

[0128] The sleeve part 51 of the second shaft sleeve 5 can extend into the second straight pipe part 323, and the peripheral surface of the sleeve part 51 cooperates with the inner wall of the second straight pipe part 323, so that the second straight pipe part 323 can define the rotation axis of the second shaft sleeve 5. The end cover part 52 covers the end surface of the second straight pipe part 323, and can define the axial movement of the second shaft sleeve 5.

[0129] In some embodiments, the first segment 311 can also be integrally formed on the first transmission rod 2, and the second segment 312 can also be integrally formed on the instrument rod 1. The integrally formed structure is more stable and reliable, and is helpful to stabilize the transmission of driving force.

[0130] Embodiment four

[0131] The present embodiment is a further improvement based on the first, second or third embodiments, and provides the base 8, the inclined platform 81 and the like, which provide a structural basis for the inclination of the first transmission rod 2, and the driving shaft 110 and the driving cable 120, which provide flexible driving force for the rotation of the first transmission rod 2. Specifically,

[0132] Referring to FIGS. 7 and 8, the transmission structure of the surgical instrument transmission structure A further comprises:

[0133] The base 8 is provided with the inclined platform 81, and the inclination angle of the inclined platform 81 is complementary to the angle formed by the first transmission rod 2 and the instrument rod 1;

[0134] The limiting block 9 is installed on the inclined platform 81;

[0135] The bearing 100 is sleeved on the first transmission rod 2 and is clamped between the limiting block 9 and the inclined platform 81.

[0136] The inclined platform 81 is arranged on the base 8, and the first transmission rod 2 can pass through the inclined platform 81 and is arranged in the same direction as the inclined direction of the inclined platform 81. The inclination angle of the inclined platform 81 relative to the base 8 is complementary to the angle formed by the first transmission rod 2 and the instrument rod 1, so that the direction of the instrument rod 1 is perpendicular to the base 8, and the instrument rod 1 can vertically reach the skin of the surgical area for surgery.

[0137] The bearing 100 is sleeved on the first transmission rod 2 and is clamped between the limiting block 9 and the inclined platform 81. On the one hand, the bearing 100 can limit the rotation axis of the first transmission rod 2 in the inclined platform 81 and in the same direction as the inclined platform 81. On the other hand, the bearing 100 can reduce the friction of the first transmission rod 2 rotating in the inclined platform 81, reduce the friction loss, and prolong the service life of the parts.

[0138] Referring to FIG. 8, the surgical instrument transmission structure A further comprises:

[0139] A driving shaft 110 is vertically arranged on the base 8 and located beside the tilting platform 81;

[0140] A driving cable 120 is wound around the driving shaft 110 and the first transmission rod 2, so that the first transmission rod 2 is driven to rotate by the rotation of the driving shaft 110.

[0141] The driving shaft 110 is vertically arranged on the base 8, and the tilting platform 81 and the first transmission rod 2 in the tilting platform 81 are arranged at an angle relative to the base 8. The driving shaft 110 is in transmission with the first transmission rod 2 through the driving cable 120. The driving cable 120 can convert the rotational driving force of the driving shaft 110 in the vertical direction into the rotational driving force of the first transmission rod 2 in the tilting direction. The wire driving mechanism structure can move the heavy driver away from the end effector, and reasonable arrangement of the wire can reduce the inertia of the end effector. In addition, the wire driving occupies less geometric space, which can reduce the space occupied by the wire driving structure.

[0142] Embodiment five

[0143] The embodiment provides a surgical instrument transmission structure and a surgical system applying the transmission structure. The embodiment is an improvement based on the first, second and third embodiments, and a second transmission rod 130 and a second connector 140 are added to reduce the shielding of the instrument box to the instrument rod 1. Specifically, as shown in FIGS. 7 to 9, the surgical instrument transmission structure A further comprises:

[0144] The second transmission rod 130 is arranged at an angle greater than 0 degrees and less than 180 degrees relative to the first transmission rod 2;

[0145] The second connector 140 connects the second transmission rod 130 and the first transmission rod 2;

[0146] The second transmission rod 130 can be driven to rotate around its own axis, and drive the first transmission rod 2 to rotate around its own axis through the second connector 140.

[0147] The embodiment adds the second transmission rod 130 and the second connector 140 to the surgical instrument transmission structure A of the foregoing embodiments. One end of the second transmission rod 130 is connected with the driving mechanism, and the other end is connected with the first transmission rod 2 through the second connector 140. The second transmission rod 130 can be driven by the driving mechanism and drive the first transmission rod 2 to rotate around its own axis through the second connector 140, so as to drive the instrument rod 1 to rotate through the first connector 3, and enable the end instrument tool to rotate.

[0148] The second transmission rod 130 and the second connector 140 can further expand the range of movement of the instrument rod 1 in space and enable the instrument rod 1 to reach various positions of the surgical area in a more flexible manner.

[0149] The second transmission rod 130 can be arranged vertically or at an angle with the instrument box. When the second transmission rod 130 is arranged vertically with the instrument box, the second transmission rod 130 is parallel to the axis of the drive shaft 110.

[0150] At this time, there are two ways to drive the second transmission rod 130. One way is to use a drive cable 120 for wire driving, which connects the second transmission rod 130 and the drive shaft 110, and transmits the rotary motion of the drive shaft 110 to the second transmission rod 130 to drive the second transmission rod 130 to rotate. The wire driving using the drive cable 120 has a simple structure, stable transmission, no vibration and impact. In essence, the driving method used in this embodiment is the same as that in the fourth embodiment.

[0151] Another way is to use gear meshing for transmission. Specifically, gears (not shown in the figure) that mesh with each other can be arranged on the second transmission rod 130 and the drive shaft 110. When the drive shaft 110 rotates, the second transmission rod 130 can be driven to rotate around its own axis by the meshing gears. Gear transmission has high transmission efficiency, high precision and good reliability compared to wire transmission, and can work in harsher environments.

[0152] In other embodiments, the second transmission rod 130 can be arranged at an angle with the instrument box. The second transmission rod 130 in this state can be driven by the drive cable 120, which can flexibly convert the rotary motion on the drive shaft 110 into the rotary motion of the second transmission rod 130 in another axis direction. When the second transmission rod 130 is arranged at an angle with the instrument box, the angle between the first transmission rod 2 and the second transmission rod 130 can be larger under the premise that the instrument rod 1 is at the same distance from the outside of the instrument box compared to the vertical arrangement, i.e., the axes between the first transmission rod 2 and the second transmission rod 130 and between the first transmission rod 2 and the instrument rod 1 can be closer to the co-linear position, which can reduce the load on the first connector 3 and the second connector 140 and reduce the structural strength requirement. In addition, the outward inclination of the second transmission rod 130 can make the positions of the second transmission rod 130, the first transmission rod 2 and the instrument rod 1 exposed outside the shielding range of the instrument box more extensive, increasing the surgical field of view and facilitating observation of the surgical area or acquisition of image information of the surgical area.

[0153] Finally, it should be noted that those skilled in the art will understand that, in order to enable a reader to better understand the patent, the embodiments of the patent present many technical details. However, even without these technical details and based on the above-described various embodiments and modifications, the technical solutions claimed by the claims of the patent can be substantially realized. Therefore, in actual applications, various changes can be made to the above-described embodiments in form and details, without departing from the spirit and scope of the patent.

Claims

1. A surgical instrument transmission structure, characterized by comprising: The surgical instrument transmission structure comprises: an instrument rod for mounting a terminal tool of a surgical instrument; a first transmission rod, which is at an angle greater than 0 degrees and less than 180 degrees with the instrument rod; a first connector connecting the instrument rod and the first transmission rod; the first transmission rod can be driven to rotate around its own axis, and drive the instrument rod to rotate around its own axis through the first connector.

2. The surgical instrument drive structure according to claim 1, wherein, The first connector comprises: a connecting joint comprising: a first segment connected to the first transmission rod, a second segment connected to the instrument rod; a limiting tube comprising a first straight tube part, a bent tube part and a second straight tube part arranged in sequence; the first transmission rod is connected to the first straight tube part, the instrument rod is connected to the second straight tube part, and the first segment and the second segment are both at least partially located in the bent tube part; when the first segment rotates following the first transmission rod, it is guided and constrained by the bent tube part, so that the second segment drives the instrument rod to rotate.

3. The surgical instrument drive structure according to claim 2, wherein, two opposite first hinging parts are arranged on the first segment; two opposite second hinging parts are arranged on the second segment; the connecting joint further comprises a connecting piece having four connecting parts evenly distributed in the circumferential direction, which are respectively hinged to each of the first hinging parts and the second hinging parts.

4. The surgical instrument drive structure according to claim 3, wherein, a through hole is arranged on the connecting piece, which is used for the driving wire of the terminal tool to pass through.

5. The surgical instrument drive structure according to claim 3, wherein, both the first segment and the second segment have a flexible cylindrical structure composed of multiple layers of pleated side walls.

6. The surgical instrument drive structure according to claim 2, wherein, Further comprising: a first shaft sleeve arranged in the first straight tube part and sleeved on the first transmission rod and / or the first segment; the first shaft sleeve is configured to be fixedly arranged in the axial direction of the first straight tube part and freely rotatable in the circumferential direction of the first straight tube part.

7. A surgical instrument drive arrangement according to claim 6, wherein, the first shaft sleeve is sleeved on the first segment; the part of the first segment protruding out of the first shaft sleeve is keyed to the first transmission rod; the surgical instrument transmission structure further comprises a first limiting piece connected to the first segment for limiting the proximal end position of a spring tube wrapped on the driving wire of the terminal tool; a second limiting piece connected to the distal end of the instrument rod for limiting the distal end position of the spring tube wrapped on the driving wire of the terminal tool.

8. The surgical instrument drive structure according to claim 2, wherein, Further comprising: a second shaft sleeve arranged in the second straight tube part and sleeved on the instrument rod and / or the second segment; the second shaft sleeve is configured to be fixedly arranged in the axial direction of the second straight tube part and freely rotatable in the circumferential direction of the second straight tube part; the second shaft sleeve comprises: a sleeve part and an end cover part connected to the sleeve part, the end cover part is connected to the end face of the second straight tube part, and the sleeve part protrudes into the second straight tube part; the sleeve part is threadedly connected to the instrument rod and / or the second segment; the first segment is integrally formed on the first transmission rod, and the second segment is integrally formed on the instrument rod.

9. The surgical instrument drive arrangement according to claim 1, characterized in that The angle between the first transmission rod and the instrument rod is greater than 0 degrees and less than 45 degrees.

10. The surgical instrument drive arrangement according to claim 1, characterized in that The surgical instrument transmission structure further comprises: A base, which is provided with an inclined platform, the angle of inclination of the inclined platform and the angle formed by the first transmission rod and the instrument rod are complementary angles; A limiting block, which is installed on the inclined platform; A bearing, which is sleeved on the first transmission rod and is clamped between the limiting block and the inclined platform.

11. The surgical instrument drive arrangement according to claim 10, characterized in that The surgical instrument transmission structure further comprises: A driving shaft, which is vertically arranged on the base and is located beside the inclined platform; A driving cable, which is wound around the driving shaft and the first transmission rod, so that the rotation of the driving shaft drives the rotation of the first transmission rod.

12. A surgical instrument drive arrangement according to any one of claims 1 to 11, wherein, Further comprising: A second transmission rod, the angle between the second transmission rod and the first transmission rod is greater than 0 degrees and less than 180 degrees; A second connector, which connects the second transmission rod and the first transmission rod; The second transmission rod can be driven to rotate around its own axis, and through the second connector, it drives the first transmission rod to rotate around its own axis.

13. A surgical system, characterized by comprising: It comprises: The surgical instrument transmission structure according to any one of claims 1 to 12, which is provided with an end tool of a surgical instrument; An image acquisition device, which is directed to the direction indicated by the instrument rod, is used to acquire the surgical field of view.

Images