Surgical instrument and surgical robot system

Abstract

Provided is a surgical instrument, which comprises a rigid outer tube (61), an inner tube (62), and a control mechanism (63). Two opposite ends of the inner tube (62) are a working end (601) and a control end (602), respectively. The control mechanism (63) is mounted at the control end (602) of the inner tube (62) and is used for controlling the working end (601) of the inner tube (62) to perform a surgical action. The working end (601) of the inner tube (62) passes through the rigid outer tube (61), and the inner tube (62) can slide in the rigid outer tube (61) along an axial direction of the rigid outer tube (61). The inner tube (62) comprises a first rigid portion (621) and a bendable flexible portion (623). The first rigid portion (621) is connected to one end of the flexible portion (623) facing the working end (601). Since the surgical instrument has the rigid outer tube (61) and the inner tube (62) and the inner tube (62) can slide in the rigid outer tube (61) along the axial direction of the outer tube (61), the length by which the working end (601) of the inner tube (62) extends out of the rigid outer tube (61) can be controlled, so as to control the length by which the surgical instrument extends into a cavity in a patient. Moreover, since the inner tube (62) comprises the first rigid portion (621) and the bendable flexible portion (623), the surgical instrument can be bent by means of the flexible portion (623) in the process of extending into the cavity in the patient, thereby preventing a robotic arm platform from hindering the surgical instrument.

Description

Surgical instruments and surgical robot systems

[0001] This application claims priority to Chinese Patent Application No. 202411441411.4, filed on October 15, 2024, entitled “Surgical Instruments and Surgical Robot System”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of medical device technology, and in particular to a surgical instrument and surgical robot system. Background Technology

[0003] Minimally invasive medical techniques refer to medical procedures performed inside the human body cavity using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared with traditional surgical methods, minimally invasive medical techniques have advantages such as less trauma, less pain, faster recovery, reduced patient discomfort, and fewer harmful side effects.

[0004] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. Minimally invasive surgical robots typically consist of a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands sent from the main control console and perform corresponding surgical procedures. Instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instrument includes an end effector for performing surgical operations and joint components connected to the end effector that can move with multiple degrees of freedom.

[0005] When a single-port surgical robot is needed to perform surgery on certain symptoms, in addition to making a through hole for the puncture card on the patient's body, an auxiliary hole is also needed. The purpose of this is to insert surgical instruments (such as surgical forceps or irrigators) into the patient's cavity so that curved suture needles, sutures, clips can be placed into the patient's cavity or the cavity can be irrigated. These surgical instruments are often too large to pass through the puncture card normally, which adds an extra trauma to the patient.

[0006] If surgical instruments can be inserted into the patient's cavity close to the outer wall of the trocar, the auxiliary port can be avoided, thus reducing trauma. Because the robotic arm platform of a single-port surgical robot is relatively large, and the space between the platform and the patient is quite small, and the effective length of commercially available surgical instruments is 363mm with a total length of 475mm, and these instruments cannot be bent, the robotic arm platform of the single-port surgical robot can obstruct the insertion of surgical instruments, making it difficult or impossible for them to be inserted normally through the trocar. Summary of the Invention

[0007] In order to overcome the shortcomings and deficiencies of the prior art, the purpose of this application is to provide a surgical instrument and a surgical robot system to solve the problem that the surgical instrument is difficult or impossible to insert into the patient's cavity through the puncture point when performing surgery using a single-port surgical robot in the prior art.

[0008] The objective of this application is achieved through the following technical solution:

[0009] This application provides a surgical instrument, including a rigid outer tube, an inner tube, and a control mechanism. The two opposite ends of the inner tube are a working end and a control end, respectively. The control mechanism is installed at the control end of the inner tube and is used to control the working end of the inner tube to perform surgical actions. The working end of the inner tube passes through the rigid outer tube, and the inner tube can slide along the axial direction of the rigid outer tube within the rigid outer tube. The inner tube includes a first rigid part and a flexible part that can be bent. The first rigid part is connected to the end of the flexible part facing the working end.

[0010] Furthermore, the control mechanism is a control valve assembly, which is provided with an inlet port, an outlet port, an inlet control valve, and an outlet control valve. The inlet control valve is used to control the inlet port to flush water into the inner pipe, and the outlet control valve is used to control the inner pipe to drain water into the outlet port.

[0011] Furthermore, the control mechanism is a clamp control handle, the surgical instrument includes a linkage rod, the first rigid part has a clamp head at its working end that moves synchronously with the first rigid part, the control end of the inner tube is connected to the clamp control handle, the linkage rod is located inside the inner tube and its two ends are respectively connected to the clamp control handle and the clamp head, and the clamp control handle controls the opening and closing of the clamp head through the linkage rod;

[0012] The linkage includes a flexible rod that can be bent, one end of which is directly connected to the clamp head, and the other end of which is directly connected to the clamp control handle.

[0013] Furthermore, the surgical instrument includes a curved tube, one end of which is connected to the end of the rigid outer tube away from the clamp head. The clamp control handle is slidable at the other end of the curved tube and controls the inner tube to slide within the rigid outer tube. A portion of the inner tube is disposed within the rigid outer tube, and another portion of the inner tube is disposed within the curved tube.

[0014] Furthermore, one end of the bent tube is rotatably connected to the end of the rigid outer tube away from the pliers head, and a limiting mechanism is provided between the rigid outer tube and the inner tube to prevent relative rotation between the rigid outer tube and the first rigid part;

[0015] The surgical instrument includes a rotating outer tube and a control knob. Both the rotating outer tube and the control knob are sleeved on the curved tube. One end of the rotating outer tube is fixedly connected to the end of the rigid outer tube away from the forceps head. The control knob is connected to the other end of the rotating outer tube and controls the rotation of the rigid outer tube through the rotating outer tube.

[0016] Furthermore, the control mechanism is a clamp control handle, the surgical instrument includes a linkage rod, the first rigid part has a clamp head at its working end that moves synchronously with the first rigid part, the control end of the inner tube is connected to the clamp control handle, the linkage rod is located inside the inner tube and its two ends are respectively connected to the clamp control handle and the clamp head, and the clamp control handle controls the opening and closing of the clamp head through the linkage rod;

[0017] The linkage includes a first rigid rod, a second rigid rod, and a flexible rod that can be bent. The first rigid rod is connected to the end of the flexible rod facing the pliers head, and the second rigid rod is connected to the end of the flexible rod facing the pliers control handle.

[0018] Furthermore, an outer sealing ring is provided on the outer wall of the inner tube, and the outer sealing ring is disposed between the inner tube and the rigid outer tube.

[0019] Furthermore, the rigid outer tube is a telescopic tube, which includes a telescopic outer tube and a telescopic inner tube. The telescopic inner tube is disposed inside the telescopic outer tube and can slide axially inside the telescopic outer tube.

[0020] Furthermore, the inner tube includes a second rigid portion connected to one end of the flexible portion facing the clamp control handle, and the length of the flexible portion is less than the length of the rigid outer tube.

[0021] Furthermore, a locking mechanism is provided at one end of the rigid outer tube near the clamp control handle, the locking mechanism being used to control the locking state of the rigid outer tube and the inner tube.

[0022] This application also provides a surgical robot system, including the surgical instruments as described above and a guide tube having multiple channels, at least one of the multiple channels being for the surgical instruments to pass through, and another of the multiple channels being for an endoscope to pass through.

[0023] The beneficial effects of this application are as follows: by using a rigid outer tube and an inner tube for the surgical instrument, and the inner tube being able to slide along the axial direction of the rigid outer tube within the rigid outer tube, the length of the working end of the inner tube extending out of the rigid outer tube can be controlled, thereby controlling the length of the surgical instrument inserted into the patient's cavity; moreover, the inner tube includes a first rigid part and a flexible part that can be bent, allowing the surgical instrument to bend through the flexible part during insertion into the patient's cavity, thereby avoiding obstruction of the surgical instrument by the robotic arm platform when performing surgery using a single-port surgical robot, and facilitating the insertion of the surgical instrument into the patient's cavity in a relatively narrow space. Attached Figure Description

[0024] [Revised according to Article 91, 21.10.2025] Figure 1 is a top view of a surgical robot system according to an embodiment of the present application arranged in an operating room.

[0025] Figure 2A is a schematic diagram of the main control console of a surgical robot system according to an embodiment of this application.

[0026] Figure 2B is a schematic diagram of the slave operating device of a surgical robot system according to an embodiment of this application.

[0027] Figures 3A and 3B are schematic diagrams of surgical tools according to an embodiment of this application.

[0028] Figure 4 is a schematic diagram of the surgical instrument in Embodiment 1 of this application.

[0029] Figure 5 is a schematic diagram of the disassembled structure of the surgical instruments in Embodiment 1 of this application.

[0030] Figure 6 is a schematic diagram of the surgical instrument in Embodiment 2 of this application.

[0031] Figure 7 is a schematic diagram of the disassembled structure of the surgical instruments in Embodiment 2 of this application.

[0032] Figure 8 is a schematic diagram of the surgical instruments in Embodiment 3 of this application before they are inserted into the patient's cavity.

[0033] Figure 9 is a schematic diagram of the structure of the surgical instrument after it is inserted into the patient's cavity in Embodiment 3 of this application.

[0034] Figure 10 is a schematic diagram of the disassembled structure of the surgical instruments in Embodiment 3 of this application.

[0035] Figure 11 is a schematic diagram of the cross-sectional structure of the inner tube in Embodiment 3 of this application.

[0036] Figure 12 is an enlarged structural diagram of point A in Figure 11.

[0037] Figure 13 is a schematic diagram of the cross-sectional structure of the linkage rod in Embodiment 3 of this application.

[0038] Figure 14 is an enlarged structural diagram of point B in Figure 13.

[0039] Figure 15 is one of the enlarged structural schematic diagrams of the inner tube in the flexible part region in another embodiment.

[0040] Figure 16 is a second enlarged structural schematic diagram of the inner tube in the flexible part region in another embodiment.

[0041] Figure 17 is a third enlarged structural schematic diagram of the inner tube in the flexible section region in another embodiment.

[0042] Figure 18 is a fourth enlarged structural schematic diagram of the inner tube in the flexible section region of another embodiment.

[0043] Figure 19 is a fifth enlarged structural schematic diagram of the inner tube in the flexible section region of another embodiment.

[0044] Figure 20 is an enlarged structural schematic diagram of the linkage rod in the flexible rod region in another embodiment.

[0045] Figure 21 is a schematic diagram of the structure of the surgical instruments after they are inserted into the patient's cavity in another embodiment.

[0046] Figure 22 is an enlarged structural schematic diagram of the surgical instruments in the locking mechanism area of ​​Figure 21.

[0047] In the diagram: Operating device 10, axes 101, 102, 103, 104, 105, central axis 106, robotic arm 11, holding device 112, docking device 114, sleeve 115, remote motion center 116, incision 117, base 110, column 120, support column 121, lifting column 122, upper arm 130, forearm 140, vertical arm 150, control device 160, control panel 170, switch 171, first joint J1, second joint J2, third joint J... 3. Fourth joint J4, Fifth joint J5, Instrument holding mechanism 12, Support column 121, Lifting column 122, Sleeve 13, Main control console 20, Display device 21, Handrail 22, Input device 23, Observation device 24, Control signal processing system 25, Electronic equipment trolley 30, Surgical tools 40, Instrument box 41, Long shaft 42, Joint assembly 43, End device 44, Endoscope 51, Surgical instruments 52, 53, 54, Assistant A, Anesthesiologist B, Surgeon S, Operating table T, Patient P.

[0048] Rigid outer tube 61, telescopic outer tube 61a, telescopic inner tube 61b, working end 601, control end 602, water inlet 603, water outlet 604, flushing hole 605, slide groove 606, grip handle 611, groove 6111, hook hole 6112, locking mechanism 612, thread 6121, inner tube 62, first rigid part 621, second rigid part 622, flexible part 623, metal adapter 6231, pliers head 624, outer sealing ring 625, inner sealing ring 626, duckbill 62 7. Control mechanism 63, inlet control valve 631, outlet control valve 632, linkage rod 64, flexible rod 641, stainless steel wire 6411, square wire spring tube 6412, capillary tube 6413, outer tube 6414, clamp 6415, first outer tube 6416, second outer tube 6417, first rigid rod 642, second rigid rod 643, bent tube 65, bent part 651, sliding part 652, slotted part 653, rotating outer tube 661, joint section 6611, control knob 662. Detailed Implementation

[0049] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0050] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0051] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0052] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This instrument includes an end effector, which may be a surgical tool used to perform surgical procedures, such as a biopsy needle, electrocautery device, forceps, stapler, scissors, imaging equipment (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include a hinged component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Furthermore, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0054] As shown in FIG1, one embodiment of the surgical robot system of this application includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, and the surgeon S can remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 according to the operation of the surgeon S. The surgeon S can observe the three-dimensional stereoscopic image of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional image of the patient's body, the surgeon S can control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive sensory experience.

[0055] The operating device 10 includes a control unit, a robotic arm 11, and a tool-holding mechanism 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive device in the tool-holding mechanism 12. Multiple surgical tools can be mounted on the tool-holding mechanism 12, and the drive device of the tool-holding mechanism 12 is used to drive the surgical tools to perform various surgeries.

[0056] In one embodiment, the surgical robot system further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding mechanism 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end devices of multiple surgical instruments or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgery-related procedures or acquire images of the patient P's internal environment.

[0057] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via main control console 10, such as injecting gas from a gas source into the body cavity of patient P to create an artificial pneumoperitoneum, or aspirating gas from the body cavity of patient P. Assistant A attaches surgical instruments 40 to or replaces surgical instruments 40 from the instrument holding mechanism 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical tools used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0058] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0059] In one embodiment, as shown in FIG2A, the main console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The display device 21 can be an image source reflected into the eyepiece via multiple mirrors, or it can be a 3D display. The armrest 22 is used to support the surgeon's arm and / or hand, allowing the surgeon to operate the input device 23 more comfortably. The observation device 24 is used to observe the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing direct observation. The surgeon manipulates the surgical instruments of the secondary operating device 10 by operating the input device 23. The control signal processing system of the main console 20 processes the input signal from the input device 23 and sends control commands to the secondary operating device. The secondary operating device 10 responds to the control commands of the main console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located in the secondary operating device 10, for example, in the base of the secondary operating device 10. The control signal processing system 25 can be the same device as the control device described above.

[0060] Surgical robotic systems typically also include an imaging system (not shown) that enables the surgeon S to view the surgical site from outside the patient's body. This imaging system typically includes a surgical tool 40 with video image acquisition capabilities (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with image acquisition capabilities includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors can be positioned distal to the surgical tool 40 with image acquisition capabilities, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display device.

[0061] In one embodiment, as shown in FIG2B, the robotic arm 11 of the surgical robot system from the operating device 10 includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 130, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0062] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0063] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0064] In one embodiment, the operating device 10 further includes a control panel 170 disposed on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input a positioning command to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly achieve various predetermined positions of the robotic arm 11, such as unfolding it into a position for arranging a sterile curtain.

[0065] In one embodiment, the instrument holding device 112 may be equipped with multiple surgical instruments 40, which enter the body through an incision 117 via a common cannula 115. As shown in FIG3A, the surgical instrument 40 includes an instrument housing 41, a long shaft 42, a joint assembly 43, and an end effector 44. The surgical instrument 40 is detachably mounted on a drive system of the instrument holding device 112 of the operating device 10. The instrument housing 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end effector 44 via multiple cables. The multiple transmission units are coupled to and driven by multiple actuators (e.g., motors) within the drive system. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 44 to move. For example, the drive units drive the transmission units to rotate, thereby pulling / retracting the cables to control the movement of the end effector. The end effector 44, via the joint assembly 43, is capable of performing multiple Cartesian degrees of freedom movements, such as translational movements (including lateral and / or longitudinal movements) to change the position of the end effector 44 and pitch, yaw, and roll movements to change the orientation of the end effector 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 44 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 44 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body.

[0066] In one embodiment, as shown in FIG3B, multiple surgical instruments pass through a cannula 115 to reach the vicinity of the target tissue T to perform related surgical procedures or examinations. The multiple surgical instruments include an endoscope 51 and surgical instruments 52, 53, 54 for performing the surgery. Each surgical instrument includes the articulated assembly shown in FIG3A to enable the endoscope 51 and the surgical instruments 52, 53, 54 to perform the related surgery flexibly and freely.

[0067] The following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation methods, structure, features, and effects of the surgical instrument proposed in this application:

[0068] [Example 1]

[0069] Figure 4 is a structural schematic diagram of the surgical instrument in Embodiment 1 of this application. Figure 5 is a disassembled structural schematic diagram of the surgical instrument in Embodiment 1 of this application.

[0070] As shown in Figures 4 and 5, a surgical instrument provided in Embodiment 1 of this application includes a rigid outer tube 61, an inner tube 62, and a control mechanism 63. The two ends of the inner tube 62 are a working end 601 and a control end 602, respectively. The control mechanism 63 is installed at the control end 602 of the inner tube 62 and is used to control the working end 601 of the inner tube 62 to perform surgical actions, such as grasping surgical instruments (needles, sutures) or rinsing the patient's cavity. The working end 601 of the inner tube 62 passes through the rigid outer tube 61, and the inner tube 62 can slide along the axial direction of the rigid outer tube 61 within the rigid outer tube 61. That is, the length of the inner tube 62 extending out of the rigid outer tube 61 can be adjusted by sliding the inner tube 62 to control the length of the surgical instrument inserted into the patient's cavity. The inner tube 62 includes a first rigid part 621 and a flexible part 623 that can be bent. The first rigid part 621 is connected to the end of the flexible part 623 facing the working end 601, so that the surgical instrument can be bent through the flexible part 623 during the process of inserting into the patient cavity. This avoids the robotic arm platform from obstructing the surgical instrument when performing surgery using a single-port surgical robot, and makes it easier for the surgical instrument to be inserted into the patient cavity in a relatively narrow space.

[0071] In this embodiment, the control mechanism 63 is a control valve assembly, i.e., the surgical instrument is an irrigator. The control valve assembly can use a standard straight-through adapter plus a standard control valve, which is market-mature and has been market-tested, with reliability meeting regulatory requirements. The control valve assembly is equipped with an inlet port 603, an outlet port 604, an inlet control valve 631, and an outlet control valve 632. The inlet control valve 631 is used to control the inlet port 603 to flush water into the inner tube 62, and the outlet control valve 632 is used to control the inner tube 62 to drain water into the outlet port 604. The end of the inner tube 62 furthest from the control valve assembly can be blocked, and multiple flushing holes 605 can be provided on the side wall of the working end 601 of the inner tube 62, thereby improving the flushing effect. Of course, the end of the inner tube 62 furthest from the control valve assembly can also be left unblocked, as the space in the inner tube 62 is slightly larger, but the flushing effect is poorer. During the flushing process, first open the inlet control valve 631 and close the outlet control valve 632. Water is flushed into the inner tube 62 through the inlet port 603 and the patient cavity is flushed through the flushing hole 605. After flushing is completed, close the inlet control valve 631 and open the outlet control valve 632. The liquid in the patient cavity is sucked out through the flushing hole 605, the inner tube 62 and the outlet port 604.

[0072] Furthermore, the rigid outer tube 61 has a grip handle 611 at one end near the control mechanism 63, which has an ergonomic shape to facilitate the user's gripping of surgical instruments. The head of the grip handle 611 has a groove 6111 for finger gripping, and the tail of the grip handle 611 has a hook hole 6112.

[0073] Furthermore, the first rigid part 621 and the flexible part 623 are connected in a detachable manner, facilitating the replacement of the flexible part 623. The first rigid part 621 and the rigid outer tube 61 are made of stainless steel. The rigid outer tube 61 is fastened to the grip handle 611 by threads and then fixed using laser welding, ensuring reliability that meets regulatory requirements for service life. The flexible part 623 is made of PU tubing and is for single use. Replacement of the flexible part 623 is simple, quick, safe, and reliable, achieved by simply inserting and removing it. Alternatively, in other embodiments, the flexible part 623 can also be a spring tube. A spring tube not only allows bending but also provides better strength in the axial direction, allowing the control mechanism 63 to slide axially within the rigid outer tube 61 via the flexible part 623, carrying the first rigid part 621.

[0074] Furthermore, the flexible part 623 is provided with a metal adapter 6231, and the first rigid part 621 and the metal adapter 6231 of the flexible part 623 are connected by laser welding process.

[0075] Furthermore, the outer diameter of the inner tube 62 needs to be smaller than the inner diameter of the rigid outer tube 61, that is, the outer diameters of both the first rigid part 621 and the flexible part 623 are smaller than the inner diameter of the rigid outer tube 61, thereby facilitating the axial sliding of the inner tube 62 within the rigid outer tube 61. Specifically, the outer diameter of the rigid outer tube 61 is 7 mm, and the inner diameter of the inner tube 62 is 4 mm.

[0076] In another embodiment, an O-ring is provided between the inner tube 62 and the rigid outer tube 61 (see Embodiment 3) to increase the sealing between them. A limiting mechanism is also provided between the inner tube 62 and the rigid outer tube 61 to prevent the first rigid part 621 from fully extending out of the rigid outer tube 61. For example, the limiting mechanism consists of two cooperating limiting rings, one located at the front end of the inner wall of the rigid outer tube 61 (near the working end 601), and the other located at the rear end of the first rigid part 621 (near the control end 602). The rigid outer tube 61 can be a telescopic tube (see Embodiment 2), allowing the length of the rigid outer tube 61 to be adjusted for easier insertion into the patient's cavity in confined spaces. The inner tube 62 may also include a second rigid part 622 (see Embodiment 3). The second rigid part 622 is connected to the end of the flexible part 623 facing the clamp control handle. The length of the flexible part 623 is less than the length of the rigid outer tube 61, so that the flexible part 623 can be fully inserted into the rigid outer tube 61 to increase the strength of the surgical instrument during surgery. The end of the rigid outer tube 61 near the clamp control handle may also be provided with a locking mechanism 612 (see Embodiment 3). The locking mechanism 612 is used to control the locking state of the rigid outer tube 61 and the inner tube 62. When the locking mechanism 612 is in the locked state, the rigid outer tube 61 and the inner tube 62 cannot move relative to each other. When the locking mechanism 612 is in the unlocked state, the rigid outer tube 61 and the inner tube 62 can move relative to each other, so as to control the length of the working end 601 of the inner tube 62 extending out of the rigid outer tube 61, so as to control the direction and angle of the rigid outer tube 61 and the inner tube 62 simultaneously by holding the handle 611.

[0077] In summary, this solution achieves a smaller operating space without compromising the normal function of the irrigation device, while better fulfilling its functions of suction, extension, and tissue exposure. This significantly improves surgical efficiency and reduces the potential for tissue damage due to waste fluid obscuring the tissue during surgery. Simultaneously, it maintains the strength of the rigid irrigation device, and the flexible tubing (flexible part 623) is for single use, preventing secondary contamination and greatly reducing instrument usage costs and safety hazards. During use, the right hand holds the handle 611, and the left hand holds the control mechanism 63 (control valve assembly). During surgery, sliding the inner tube 62 according to the need for deeper access allows for precise suction of waste fluid from the cavity, with controllable direction, preventing damage to instruments and tissues.

[0078] The beneficial effects of this embodiment are as follows:

[0079] 1. Conventional rigid and flexible irrigation devices represent two extreme approaches during surgery: limited maneuverability and insufficient operational rigidity. Rigid irrigation devices experience greater pulling resistance, restrict depth, and are subject to greater bending pressure compared to puncture devices. Conversely, flexible irrigation devices suffer from insufficient depth, leading to significantly reduced suction accuracy and impacting the surgeon's visual judgment. The telescopic structure of the surgical instrument in this application allows for free length adjustment within a limited space, and the bendable end tube (flexible part 623) simplifies and enhances operation, enabling better integration with surgical robot platforms and improving surgical outcomes and surgeon efficiency. It also shortens surgical time and reduces anesthesia time, bleeding, and other side effects for patients.

[0080] 2. The design of the end hose (flexible part 623) allows the operator of the irrigator to operate with multiple degrees of freedom, enabling the head end to aspirate waste liquid from multiple angles, reducing obstruction of the operating area, and effectively opening up the doctor's field of vision in a timely manner, thereby improving surgical efficiency, reducing potential risks to patients, and reducing patient suffering.

[0081] 3. The end is designed as a disposable flexible tube (flexible part 623), which reduces the risk of contamination during secondary use. It also effectively avoids the risk of tube breakage or detachment during surgery due to the aging of the tube and cracking and loosening at the interface caused by the characteristics of plastic materials after multiple sterilizations.

[0082] 4. This telescopic structure can be adapted to different surgical equipment and can be adapted according to the surgical scenario, making it more switchable and customizable.

[0083] [Example 2]

[0084] Figure 6 is a structural schematic diagram of the surgical instrument in Embodiment 2 of this application. Figure 7 is a disassembled structural schematic diagram of the surgical instrument in Embodiment 2 of this application. As shown in Figures 6 and 7, the surgical instrument provided in Embodiment 2 of this application includes a rigid outer tube 61, an inner tube 62, and a control mechanism 63. The two ends of the inner tube 62 are a working end 601 and a control end 602, respectively. The control mechanism 63 is installed at the control end 602 of the inner tube 62 and is used to control the working end 601 of the inner tube 62 to perform surgical actions, such as grasping surgical instruments (needles, sutures) or rinsing the patient's cavity. The working end 601 of the inner tube 62 passes through the rigid outer tube 61, and the inner tube 62 can slide along the axial direction of the rigid outer tube 61 within the rigid outer tube 61. That is, the length of the inner tube 62 extending out of the rigid outer tube 61 can be adjusted by sliding the inner tube 62 to control the length of the surgical instrument inserted into the patient's cavity. The inner tube 62 includes a first rigid part 621 and a flexible part 623 that can be bent. The first rigid part 621 is connected to the end of the flexible part 623 facing the working end 601, so that the surgical instrument can be bent through the flexible part 623 during the insertion into the patient cavity. This avoids the robotic arm platform obstructing the surgical instrument when performing surgery using a single-port surgical robot, and facilitates the insertion of the surgical instrument into the patient cavity in a relatively narrow space. The first rigid part 621 and the rigid outer tube 61 are made of stainless steel, and the flexible part 623 is made of spring tube. The spring tube can not only be bent, but also provides better strength in the axial direction, so that the control mechanism 63 can slide the first rigid part 621 axially within the rigid outer tube 61 through the flexible part 623.

[0085] In this embodiment, the control mechanism 63 is a clamp control handle, and the surgical instrument includes a linkage rod 64. The working end 601 of the inner tube 62 is provided with a clamp head 624 that moves synchronously with the inner tube 62. The control end 602 of the inner tube 62 is connected to the clamp control handle. The linkage rod 64 is located inside the inner tube 62 and its two ends are respectively connected to the clamp control handle and the clamp head 624. The clamp control handle controls the opening and closing of the clamp head 624 through the linkage rod 64. That is, in this embodiment, the surgical instrument is a surgical forceps, which can be used to clamp needles and sutures into the patient's cavity.

[0086] In this embodiment, the linkage 64 is a flexible rod 641 that can be bent, so that the linkage 64 and the flexible part 623 of the inner tube 62 bend synchronously. One end of the flexible rod 641 is directly connected to the clamp head 624, and the other end of the flexible rod 641 is directly connected to the clamp control handle. The flexible rod 641 is made of alloy wire or spring tube, which not only allows it to be bent, but also provides better strength in the axial direction, so that the control mechanism 63 can control the opening and closing of the clamp head 624 through the linkage 64.

[0087] Furthermore, the surgical instrument includes a curved tube 65, which effectively shapes the linkage rod 64 and the flexible portion 623 of the inner tube 62, preventing deformation of these components during surgery and thus avoiding disruption to the surgical procedure. One end of the curved tube 65 is connected to the end of the rigid outer tube 61 furthest from the clamp head 624. The clamp control handle can slide at the other end of the curved tube 65, controlling the inner tube 62 to slide within the rigid outer tube 61. A portion of the inner tube 62 is located within the rigid outer tube 61, while the other portion is located within the curved tube 65. The curved tube 65 can be Z-shaped, L-shaped, or S-shaped, with a bending angle of up to 90°, and can be customized to suit various surgical scenarios. Alternatively, the bent tube 65 can be made of a softer metal, but the strength of the bent tube 65 is greater than the deformation strength of the linkage rod 64 and the flexible part 623 of the inner tube 62, so that the shape of the bent tube 65 can be changed by a larger external force.

[0088] Furthermore, the curved tube 65 includes a curved portion 651 and a sliding portion 652. The curved portion 651 has a curved structure, and the sliding portion 652 has a straight strip structure. The clamp control handle (control mechanism 63) is mounted on the sliding portion 652 and can slide on the sliding portion 652. By sliding the clamp control handle on the sliding portion 652, the axial sliding of the inner tube 62 and the linkage rod 64 within the rigid outer tube 61 is controlled, ultimately controlling the depth to which the clamp head 624 extends into the patient's cavity. The sliding portion 652 has a slot 653, which facilitates the connection between the linkage rod 64 within the curved tube 65 and the clamp control handle.

[0089] Furthermore, one end of the curved tube 65 is rotatably connected to the end of the rigid outer tube 61 away from the forceps head 624, meaning that the rigid outer tube 61 and the curved tube 65 can rotate relative to each other. A limiting mechanism is provided between the rigid outer tube 61 and the first rigid part 621 to prevent relative rotation between them, thereby allowing the rigid outer tube 61 and the first rigid part 621 to rotate synchronously. The surgical instrument includes a rotating outer tube 661 and a control knob 662. Both the rotating outer tube 661 and the control knob 662 are sleeved on the curved tube 65. One end of the rotating outer tube 661 is fixedly connected to the end of the rigid outer tube 61 away from the forceps head 624. The control knob 662 is connected to the other end of the rotating outer tube 661 and controls the rotation of the rigid outer tube 61 through the rotating outer tube 661, thereby controlling the rotation of the first rigid part 621 and the forceps head 624 to control the rotation angle of the forceps head 624. The limiting mechanism includes a groove 606 and a limiting block. The outer wall of the first rigid part 621 is provided with the groove 606, which extends along the axial direction of the first rigid part 621. The inner wall of the rigid outer tube 61 is provided with the limiting block. Through the mutual cooperation of the groove 606 and the limiting block, relative rotation between the rigid outer tube 61 and the first rigid part 621 can be prevented. At the same time, it can also prevent the first rigid part 621 from completely extending out of the rigid outer tube 61. The rotating outer tube 661 is provided with a joint segment 6611. The joint segment 6611 allows the rotating outer tube 661 to remain bent during rotation, so that the rotating outer tube 661 rotates around its axis.

[0090] Furthermore, the outer diameter of the inner tube 62 must be smaller than the inner diameter of the rigid outer tube 61 and the inner diameter of the bent tube 65, thereby facilitating the axial sliding of the inner tube 62 within the rigid outer tube 61 and the bent tube 65. The outer diameter of the linkage rod 64 must be smaller than the inner diameter of the inner tube 62, thereby facilitating the axial sliding of the linkage rod 64 within the inner tube 62. The outer diameter of the bent tube 65 must be smaller than the inner diameter of the rotating outer tube 661, thereby allowing the rotating outer tube 661 to rotate on the bent tube 65.

[0091] In this embodiment, the rigid outer tube 61 is a telescopic tube, which allows the length of the rigid outer tube 61 to be adjusted, making it easier to insert into the patient's cavity in a relatively narrow space. The telescopic tube includes a telescopic outer tube 61a and a telescopic inner tube 61b, the telescopic inner tube 61b being disposed inside the telescopic outer tube 61a and capable of sliding axially within the telescopic outer tube 61a. The telescopic outer tube 61a and the telescopic inner tube 61b are also provided with a limiting mechanism to prevent relative rotation between them. The limiting mechanism includes a groove 606 and a limiting block. The outer wall of the first rigid part 621 and the outer wall of the telescopic inner tube 61b are both provided with grooves 606, which extend along the axial direction of the first rigid part 621. The inner wall of the telescopic outer tube 61a and the inner wall of the telescopic inner tube 61b are both provided with limiting blocks. Through the mutual cooperation of the grooves 606 and the limiting blocks, relative rotation between the first rigid part 621 and the telescopic inner tube 61b, and between the telescopic outer tube 61a and the telescopic inner tube 61b can be prevented. At the same time, it can also prevent the first rigid part 621 from fully extending out of the telescopic inner tube 61b and prevent the telescopic inner tube 61b from fully extending out of the telescopic outer tube 61a.

[0092] In another embodiment, an O-ring is provided between the inner tube 62 and the rigid outer tube 61 (see Embodiment 3), thereby increasing the sealing between the inner tube 62 and the rigid outer tube 61. The inner tube 62 may also include a second rigid part 622 (see Embodiment 3), which is connected to the end of the flexible part 623 facing the clamp control handle. The length of the flexible part 623 is less than the length of the rigid outer tube 61, so that the flexible part 623 can be fully inserted into the rigid outer tube 61, thereby increasing the strength of the surgical instrument during surgery.

[0093] [Example 3]

[0094] Figure 8 is a schematic diagram of the surgical instrument in Embodiment 3 of this application before it is inserted into the patient's cavity. Figure 9 is a schematic diagram of the surgical instrument in Embodiment 3 of this application after it is inserted into the patient's cavity. Figure 10 is a schematic diagram of the disassembled structure of the surgical instrument in Embodiment 3 of this application. Figure 11 is a schematic diagram of the cross-sectional structure of the inner tube in Embodiment 3 of this application. Figure 12 is an enlarged schematic diagram of point A in Figure 11. Figure 13 is a schematic diagram of the cross-sectional structure of the linkage rod in Embodiment 3 of this application. Figure 14 is an enlarged schematic diagram of point B in Figure 13. As shown in Figures 8 to 14, the surgical instrument provided in Embodiment 3 of this application includes a rigid outer tube 61, an inner tube 62, and a control mechanism 63. The two ends of the inner tube 62 are a working end 601 and a control end 602, respectively. The control mechanism 63 is installed at the control end 602 of the inner tube 62 and is used to control the working end 601 of the inner tube 62 to perform surgical actions, such as grasping surgical instruments (needles, sutures) or rinsing the patient's cavity. The working end 601 of the inner tube 62 passes through the rigid outer tube 61, and the inner tube 62 can slide along the axial direction of the rigid outer tube 61 within the rigid outer tube 61. That is, the length of the inner tube 62 extending out of the rigid outer tube 61 can be adjusted by sliding the inner tube 62 to control the length of the surgical instrument inserted into the patient's cavity. The inner tube 62 includes a first rigid part 621 and a flexible part 623 that can be bent. The first rigid part 621 is connected to the end of the flexible part 623 facing the working end 601, so that the surgical instrument can be bent through the flexible part 623 during the insertion into the patient's cavity. This avoids the robotic arm platform obstructing the surgical instrument when performing surgery using a single-port surgical robot, and facilitates the insertion of the surgical instrument into the patient's cavity in a relatively narrow space. The first rigid part 621 and the rigid outer tube 61 are made of stainless steel, and the flexible part 623 is made of spring tube. The spring tube is a single-layer round wire spring tube (Figure 12). The spring tube can not only be bent, but also provides better strength in the axial direction, so that the control mechanism 63 can slide the first rigid part 621 in the rigid outer tube 61 along the axial direction through the flexible part 623.

[0095] In this embodiment, the control mechanism 63 is a clamp control handle, and the surgical instrument includes a linkage rod 64. The working end 601 of the inner tube 62 is provided with a clamp head 624 that moves synchronously with the inner tube 62. The control end 602 of the inner tube 62 is connected to the clamp control handle. The linkage rod 64 is located inside the inner tube 62 and its two ends are respectively connected to the clamp control handle and the clamp head 624. The clamp control handle controls the opening and closing of the clamp head 624 through the linkage rod 64. That is, in this embodiment, the surgical instrument is a surgical forceps, which can be used to clamp needles and sutures into the patient's cavity.

[0096] In this embodiment, the linkage 64 includes a first rigid rod 642, a second rigid rod 643, and a flexible rod 641 that can be bent. The first rigid rod 642 is connected to the end of the flexible rod 641 facing the jaws 624, and the second rigid rod 643 is connected to the end of the flexible rod 641 facing the clamp control handle. That is, both ends of the flexible rod 641 are welded to the first rigid rod 642 and the second rigid rod 643, respectively. The other end of the first rigid rod 642 is connected to the jaws 624, and the other end of the second rigid rod 643 is connected to the clamp control handle of the jaws 624. The flexible rod 641 is made of alloy wire (e.g., stainless steel wire) and / or spring tube, which not only allows it to be bent but also provides better strength in the axial direction, so that the control mechanism 63 can control the opening and closing of the jaws 624 through the linkage 64.

[0097] As shown in Figure 14, the flexible rod 641 includes a stainless steel wire 6411, a square wire spring tube 6412, a capillary tube 6413, an outer sleeve 6414, and a clamp 6415. The square wire spring tube 6412 and the capillary tube 6413 are both sleeved on the stainless steel wire 6411. The capillary tube 641 is located at both ends of the square wire spring tube 6412. The clamp 6415 is also located at both ends of the square wire spring tube 6412 and presses the capillary tube 641 and the square wire spring tube 6412 together. The outer sleeve 6414 is sleeved on the square wire spring tube 6412.

[0098] Furthermore, the inner tube 62 may also include a second rigid portion 622, which is connected to the end of the flexible portion 623 facing the clamp control handle. That is, both ends of the flexible portion 623 are welded to the first rigid portion 621 and the second rigid portion 622, respectively. The length of the flexible portion 623 is less than the length of the rigid outer tube 61, allowing the flexible portion 623 to fully extend into the rigid outer tube 61, thereby increasing the strength of the surgical instrument during surgery. The flexible rod 641 corresponds to the position of the flexible portion 623, ensuring that the surgical instrument can only bend in the area corresponding to the flexible rod 641 and the flexible portion 623, further increasing the strength of the surgical instrument during surgery.

[0099] Furthermore, a locking mechanism 612 is provided at the end of the rigid outer tube 61 near the clamp control handle. The locking mechanism 612 is used to control the locking state of the rigid outer tube 61 and the inner tube 62. When the locking mechanism 612 is in the locked state, the rigid outer tube 61 and the inner tube 62 cannot move relative to each other; when the locking mechanism 612 is in the unlocked state, the rigid outer tube 61 and the inner tube 62 can move relative to each other, thereby controlling the length of the working end 601 of the inner tube 62 extending out of the rigid outer tube 61. Optionally, the locking mechanism 612 includes a knurled nut and a thread 6121. The knurled nut is located at the end of the rigid outer tube 61 near the clamp control handle and can rotate on the rigid outer tube 61. The thread 6121 is located at the end of the inner tube 62 near the clamp control handle. The locking state of the rigid outer tube 61 and the inner tube 62 is controlled by the threaded engagement of the knurled nut and the thread 6121.

[0100] Furthermore, the outer diameter of the inner tube 62 must be smaller than the inner diameter of the rigid outer tube 61 and the inner diameter of the curved tube 65, so as to facilitate the axial sliding of the inner tube 62 within the rigid outer tube 61 and the curved tube 65. The outer diameter of the linkage rod 64 must be smaller than the inner diameter of the inner tube 62, so as to facilitate the axial sliding of the linkage rod 64 within the inner tube 62.

[0101] Furthermore, as shown in Figure 12, an outer sealing ring 625 is provided on the outer wall of the inner tube 62. The outer sealing ring 625 is positioned between the inner tube 62 and the rigid outer tube 61, thereby increasing the sealing performance between the inner tube 62 and the rigid outer tube 61. Optionally, an inner sealing ring 626 is provided on the inner wall of the inner tube 62. The inner sealing ring 626 is positioned between the inner tube 62 and the linkage rod 64, thereby increasing the sealing performance between the inner tube 62 and the linkage rod 64. A duckbill 627 may also be provided on the inner wall of the inner tube 62, and a groove that mates with the duckbill 627 is provided on the outer wall of the linkage rod 64, thereby preventing relative rotation between the linkage rod 64 and the inner tube 62 to ensure the normal operation of the surgery. Both the outer sealing ring 625 and the inner sealing ring 626 are irregularly shaped sealing rings, with cross-sections composed of squares and triangles.

[0102] In another embodiment, the rigid outer tube 61 can be a telescopic tube (see Embodiment 2), thereby allowing the length of the rigid outer tube 61 to be adjusted so that it can be more easily inserted into the patient's cavity in a relatively narrow space.

[0103] Figure 15 is one of the enlarged structural schematic diagrams of the inner tube in the flexible region of another embodiment. Figure 16 is another enlarged structural schematic diagram of the inner tube in the flexible region of another embodiment. Figure 17 is another enlarged structural schematic diagram of the inner tube in the flexible region of another embodiment. Figure 18 is another enlarged structural schematic diagram of the inner tube in the flexible region of another embodiment. Figure 19 is another enlarged structural schematic diagram of the inner tube in the flexible region of another embodiment. In another embodiment, as shown in Figure 15, the spring tube of the flexible part 623 can be a multi-layer round wire spring tube; as shown in Figure 16, the spring tube of the flexible part 623 can be a single-layer square wire spring tube; as shown in Figure 17, the spring tube of the flexible part 623 can be a multi-layer square wire spring tube; as shown in Figure 18, the spring tube of the flexible part 623 can be a single-layer irregular wire spring tube. As shown in Figure 19, both the outer sealing ring 625 and the inner sealing ring 626 can be circular sealing rings, with a circular cross-section.

[0104] Figure 20 is an enlarged structural schematic diagram of the linkage rod in the flexible rod region in another embodiment. In another embodiment, as shown in Figure 20, the flexible rod 641 includes a stainless steel wire 6411, a capillary tube 6413, a first outer sleeve 6416, and a second outer sleeve 6417. The capillary tube 6413 and the first outer sleeve 6416 are both sleeved on the stainless steel wire 6411. The capillary tube 641 is located at both ends of the first outer sleeve 6416 and is crimped to the stainless steel wire 6411. The second outer sleeve 6417 is sleeved on the first outer sleeve 6416.

[0105] Figure 21 is a schematic diagram of the surgical instrument after it has been inserted into the patient's cavity in another embodiment. Figure 22 is an enlarged schematic diagram of the surgical instrument in the locking mechanism area of ​​Figure 21. In another embodiment, as shown in Figures 21 and 19, the locking mechanism 612 is a snap-fit ​​structure. The locking mechanism 612 is located at the end of the rigid outer tube 61 near the clamp control handle. When the snap-fit ​​structure is fastened, it can lock the snap-fit ​​structure and the inner tube 62 to increase the friction between the snap-fit ​​structure and the inner tube 62, thereby controlling the locking state of the rigid outer tube 61 and the inner tube 62.

[0106] This application also provides a surgical robot system, including the surgical instruments as described above and a guide tube having multiple channels, at least one of the multiple channels being for the passage of the surgical instruments and another of the multiple channels being for the passage of an endoscope.

[0107] In this document, the directional terms such as up, down, left, right, front, and back are defined according to the position of the structures in the accompanying drawings and the relative positions of the structures, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second," etc., used herein are only used for distinction in name and are not used to limit the number or order.

[0108] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Although this application has disclosed the preferred embodiment as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content without departing from the scope of the technical solution of this application, which are equivalent embodiments with equivalent changes. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the protection scope of the technical solution of this application.

Claims

1. A surgical instrument, characterized by The device includes a rigid outer tube (61), an inner tube (62), and a control mechanism (63). The inner tube (62) has a working end (601) and a control end (602) at opposite ends. The control mechanism (63) is installed on the control end (602) of the inner tube (62) and is used to control the working end (601) of the inner tube (62) to perform surgical operations. The working end (601) of the inner tube (62) passes through the rigid outer tube (61), and the inner tube (62) can slide along the axial direction of the rigid outer tube (61) inside the rigid outer tube (61). The inner tube (62) includes a first rigid part (621) and a flexible part (623) that can be bent. The first rigid part (621) is connected to the end of the flexible part (623) facing the working end (601).

2. The surgical instrument of claim 1, wherein, The control mechanism (63) is a control valve assembly, which is provided with an inlet port (603), an outlet port (604), an inlet control valve (631), and an outlet control valve (632). The inlet control valve (631) is used to control the inlet port (603) to flush water into the inner pipe (62), and the outlet control valve (632) is used to control the inner pipe (62) to drain water into the outlet port (604).

3. The surgical instrument of claim 1, wherein, The control mechanism (63) is a clamp control handle. The surgical instrument includes a linkage rod (64). The first rigid part (621) has a clamp head (624) that moves synchronously with the first rigid part (621) at its working end (601). The control end (602) of the inner tube (62) is connected to the clamp control handle. The linkage rod (64) is located inside the inner tube (62) and its two ends are respectively connected to the clamp control handle and the clamp head (624). The clamp control handle controls the opening and closing of the clamp head (624) through the linkage rod (64). The linkage rod (64) includes a flexible rod (641) that can be bent. One end of the flexible rod (641) is directly connected to the clamp head (624), and the other end of the flexible rod (641) is directly connected to the clamp control handle.

4. The surgical instrument of claim 3, wherein, The surgical instrument includes a curved tube (65), one end of which is connected to the end of the rigid outer tube (61) away from the forceps head (624). The forceps control handle is slidable at the other end of the curved tube (65) and controls the inner tube (62) to slide within the rigid outer tube (61). A portion of the inner tube (62) is located within the rigid outer tube (61), and the other portion of the inner tube (62) is located within the curved tube (65).

5. The surgical instrument of claim 4, wherein, One end of the bent tube (65) is rotatably connected to the end of the rigid outer tube (61) away from the clamp head (624), and a limiting mechanism is provided between the rigid outer tube (61) and the inner tube (62) to prevent relative rotation between the rigid outer tube (61) and the first rigid part (621); The surgical instrument includes a rotating outer tube (661) and a control knob (662). Both the rotating outer tube (661) and the control knob (662) are sleeved on the curved tube (65). One end of the rotating outer tube (661) is fixedly connected to the end of the rigid outer tube (61) away from the forceps head (624). The control knob (662) is connected to the other end of the rotating outer tube (661) and controls the rotation of the rigid outer tube (61) through the rotating outer tube (661).

6. The surgical instrument of claim 1, wherein, The control mechanism (63) is a clamp control handle. The surgical instrument includes a linkage rod (64). The first rigid part (621) has a clamp head (624) that moves synchronously with the first rigid part (621) at its working end (601). The control end (602) of the inner tube (62) is connected to the clamp control handle. The linkage rod (64) is located inside the inner tube (62) and its two ends are respectively connected to the clamp control handle and the clamp head (624). The clamp control handle controls the opening and closing of the clamp head (624) through the linkage rod (64). The linkage rod (64) includes a first rigid rod (642), a second rigid rod (643), and a flexible rod (641) that can be bent. The first rigid rod (642) is connected to one end of the flexible rod (641) facing the pliers head (624), and the second rigid rod (643) is connected to one end of the flexible rod (641) facing the pliers control handle.

7. The surgical instrument of any of claims 1-6, wherein, An outer sealing ring (625) is provided on the outer wall of the inner tube (62), and the outer sealing ring (625) is disposed between the inner tube (62) and the rigid outer tube (61).

8. The surgical instrument of any of claims 1-6, wherein, The rigid outer tube (61) is a telescopic tube, which includes a telescopic outer tube (61a) and a telescopic inner tube (61b). The telescopic inner tube (61b) is disposed inside the telescopic outer tube (61a) and can slide axially inside the telescopic outer tube (61a).

9. The surgical instrument of any of claims 1-6, wherein, The inner tube (62) includes a second rigid part (622), which is connected to one end of the flexible part (623) facing the clamp control handle. The length of the flexible part (623) is less than the length of the rigid outer tube (61).

10. The surgical instrument of any of claims 1-6, wherein, The rigid outer tube (61) has a locking mechanism (612) at one end near the clamp control handle. The locking mechanism (612) is used to control the locking state of the rigid outer tube (61) and the inner tube (62).

11. A surgical robotic system, characterized by, Includes a surgical instrument as described in any one of claims 1-10 and a guide tube having multiple channels, at least one of the multiple channels being for passage of the surgical instrument, and another of the multiple channels being for passage of an endoscope.

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