WO2024174585A1 - 手术器械和手术机器人 - Google Patents

手术器械和手术机器人 Download PDF

Info

Publication number
WO2024174585A1
WO2024174585A1 PCT/CN2023/130291 CN2023130291W WO2024174585A1 WO 2024174585 A1 WO2024174585 A1 WO 2024174585A1 CN 2023130291 W CN2023130291 W CN 2023130291W WO 2024174585 A1 WO2024174585 A1 WO 2024174585A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
assembly
pivot
pulley
surgical instrument
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/130291
Other languages
English (en)
French (fr)
Inventor
潘利鹏
王泽睿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cornerstone Technology Shenzhen Ltd
Original Assignee
Cornerstone Technology Shenzhen Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cornerstone Technology Shenzhen Ltd filed Critical Cornerstone Technology Shenzhen Ltd
Priority to CN202380093899.3A priority Critical patent/CN120731054A/zh
Priority to EP23923749.8A priority patent/EP4649913A4/en
Priority to JP2025546589A priority patent/JP2026505456A/ja
Publication of WO2024174585A1 publication Critical patent/WO2024174585A1/zh
Priority to US19/299,328 priority patent/US20250366940A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1422—Hook
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present application relates to the technical field of medical instruments, and in particular to a surgical instrument and a surgical robot having the same.
  • Medical surgical micro-instruments have the advantages of accurate positioning, stable operation, strong dexterity, large working range, and no fear of radiation and infection, and are widely used in various surgeries.
  • the use of surgical micro-instruments helps to improve the accuracy of surgeons' operations, solve the tremors, fatigue, and muscle nerve feedback of surgeons' hands, and enable doctors to perform operations in the most comfortable state. It is of great value in improving the success rate of operations and alleviating the pain of patients. In recent years, its research has become a new field of medical device application.
  • the first aspect of the present application provides a surgical instrument, which includes an end effector.
  • the end effector includes a base assembly, a first pivot assembly, a first flexible transmission assembly, a second pivot assembly, a second flexible transmission assembly and an actuator assembly.
  • the first pivot assembly is pivotally connected to the base assembly around a first pivot axis;
  • the first flexible transmission assembly is connected to the first pivot assembly, and is used to drive the first pivot assembly to pivot relative to the base assembly around the first pivot axis;
  • the second pivot assembly is pivotally connected to the first pivot assembly around a second pivot axis, and the second pivot axis is not parallel to the first pivot axis;
  • the second flexible transmission assembly is connected to the second pivot assembly, and is used to drive the second pivot assembly to pivot relative to the first pivot assembly around the second pivot axis;
  • the actuator assembly is connected to the second pivot assembly, and the actuator assembly includes an electrode component and a conductive cable, the conductive cable is used to power the electrode component, and the conductive cable extends through
  • a cable slot is formed at one end of the second pivot assembly away from the electrode component, and the conductive cable can be movably accommodated in the cable slot, the cable slot extends toward the electrode component and is defined by at least two opposite first walls perpendicular to the second pivot axis and a second wall transverse to the first wall, and the second pivot axis extends through the two first walls.
  • the end effector of the surgical instrument can realize yaw rotation and pitch rotation.
  • Yaw rotation is the rotation of the second pivot assembly.
  • Pitch rotation is the rotation of the first pivot assembly.
  • the second pivot assembly includes a cable slot for accommodating a conductive cable.
  • the yaw rotation axis (second pivot axis) passes through the side wall of the cable slot, so that there is enough space in the cable slot for the conductive cable to move. This reduces the pulling on the conductive cable caused by the yaw movement, is beneficial to protecting the cable, and is also beneficial to reducing the volume of the second pivot assembly.
  • a second aspect of the present application provides a surgical robot, comprising a robotic arm and a surgical instrument according to any one of the above technical solutions, wherein the surgical instrument is detachably connected to the robotic arm.
  • FIG1 is a perspective schematic diagram of a surgical instrument according to an embodiment of the present application.
  • FIG. 2 is another perspective schematic diagram of a surgical instrument according to an embodiment of the present application.
  • FIG3 is an exploded perspective view of a surgical instrument according to an embodiment of the present application.
  • FIG4 is another exploded perspective view of a surgical instrument according to an embodiment of the present application.
  • FIG5 is a cross-sectional schematic diagram of the actuator assembly and the second pivot assembly of the surgical instrument shown in FIG1 ;
  • FIG6 is a perspective schematic diagram of the internal structure of a surgical instrument according to an embodiment of the present application.
  • FIG7 is another perspective schematic diagram of the internal structure of the surgical instrument according to an embodiment of the present application.
  • FIG. 8 is a schematic cross-sectional view of the actuator assembly and the second pivot assembly of the surgical instrument shown in FIG. 1 , showing another example of the second pivot assembly.
  • distal and proximal used in this application are directional words, which are commonly used terms in the field of interventional medical devices, wherein “distal” refers to the end away from the operator during the operation, and “proximal” refers to the end close to the operator during the operation.
  • the "parallel"/"perpendicular” and similar expressions used in this application include an absolute parallel/perpendicular relationship and a roughly parallel/perpendicular relationship (for example, a relationship that differs from absolute parallel/perpendicular by a range of -5° to +5°), which can have equivalent effects.
  • the “length remains unchanged” and similar expressions used in this application refer to maintaining the original length or fluctuating within a certain range. For example, within the range of ⁇ 5% of the original length, it falls within the range covered by "length remains unchanged” and can have the same effect.
  • rigid material used in this application refers to a material with good resistance to deformation, which has a very small deformation amount or a negligible deformation amount under the action of an external force.
  • the first aspect of the embodiments of the present application provides a surgical instrument, which may be an electrosurgical instrument.
  • Electrosurgical instruments can complete surgical operations with less bleeding, improve surgical operation efficiency, and enhance surgical safety by bringing high-frequency (radio frequency) alternating polarity current into contact with biological tissue to perform operations such as cutting, coagulation, drying, or electrocauterization of tissue.
  • an electric knife head (such as a hook, a shovel, clamps, scissors, etc.) is provided at the execution front end of the electrode surgical instrument, and the electric knife head is connected to a conductive cable, which is led to the rear end of the electrode surgical instrument to connect the power supply to provide working current for the electric knife head.
  • the electric knife head is usually connected to a wrist mechanism.
  • the wrist mechanism is a mechanism that enables the electric knife head to swing relative to the base, and in this embodiment, it may be the sum of the first pivot assembly and the second pivot assembly.
  • the driving rear end of the electrosurgical instrument controls the wrist mechanism through the transmission mechanism to drive the execution front end to swing accordingly, thereby completing actions such as cutting, shearing, grasping, clamping, and electrocoagulation.
  • miniaturization is one of the current development directions of electrosurgical instruments.
  • electrosurgical instruments the inventors found that the reduction in the size of each component is limited. If the limit is exceeded, the rigidity and strength of each component of the instrument cannot be guaranteed. Therefore, it is necessary to start from the compactness of the structure to achieve miniaturization.
  • the inventors further found that the transmission mechanism and the conductive cable in the wrist mechanism will occupy a large radial volume. In particular, in order to ensure that the conductive cable is not pulled and damaged when the wrist mechanism moves, the current most adopted solution is to wind the conductive cable in the wrist mechanism for several turns, but this is not conducive to the miniaturization design of electrosurgical instruments.
  • the surgical instrument 100 of the present application includes an end effector 90.
  • the end effector 90 is arranged at the front end of the surgical instrument 100, and includes a base assembly 40, an actuator assembly 10, a wrist mechanism and a transmission mechanism.
  • the actuator assembly 10 is connected to the base assembly 40 through the wrist mechanism, the wrist mechanism is used to provide the actuator assembly 10 with a degree of freedom of movement relative to the base assembly 40, and the transmission assembly is used to drive the wrist mechanism to move relative to the base assembly 40.
  • the wrist mechanism includes a first pivot assembly 30 and a second pivot assembly 20.
  • the transmission mechanism includes a first flexible transmission assembly 60 and a second flexible transmission assembly 70.
  • the first pivot assembly 30 is pivotally connected to the base assembly 40 around a first pivot axis PA1.
  • the first pivot axis PA1 extends along the second direction D2.
  • the first pivot assembly 30 can be pivotally connected to the base assembly 40 via a first pivot shaft 44A.
  • the first pivot shaft 44A has a first pivot axis PA1, so the first pivot assembly 30 is pivotable relative to the base assembly 40 around the first pivot axis PA1.
  • the first flexible transmission assembly 60 is connected to the first pivot assembly 30, and is used to drive the first pivot assembly 30 to pivot relative to the base assembly 40 around the first pivot axis PA1.
  • the second pivot assembly 20 is pivotally connected to the first pivot assembly 30 about the second pivot axis PA2.
  • the second pivot axis PA2 extends along the third direction D3.
  • the second pivot assembly 20 can be pivotally connected to the first pivot assembly 30 via the second pivot shaft 22.
  • the second pivot shaft 22 has the second pivot axis PA2, so the second pivot assembly 20 is pivotable relative to the first pivot assembly 30 about the second pivot axis PA2.
  • the second flexible transmission assembly 70 is connected to the second pivot assembly 20.
  • the actuator 10 i.e., the electrode component 11
  • the second pivot axis PA2 is not parallel to the first pivot axis PA1.
  • the second pivot axis PA2 is perpendicular to the first pivot axis PA1.
  • the actuator 10 i.e., the electrode component 11
  • the actuator 10 is arranged to the second pivot assembly 20.
  • the actuator 10 includes an electrode component 11 and a conductive cable 14.
  • the conductive cable 14 is used to supply power to the electrode component 11. It is understood that one end of the conductive cable 14 is connected to the electrode component 11.
  • the conductive cable 14 extends through the second pivot assembly 20, the first pivot assembly 30 and the base assembly 40.
  • the electrode component 11 is configured as an electric hook. It is understood that in other examples not shown, the electrode component 11 can be configured as an electric shovel, a clamp or a scissors, etc.
  • the rotation of the second pivot assembly 20 around the second pivot axis PA2 is also referred to as the yaw rotation of the end effector 90 (or the electrode component 11)
  • the rotation of the first pivot assembly 30 around the first pivot axis PA1 is also referred to as the pitch rotation of the end effector 90 (or the electrode component 11). Therefore, the arrangement of the first pivot assembly 30 and the second pivot assembly 20 enables the actuator assembly 10 to have two degrees of freedom of movement, so as to perform corresponding surgical actions.
  • the maximum rotation angle of the second pivot assembly 20 may be approximately ⁇ 90° (ie, the yaw rotation angle is approximately ⁇ 90°), and the maximum rotation angle of the first pivot assembly 30 may be approximately ⁇ 90° (ie, the pitch rotation angle is approximately ⁇ 90°).
  • the rear end of the surgical instrument 100 is configured to connect to a drive device, which can control the yaw rotation and pitch rotation of the end effector 90 through a transmission mechanism.
  • the drive device can be a motor or a handle for manual operation by a doctor.
  • the rear end of the surgical instrument 100 is also connected to an energy generator that provides the required current to the electrode component 11, and the conductive cable 14 is guided to the rear end of the surgical instrument and electrically connected to the energy generator.
  • a cable slot 25 for accommodating the conductive cable 14 is provided at one end of the second pivot assembly 20 away from the electrode component 11. That is, the cable slot 25 opens at the proximal end of the second pivot assembly 20.
  • the distal end refers to the end of the surgical instrument 100 or its component away from the operator
  • the proximal end refers to the end of the surgical instrument 100 or its component close to the operator.
  • the conductive cable 14 can be movably accommodated in the cable slot 25.
  • the cable slot 25 extends toward the electrode component 11 so that the conductive cable 14 can be connected to the electrode component 11. In other words, the opening of the cable slot 25 is close to the first pivot assembly 30, and the bottom of the slot is close to the actuator 10.
  • the cable slot 25 is defined by at least two first walls 28A perpendicular to the third direction D3 (i.e., the second pivot axis PA2) and a second wall 29 transverse to the first wall 28A, wherein the two first walls 28A are spaced apart and arranged opposite to each other.
  • the second wall 29 is transverse to the first wall 28A, which means that the second wall 29 does not extend parallel to the first wall 28A, but intersects with the first wall 28A, and may intersect vertically or at other angles.
  • the first wall 28A may be understood as the side wall of the cable slot 25, and the second wall 29 may be understood as the bottom wall.
  • the second pivot axis PA2 passes through the two first walls 28A, that is, the cable slot 25 extends beyond the second pivot axis PA2 in the direction extending toward the electrode component 11, which provides sufficient activity space for the conductive cable 14, so that the conductive cable 14 can be normally retracted and released during the rotation of the second pivot assembly 20 around the second pivot axis PA2.
  • the arrangement of the cable slot 25 above makes it possible to avoid or reduce the pulling of the conductive cable caused by the yaw movement without winding the conductive cable 14 in the wrist mechanism for several turns, and also avoid or reduce the obstruction of the conductive cable 14 to the yaw movement of the second pivot assembly 20.
  • partially storing the conductive cable 14 in the cable slot 25 can, on the one hand, reduce the space occupied by the conductive cable 14 in the wrist mechanism, reduce the radial size of the wrist mechanism, and help to achieve the miniaturization of the electrosurgical instrument, and on the other hand, prevent the conductive cable 14 from interfering with the transmission mechanism (such as entanglement) during the movement of the second pivot assembly 20.
  • the two first walls 28A are parallel to each other and extend flatly perpendicular to the third direction D3.
  • the distance between the two first walls 28A matches the diameter of the conductive cable 14.
  • the “matching” here means that the width of the cable groove 25 is slightly larger than the diameter of the conductive cable 14, for example, the width of the cable groove 25 is 1.1-1.5 times the diameter of the conductive cable 14.
  • the conductive cable 14 basically does not move along the third direction D3, but mainly swings in a plane perpendicular to the third direction D3. That is to say, the two first walls 28A limit the movement of the conductive cable 14 in the third direction D3, and can also reduce the size of the second pivot assembly 20 in the third direction D3.
  • the maximum rotation angle of the second pivot assembly 20 is about ⁇ 90°, and the second wall 29 and the actuator 10 (electrode component 11) are arranged on the same side of the second pivot axis PA2, that is, arranged between the second pivot axis PA2 and the actuator 10. This can ensure that the conductive cable 14 has sufficient activity space, so that when the second pivot assembly 20 rotates to the extreme position, it can also avoid or reduce the pulling of the conductive cable 14, which helps to protect the conductive cable 14 and also makes the rotation of the second pivot assembly 20 smoother.
  • the second wall surface 29 can be configured as a flat surface, or as an arc surface, or as a surface including a plane surface and an arc surface.
  • the second wall surface 29 includes a third arc surface 27, and the third arc surface 27 has a third arc line parallel to the first wall surface 28A, that is, the axis of the third arc surface 27 is parallel to the second pivot axis PA2.
  • the third arc surface 27 is used to limit the range of motion of the conductive cable 14 when the second pivot assembly 20 pivots relative to the first pivot assembly 30 to prevent the conductive cable 14 from excessively bending.
  • the limit rotation angle of the second pivot assembly 20 is set to be symmetrical, so the third arc surface 27 can be configured as a symmetrical structure.
  • the second wall 29 may be further recessed toward the actuator 10 to form a wire groove (not shown) matching the shape of the conductive cable 14, which may also be understood as the shape of the second wall 29 matching the shape of the conductive cable 14. This can better guide the conductive cable 14.
  • a cable through hole 26 for accommodating the conductive cable 14 is provided at the distal end (the end close to the electrode component 11) of the second pivot assembly 20.
  • the cable through hole 26 is connected to the cable through slot 25, and the opening at one end of the cable through hole 26 is arranged on the second wall 29 of the cable through slot 25.
  • the conductive cable 14 extends through the cable through slot 25 and then enters the cable through hole 26.
  • the conductive cable 14 can be connected to the electrode component 11 in the cable through hole 26, or it can be connected to the electrode component 11 after extending out of the cable through hole 26.
  • connection method can be, for example, crimping or welding, etc., to ensure low impedance and avoid heat generation at the connection between the two.
  • the inner diameter of the cable through hole 26 is equivalent to the diameter of the portion of the conductive cable 14 inserted into the cable through hole 26 and/or the diameter of the portion of the electrode component 11 inserted into the cable through hole 26.
  • the inner wall of the cable through hole 26 is connected to the third curved surface 27 of the second wall surface 29, or in other words, the second wall surface 29 transitions to the inner wall of the cable through hole 26 via the third curved surface 27.
  • the third curved surface 27 is tangent to the inner wall of the cable through hole 26, so that the third curved surface 27 smoothly transitions to the inner wall of the cable through hole 26, ensuring that the wire cable 14 will not be excessively bent here when the second pivot assembly 20 rotates, thereby better protecting the conductive cable 14.
  • one end of the third curved surface 27 away from the cable through hole 26 extends to the opening of the cable through groove 25, so that the third curved surface guides the conductive cable 14 throughout the yaw rotation.
  • the second pivot assembly 20 includes a second base 21, the proximal end of the second base 21 is pivotally connected to the first pivot assembly 30 via a second pivot shaft 22, and the actuator 10 is connected to the distal end of the second base 21.
  • the second base 21 is configured as a hollow structure for accommodating the conductive cable 14.
  • the hollow structure includes the cable through groove 25 and the cable through hole 26 as described above, the cable through groove 25 is opened at the proximal end of the second base 21, the cable through hole 26 is opened at the distal end of the second base 21, and the cable through hole 26 is communicated with the cable through groove 25.
  • the conductive cable 14 extends to the cable through hole 26 and is connected to the electrode component 11 .
  • the cable channel 25 may also be provided with a guide surface 88 for guiding the wire cable 14. Except for the guide surface 88, the example shown in FIG8 is similar to the example shown in FIG5 . Similar parts can refer to the description of FIG5 , which will not be repeated here.
  • the wire surface may be configured as a cylindrical surface extending around the second pivot axis PA2.
  • the conductive cable 14 is further wound around the guide surface 88; when the second pivot assembly 20 rotates counterclockwise relative to the first pivot assembly 30, the conductive cable 14 partially disengages from the guide surface 88 and does not extend out of the opening of the cable channel 25 under the obstruction of the guide surface 88. Therefore, the provision of the guide surface 88 can ensure that the cable is always stored in the cable channel 25 regardless of how the second pivot assembly 20 rotates relative to the first pivot assembly 30. Further, the guide surface 88 may be arranged to rotate about the second pivot axis PA2 to reduce or avoid sliding friction between the conductive cable 14 and the guide surface 88.
  • a guide wheel 87 may be arranged in the cable through groove, the guide wheel 87 is rotatably mounted about the second pivot axis PA2 relative to the second base 21, and the conductive cable 14 is wound around the guide wheel 87, that is, the outer peripheral surface of the guide wheel 87 is the guide surface 88 or a part of the guide surface 88.
  • the second base 21 includes two third side surfaces 28B which are transverse to the second pivot axis PA2 and spaced apart in the direction of the second pivot axis PA2, and the second pivot shaft 22 can be arranged on both sides facing the two third side surfaces 28B.
  • the second flexible transmission assembly 70 is connected to the second base 21 to drive the rotation of the second base 21 relative to the first pivot assembly 30.
  • the second flexible transmission assembly 70 is located outside the cable slot 25, so it will not interfere with the movement of the conductive cable 14 in the cable slot 25.
  • the second base 21 has a second arc surface 23 at the proximal end.
  • the second arc surface 23 has the second pivot axis PA2 as its axis.
  • the second arc surface 23 has a second arc line parallel to the first wall surface 28A, and the center angle of the second arc line is related to the maximum rotation angle of the second pivot assembly 20.
  • the opening of the cable slot 25 extends along the second arc line at least to both ends of the second arc line to ensure that during the rotation of the second pivot assembly 20, the two ends of the opening of the cable slot 25 will not pull the conductive cable 14.
  • the center angle of the second arc line is greater than or equal to 180 degrees.
  • the opening of the cable slot 25 extends along the second arc line beyond the two ends of the second arc line. This is because the conductive cable 14 has a certain outer diameter, and the length of the exceeding portion is greater than or equal to the radius of the conductive cable 14 to prevent the conductive cable 14 from being partially bent when the second pivot assembly 20 moves to the maximum rotation angle.
  • the first pivot assembly 30 includes a first base 31.
  • the first base 31 includes a seat plate 35, a connecting arm 37 and a supporting arm 38.
  • the extending direction of the seat plate 35 is parallel to the second pivot axis PA2 and the first pivot axis PA1.
  • the seat plate 35 is provided with a through hole for the conductive cable 14 and the second flexible transmission assembly 70 to pass through.
  • the connecting arm 37 and the supporting arm 38 are respectively located on both sides of the seat plate 35 and connected to the seat plate 35.
  • the connecting arm 37 is connected to the side of the seat plate 35 facing the base assembly 40, and is used to be pivotally connected to the base assembly 40.
  • the connecting arm 37 is sleeved on the first pivot shaft 44A, so that the first pivot assembly 30 can rotate around the first pivot shaft 44A.
  • the connecting arm 37 is, for example, plate-shaped.
  • the connecting arm 37 extends perpendicular to the seat plate 35.
  • the first flexible transmission assembly 60 is connected to the connecting arm 37 to drive the first base 31 to rotate relative to the base assembly 40.
  • the support arm 38 is connected to the side of the seat plate 35 facing the second pivot assembly 20, and is used to support and connect the second pivot assembly 20.
  • the support arm 38 is configured as two support arms arranged opposite to each other.
  • the support arm 38 extends perpendicular to the seat plate 35.
  • the extension plane of the connecting arm 37 is perpendicular to the extension plane of the support arm 38. The space between the two support arms 38 arranged opposite to each other is used to accommodate the second pivot assembly 20.
  • the two ends of the second pivot shaft 22 are respectively connected to the two support arms 38. Therefore, the two support arms 38 are spaced apart in the extending direction of the second pivot axis PA2.
  • the two support arms 38 are respectively provided with opening slots 39, and the two opening slots 39 are aligned along the second pivot axis PA2.
  • the two ends of the second pivot shaft 22 are respectively arranged in the two opening slots 39 and fixed by the end cap 32 (the end cap 32 limits the second pivot shaft in the opening slot 39), so that the second pivot shaft 22 is stably connected to the first pivot assembly 30.
  • the connecting arm 37 extends perpendicular to the second direction D2, and is connected to the seat plate 35 at one end of the seat plate 35 along the second direction D2, forming a side wall of the first base 31. It can be understood that the connecting arm 37 has one end connected to the seat plate 35 and one end away from the seat plate 35.
  • the surface of the end of the connecting arm 37 away from the seat plate 35 is configured as a first arcuate surface (see FIG. 4), and the arc center of the first arcuate surface is located on the first pivot axis PA1.
  • the base assembly 40 includes a support 41 and the first pivot axis 44A.
  • the support 41 extends along a first direction D1.
  • the first direction D1 is also referred to as the longitudinal axis direction of the base assembly.
  • the first direction D1 is, for example, the up-down direction in the figure.
  • the first direction D1 is perpendicular to the first pivot axis PA1.
  • the support 41 includes a support body 47 and a support arm 48 that are arranged oppositely along the first direction D1.
  • the support body 47 is configured as a cylinder with the axial direction in the first direction D1, and the support arm 48 is configured to be self-supporting.
  • the first pivot body 47 is formed of two oppositely disposed vertical arms extending along the first direction D1.
  • Both ends of the first pivot shaft 44A are respectively connected to two support arms 48. Therefore, the two support arms 48 are spaced apart in the extending direction of the first pivot axis PA1 (the second direction D2). The space between the two support arms 48 is at least used to accommodate the first pivot assembly 30 and the conductive cable 14.
  • the two support arms 48 are respectively provided with first through holes 49A, the two first through holes 49A are aligned along the first pivot axis PA1, and both ends of the first pivot shaft 44A are respectively connected to the two first through holes 49A, so that the first pivot shaft 44A is stably disposed to the support 41 of the base assembly 40. Therefore, the support arms 48 are used to support and connect the first pivot assembly 30.
  • the support 41 further includes a base bottom plate 46 disposed at a connection position between the support body 47 and the support arm 48.
  • the base bottom plate 46 forms an upper cover plate of the support body 47.
  • the support body 47 and the support arm 48 are respectively located on both sides of the base bottom plate 46 and connected to the base bottom plate 46.
  • the base bottom plate 46 extends in a direction perpendicular to the first direction D1.
  • the base bottom plate 46 is a horizontal plate.
  • the base bottom plate 46 is provided with a through hole for passing the conductive cable 14 and the transmission mechanism.
  • the end effector 90 is further provided with a cable pulley 86.
  • the cable pulley 86 is rotatably connected to the base assembly 40 around the first pivot axis PA1.
  • the cable pulley 86 is sleeved on the first pivot shaft 44A.
  • the conductive cable 14 is wound around the cable pulley 86 along the wire groove of the cable pulley 86, so as to be positioned and guided by the cable pulley 86.
  • the cable slot 25 restricts the conductive cable 14 from moving along the third direction D3 at a position relatively close to the distal end of the conductive cable 14.
  • the cable pulley 86 restricts the conductive cable 14 from moving along the second direction D2 at a position relatively close to the proximal end of the conductive cable 14.
  • the cable pulley 86 and the cable slot 25 are used to simultaneously hold the conductive cable 14 in place, which is conducive to keeping the conductive cable 14 in a smooth posture, so as to avoid interference between the conductive cable 14 and the transmission mechanism when the wrist mechanism moves.
  • the first direction D1 is perpendicular to the second pivot axis PA2.
  • the surgical instrument 100 forms an elongated structure extending along the first direction D1
  • the base assembly 40, the first pivot assembly 30, the second pivot assembly 20 and the actuator assembly 10 are generally arranged in sequence from the proximal end to the distal end along the first direction D1.
  • the first direction D1 can also be understood as the longitudinal axis direction of the end actuator 90.
  • the second flexible transmission assembly 70 is configured as a driving cable (such as a steel wire rope, a tungsten wire rope, etc.), which is connected to the second terminal 73 and connected to the second base 21 through the second terminal 73.
  • a driving cable such as a steel wire rope, a tungsten wire rope, etc.
  • the second flexible transmission assembly 70 Rotating around the second pivot axis PA2, that is, realizing the yaw rotation of the end effector 90.
  • the second terminal 73 is tightly fixed to the second base 21, so that the second base 21 can move synchronously with the second terminal 73.
  • Using a drive cable to realize the rotation (swing) of the second pivot assembly 20 is conducive to reducing the size of the surgical instrument 100.
  • the second flexible transmission assembly 70 includes a first cable portion 71 and a second cable portion 72.
  • the first cable portion 71 and the second cable portion 72 are respectively located on both sides of the second pivot shaft 22 in the radial direction.
  • the extension track of the first cable portion 71 in the second pivot assembly 20 and the extension track of the second cable portion 72 in the second pivot assembly 20 are located in the same plane (first plane), and the first plane is perpendicular to the second pivot axis PA2 and is located outside the cable slot 25.
  • the second flexible transmission assembly 70 is arranged outside the cable slot 25 to reduce interference with the conductive cable 14.
  • the first cable portion 71 and the second cable portion 72 can be two parts of the same cable, that is, as shown in the embodiment, the second terminal 73 is arranged in the middle of the same driving cable, so that the parts of the same driving cable located on both sides of the second terminal 73 form the first cable portion 71 and the second cable portion 72.
  • first cable portion 71 and the second cable portion 72 are two cables that are not connected to each other, that is, the first cable portion 71 and the second cable portion 72 are two independent driving cables, each having a terminal and fixed to the second base 21 through their respective terminals.
  • the extension track of the first cable portion 71 in the second pivot assembly 20 is located in the first plane
  • the extension track of the second cable portion 72 in the second pivot assembly 20 is located in the second plane
  • the first plane and the second plane are parallel to each other and perpendicular to the second pivot axis PA2
  • the cable through groove 25 is located between the first plane and the second plane.
  • the first cable portion 71 and the second cable portion 72 are two cables that are not connected to each other, that is, the first cable portion 71 and the second cable portion 72 are two independent driving cables, each having a terminal, and fixed to the second base 21 through their respective terminals.
  • the first plane and the second plane may be coplanar with the two third side surfaces 28B of the second base 21. That is, the first cable portion 71 and the second cable portion 72 are connected to the same one of the two third side surfaces 28B; or the first cable portion 71 is connected to one of the two third side surfaces 28B, and the second cable portion 72 is connected to the other of the two third side surfaces 28B.
  • the third side 28B of the second base 21 is provided with a second wire groove 24 for guiding the first cable portion 71 and the second cable portion 72.
  • the second wire groove 24 is configured as a circular arc groove (with a central angle of at least 180 degrees) with the second rotation axis PA2 as the axis, and the first cable portion 71 and the second cable portion 72 extend along both sides of the circular arc.
  • the second terminal 73 is provided to the third side 28B.
  • the outer surface of the second base 21 corresponding to the second arc surface 23 facilitates the first cable portion 71 and the second cable portion 72 to be routed from both sides of the second pivot shaft 22 in the radial direction.
  • the two third side surfaces 28B are respectively provided with wire grooves (not shown) to respectively guide the first cable portion 71 and the second cable portion 72. In this way, the first cable portion 71 and the second cable portion 72 are respectively connected to the two third side surfaces 28B.
  • first plane and the second plane may not be coplanar with the two third side surfaces 28B of the second base 21 , but may be closer to the cable through groove 25 than the two third side surfaces 28B.
  • the first cable portion 71 and the second cable portion 72 extend from the second pivot assembly all the way to the base assembly 40, with a long travel distance. In order to enable the first cable portion 71 and the second cable portion 72 to be in a stable position, the present application further clamps the first cable portion 71 and the second cable portion 72 through pulleys.
  • the surgical instrument 100 further includes a first pulley 81 and a second pulley 82, which are used to guide the first cable portion 71 and the second cable portion 72, respectively.
  • the first pulley 81 and the second pulley 82 are both pivotally connected to the base assembly 40 around the first pivot axis PA1.
  • the first pulley 81 and the second pulley 82 are both sleeved on the first pivot shaft 44A, and the two are spaced apart along the first pivot axis PA1 on the first pivot shaft 44A.
  • the first cable portion 71 is wound around the first pulley 81, and the second cable portion 72 is wound around the second pulley 82, so that the first pulley 81 has a positioning and guiding effect on the direction of the first cable portion 71, and the second pulley 82 has a positioning and guiding effect on the direction of the second cable portion 72.
  • the winding direction of the first cable portion 71 on the first pulley 81 is opposite to the winding direction of the second cable portion 72 on the second pulley 82, so as to prevent the first cable portion 71 and the second cable portion 72 from pulling the first pivot assembly 30 to a stop when the end effector 90 pitches and rotates, causing it to be unable to move.
  • the cable pulley 86 is located between the first pulley 81 and the second pulley 82.
  • the cable pulley 86 and the second pulley 82 are respectively located on both sides of the connecting arm 37, that is, the cable pulley 86 is located between the first pulley 81 and the connecting arm 37.
  • the surgical instrument 100 further includes a third pulley 83, which is pivotally connected to the base assembly 40 around a third pivot axis PA3.
  • the base assembly 40 is provided with a third pivot axis 44B.
  • the two support arms 48 of the base assembly 40 are respectively provided with second through holes 49B, the two second through holes 49B are aligned in the first direction D1, and the two ends of the third pivot axis 44B are respectively connected to the two second through holes 49B, so that the third pivot axis 44B is stably set to the base assembly 40.
  • the third pivot axis 44B has a third pivot axis PA3, and the third pivot axis PA3 is parallel to the first pivot axis PA1.
  • the third pulley 83 The first pivot axis PA1 and the third pivot axis PA3 can define a third plane.
  • the first cable portion 71 is wound around the first pulley 81 on one side of the third plane and around the third pulley 83 on the other side of the third plane.
  • the first cable portion 71 is positioned by two pulleys on both sides of the third plane. When the end effector 90 is pitched, the first cable portion 71 will not fall off the first pulley 81 and the third pulley 83, making the position of the first cable portion 71 more stable.
  • the first cable portion 71 since the first cable portion 71 has a long travel from the second wire groove 24 of the second base 21 to the first pulley 81, the first cable portion 71 can be further limited in this travel by the seat plate 35 of the first base 31. Specifically, a through hole can be provided in the seat plate 35 for the first cable portion 71 to pass through. In this way, due to the limitation of the first cable portion 71 by the seat plate 35, when the end effector 90 is pitching and rotating, the first cable portion 71 is always aligned with the wire groove of the first pulley 81.
  • the surgical instrument 100 further includes a fourth pulley 84, which is connected to the first pivot assembly 30.
  • the axis PA4 of the fourth pulley 84 is fixed relative to the first pivot assembly 30, that is, the fourth pulley 84 can move with the first pivot assembly 30; at the same time, the fourth pulley 84 can also rotate relative to the first pivot assembly 30 around the axis PA4.
  • the axis PA4 of the fourth pulley 84 is parallel to the first pivot axis PA1.
  • the first pivot axis PA1 and the axis PA4 of the fourth pulley 84 can define a fourth plane.
  • the second cable portion 72 is wound around the fourth pulley 84 on one side of the fourth plane and around the second pulley 82 on the other side of the fourth plane.
  • the second cable portion 72 is positioned by two pulleys on both sides of the fourth plane. When the end effector 90 is pitched, the second cable portion 72 will not fall off the second pulley 82 and the fourth pulley 84, so that the position of the second cable portion 72 is more stable.
  • the fourth pulley 84 is provided to the connecting arm 37 , and the pulley cap 33 is connected to the connecting arm 37 to define the axial position of the fourth pulley 84 .
  • the connecting arm 37 includes a first side surface 37A and a second side surface 37B that are opposite to each other and are transverse to (perpendicular to) the first pivot axis.
  • the first flexible transmission assembly 60 is connected to the first side surface 37A of the connecting arm 37.
  • the first pulley 81 and the cable pulley 86 are arranged on the same side of the connecting arm 37, that is, the side facing the first side surface 37A.
  • the fourth pulley 84 and the second pulley 82 are arranged on the same side of the connecting arm 37, that is, the side facing the second side surface 37B.
  • the connecting arm 37 physically isolates the first cable portion 71 and the second cable portion 72 to prevent the two from interfering with each other.
  • the first cable portion 71 is directed along the second cable groove 24, the first sliding The first cable portion 71 is guided by the pulley 81, the third pulley 83 and the through hole on the base bottom plate 46.
  • the end effector 90 is configured such that, when the first pivot assembly 30 is located at a neutral position relative to the base assembly 40, the first cable portion 71 extends from the second cable groove 24 of the second pivot assembly 20 to the first pulley 81 along the first direction D1, then bends and turns from the first pulley 81 to pass through the third plane and then wraps around the third pulley 83, and then extends from the third pulley along the first direction D1 to the through hole on the base bottom plate 46 of the base assembly 40.
  • This configuration enables, during the pitch and yaw rotations of the end effector 90, the section of the first cable portion 71 extending from the outlet position of the second cable groove 24 (the position leaving the second cable groove 24) to the through hole on the base bottom plate 46 of the base assembly 40 is always located in a fifth plane parallel to both the first direction D1 and the third direction D3.
  • This allows the first cable portion 71 to extend smoothly without interference (for example, without interference from the groove wall of the second wire groove 24 and/or the groove wall of the pulley groove of the first pulley 81 ), which is beneficial to the stabilization of the force on the first cable portion 71 .
  • the wire groove extension track of the first pulley 81 is coplanar with the wire groove extension track of the third pulley 83, and the plane is tangent to the arc of the second wire groove 24, so that the first cable portion 71 extends in the same plane to the greatest extent, which is conducive to keeping the first cable portion 71 smooth.
  • the direction of the second cable portion 72 is guided by the second cable groove 24, the fourth pulley 84, the second pulley 82 and the through hole on the base bottom plate 46.
  • the end effector 90 is configured such that, when the first pivot assembly 30 is located at a neutral position relative to the base assembly 40, the second cable portion 72 extends from the second cable groove 24 of the second pivot assembly 20 to the fourth pulley 84 along the first direction D1, then bends from the fourth pulley 84 to pass through the fourth plane and then wraps around the second pulley 82, and then extends from the second pulley 82 along the first direction D1 to the through hole on the base bottom plate 46 of the base assembly 40.
  • This configuration enables, during the pitch and yaw rotations of the end effector 90, the section of the second cable portion 72 extending from the outlet position (the position leaving the second cable groove 24) of the second cable groove 24 to the through hole on the base bottom plate 46 of the base assembly 40 is always located in a sixth plane parallel to both the first direction D1 and the third direction D3.
  • This allows the second cable portion 72 to extend smoothly without interference (for example, without interference from the groove wall of the second wire groove 24 and/or the groove wall of the pulley groove of the fourth pulley 84), which is beneficial to the force stability of the second cable portion 72.
  • the fifth plane and the sixth plane are parallel and spaced apart, so that the first cable portion 71 and the second cable portion 72 will not interfere with each other.
  • the sizes and positions of the second wire groove 24, the fourth pulley 84 and the second pulley 82 need to match.
  • the wire groove extension track of the second pulley 82 is coplanar, and the plane is tangent to the arc of the second wire groove 24, so that the second cable portion 72 extends in the same plane to the greatest extent, which is conducive to keeping the second cable portion 72 smooth.
  • first pivot axis 44A and the third pivot axis 44B are arranged along the first direction D1.
  • the first pivot axis 44A can be located above the third pivot axis 44B, or below the third pivot axis 44B.
  • the first pivot axis 44A and the third pivot axis 44B can have the same structure.
  • the first pulley 81, the second pulley 82 and the third pulley 83 can be configured as the same pulley.
  • the conductive cable 14 is positioned by the cable pulley 86, and the cable pulley 86 is sleeved on the first pivot shaft 44A, so that the conductive cable 14 passes through one side of the third pivot shaft 44B.
  • the third pivot shaft 44B is also sleeved with a shaft sleeve 43 for contacting the conductive cable 14.
  • the shaft sleeve 43 can rotate around the third pivot shaft 44B, thereby minimizing the friction with the conductive cable 14.
  • the shaft sleeve 43 can also limit the third pulley 83 in the second direction D2 (or along the third pivot axis PA3).
  • the first flexible transmission assembly 60 is also configured as a drive cable.
  • the first flexible transmission assembly 60 includes a third cable portion 61 and a fourth cable portion 62.
  • the third cable portion 61 and the fourth cable portion 62 are the same drive cable
  • the first terminal 63 is arranged in the middle of the drive cable, so that the drive cable is divided into two parts, the third cable portion 61 and the fourth cable portion 62.
  • the first terminal 63 is arranged to the connection portion 31A of the first base 31 (as shown in FIG. 3).
  • the first terminal 63 is tightly matched with the connection portion 31A, so that the first base 31 can move synchronously with the first terminal 63.
  • the first pivot assembly 30 rotates, that is, the pitch rotation of the end effector 90 is realized.
  • the third cable portion 61 and the fourth cable portion 62 are two cables that are not connected to each other, that is, the third cable portion 61 and the fourth cable portion 62 are two independent drive cables, each having a terminal, and fixed to the first base 31 through their respective terminals.
  • connection portion 31A is provided to the connection arm 37.
  • connection portion 31A and the first pivot shaft 44A are aligned along the first direction D1.
  • the third cable portion 61 and the fourth cable portion 62 are respectively located on both sides of the first pivot shaft 44A in the radial direction.
  • the connecting arm 37 is provided with a first wire groove 34 for guiding the third cable portion 61 and the fourth cable portion 62.
  • the first wire groove 34 is located on the first side surface 37A of the connecting arm 37.
  • the wire groove 34 is configured as an arc-shaped groove (with a central angle of at least 180 degrees) with the first pivot axis PA1 as an axis, and the third cable portion 61 and the fourth cable portion 62 extend along both sides of the arc.
  • the connecting portion 31A is adjacent to the first wire groove 34 .
  • the base assembly 40 (specifically, the base bottom plate 46) is provided with through holes for respectively passing the third cable portion 61 and the fourth cable portion 62.
  • the directions of the third cable portion 61 and the fourth cable portion 62 are determined by the through holes on the first wire groove 34 and the base bottom plate 46.
  • the actuator 10 further includes an insulating sleeve 12 and a sealing ring 13.
  • the electrode component 11 is fixed to the insulating sleeve 12 (for example, by means of glue or thread).
  • the second base 21 is also fixed to the insulating sleeve 12 (for example, by means of glue or thread), thereby connecting the second pivot assembly 20 to the actuator 10.
  • the insulating sleeve 12 is used to prevent the arc of the electrode component 11 from damaging the second base 21 during the discharge process, and there are certain requirements for the arc resistance of its material.
  • the sealing ring 13 is arranged at the position where the conductive cable 14 is connected to the electrode component 11, and plays a certain waterproof role at the fixing place of the conductive cable 14, so as to prevent other liquids from entering the fixing place of the cable during the use and cleaning of the instrument, so as to cause a short circuit or unclean cleaning, resulting in damage to the instrument or injury to the patient or operator.
  • the inner wall of the cable through hole 26 is provided with an annular step surface 26A for clamping the sealing ring 13.
  • the surgical instrument 100 further includes a shaft tube 50.
  • the end effector 90 is provided to the distal end of the shaft tube 50.
  • the proximal end of the shaft tube 50 is connected to a driving device, and the first flexible transmission assembly 60 and the second flexible transmission assembly 70 are connected to the driving device through the hollow portion of the shaft tube 50, so that the driving device can drive the flexible transmission assemblies 60 and 70 to drive the pivot assemblies 20 and 30 to rotate.
  • the conductive cable 14 is mechanically connected to the driving device at the rear end of the surgical instrument 100 , so that the conductive cable 14 can be released and retracted.
  • the conductive cable 14 needs to be released and reeled in.
  • the driving device reels in the conductive cable 14 to reduce the length of the conductive cable 14 extending out of the base bottom plate 46, thereby ensuring that the conductive cable 14 does not escape from the cable pulley 86.
  • the end effector 90 is rotated toward the inside of the paper, the cable is released to reduce the pulling force on the conductive cable 14.
  • the conductive cable 14 can be driven to be released and retracted at the same time as the fourth cable portion 62.
  • the conductive cable 14 and the fourth cable portion 62 can be bound in the shaft tube 50 so that the fourth cable portion 62 drives the conductive cable 14 to move synchronously.
  • the cable pulley 86 is arranged adjacent to the first wire groove 34, which is conducive to driving the release and retraction of the conductive cable 14 and the fourth cable portion 62 at the same time. It can be understood that in other examples not shown, the conductive cable 14 and the fourth cable portion 62 are driven to be released and retracted at the same time.
  • the cable 14 may also be guided to the other side of the cable pulley 86 , and the conductive cable 14 and the third cable portion 61 may be driven to be retracted and released simultaneously.
  • the conductive cable 14 can be driven to be released and retracted at the same time as the first cable part 71.
  • the conductive cable 14 and the first cable part 71 can be bound in the shaft tube 50 so that the first cable part 71 drives the conductive cable 14 to move synchronously.
  • the conductive cable 14 may also be guided to the other side of the guide wheel 87 , and in this case the conductive cable 14 and the second cable portion 62 may be driven to be retracted and released simultaneously.
  • the base assembly 40 is provided to the distal end of the shaft tube 50.
  • the shaft tube 50 extends straight along the first direction D1, and the support body 47 is connected to the shaft tube 50.
  • the support body 47 is bonded to the shaft tube 50, so that the airtightness of the surgical instrument 100 can be ensured at the same time.
  • the shaft tube 50 includes a support tube 51 and an insulating jacket 52.
  • the support tube 51 is used to connect with the base assembly 40.
  • the insulating jacket 52 is sleeved or coated on the outer circumference of the support tube 51.
  • the support tube 51 is made of, for example, a relatively high-strength rigid material to play a supporting role.
  • the insulating jacket 52 is made of an insulating material to prevent the support tube 51 from directly contacting the human body and causing electric shock injury.
  • the shaft tube 50 can be made entirely of a hard insulating material such as a fiberglass tube or a plastic tube.
  • the surgical instrument 100 includes a sealing pad 85, which is disposed in the support body 47 and connected (e.g., bonded) to the base bottom plate 46.
  • the sealing pad 85 is provided with a through hole, which is correspondingly arranged with the through hole of the base bottom plate 46, so that the cable of the first flexible transmission assembly 60, the cable of the second flexible transmission assembly 70 and the conductive cable 14 can pass through the sealing pad.
  • the through hole of the sealing pad 85 has a certain interference with the drive cable and the conductive cable to ensure sealing and prevent the solution from entering the instrument tube from the front end.
  • the surgical instrument provided by the conductive cable, the first flexible transmission component, and the second flexible transmission component are arranged to ensure the strength of the cable and each component, and to ensure the normal use and life of the surgical instrument.
  • the miniaturization of the surgical instrument is achieved, especially the radial dimension can be reduced to 5mm or even 4mm, which is currently the largest size of surgical instruments. A breakthrough in the field.
  • the second aspect of the embodiment of the present application provides a surgical robot.
  • the surgical robot according to the embodiment of the present application includes a robotic arm and the above-mentioned surgical instrument 100.
  • the surgical instrument 100 is detachably connected to the robotic arm.
  • the robotic arm has multiple degrees of freedom of movement, so that the surgical instrument 100 can be manipulated to perform surgical operations more flexibly.
  • a driving device (such as a motor) is provided on the robotic arm, and the transmission mechanism of the surgical instrument 100 is mechanically connected to the driving device, so that the end effector 90 can be driven by the driving device to perform yaw rotation and/or pitch rotation.
  • the surgical robot according to the present application includes all the features and effects of the surgical instrument according to the present application.
  • attachment or “attached” as used herein include: a configuration where an element is directly secured to another element by being directly secured to the other element; a configuration where an element is indirectly secured to another element by being secured to an intermediate member which in turn is secured to the other element; and a configuration where one element is integral with another element, i.e., one element is substantially a part of the other element.
  • This definition also applies to words with similar meanings such as “connect,” “connect,” “couple,” “mount,” “bond,” “fix,” and their derivatives.
  • degrees such as “substantially,” “approximately,” and “approximately” as used herein represent the amount of deviation that modifies the term such that the end result will not be significantly changed.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

一种手术器械（100）和手术机器人。手术器械（100）包括底座组件（40）、第一枢转组件（30）、第一柔性传动组件（60）、第二枢转组件（20）、第二柔性传动组件（70）和执行组件（10）。第一柔性传动组件（60）驱动第一枢转组件（30）绕第一枢转轴线（PA1）相对于底座组件（40）枢转。第二柔性传动组件（70）驱动第二枢转组件（20）绕第二枢转轴线（PA2）相对于第一枢转组件（30）枢转。第二枢转轴线（PA2）与第一枢转轴线（PA1）不平行。执行组件（10）设置至第二枢转组件（20），包括电极部件（11）和为电极部件（11）供电的导电线缆（14）。导电线缆（14）延伸穿过第二枢转组件（20）、第一枢转组件（30）和底座组件（40）。第二枢转组件（20）的远离电极部件（11）的一端有线缆通槽（25）以容纳导电线缆（14），线缆通槽（25）至少由垂直于第二枢转轴线（PA2）的相对的两个第一壁面（28A）和横向于第一壁面（28A）的第二壁面（29）限定，第二枢转轴线（PA2）穿过两个第一壁面（28A）。

Description

手术器械和手术机器人 技术领域
本申请涉及医疗器械技术领域，具体而言涉及一种手术器械以及具有其的手术机器人。
背景技术
医疗手术微器械具有定位准确、运行稳定、灵巧性强、工作范围大、不怕辐射和感染等优点，广泛的应用于各种手术中。手术微器械的使用有助于提高外科医生手术的精度，解决外科医生手部的颤抖、疲劳、肌肉神经的反馈，能够使医生在最舒适的状态下进行手术操作，对于提高手术成功率、减轻患者痛苦具有重要价值，近年来其研究已经成为医疗器械应用的新领域。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本申请的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
本申请的第一方面提供了一种手术器械，其包括末端执行装置。所述末端执行装置包括底座组件、第一枢转组件、第一柔性传动组件、第二枢转组件、第二柔性传动组件和执行组件。第一枢转组件围绕第一枢转轴线可枢转地连接至所述底座组件；第一柔性传动组件连接至所述第一枢转组件，用于驱动所述第一枢转组件围绕所述第一枢转轴线相对于所述底座组件枢转；第二枢转组件围绕第二枢转轴线可枢转地连接至所述第一枢转组件，所述第二枢转轴线与所述第一枢转轴线不平行；第二柔性传动组件连接至所述第二枢转组件，用于驱动所述第二枢转组件围绕所述第二枢转轴线相对于所述第一枢转组件枢转；执行组件连接至所述第二枢转组件，所述执行组件包括电极部件和导电线缆，所述导电线缆用于为所述电极部件供电，所述导电线缆延伸穿过所述第二枢转组件、所述第一枢转组件和所 述底座组件。其中，所述第二枢转组件的远离所述电极部件的一端开设有线缆通槽，所述导电线缆可活动地容纳在所述线缆通槽内，所述线缆通槽朝向所述电极部件延伸、并至少由垂直于所述第二枢转轴线的相对的两个第一壁面和横向于所述第一壁面的第二壁面限定，所述第二枢转轴线延伸穿过所述两个第一壁面。
根据本申请，手术器械的末端执行装置可以实现偏航转动和俯仰转动。偏航转动为第二枢转组件的转动。俯仰转动为第一枢转组件的转动。第二枢转组件包括容纳导电线缆的线缆通槽。偏航转动轴线(第二枢转轴线)从线缆通槽的侧壁经过，使得线缆通槽中有足够的空间用于导电线缆活动，。从而减少偏航运动对导电线缆造成的拉扯，有利于保护线缆，也有利于减小第二枢转组件的体积。
本申请的第二方面提供一种手术机器人，其包括机械臂和根据上述技术方案中任一项所述的手术器械，所述手术器械可拆卸地连接至所述机械臂。
附图说明
本申请的下列附图在此作为本申请的一部分用于理解本申请。附图中示出了本申请的实施方式及其描述，用来解释本申请的原理。
附图中：
图1为根据本申请实施方式的手术器械的立体示意图；
图2为根据本申请实施方式的手术器械的另一立体示意图
图3为根据本申请实施方式的手术器械的分解立体示意图；
图4为根据本申请实施方式的手术器械的另一分解立体示意图；
图5为图1所示的手术器械的执行组件与第二枢转组件的剖视示意图；
图6为根据本申请实施方式的手术器械的内部结构的立体示意图；
图7为根据本申请实施方式的手术器械的内部结构的另一立体示意图；
图8为图1所示的手术器械的执行组件与第二枢转组件的剖视示意图，其中示出了第二枢转组件的另一示例。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本申请更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本申请可以无需 一个或多个这些细节而得以实施。在其他的例子中，为了避免与本申请发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底理解本申请，将在下列的描述中提出详细的描述。应当理解的是，提供这些实施方式是为了使得本申请的公开彻底且完整，并且将这些示例性实施方式的构思充分传达给本领域普通技术人员。显然，本申请实施方式的施行并不限定于本领域的技术人员所熟悉的特殊细节。本申请的较佳实施方式详细描述如下，然而除了这些详细描述外，本申请还可以具有其他实施方式。
本申请中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其他含义，例如特定的顺序等。而且，例如，术语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。“第一”“第二”以及“第三”等词语的使用不表示任何顺序，可将这些词语解释为名称。
本申请中使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。
本申请中所使用的“平行”/“垂直”以及类似的表述包含了绝对平行/垂直关系和大致平行/垂直关系(例如，与绝对平行/垂直相差-5°至+5°范围内的关系)，能够起到等同的效果。
本申请中所使用的“长度保持不变”以及类似的表述指的是保持原长度或者在一定范围内的波动，例如，在原长度的±5％范围内都属于“长度保持不变”所涵盖的范围，能够起到等同的效果。
本申请中所使用的术语“刚性材料”指的是具有良好抵抗变形能力的材料，其在外力作用下具有很小的变形量或者变形量可以忽略不计。
本申请实施例的第一方面提供了一种手术器械，具体可以是电外科手术器械。电外科手术器械通过将高频(射频)交替极性电流接触生物组织，以进行切割、凝固、干燥或电灼组织的操作，能够在较少出血的情况下完成手术操作，提高手术操作效率，增强手术的安全性。通常，电极外科手术器械的执行前端设置有电刀头(如钩、铲、夹钳、剪刀等)，电刀头连接导电线缆，导电线缆被引至电极外科手术器械的后端以接通电源为电刀头提供工作电流。电刀头通常连接腕部机构。腕部机构是实现电刀头相对底座摆动的机构，在本实施例中可以是第一枢转组件与第二枢转组件的总和。 电外科手术器械的驱动后端通过传动机构控制腕部机构带动执行前端进行相应的摆动，从而完成切、剪、抓握、夹持、电凝等动作。
在应用于侵入式微创手术时，小型化是目前电外科手术器械的发展方向之一。发明人在设计电外科手术器械时发现，各部件的尺寸的减小是有限度的，超过了限度则无法保证器械各部件的刚度和强度，因此需要从结构的紧凑性入手来实现小型化。发明人进一步发现，腕部机构中传动机构和导电线缆会占据较大的径向体积，尤其为了保证导电线缆在腕部机构运动时不被拉扯损坏，当前多数采用的方案是将导电线缆在腕部机构中卷绕若干圈，但这不利于电外科手术器械的小型化设计。此外，还需要保证传动机构和导电线缆的稳固性(如不会从腕部机构中脱落)、互不干扰，这也是实现进一步电外科手术器械小型化需要兼顾的问题，以确保手术器械的正常使用。
本申请实施例提供的手术器械能够至少解决上述问题中的一个或多个。现在，将参照附图更详细地描述根据本申请的示例性实施方式。
如图1和图2所示，根据实施例的本申请的手术器械100包括末端执行装置90。末端执行装置90设置在手术器械100的前端，包括底座组件40、执行组件10、腕部机构和传动机构。执行组件10通过腕部机构与底座组件40连接，腕部机构用于提供执行组件10相对于底座组件40的活动自由度，传动组件则用于驱动腕部机构相对于底座组件40的运动。腕部机构包括第一枢转组件30、第二枢转组件20。传动机构包括第一柔性传动组件60和第二柔性传动组件70。
第一枢转组件30围绕第一枢转轴线PA1可枢转地连接至底座组件40。第一枢转轴线PA1沿第二方向D2延伸。例如，第一枢转组件30可以通过第一枢转轴44A可枢转地连接至底座组件40。第一枢转轴44A具有第一枢转轴线PA1，因此，第一枢转组件30围绕第一枢转轴线PA1相对于底座组件40可枢转。第一柔性传动组件60连接至第一枢转组件30，用于驱动第一枢转组件30围绕第一枢转轴线PA1相对于底座组件40枢转。
第二枢转组件20围绕第二枢转轴线PA2可枢转地连接至第一枢转组件30。第二枢转轴线PA2沿第三方向D3延伸。例如，第二枢转组件20可以通过第二枢转轴22可枢转地连接至第一枢转组件30。第二枢转轴22具有第二枢转轴线PA2，因此，第二枢转组件20围绕第二枢转轴线PA2相对于第一枢转组件30可枢转。第二柔性传动组件70连接至第二枢转组 件20，用于驱动第二枢转组件20围绕第二枢转轴线PA2相对于第一枢转组件30枢转。其中，第二枢转轴线PA2与第一枢转轴线PA1不平行。可选地，第二枢转轴线PA2垂直于第一枢转轴线PA1。从而，执行组件10(也即电极部件11)通过在两个相互垂直的方向的摆动在两个空间维度移动。
执行组件10设置至第二枢转组件20。执行组件10包括电极部件11和导电线缆14。导电线缆14用于为电极部件11供电。可以理解的，导电线缆14的一端连接至电极部件11。导电线缆14延伸穿过第二枢转组件20、第一枢转组件30和底座组件40。在图中给出的示例中，电极部件11构造为电钩。可以理解，在其他未示出的示例中，电极部件11可以构造为电铲、夹钳或剪刀等。
在本示例中，第二枢转组件20围绕第二枢转轴线PA2的转动也称为末端执行装置90(或者电极部件11)的偏航转动(Yaw转动)，第一枢转组件30围绕第一枢转轴线PA1的转动也称为末端执行装置90(或者电极部件11)的俯仰转动(Pitch转动)。因此，第一枢转组件30和第二枢转组件20的设置使得执行组件10具有两个活动自由度，以便于执行相应的手术动作。
作为一个示例性的例子，第二枢转组件20的最大转动角度可以是约±90°(即偏航转动角度为约±90°)，第一枢转组件30的最大转动角度可以是约±90°(即俯仰转动角度为约±90°)。
可以理解的，手术器械100的后端构造成连接驱动装置，驱动装置能够通过传动机构控制末端执行装置90的偏航转动和俯仰转动。驱动装置可以是电机，也可以是供医生手动操作的手柄。手术器械100的后端还连接至为电极部件11提供所需电流的能量发生器，导电线缆14被引导至手术器械的后端并电连接至能量发生器。
可选地，第二枢转组件20的远离电极部件11的一端开设有用于容纳导电线缆14的线缆通槽25。也即，线缆通槽25在第二枢转组件20的近端开口。在本申请中，远端系指手术器械100或其部件的远离操作者的一端，近端系指手术器械100或其部件的靠近操作者的一端。导电线缆14可活动地容纳在线缆通槽25内。线缆通槽25朝向电极部件11延伸，以使导电线缆14能够与电极部件11连接。换句话说，线缆通槽25的开口靠近第一枢转组件30，槽底靠近执行组件10。
进一步地，同时参见图5，线缆通槽25至少由垂直于第三方向D3(即第二枢转轴线PA2)的两个第一壁面28A和横向于第一壁面28A的第二壁面29限定，其中，两个第一壁面28A间隔且相对设置。第二壁面29横向于第一壁面28A，指的是第二壁面29不平行于第一壁面28A延伸，而是与第一壁面28A相交，可以是垂直相交，也可以是以其它角度相交。在本示例中，第一壁面28A可以理解为是线缆通槽25的侧壁面，第二壁面29可以理解为是底壁面。第二枢转轴线PA2穿过两个第一壁面28A，也就是说线缆通槽25在朝向电极部件11延伸的方向上延伸超过第二枢转轴线PA2，这为导电线缆14提供足够的活动空间，使得导电线缆14在第二枢转组件20绕第二枢转轴线PA2转动的过程中能够正常收放。
上述线缆通槽25的设置使得导电线缆14无需在腕部机构中卷绕若干圈也可以避免或减少偏航运动对导电线缆造成的拉扯，同时也可以避免或减少导线线缆14对第二枢转组件20的偏航运动的阻碍。此外，将导电线缆14部分收纳在线缆通槽25中，一方面可以减少导电线缆14在腕部机构的占用空间，减小了腕部机构的径向尺寸，有助于实现电外科手术器械的小型化，另一方面也可以在第二枢转组件20的运动过程中防止导电线缆14与传动机构发生干涉(如相互缠绕)。
可选地，两个第一壁面28A相互平行且垂直于第三方向D3平坦地延伸。两个第一壁面28A之间的距离(也就是线缆通槽25的沿第三方向D3的尺寸)与导电线缆14的直径匹配。这里的“匹配”指的是线缆通槽25的宽度略大于导电线缆14的直径，例如，线缆通槽25的宽度为导电线缆14的直径的1.1-1.5倍。从而，当第二枢转组件20产生偏航转动时，导电线缆14基本不发生沿第三方向D3的移动，而主要在垂直于第三方向D3的平面内摆动。也就是说两个第一壁面28A限制了导电线缆14在第三方向D3的运动，此外还可以减小第二枢转组件20在第三方向D3的尺寸。
为尽量减小导电线缆14对第二枢转组件20在整个转动过程中的阻碍，例如，在本示例中，第二枢转组件20的最大转动角度为约±90°，第二壁面29与执行组件10(电极部件11)设置在第二枢转轴线PA2同一侧，也就是说设置在第二枢转轴线PA2与执行组件10之间。这可以保证导电线缆14具有足够的活动空间，使得当第二枢转组件20转动到极限位置时，也能避免或者减少对导电线缆14的拉扯，有助于保护导电线缆14，也使得第二枢转组件20的转动更加顺畅。
可选地，第二壁面29可以构造成平坦表面，也可以构造成弧形表面，还可以构造成包括平面表面和弧形表面。在本示例中，第二壁面29包括第三弧形面27，第三弧形面27具有与第一壁面28A平行的第三圆弧线，也即第三弧形面27的轴线平行于第二枢转轴线PA2。第三弧形面27用于在第二枢转组件20相对于第一枢转组件30枢转时限定导电线缆14的活动范围，以防止导电线缆14过度弯曲。在本示例中，第二枢转组件20的极限转动角度设定为对称，因此第三弧形面27可以构造为对称结构。
可选地，第二壁面29还可以进一步朝向执行组件10凹陷形成与导电线缆14形状匹配的线槽(未标示)，也可以理解为第二壁面29的形状与导电线缆14形状匹配。这可以更好地引导导电线缆14。
可选地，为了便于导电线缆14和电极部件11连接的稳定性，第二枢转组件20的远端(靠近电极部件11的一端)开设有用于容纳导电线缆14的线缆通孔26。线缆通孔26与线缆通槽25连通，线缆通孔26一端的开口设置在线缆通槽25的第二壁面29。导电线缆14延伸穿过线缆通槽25后进入线缆通孔26。导电线缆14可以在线缆通孔26内与电极部件11连接，也可以伸出线缆通孔26后与电极部件11连接。连接方式可以是例如，压接或焊接等，保证低阻抗，避免二者连接处发热。线缆通孔26的内径与导电线缆14插入线缆通孔26的部分的直径和/或电极部件11插入线缆通孔26的部分的直径相当。
在本示例中，线缆通孔26的内壁与第二壁面29的第三弧形面27相接，或者说，第二壁面29经由第三弧形面27过渡至线缆通孔26的内壁。可选地，第三弧形面27与线缆通孔26的内壁相切，使得第三弧形面27平滑地过渡至线缆通孔26的内壁，在第二枢转组件20转动时确保导线线缆14在此处不会被过度弯折，从而更好地保护导电线缆14。可选地，第三弧形面27的远离线缆通孔26的一端延伸至线缆通槽25的开口处，从而第三弧形面在偏航转动的全程引导导电线缆14。
具体地，如图1至图4所示，第二枢转组件20包括第二底座21，第二底座21的近端通过第二枢转轴22可枢转地连接至第一枢转组件30，执行组件10连接至第二底座21的远端。可以理解的，第二底座21构造为中空结构，用于容纳导电线缆14。例如，参见图5，中空结构包括如上所述的线缆通槽25和线缆通孔26，线缆通槽25开设于第二底座21的近端，线缆通孔26开设于第二底座21的远端，线缆通孔26与线缆通槽25连通。 导电线缆14延伸至线缆通孔26与电极部件11连接。
可选地，参见图8，线缆通槽25还可以设置有导向面88，用于引导导线线缆14。除了导向面88之外，图8所示的示例与图5所示的示例结构相似，相似的部分可参考关于图5的描述，在此不再赘述。当第二枢转组件20相对于第一枢转组件30位于中立位置时，导电线缆14绕于导向面88上。导线面可以构造成绕第二枢转轴线PA2延伸的圆柱面。以图8作为参考，当第二枢转组件20相对于第一枢转组件30顺时针转动时，导电线缆14进一步绕于导向面88上；当第二枢转组件20相对于第一枢转组件30逆时针转动时，导电线缆14部分脱离导向面88，并在导向面88的阻挡下而不会从线缆通槽25的开口延伸出去。因此，导向面88的设置可以确保不管第二枢转组件20相对于第一枢转组件30如何转动，电缆始终收纳在线缆通槽25内。进一步地，导向面88可以设置成绕第二枢转轴线PA2转动，以减少或避免导电线缆14与导向面88之间的滑动摩擦。在一个例子中，可以在线缆通槽内设置导向轮87，导向轮87绕第二枢转轴线PA2相对于第二底座21可转动地安装，导电线缆14绕于导向轮87上，即导向轮87的外周表面为该导向面88或者为该导向面88的一部分。
第二底座21包括横向于第二枢转轴线PA2、并且沿第二枢转轴线PA2的方向间隔开的两个第三侧面28B，第二枢转轴22可以设置在两个第三侧面28B所面向的两侧。第二柔性传动组件70连接至第二底座21，以驱动第二底座21相对于第一枢转组件30的转动。第二柔性传动组件70位于线缆通槽25之外，因此不会干扰线缆通槽25内导电线缆14的活动。
为便于第二枢转组件20相对于第一枢转组件30的转动，第二底座21在近端具有第二弧形面23。第二弧形面23以第二枢转轴线PA2为轴线。第二弧形面23具有与第一壁面28A平行的第二圆弧线，第二圆弧线的圆心角与第二枢转组件20的最大转动角度相关。线缆通槽25的开口沿着该第二圆弧线至少延伸至该第二圆弧线的两端，以确保在第二枢转组件20转动过程中，线缆通槽25的开口两端不会拉扯导电线缆14。在本示例中，由于第二枢转组件20的最大转动角度为约±90°，第二圆弧线的圆心角大于或等于180度。在本示例中，线缆通槽25的开口沿着该第二圆弧线延伸超过该第二圆弧线的两端，这是因为导电线缆14具有一定的外径，超出的部分长度大于或等于导电线缆14的半径，以防止当第二枢转组件20运动至最大转动角度时导电线缆14被局部弯折。
第一枢转组件30包括第一底座31。第一底座31包括座板35、连接臂37和支撑臂38。座板35的延伸方向平行于第二枢转轴线PA2和第一枢转轴线PA1。座板35设置有用于供导电线缆14和第二柔性传动组件70穿过的通孔。连接臂37与支撑臂38分别位于座板35的两侧，并连接至座板35。
其中，连接臂37连接至座板35的朝向底座组件40的一侧，用于可枢转地连接至底座组件40。连接臂37套设在第一枢转轴44A上，从而第一枢转组件30可以围绕第一枢转轴44A转动。连接臂37例如构造为板状。可选地，连接臂37垂直于座板35延伸。第一柔性传动组件60连接至连接臂37，以驱动第一底座31相对于底座组件40的转动。
支撑臂38连接至座板35的朝向第二枢转组件20的一侧，用于支撑和连接第二枢转组件20。支撑臂38构造为两个相对设置的支撑臂。可选地，支撑臂38垂直于座板35延伸。可选地，连接臂37的延伸平面与支撑臂38的延伸平面垂直。两个相对设置的支撑臂38之间的空间用于容纳第二枢转组件20。
第二枢转轴22的两端分别连接至两个支撑臂38。因此，两个支撑臂38在第二枢转轴线PA2的延伸方向上间隔开。例如，两个支撑臂38上分别设置有开口槽39，两个开口槽39沿第二枢转轴线PA2对齐。第二枢转轴22的两端分别设置在两个开口槽39中，并通过端盖32固定(端盖32将第二枢转轴限位在开口槽39中)，从而第二枢转轴22稳定地连接至第一枢转组件30。
可选地，连接臂37垂直于第二方向D2延伸，在座板35的沿第二方向D2的一端连接至座板35，形成第一底座31的侧壁。可以理解的，连接臂37具有连接座板35的一端和远离座板35的一端。可选地，为便于第一枢转组件30相对于底座组件40的转动，连接臂37的远离座板35的一端的表面构造为第一弧形面(参见图4)，第一弧形面的弧形的圆心位于第一枢转轴线PA1上。
底座组件40包括支座41和上述第一枢转轴44A。支座41沿第一方向D1延伸。第一方向D1也称为底座组件的纵轴线方向。第一方向D1例如图中的上下方向。可选地，第一方向D1垂直于第一枢转轴线PA1。支座41包括沿第一方向D1相反设置的支座主体47和支座立臂48。支座主体47构造为轴向方向为第一方向D1的筒状，支座立臂48则构造为自支座主 体47沿第一方向D1延伸的两个相对设置的立臂。第一枢转轴44A的两端分别连接至两个支座立臂48。因此，两个支座立臂48在第一枢转轴线PA1的延伸方向(第二方向D2)上间隔开。两个支座立臂48中间的空间则至少用于容纳第一枢转组件30和导电线缆14。例如，两个支座立臂48上分别设置有第一通孔49A，两个第一通孔49A沿第一枢转轴线PA1对齐，第一枢转轴44A的两端分别连接至两个第一通孔49A，从而第一枢转轴44A稳定地设置至底座组件40的支座41。因此，支座立臂48用于支撑和连接第一枢转组件30。
支座41还包括设置在支座主体47与支座立臂48的连接位置处的底座底板46。底座底板46形成支座主体47的上盖板。支座主体47和支座立臂48分别位于底座底板46的两侧，并连接至底座底板46。可选地，底座底板46在垂直于第一方向D1的方向延伸。例如，在图中，底座底板46为一块横板。底座底板46则设置有用于使导电线缆14和传动机构穿过的通孔。
为了在两个支座立臂48之间引导导电线缆14，末端执行装置90还设置有线缆滑轮86。线缆滑轮86绕第一枢转轴线PA1可转动地连接至底座组件40。例如，线缆滑轮86套设在第一枢转轴44A上。导电线缆14沿线缆滑轮86的线槽绕于线缆滑轮86上，从而被线缆滑轮86卡位、引导。
线缆通槽25在导电线缆14的相对靠近远端的部位限制导电线缆14沿第三方向D3移动。线缆滑轮86在导电线缆14的相对靠近近端的部位限制导电线缆14沿第二方向D2移动。采用线缆滑轮86和线缆通槽25同时卡位导电线缆14，有利于使导电线缆14保持顺畅的姿态，使得在腕部机构活动时避免导电线缆14与传动机构发生干涉。
当第一枢转组件30相对于底座组件40位于中立位置时，第一方向D1垂直于第二枢转轴线PA2。在图示的实施方式中，当第一枢转组件30和第二枢转组件20均位于中立位置时，手术器械100形成沿第一方向D1延伸的细长的结构，底座组件40、第一枢转组件30、第二枢转组件20和执行组件10大体沿第一方向D1从近端到远端顺序排列。此时，第一方向D1也可以理解为末端执行装置90的纵轴线方向。
可选地，第二柔性传动组件70构造为驱动缆线(例如钢丝绳、钨丝绳等)，该驱动缆线连接至第二端子73，并通过第二端子73连接至第二底座21。当第二端子73两端的驱动缆线的长度变化时，第二柔性传动组件70 围绕第二枢转轴线PA2转动，也即实现末端执行装置90的偏航转动。第二端子73与第二底座21的固定是紧配的，从而第二底座21能够与第二端子73同步运动。采用驱动线缆实现第二枢转组件20的转动(摆动)，有利于减小手术器械100的尺寸。
可选地，第二柔性传动组件70包括第一线缆部71和第二线缆部72。在手术器械100的组装状态下，第一线缆部71和第二线缆部72分别位于第二枢转轴22的径向的两侧。
可选地，第一线缆部71在第二枢转组件20中的延伸轨迹和第二线缆部72在第二枢转组件20中的延伸轨迹位于同一平面(第一平面)内，该第一平面垂直于第二枢转轴线PA2且位于线缆通槽25之外。第二柔性传动组件70设置在线缆通槽25的外部，可以减少与导电线缆14的干涉。在一些例子中，第一线缆部71和第二线缆部72可以为同一线缆的两部分，也即如图示的实施方式，在同一驱动缆线的中间设置第二端子73，使同一驱动缆线的分别位于第二端子73两侧的部分形成第一线缆部71和第二线缆部72。在另一些例子中(未示出)，第一线缆部71和第二线缆部72为两条互不相连的线缆，也即第一线缆部71和第二线缆部72为两条独立的驱动线缆，各自具有端子，并通过各自的端子固定至第二底座21。
可选地，第一线缆部71在第二枢转组件20中的延伸轨迹位于第一平面内，第二线缆部72在第二枢转组件20中的延伸轨迹位于第二平面内，第一平面和第二平面相互平行且垂直于第二枢转轴线PA2，线缆通槽25位于所述第一平面和第二平面之间。这种情况下，第一线缆部71和第二线缆部72为两条互不相连的线缆，也即第一线缆部71和第二线缆部72为两条独立的驱动线缆，各自具有端子，并通过各自的端子固定至第二底座21。
可选地，上述第一平面和第二平面可以分别与第二底座21的两个第三侧面28B共面。也就是说，第一线缆部71和第二线缆部72连接至该两个第三侧面28B中的同一个；或者第一线缆部71连接至该两个第三侧面28B的中的一个，第二线缆部72连接至该两个第三侧面28B中的另一个。
例如，如图1至图4所示，第二底座21的第三侧面28B设置有第二线槽24，用于引导第一线缆部71和第二线缆部72。例如，第二线槽24构造为以第二旋转轴线PA2为轴线的圆弧形(圆心角至少为180度)的槽，第一线缆部71和第二线缆部72分别沿圆弧的两侧延伸。从而，第一线缆部71和第二线缆部72连接至同一个第三侧面28B。第二端子73设置至第 二底座21的与第二弧形面23对应的外表面，从而方便第一线缆部71和第二线缆部72分别从第二枢转轴22的径向两侧走线。
又例如，两个第三侧面28B分别设置线槽(未示出)，从而分别引导第一线缆部71和第二线缆部72。这样，第一线缆部71和第二线缆部72分别连接至两个第三侧面28B。
当然，在其它未示出的示例中，上述第一平面和第二平面也可以不与第二底座21的两个第三侧面28B共面，而是比两个第三侧面28B更靠近线缆通槽25。
第一线缆部71和第二线缆部72从第二枢转组件一直延伸至底座组件40，行进距离较长，为了能够使第一线缆部71和第二线缆部72处于稳定的位置，本申请通过滑轮进一步对第一线缆部71和第二线缆部72进行卡位。
如图3、图4、图6和图7所示，手术器械100还包括第一滑轮81和第二滑轮82，分别用于引导第一线缆部71和第二线缆部72。第一滑轮81和第二滑轮82均绕第一枢转轴线PA1可枢转地连接至底座组件40。例如，第一滑轮81和第二滑轮82均套设在第一枢转轴44A上，二者在第一枢转轴44A上沿第一枢转轴线PA1间隔开。其中，第一线缆部71绕于第一滑轮81上，第二线缆部72绕于第二滑轮82上，从而第一滑轮81对第一线缆部71的走向具有卡位、引导作用，第二滑轮82对第二线缆部72的走向具有卡位、引导作用。可选地，第一线缆部71在第一滑轮81上的缠绕方向与第二线缆部72在第二滑轮82上的缠绕方向相反，避免末端执行装置90俯仰转动时，第一线缆部71和第二线缆部72将第一枢转组件30拉死，导致其无法运动。可选地，线缆滑轮86位于第一滑轮81与第二滑轮82的中间。可选地，线缆滑轮86与第二滑轮82分别位于连接臂37的两侧，即线缆滑轮86位于第一滑轮81和连接臂37之间。
为了更好地定位第一线缆部71，手术器械100还包括第三滑轮83，第三滑轮83围绕第三枢转轴线PA3可枢转地连接至底座组件40。具体地，底座组件40设置有第三枢转轴44B。例如，底座组件40的两个支座立臂48上分别设置有第二通孔49B，两个第二通孔49B在第一方向D1上对齐，第三枢转轴44B的两端分别连接至两个第二通孔49B，从而第三枢转轴44B稳定地设置至底座组件40。如图1和图2所示，第三枢转轴44B具有第三枢转轴线PA3，第三枢转轴线PA3平行于第一枢转轴线PA1。第三滑轮83 套设在第三枢转轴44B上。第一枢转轴线PA1与第三枢转轴线PA3可以确定第三平面，如图6所示，第一线缆部71在第三平面的一侧绕于第一滑轮81上，在第三平面的另一侧绕于第三滑轮83上。第一线缆部71在第三平面的两侧分别被两个滑轮定位，当末端执行装置90在俯仰转动时，第一线缆部71不会从第一滑轮81和第三滑轮83上脱落，使得第一线缆部71的位置更加稳定。
进一步地，由于第一线缆部71从第二底座21的第二线槽24延伸至第一滑轮81的行程较长，在此行程中可通过第一底座31的座板35来进一步限位第一线缆部71。具体地，可在座板35开设有供第一线缆部71穿过的通孔。这样，由于座板35对第一线缆部71的限位，当末端执行装置90在俯仰转动时，第一线缆部71始终对准第一滑轮81的线槽。
为了使第二线缆部72转向，使得第一线缆部71在第一滑轮81上的缠绕方向与第二线缆部72在第二滑轮82上的缠绕方向相反，同时也为了更好地定位第二线缆部72，手术器械100还包括第四滑轮84，第四滑轮84连接至第一枢转组件30。具体地，第四滑轮84的轴线PA4相对于第一枢转组件30固定，也就是说第四滑轮84可随第一枢转组件30运动；同时，第四滑轮84还能够相对于第一枢转组件30绕轴线PA4转动。第四滑轮84的轴线PA4平行于第一枢转轴线PA1。从而，第一枢转轴线PA1与第四滑轮84的轴线PA4可以确定第四平面。如图7所示，第二线缆部72在第四平面的一侧绕于第四滑轮84上，在第四平面的另一侧绕于第二滑轮82上。第二线缆部72在第四平面的两侧分别被两个滑轮定位，当末端执行装置90在俯仰转动时，第二线缆部72不会从第二滑轮82和第四滑轮84上脱落，使得第二线缆部72的位置更加稳定。
例如，第四滑轮84设置至连接臂37，滑轮帽33与连接臂37连接，以限定第四滑轮84的轴向位置。
可选地，连接臂37包括横向于(垂直于)第一枢转轴线的相背离的第一侧面37A和第二侧面37B。第一柔性传动组件60连接至连接臂37的第一侧面37A。第一滑轮81和线缆滑轮86设置在连接臂37的同一侧，即第一侧面37A朝向的一侧。第四滑轮84与第二滑轮82设置在连接臂37的同一侧，即第二侧面37B朝向的一侧。连接臂37将第一线缆部71和第二线缆部72物理隔离，避免二者相互干涉。
在图示的实施方式中，第一线缆部71的走向由第二线槽24、第一滑 轮81、第三滑轮83和底座底板46上的通孔引导。可选地，末端执行装置90构造为使得，当第一枢转组件30相对于底座组件40位于中立位置时，第一线缆部71从第二枢转组件20的第二线槽24沿第一方向D1延伸至第一滑轮81，然后从第一滑轮81弯曲转向穿过第三平面后绕于第三滑轮83，再从第三滑轮沿第一方向D1延伸至底座组件40的底座底板46上的通孔。这样设置使得，在末端执行装置90俯仰转动和偏航转动的过程中，第一线缆部71从第二线槽24的出线位置(离开第二线槽24的位置)延伸至底座组件40的底座底板46上的通孔的这一区段始终位于一个与第一方向D1和第三方向D3均平行的第五平面中。这使得第一线缆部71始终可以顺畅、不受干涉(例如不受第二线槽24的槽壁和/或第一滑轮81的滑轮槽的槽壁的干涉)地延伸，有利于第一线缆部71的受力稳定。
可以理解的，为达到这一效果，需要使第二线槽24、第一滑轮81和第三滑轮83的尺寸、位置相匹配。例如，第一滑轮81的线槽延伸轨迹与第三滑轮83的线槽延伸轨迹共面，并且该平面与第二线槽24的弧形相切，使得第一线缆部71最大程度地在同一平面中延伸，有利于保持第一线缆部71顺畅。
在图示的实施方式中，第二线缆部72的走向由第二线槽24、第四滑轮84、第二滑轮82和底座底板46上的通孔引导。可选地，末端执行装置90构造为使得，当第一枢转组件30相对于底座组件40位于中立位置时，第二线缆部72从第二枢转组件20的第二线槽24沿第一方向D1延伸至第四滑轮84，然后从第四滑轮84弯曲转向穿过第四平面后绕于第二滑轮82，再从第二滑轮82沿第一方向D1延伸至底座组件40的底座底板46上的通孔。这样设置使得，在末端执行装置90俯仰转动和偏航转动的过程中，第二线缆部72从第二线槽24的出线位置(离开第二线槽24的位置)延伸至底座组件40的底座底板46上的通孔的这一区段始终位于一个与第一方向D1和第三方向D3均平行的第六平面中。这使得第二线缆部72始终可以顺畅、不受干涉(例如不受第二线槽24的槽壁和/或第四滑轮84的滑轮槽的槽壁的干涉)地延伸，有利于第二线缆部72的受力稳定。进一步地，第五平面和第六平面平行且相间隔开，使得第一线缆部71和第二线缆部72不会相互干涉。
可以理解的，为达到这一效果，需要使第二线槽24、第四滑轮84和第二滑轮82的尺寸、位置相匹配。例如，第四滑轮84的线槽延伸轨迹与 第二滑轮82的线槽延伸轨迹共面，并且该平面与第二线槽24的弧形相切，使得第二线缆部72最大程度地在同一平面中延伸，有利于保持第二线缆部72顺畅。
可选地，第一枢转轴44A与第三枢转轴44B沿第一方向D1排列。第一枢转轴44A可以位于第三枢转轴44B的上方，也可以位于第三枢转轴44B的下方。可选地，第一枢转轴44A与第三枢转轴44B可以具有相同的结构。可选地，第一滑轮81、第二滑轮82和第三滑轮83可以配置为同样的滑轮。
可以理解的，导电线缆14通过线缆滑轮86卡位，线缆滑轮86套设在第一枢转轴44A上，因而导电线缆14从第三枢转轴44B的一侧经过。可选地，为了避免导电线缆14与第三枢转轴44B(例如第三枢转轴44B为金属材料制成)摩擦，损伤导电线缆14表面的绝缘层，第三枢转轴44B上还套设有轴套43，用于接触导电线缆14。轴套43可以围绕第三枢转轴44B旋转，从而尽可能减小了与导电线缆14的摩擦力。轴套43同时还能对第三滑轮83在第二方向D2上(或者说沿着第三枢转轴线PA3)进行限位。
可选地，与第二柔性传动组件70类似，第一柔性传动组件60也构造为驱动缆线。第一柔性传动组件60包括第三线缆部61和第四线缆部62。例如第三线缆部61和第四线缆部62为同一驱动缆线，该驱动缆线在中间设置第一端子63，从而将该驱动缆线分为第三线缆部61和第四线缆部62两部分。第一端子63设置至第一底座31的连接部31A(如图3所示)。例如，第一端子63与连接部31A为紧配的，从而第一底座31可以与第一端子63同步移动。当第三线缆部61和第四线缆部62的长度变化时，第一枢转组件30转动，也即实现末端执行装置90的俯仰转动。或者，第三线缆部61和第四线缆部62为两条互不相连的线缆，也即第三线缆部61和第四线缆部62为两条独立的驱动线缆，各自具有端子，并通过各自的端子固定至第一底座31。
可选地，连接部31A设置至连接臂37。可选地，当第一枢转组件30处于中立位置时，连接部31A和第一枢转轴44A沿第一方向D1对齐。第三线缆部61和第四线缆部62分别位于第一枢转轴44A的径向的两侧。
连接臂37设置有第一线槽34，用于引导第三线缆部61和第四线缆部62。例如，第一线槽34位于连接臂37的第一侧面37A上。可选地，第一 线槽34构造为以第一枢转轴线PA1为轴线的圆弧形(圆心角至少为180度)的槽，第三线缆部61和第四线缆部62分别沿圆弧的两侧延伸。连接部31A贴近第一线槽34。
在图示的实施方式中，底座组件40(具体地，底座底板46)设置有分别用于使第三线缆部61和第四线缆部62穿过的通孔。从而，第三线缆部61和第四线缆部62的走向由第一线槽34和底座底板46上的通孔确定。
可选地，如图3至图5所示，执行组件10还包括绝缘套12和密封圈13。电极部件11固定至(例如通过粘胶、螺纹的方式)绝缘套12。同时，第二底座21也固定至(例如通过粘胶、螺纹的方式)绝缘套12，从而将第二枢转组件20与执行组件10连接。绝缘套12用来避免电极部件11在放电过程中的电弧对第二底座21造成损害，对其材料的耐电弧性能有一定的要求。密封圈13设置在导电线缆14与电极部件11连接的部位，对导电线缆14的固定处起到一定的防水作用，避免器械使用和清洗过程中其他液体进入线缆固定处，使得引起短路或清洗不干净，导致器械损坏或对病人或操作者造成伤害。如图5所示，线缆通孔26的内壁设置有环形台阶面26A，用于卡住密封圈13。
可选地，手术器械100还包括轴管50。末端执行装置90设置至轴管50的远端部。轴管50的近端部连接驱动装置，第一柔性传动组件60和第二柔性传动组件70穿过轴管50的中空部分连接至驱动装置，使得驱动装置能够驱动柔性传动组件60和70以带动枢转组件20和30转动。
在本申请中，导电线缆14在手术器械100的后端与驱动装置机械连接，使得导电线缆14可以放线和收线。
在不设置导向轮87的示例中，当手术器械100俯仰转动时，导电线缆14需要放线和收线。以图2所示的方位为例，当末端执行装置90朝向纸面以外转动时，驱动装置对导电线缆14进行收线，以减少导电线缆14伸出底座底板46的长度，从而保证导电线缆14不会脱离线缆滑轮86。反之，当末端执行装置90朝向纸面以里转动时则放线，减少对导电线缆14的拉扯力。为保证导电线缆14的收放与俯仰转动配合，导电线缆14可以和第四线缆部62同时被驱动收放。例如，可以将导电线缆14和第四线缆部62在轴管50内绑定，使得第四线缆部62带动导电线缆14同步运动。进一步地，线缆滑轮86与第一线槽34临近设置，有利于同时驱动导电线缆14和第四线缆部62的收放。可以理解的是，在其它未示出的例子中，导电线 缆14也可以被引导至线缆滑轮86的另一侧，此时导电线缆14可以和第三线缆部61同时被驱动收放。
在设置导向轮87的示例中，当手术器械100偏航转动时，导电线缆14需要放线和收线。以图7或图8所示的方位为例，当末端执行装置90逆时针转动时，驱动装置对导电线缆14进行收线，以减少导电线缆14在线缆通槽25内的堆积，这种堆积可能会导致导电线缆14过度弯曲，且会对当第二枢转组件20的活动造成妨碍。反之，当末端执行装置90顺时针转动时则放线，减少对导电线缆14的拉扯力。为保证导电线缆14的收放与偏航转动配合，导电线缆14可以和第一线缆部71同时被驱动收放。例如，可以将导电线缆14和第一线缆部71在轴管50内绑定，使得第一线缆部71带动导电线缆14同步运动。可以理解的是，在其它未示出的例子中，导电线缆14也可以被引导至导向轮87的另一侧，此时导电线缆14可以和第二线缆部62同时被驱动收放。
具体地，底座组件40设置至轴管50的远端部。具体地，轴管50沿第一方向D1笔直延伸，支座主体47连接至轴管50。例如，支座主体47粘接至轴管50，这样同时可以保证手术器械100的气密性。
在图示的实施方式中，轴管50包括支撑管51和绝缘外套52。支撑管51用于与底座组件40连接。绝缘外套52套设或涂覆在支撑管51的外周。支撑管51例如由较高强度的刚性材料制成，以起到支撑的作用。绝缘外套52由绝缘材料制成，以防止支撑管51直接接触人体导致电击损伤。
在本申请未示出的实施方式中，轴管50可以整体由玻纤管或塑胶管等硬质的绝缘材料制成。
可选地，底座组件40与轴管50之间设置有密封件。例如，手术器械100包括密封垫85，设置于支座主体47内并连接(例如粘接)至底座底板46。密封垫85设置有通孔，与底座底板46的通孔对应设置，使得第一柔性传动组件60的线缆、第二柔性传动组件70的线缆和导电线缆14可穿过密封垫。可选地，密封垫85的通孔与驱动线缆和导电线缆有一定的过盈量，以保证密封性，防止溶液从前端进入器械管。
根据本申请实施例的第一方面提供的手术器械，通过导电线缆、第一柔性传动组件、第二柔性传动组件的走线布置，在确保线缆和各部件的强度，保证了手术器械的正常使用和寿命的前提下，实现了手术器械的小型化，尤其是在径向尺寸上可以减小至5mm乃至4mm，这是目前手术器械 领域的一个突破性进展。
本申请实施例的第二方面提供一种用于手术机器人。根据本申请实施例的手术机器人包括机械臂和上述手术器械100。其中，手术器械100可拆卸地连接至机械臂。机械臂具有多个活动自由度，以便于操纵手术器械100更灵活地进行手术操作。进一步地，机械臂上设置有驱动装置(例如电机)，手术器械100的传动机构机械连接至驱动装置，从而可以通过驱动装置驱动末端执行装置90进行偏航转动和/或俯仰转动。
根据本申请的手术机器人包括根据本申请的手术器械的全部特征和效果。
在理解本申请的范围时，如本文所使用的术语“包含”及其派生词旨在是开放式术语，其指定所记载的特征、元件、部件、群组、整体和/或步骤的存在，但不排除其他未记载的特征、元件、部件、群组、整体和/或步骤的存在。这种概念也适用于具有类似含义的词语，例如术语“包括”“具有”及其衍生词。
这里使用的术语“被附接”或“附接”包括：通过将元件直接固定到另一元件而将元件直接固定到另一元件的构造；通过将元件固定到中间构件上，中间构件转而固定到另一元件而将元件间接固定到另一元件上的构造；以及一个元件与另一个元件是一体，即一个元件基本上是另一个元件的一部分的构造。该定义也适用于具有相似含义的词，例如“连接”“联接”“耦合”“安装”“粘合”“固定”及其衍生词。最后，这里使用的诸如“基本上”“大约”和“近似”的程度术语表示修改术语使得最终结果不会显着改变的偏差量。
除非另有定义，本文中所使用的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本申请。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本申请已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本申请限制于所描述的实施方式范围内。此外本领域技术人员可以理解的是，本申请并不局限于上述实施方式，根据本申请的教导还可以做出更多种的变型和修改，这些变型和修改均落在本申请所要求保护的范围以内。

Claims (32)

  1. 一种手术器械，其特征在于，包括末端执行装置，所述末端执行装置包括：
    底座组件；
    第一枢转组件，围绕第一枢转轴线可枢转地连接至所述底座组件；
    第一柔性传动组件，连接至所述第一枢转组件，用于驱动所述第一枢转组件围绕所述第一枢转轴线相对于所述底座组件枢转；
    第二枢转组件，围绕第二枢转轴线可枢转地连接至所述第一枢转组件，所述第二枢转轴线与所述第一枢转轴线不平行；
    第二柔性传动组件，连接至所述第二枢转组件，用于驱动所述第二枢转组件围绕所述第二枢转轴线相对于所述第一枢转组件枢转；和
    执行组件，连接至所述第二枢转组件，所述执行组件包括电极部件和导电线缆，所述导电线缆用于为所述电极部件供电，所述导电线缆延伸穿过所述第二枢转组件、所述第一枢转组件和所述底座组件，
    其中，所述第二枢转组件的远离所述电极部件的一端开设有线缆通槽，所述导电线缆可活动地容纳在所述线缆通槽内，所述线缆通槽朝向所述电极部件延伸、并至少由垂直于所述第二枢转轴线的相对的两个第一壁面和横向于所述第一壁面的第二壁面限定，所述第二枢转轴线延伸穿过所述两个第一壁面。
  2. 根据权利要求1所述的手术器械，其特征在于，所述第二壁面与所述电极部件位于所述第二枢转轴线的同一侧。
  3. 根据权利要求1或2所述的手术器械，其特征在于，所述第二枢转组件在靠近所述电极部件的一端还开设有线缆通孔，所述线缆通孔与所述线缆通槽连通，所述导电线缆延伸穿过所述线缆通槽进入所述线缆通孔，
    所述第二壁面具有第三弧形面、并经由所述第三弧形面过渡至所述线缆通孔的内壁，所述第三弧形面具有与所述第三壁面平行的第三圆弧线，所述第三弧形面用于在所述第二枢转组件相对于所述第一枢转组件枢转时引导所述导电线缆。
  4. 根据权利要求3所述的手术器械，其特征在于，所述第三弧形面与所述线缆通孔的内壁相切。
  5. 根据权利要求3或4所述的手术器械，其特征在于，所述第三弧形面的远离所述线缆通孔的一端延伸至所述线缆通槽的开口处。
  6. 根据权利要求1至5任一项所述的手术器械，其特征在于，所述第二枢转组件在远离所述电极部件的端面具有第二弧形面，所述第二弧形面以所述第二枢转轴线为轴线，所述第二弧形面具有与所述第一壁面平行的第二圆弧线，所述线缆通槽的开口沿着所述第二圆弧线至少延伸至所述第二圆弧线的两端。
  7. 根据权利要求6所述的手术器械，其特征在于，所述第二圆弧线的圆心角大于或等于180°。
  8. 根据权利要求6或7所述的手术器械，其特征在于，所述线缆通槽的开口沿着所述第二圆弧线延伸超过所述第二圆弧线的两端。
  9. 根据权利要求1至8任一项所述的手术器械，其特征在于，所述两个第一壁面之间的距离与所述导电线缆的直径匹配。
  10. 根据权利要求1至9任一项所述的手术器械，其特征在于，所述第一枢转轴线垂直于所述第二枢转轴线。
  11. 根据权利要求1至10任一项所述的手术器械，其特征在于，所述第二柔性传动组件包括第一线缆部和第二线缆部，用于分别驱动所述第二枢转组件绕所述第二枢转轴线在相反的方向转动。
  12. 根据权利要求11所述的手术器械，其特征在于，所述第一线缆部在所述第二枢转组件中的延伸轨迹和所述第二线缆部在所述第二枢转组件中的延伸轨迹位于第一平面内，所述第一平面垂直于所述第二枢转轴线，所述第一平面位于所述线缆通槽之外。
  13. 根据权利要求11所述的手术器械，其特征在于，所述第一线缆部在所述第二枢转组件中的延伸轨迹位于第一平面内，所述第二线缆部在所述第二枢转组件中的延伸轨迹位于第二平面内，所述第一平面和所述第二平面相互平行且垂直于所述第二枢转轴线，所述线缆通槽位于所述第一平面和第二平面之间。
  14. 根据权利要求11至13任一项所述的手术器械，其特征在于，还包括：
    第一滑轮，围绕所述第一枢转轴线可枢转地连接至所述底座组件；和
    第二滑轮，围绕所述第一枢转轴线可枢转地连接至所述底座组件，所述第二滑轮与所述第一滑轮沿所述第一枢转轴线间隔开，
    其中，所述第一线缆部由所述第一滑轮引导，所述第二线缆部由所述第二滑轮引导，所述第一线缆部在所述第一滑轮上的缠绕方向与所述第二 线缆部在所述第二滑轮上的缠绕方向相反。
  15. 根据权利要求14所述的手术器械，其特征在于，所述底座组件的纵轴线沿第一方向延伸，所述第一枢转轴线垂直于所述第一方向，且当所述第一枢转组件相对于所述底座组件位于中立位置时，所述第二枢转轴线垂直于所述第一方向。
  16. 根据权利要求15所述的手术器械，其特征在于，还包括第三滑轮，所述第三滑轮绕第三枢转轴线可枢转地连接至所述底座组件，所述第三枢转轴线平行于所述第一枢转轴线，所述第一枢转轴线与所述第三枢转轴线确定第三平面，
    其中，所述第一线缆部在所述第三平面的一侧绕于所述第一滑轮上，在所述第三平面的另一侧绕于所述第三滑轮上。
  17. 根据权利要求16所述的手术器械，其特征在于，所述末端执行装置构造为使得，当所述第一枢转组件相对于所述底座组件位于中立位置时，所述第一线缆部从所述第二枢转组件沿所述第一方向延伸至所述第一滑轮，并从所述第三滑轮沿所述第一方向延伸至所述底座组件。
  18. 根据权利要求15至17任一项所述的手术器械，其特征在于，还包括第四滑轮，所述第四滑轮连接至所述第一枢转组件，所述第四滑轮的轴线平行于所述第一枢转轴线，所述第一枢转轴线与所述第四滑轮的轴线确定第四平面，
    其中，所述第二线缆部在所述第四平面的一侧绕于所述第四滑轮上，在所述第四平面的另一侧绕于所述第二滑轮上。
  19. 根据权利要求18所述的手术器械，其特征在于，所述末端执行装置构造为使得，当所述第一枢转组件相对于所述底座组件位于中立位置时，所述第二线缆部从所述第二枢转组件沿所述第一方向延伸至所述第四滑轮，并从所述第二滑轮沿所述第一方向延伸至所述底座组件。
  20. 根据权利要求18或19所述的手术器械，其特征在于，所述第一枢转组件包括第一底座，所述第一底座包括：
    座板，平行于所述第一枢转轴线和所述第二枢转轴线延伸，所述座板设置有用于供所述第一线缆部和所述导电线缆穿过的通孔；
    支撑臂，连接至所述座板的朝向所述第二枢转组件的一侧、并垂直于所述座板延伸，所述支撑臂用于支撑和连接所述第二枢转组件；和
    连接臂，连接至所述座板的朝向所述底座组件的一侧、并垂直于所述 座板延伸，所述连接臂用于可枢转地连接至所述底座组件。
  21. 根据权利要求20所述的手术器械，其特征在于，所述连接臂包括横向于所述第一枢转轴线的相背离的第一侧面和第二侧面，所述第一柔性传动组件连接至所述连接臂的第一侧面，所述导电线缆穿过所述座板后设置在所述第一侧面所朝向的一侧。
  22. 根据权利要求21所述的手术器械，其特征在于，所述第一滑轮设置在所述第一侧面所朝向的一侧，所述第二滑轮和所述第四滑轮设置在所述第二侧面所朝向的一侧。
  23. 根据权利要求22所述的手术器械，其特征在于，还包括线缆滑轮，所述线缆滑轮绕所述第一枢转轴线可转动地连接至所述底座组件，且位于所述第一滑轮与所述连接臂之间，所述导电线缆由所述线缆滑轮引导。
  24. 根据权利要求1至23中任一项所述的手术器械，其特征在于，所述第一柔性传动组件包括第三线缆部和第四线缆部，用于分别驱动所述第一枢转组件绕所述第一枢转轴线在相反的方向转动。
  25. 根据权利要求24所述的手术器械，其特征在于，所述导电线缆构造成能够随所述第轴线三线缆部或所述第四线缆部同步运动。
  26. 根据权利要求1至24中任一项所述的手术器械，其特征在于，所述线缆通槽内设置有导向面，所述导向面围绕所述第二枢转轴线延伸，且当所述第二枢转组件相对于所述第一枢转组件位于中立位置时，所述导电线缆绕于所述导向面上。
  27. 根据权利要求26所述的手术器械，其特征在于，第二枢转组件还包括导向轮，所述导向轮围绕所述第二枢转轴线可转动地安装至所述线缆通槽内，所述导向面包括所述导向轮的外周表面。
  28. 根据权利要求26或27所述的手术器械，其特征在于，所述第二柔性传动组件包括第一线缆部和第二线缆部，用于分别驱动所述第二枢转组件绕所述第二枢转轴线在相反的方向转动，所述导电线缆构造成能够随所述第一线缆部或所述第二线缆部同步运动。
  29. 根据权利要求1至28中任一项所述的手术器械，其特征在于，所述导电线缆与所述电极部件连接的部位设置有密封件。
  30. 根据权利要求1至29中任一项所述的手术器械，其特征在于，还包括轴管，所述末端执行装置设置至所述轴管的远端部，
    其中，所述末端执行装置与所述轴管之间设置有密封件。
  31. 根据权利要求30所述的手术器械，其特征在于，所述轴管包括：
    支撑管，用于连接至所述底座组件；和
    绝缘外套，由绝缘材料制成，套设或涂覆在所述支撑管的外周。
  32. 一种手术机器人，其特征在于，包括：
    机械臂；和
    根据权利要求1至31中任一项所述的手术器械，所述手术器械可拆卸地连接至所述机械臂。
PCT/CN2023/130291 2023-02-20 2023-11-07 手术器械和手术机器人 Ceased WO2024174585A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202380093899.3A CN120731054A (zh) 2023-02-20 2023-11-07 手术器械和手术机器人
EP23923749.8A EP4649913A4 (en) 2023-02-20 2023-11-07 SURGICAL INSTRUMENT AND SURGICAL ROBOT
JP2025546589A JP2026505456A (ja) 2023-02-20 2023-11-07 手術器具と手術ロボット
US19/299,328 US20250366940A1 (en) 2023-02-20 2025-08-13 Surgical instrument and surgical robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310166356.1A CN116473679A (zh) 2023-02-20 2023-02-20 手术器械和手术机器人
CN202310166356.1 2023-02-20

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US19/299,328 Continuation US20250366940A1 (en) 2023-02-20 2025-08-13 Surgical instrument and surgical robot

Publications (1)

Publication Number Publication Date
WO2024174585A1 true WO2024174585A1 (zh) 2024-08-29

Family

ID=87210851

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/130291 Ceased WO2024174585A1 (zh) 2023-02-20 2023-11-07 手术器械和手术机器人

Country Status (5)

Country Link
US (1) US20250366940A1 (zh)
EP (1) EP4649913A4 (zh)
JP (1) JP2026505456A (zh)
CN (2) CN116473679A (zh)
WO (1) WO2024174585A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116473679A (zh) * 2023-02-20 2023-07-25 深圳康诺思腾科技有限公司 手术器械和手术机器人
CN118058843B (zh) * 2024-02-28 2025-07-22 山东威高手术机器人有限公司 末端执行器及电外科手术器械
CN118121315B (zh) * 2024-04-22 2026-02-06 宁波睿达医疗器械有限公司 一种手术器械、从操作设备和手术机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020038116A1 (en) * 1998-02-24 2002-03-28 Woojin Lee Surgical instrument
US20100004663A1 (en) * 2008-07-07 2010-01-07 Intuitive Surgical, Inc. Surgical instrument wrist
CN111031950A (zh) * 2017-08-16 2020-04-17 柯惠Lp公司 用于机器人外科系统的包括腕组件和单极工具的末端执行器
US20210052333A1 (en) * 2019-08-23 2021-02-25 Ethicon Llc Articulable Wrist with Flexible Member and Roller Supports
CN113286558A (zh) * 2019-02-15 2021-08-20 柯惠Lp公司 包括高铰接腕部组合件的机器人手术器械
CN217138147U (zh) * 2021-12-06 2022-08-09 深圳市精锋医疗科技股份有限公司 外科手术器械和手术机器人
CN116473679A (zh) * 2023-02-20 2023-07-25 深圳康诺思腾科技有限公司 手术器械和手术机器人

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3628742B2 (ja) * 1995-02-22 2005-03-16 オリンパス株式会社 医療用マニピュレータ
SE0303539D0 (sv) * 2003-12-22 2003-12-22 Abb Ab Anordning för en industrirobot
US9186221B2 (en) * 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
GB2563632B (en) * 2017-06-21 2021-12-29 Cmr Surgical Ltd Powering a bipolar electrocautery surgical instrument
WO2020044994A1 (ja) * 2018-08-28 2020-03-05 株式会社メディカロイド ロボット手術器具
US20200138507A1 (en) * 2018-11-02 2020-05-07 Ethicon Llc Distal closure mechanism for surgical instruments
CN111166468B (zh) * 2020-02-21 2024-11-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术电凝钩
CN112690836B (zh) * 2020-12-24 2022-12-02 上海微创医疗机器人（集团）股份有限公司 器械末端、器械末端组件及手术器械
US12035993B2 (en) * 2021-01-21 2024-07-16 Cilag Gmbh International Multi-function actuation and articulation end effectors
CN113925601B (zh) * 2021-11-18 2023-06-02 山东威高手术机器人有限公司 一体式多自由度单极电钩
CN115530965B (zh) * 2022-01-04 2025-01-03 杭州唯精医疗机器人有限公司 一种手术用电凝剪机构、设备及手术机器人
CN115607235B (zh) * 2022-10-28 2023-06-30 邦士医疗科技股份有限公司 一种多自由度手术钳

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020038116A1 (en) * 1998-02-24 2002-03-28 Woojin Lee Surgical instrument
US20100004663A1 (en) * 2008-07-07 2010-01-07 Intuitive Surgical, Inc. Surgical instrument wrist
CN111031950A (zh) * 2017-08-16 2020-04-17 柯惠Lp公司 用于机器人外科系统的包括腕组件和单极工具的末端执行器
CN113286558A (zh) * 2019-02-15 2021-08-20 柯惠Lp公司 包括高铰接腕部组合件的机器人手术器械
US20210052333A1 (en) * 2019-08-23 2021-02-25 Ethicon Llc Articulable Wrist with Flexible Member and Roller Supports
CN217138147U (zh) * 2021-12-06 2022-08-09 深圳市精锋医疗科技股份有限公司 外科手术器械和手术机器人
CN116473679A (zh) * 2023-02-20 2023-07-25 深圳康诺思腾科技有限公司 手术器械和手术机器人

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4649913A4 *

Also Published As

Publication number Publication date
EP4649913A1 (en) 2025-11-19
CN120731054A (zh) 2025-09-30
US20250366940A1 (en) 2025-12-04
CN116473679A (zh) 2023-07-25
EP4649913A4 (en) 2026-04-22
JP2026505456A (ja) 2026-02-13

Similar Documents

Publication Publication Date Title
WO2024174585A1 (zh) 手术器械和手术机器人
EP2341847B1 (en) Bipolar cautery instrument
US9186221B2 (en) Backend mechanism for four-cable wrist
US8821480B2 (en) Four-cable wrist with solid surface cable channels
CN110799141B (zh) 为双极电灼手术器械供电
ES2605986T3 (es) Instrumentos quirúrgicos ultrasónicos con conjuntos de mandíbula situados distalmente
CN102149339A (zh) 用于微创外科手术的工具和使用其的方法
CN110785141A (zh) 为双极电灼手术器械供电
JP2024019688A (ja) 操縦自在な回転式止血クリップ
JP7281033B1 (ja) 電気メス
US20260026904A1 (en) Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
WO2024159593A1 (zh) 连续体手术器械
CN117717379A (zh) 一种多自由度微创器械
US8591500B2 (en) Treatment apparatus
WO2025007701A1 (zh) 手术执行机构、手术器械及手术机器人
CN117695008A (zh) 器械末端及手术机器人
JP7271948B2 (ja) 鉗子型処置具
US20260033887A1 (en) Bipolar end effector assembly for robotic surgical instrument
JP2024525464A5 (zh)
CN117679175A (zh) 一种末端执行器械及手术器械
CN120814898A (zh) 电外科手术器械及医疗器械、手术机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23923749

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2025546589

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 202380093899.3

Country of ref document: CN

NENP Non-entry into the national phase

Ref country code: DE

WWP Wipo information: published in national office

Ref document number: 202380093899.3

Country of ref document: CN

WWP Wipo information: published in national office

Ref document number: 2023923749

Country of ref document: EP