CN114762622A

CN114762622A - Surgical execution device and surgical robot

Info

Publication number: CN114762622A
Application number: CN202111080142.XA
Authority: CN
Inventors: 牟鑫
Original assignee: Kochi Medical Technology Beijing Co ltd
Current assignee: Kochi Medical Technology Beijing Co ltd
Priority date: 2021-09-15
Filing date: 2021-09-15
Publication date: 2022-07-19
Anticipated expiration: 2041-09-15
Also published as: CN114762622B

Abstract

A surgical execution device and a surgical robot. The drive mechanism, the transmission mechanism, the end effector and the reset mechanism of the operation executing device are structured as follows: a main shaft of the driving mechanism moves along a first direction to be connected with the transmission mechanism, and power output from the driving mechanism is transmitted to the reset mechanism and the end effector through the transmission mechanism, so that the reset mechanism generates deformation causing elastic restoring force and the end effector is in a controlled state; and the drive mechanism, the transmission mechanism, the end effector, and the return mechanism of the surgical actuating device are further configured to: the main shaft of the driving mechanism moves along a second direction opposite to the first direction so as to be separated from the transmission mechanism, the reset mechanism resets under the action of the elastic restoring force and drives the transmission mechanism, and the transmission mechanism drives the end effector so as to enable the end effector to be in a reset state.

Description

Surgical execution device and surgical robot

Technical Field

At least one embodiment of the present disclosure relates to a surgical execution apparatus and a surgical robot.

Background

As technology advances, more and more surgical procedures need to be performed with the aid of surgical implements. For example, a surgical implement includes an end effector including first and second arms that are openable and closable. For example, the first arm and the first arm are closed to cut the target tissue, and the first arm and the second arm are opened after the cutting is completed. For example, the first and second arms are positioned to the target blood vessel position in an open state, and the first and second arms are closed to clamp the target blood vessel after the positioning is completed. For example, the end effector may also be rotated to accommodate different surgical scenarios.

In some cases, the open-close state of the first and second arms of the end effector is the last actuated state when the actuation, particularly the power actuation, is disconnected, and cannot be reset by itself, which reduces the flexibility and user-friendliness of the entire surgical implement.

Disclosure of Invention

According to an embodiment of the present disclosure, there is provided a surgical execution apparatus including: a drive mechanism including a spindle; the transmission mechanism is detachably connected with the main shaft of the driving mechanism; the end effector is connected with the transmission mechanism; and the resetting mechanism is connected with the transmission mechanism. The drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along a first direction to be connected with the transmission mechanism, and power output from the driving mechanism is transmitted to the reset mechanism and the end effector through the transmission mechanism, so that the reset mechanism generates deformation causing elastic restoring force and the end effector is in a controlled state. The drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along a second direction opposite to the first direction so as to be separated from the transmission mechanism, the resetting mechanism resets under the action of the elastic restoring force and drives the transmission mechanism, and the transmission mechanism drives the end effector so that the end effector is in a resetting state.

For example, the end effector comprises a first arm and a second arm that can be opened and closed; the first and second arms of the end effector are closed in the controlled state and open in the reset state; alternatively, the first and second arms of the end effector are open in the controlled state and closed in the reset state.

For example, the deformation is a compression deformation or a tension deformation.

For example, the transmission mechanism includes: a first transmission member detachably connected with the main shaft of the driving mechanism and having a plurality of first teeth; a second drive member including first and second ends opposite one another, the first end being provided with a second plurality of teeth that interfit with the first plurality of teeth; and the pull rod comprises a first end and a second end which are opposite to each other along the extension direction of the pull rod, the first end is connected with the second transmission component, and the second end is connected with the end effector.

For example, the first transmission member, the second transmission member and the tie rod are configured to: the first transmission member rotates, and the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched so that the first end of the second transmission member has a motion component along the extension direction of the pull rod.

For example, the pull rod and the end effector are configured to: the pull rod moves toward the end effector along the extending direction thereof, and the first arm and the second arm of the end effector are opened; and the pull rod and the end effector are further configured to: the pull rod moves away from the end effector in the direction of extension thereof, and the first and second arms of the end effector close.

For example, the second transmission member is configured to be rotatably connected to the rotation pivot; and the connection location of the first end of the pull rod to the second transmission member is located between the first end of the second transmission member and the rotation pivot in a direction from the first end of the second transmission member to the second end of the transmission member.

For example, the first end of the pull rod is clamped with the second transmission component.

For example, in the controlled state the first and second arms of the end effector are closed, and in the reset state the first and second arms of the end effector are open; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched, so that the first transmission member drives the first end of the second transmission member and the pull rod moves away from the end effector along the extension direction of the pull rod, and the reset mechanism generates the deformation and enables the end effector to be in a controlled state; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along the second direction to be separated from the first transmission component, the reset mechanism resets under the action of the elastic restoring force and drives the pull rod to move towards the end effector along the extension direction of the pull rod, and the pull rod drives the end effector to enable the end effector to be in a reset state.

For example, in the controlled state the first and second arms of the end effector are open, and in the reset state the first and second arms of the end effector are closed; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched, so that the first transmission member drives the first end of the second transmission member and the pull rod moves towards the end effector along the extension direction of the pull rod, and the reset mechanism is deformed and the end effector is in a controlled state; the drive mechanism, the transmission mechanism, the end effector, and the reset mechanism are further configured to: the main shaft moves along the second direction to be separated from the first transmission component, the reset mechanism resets under the action of the elastic restoring force and drives the pull rod to move away from the end effector along the extension direction of the pull rod, and the pull rod drives the end effector to enable the end effector to be in a reset state.

For example, the second transmission member is configured to be rotatably connected to the rotation pivot and the rotation pivot is located between a first end of the second transmission member and a second end of the second transmission mechanism in a direction from the first end of the second transmission member to the second end of the transmission member; the second end of the second transmission member is provided with a plurality of third teeth, the first end of the pull rod is provided with a plurality of fourth teeth, and the plurality of fourth teeth are matched with the plurality of third teeth.

For example, the first and second arms of the end effector are closed in the controlled state and the first and second arms of the end effector are open in the reset state; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched so that the first end of the second transmission member moves towards the end effector and the second end of the second transmission member moves away from the end effector, and the plurality of third teeth of the second end of the second transmission member and the plurality of fourth teeth of the first end of the pull rod are mutually matched so as to drive the pull rod to move away from the end effector along the extension direction of the pull rod, so that the reset mechanism generates the deformation and the end effector is in a controlled state; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along the second direction to be separated from the first transmission component, the reset mechanism resets under the action of the elastic restoring force and drives the pull rod to move towards the end effector along the extension direction of the pull rod, and the pull rod drives the end effector to enable the end effector to be in a reset state.

For example, in the controlled state the first and second arms of the end effector are open, and in the reset state the first and second arms of the end effector are closed; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the first teeth of the first transmission member and the second teeth of the second transmission member are mutually matched so that the first end of the second transmission member moves away from the end effector and the second end of the second transmission member moves towards the end effector, and the third teeth of the second end of the second transmission member and the fourth teeth of the first end of the pull rod are mutually matched so as to drive the pull rod to move towards the end effector along the extension direction of the pull rod, so that the reset mechanism generates the deformation and the end effector is in a controlled state; the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along the second direction to be separated from the first transmission component, the reset mechanism resets under the action of the elastic restoring force and drives the pull rod to move away from the end effector along the extension direction of the pull rod, and the pull rod drives the end effector to enable the end effector to be in a reset state.

For example, further comprising a bracket within which the first end of the pull rod, the first transmission member, the second transmission member, and the return mechanism are at least partially housed; and the pivot shaft is connected to the bracket.

For example, one end of the return mechanism is directly connected to the second transmission member or the pull rod, and the other end of the return mechanism is connected to the bracket.

For example, the surgical implement is an electrically powered drive and the surgical implement is configured such that the spindle automatically disengages the drive mechanism after power is removed.

For example, the main shaft of the drive mechanism is configured to be telescopic, and the drive mechanism is configured to: the spindle extends in the first direction to connect with the transmission mechanism under the action of the power, and the spindle automatically retracts in the second direction to separate from the transmission mechanism after the power is disconnected.

For example, the surgical implement further includes an actuator. The surgical execution apparatus is configured to: the actuator drives the driving mechanism to move in the first direction under the action of the power so as to enable the spindle to be connected with the transmission mechanism, and the driving mechanism automatically moves in the second direction after the power is disconnected so as to enable the spindle to be separated from the transmission mechanism.

For example, the surgical implement apparatus further includes an intermediate connection structure. The first end of the middle connecting structure is connected with the transmission mechanism; the second end of the intermediate connection structure is detachably connected with the main shaft of the driving mechanism.

For example, the end of the main shaft to be connected to the transmission mechanism is provided with a coupling. The coupling includes: a first connection portion configured to be connected with the main shaft; a second connecting portion disposed opposite to the first connecting portion and configured to be separably connected to the transmission mechanism; and an elastic member between the first connection portion and the second connection portion. The coupling is configured such that the elastic member is compressed and deformed and then restored in a process in which the main shaft and the transmission mechanism are connected to each other.

According to an embodiment of the present disclosure, there is provided a surgical robot including: a surgical manipulator arm; and any one of the surgical implements described above, wherein the surgical implement is removably coupled to the surgical manipulator.

For example, the surgical robot includes a plurality of the surgical manipulator arms, and the surgical performing device is connected to one of the plurality of surgical manipulator arms.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.

Fig. 1 is an overall schematic view of a surgical executing device provided in an embodiment of the present disclosure;

fig. 2 shows a partially enlarged schematic view of part a and part B of a surgical implement provided in the practice of the present disclosure, with the end effector in a controlled state one.

Fig. 3 illustrates an enlarged partial schematic view of part a and part B of a surgical implement in accordance with implementations of the present disclosure, with the end effector in a first reset state.

Fig. 4 shows a partially enlarged schematic view of part a and part B of a surgical implement provided in the practice of the present disclosure, with the end effector in a controlled state two.

Fig. 5 is an enlarged partial schematic view of part a and part B of a surgical implement of the present disclosure, with the end effector in a second reset state.

Fig. 6 shows a partially enlarged schematic view of part a and part B of a surgical implement provided in the practice of the present disclosure, with the end effector in a controlled state three.

Fig. 7 shows an enlarged, fragmentary schematic view of portions a and B of a surgical implement provided in the practice of the present disclosure, with the end effector in a reset state three.

Fig. 8 is a first schematic diagram illustrating a partial structure of a surgical execution apparatus provided in an embodiment of the present disclosure.

Fig. 9 is a second schematic diagram illustrating a partial structure of a surgical execution apparatus according to an embodiment of the present disclosure.

Fig. 10 is a schematic partial structural diagram of a surgical execution apparatus provided in the embodiment of the present disclosure.

Fig. 11 illustrates a surgical robot provided by an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The drawings in this disclosure are not necessarily to scale, the specific dimensions and quantities of the various structures may be determined according to actual requirements. The drawings described in this disclosure are merely schematic structural illustrations.

Fig. 1 is an overall schematic view of a surgical executing apparatus according to an embodiment of the present disclosure. Referring to fig. 1, a surgical execution apparatus provided in an embodiment of the present disclosure includes: a drive mechanism 100 including a main shaft 110; a transmission mechanism 200 detachably connected to the main shaft 110 of the driving mechanism 100; an end effector 300 connected to the transmission mechanism 200; and a reset mechanism 400 connected to the transmission mechanism 200. In the surgical execution apparatus provided in the embodiment of the present disclosure, the driving mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are configured to: the main shaft 110 moves in a first direction (arrow direction in fig. 1) to be connected to the transmission mechanism 200, and the power output from the driving mechanism 100 is transmitted to the restoring mechanism 400 and the end effector 300 through the transmission mechanism 200, thereby causing the restoring mechanism 400 to generate deformation causing elastic restoring force and causing the end effector 300 to be in a controlled state; and the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are further configured to: the main shaft 110 moves in a second direction (a direction opposite to the arrow direction in fig. 1) opposite to the first direction to separate from the transmission mechanism 200, the reset mechanism 400 resets and drives the transmission mechanism 200 under the elastic restoring force, and the transmission mechanism 200 drives the end effector 300 to make the end effector 300 in the reset state.

In the surgical execution apparatus according to the embodiment of the present disclosure, the main shaft 110 of the driving mechanism 100 is detachably connected to the transmission mechanism 200, so that the driving mechanism 100 and the end effector 300 are detachably connected via the transmission mechanism 200. In the case where the drive mechanism 100 and the end effector 300 are connected via the transmission mechanism 200, the power from the drive mechanism 100 not only places the end effector 300 in a controlled state to perform a desired target operation, but also causes the return mechanism 400 to generate deformation that causes elastic restoring force; in the case where the driving mechanism 100 is separated from the transmission mechanism 200, the end effector 300 is no longer controlled by the driving mechanism 100, and the end effector 300 is returned to the reset state by the above-described elastic return force of the return mechanism 400. Therefore, in the surgical execution apparatus according to the embodiment of the present disclosure, once the driving of the end effector 300 is disconnected, the end effector 300 is returned to its reset state, which improves the flexibility and user-friendliness of the entire surgical execution apparatus.

For example, the end effector 300 includes a first arm 310 and a second arm 320 that can be opened and closed (see, e.g., fig. 3). In this case, for example, the end effector may be an ultrasonic blade, a hemostat, a stapler, a surgical scissors, or the like. The controlled state and the reset state of the end effector differ according to the type of the end effector. For example, for an end effector such as an ultrasonic blade, in the controlled state the first arm 310 and the second arm 320 of the end effector 300 are closed, a target operation such as, but not limited to, cutting a target tissue is performed, and in the reset state the first arm 310 and the second arm 320 of the end effector 300 are open. For example, for an end effector such as a hemostat, the first arm 310 and the second arm 320 of the end effector 300 are opened in the controlled state, a target operation such as, but not limited to, positioning to a target vessel is performed, and the first arm 310 and the second arm 320 of the end effector 300 are closed in the reduction state. Hereinafter, the operation of the surgical executing apparatus including the above-described two types of end effectors will be described in detail.

For example, the deformation is a compression deformation or a tension deformation. The compression deformation and the stretching deformation can be finally realized by properly setting the position of the reset mechanism 400 and matching with the transmission mechanism 200. For example, the return mechanism 400 is an elastic member, such as a spring.

Referring to fig. 1 to 9, for example, in order to achieve power transmission, a transmission mechanism 200 includes: a first transmission member 210 detachably connected to the main shaft 110 of the driving mechanism 100 and having a plurality of first teeth; a second transmission member 220 including a first end 221 and a second end 222 opposite to each other, the first end 221 being provided with a plurality of second teeth that are engaged with the plurality of first teeth of the first transmission mechanism 210; and a drawbar 230 including a first end 231 and a second end 232 opposite to each other along an extension direction thereof, the first end 231 being connected to the second transmission member 220, and the second end 232 being connected to the end effector 300. For example, for design convenience purposes, as shown in these figures, the direction of extension of the drawbar 230 is parallel to the first and second directions as described above.

For example, the first transmission member 210, the second transmission member 220, and the tension rod 230 are configured to: the first transmission member 210 rotates, and the first plurality of teeth of the first transmission member 210 and the second plurality of teeth of the second transmission member 220 cooperate with each other such that the first end of the second transmission member 220 has a motion component in the extending direction of the drawbar 230. In this way, the rotational motion of the first transmission member 210 can be finally converted into the linear motion of the pull rod 230 along the extending direction thereof. For example, as shown in the drawing, the rotation axis of the first transmission member 210 is parallel to the extending direction of the drawbar 230. For example, for the mutual matching of the first teeth and the second teeth, reference may be made to the mutual matching relationship between the teeth of the worm and the teeth of the mating gear, reference may also be made to the matching relationship between the teeth included in each of the two bevel gears that are mutually matched, reference may also be made to the matching relationship between the teeth included in each of the two staggered helical gears that are mutually matched, and so on. It should be noted that "refer" does not mean that the first ends 221 of the first transmission member 210 and the second transmission member 220 are respectively the referenced components, as long as the mutual matching relationship between the plurality of first teeth and the plurality of second teeth is basically similar to the mutual matching relationship between the referenced components in principle.

For example, the drawbar 230 and the end effector 300 are configured to: the drawbar 230 moves toward the end effector 300 along its extension, and the first arm 310 and the second arm 320 of the end effector 300 open; and the drawbar 230 and the end effector 300 are further configured to: the drawbar 230 moves away from the end effector 300 in its direction of extension, and the first arm 310 and the second arm 320 of the end effector 300 close. The "movement of the drawbar 230 in its direction of extension toward the end effector 300" may be referred to as a forward movement of the drawbar 230, and the "movement of the drawbar 230 in its direction of extension away from the end effector 300" may be referred to as a rearward movement of the drawbar 230. In this way, the opening and closing state of the first arm 310 and the second arm 320 of the end effector can be controlled by the back and forth linear motion of the drawbar 230.

For example, the surgical implement further includes a carrier 240 (see fig. 11), and the first end 231 of the drawbar 230, the first transmission member 210, the second transmission member 220, and the return mechanism 400 are at least partially housed within the carrier 240. For example, the surgical performing apparatus further includes a sleeve 233 (see fig. 2 to 7), and the sleeve 233 is connected to the bracket 240 and sleeved on the pull rod 230. For example, the first arm 310 and/or the second arm 320 of the end effector may be rotatably connected to the sleeve 233, and the forward and backward linear movement of the drawbar 230 may cause the first arm 310 and/or the second arm 320 to rotate, thereby achieving control of the open and closed states of the first arm 310 and the second arm 320.

Fig. 8 is a first schematic diagram illustrating a partial structure of a surgical executing apparatus according to an embodiment of the present disclosure, wherein the partial structure includes a second transmission mechanism 220 and a pull rod 230. Referring to fig. 8, the surgical implement apparatus further includes a rotating pivot 241; the second transmission member 220 is configured to be rotatably connected to the rotation pivot 241; and the connection position of the first end 231 of the drawbar 230 with the second transmission member 220 is located between the first end 221 of the second transmission member 220 and the rotation pivot 241 in the direction from the first end 221 to the second end 222. In this way, the pull rod 230 can move along with the first end 221 of the second transmission mechanism 200.

For example, the surgical implement further includes a bracket 240 (see fig. 11), and a rotation pivot 241 is coupled to the bracket 240.

For example, the rotating pivot 241 is an elongated shaft, both ends of the rotating pivot 241 are respectively connected to the bracket 240, and the second transmission mechanism 220 (e.g., the second end 222 of the second transmission mechanism 220) passes through and rotates around the elongated shaft; however, the disclosed embodiments are not so limited. For example, the rotating pivot 241 may be a protrusion on which the second transmission mechanism 220 (e.g., the second end 222 of the second transmission mechanism 220) is sleeved and rotates around.

For example, referring to fig. 8, the second end 222 of the second transmission mechanism 200 is rotationally connected to the rotation pivot 241.

For example, the first end 231 of the drawbar 230 is snapped into the second transmission member 220. For example, one of the first end 231 of the drawbar 230 and the second transmission member 220 is provided with a groove, and the other is provided with a projection engaged with the groove, and the first end 231 of the drawbar 230 is engaged with the second transmission member 220 by inserting the projection into the groove. For example, referring to fig. 8, the first end 231 of the drawbar 230 is provided with an annular groove, and the second transmission member 220 is provided with two protrusions (see two protrusions above the rotation pivot 241), and the first end 231 of the drawbar 230 is engaged with the second transmission member 220 by inserting the two protrusions into the annular groove. The connection position between the first end 231 of the pull rod 230 and the second transmission member 220 is the clamping position between the first end 231 of the pull rod 230 and the second transmission member 220 in the mutually clamping state.

For example, in connection with the partial structure of fig. 8, the first arm 310 and the second arm 320 of the end effector 300 are closed in the controlled state, and the first arm 310 and the second arm 320 of the end effector 300 are opened in the reset state. Referring to fig. 2, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are configured such that: the main shaft 110 moves along the first direction to connect with the first transmission member 210, the first transmission member 210 is driven to rotate by the power output from the driving mechanism 100, the first teeth of the first transmission member 210 and the second teeth of the second transmission member 220 cooperate with each other to enable the first transmission member 210 to drive the first end 221 of the second transmission member 220 and the pull rod 230 to move away from the end effector 300 along the extending direction of the pull rod 230, so as to enable the resetting mechanism 400 to generate the deformation (specifically, compression deformation) and to enable the end effector 300 to be in a controlled state, and the moving direction of the first end 221 of the second transmission mechanism 220, the moving direction of the pull rod 230 and the compressing direction of the resetting mechanism 400 can be respectively referred to three dotted arrows in fig. 2; further, referring to fig. 3, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are further configured to: the main shaft 110 moves along the second direction to separate from the first transmission member 210, the restoring mechanism 400 is restored under the elastic restoring force and drives the pull rod 230 to move towards the end effector 300 along the extending direction thereof, and the pull rod 230 drives the end effector 300 to make the end effector 300 in the restoring state. In the above case, the deformation is compression set.

In fig. 2 and 3, the reset mechanism 400 is directly connected to the second transmission structure 220, however, the disclosed embodiment is not limited thereto, and the reset mechanism 400 may be directly connected with the second transmission member 220 or the drawbar 230. For example, one end of the restoring mechanism 400 is connected to the second transmission member 220 or the drawbar 230, and the other end of the restoring mechanism 400 is connected to the bracket 240. For example, the carrier 240 includes a receiving slot 242, and the reset mechanism 400 is at least partially received in the receiving slot 242. The compression deformation or the tension deformation can be realized by appropriately selecting the setting position of the return mechanism 400. For example, referring to fig. 2, the compression set is achieved by connecting the return mechanism 400 to the side of the second transmission mechanism 220 away from the drawbar 230 in the extending direction of the drawbar 230. For example, referring to fig. 4, the tension deformation may be achieved by disposing the return mechanism 400 on the side of the second transmission mechanism 220 facing the pull rod 230 in the extending direction of the pull rod 230.

For example, in connection with the partial structure of fig. 8, the first arm 310 and the second arm 320 of the end effector 300 are closed in the controlled state, and the first arm 310 and the second arm 320 of the end effector 300 are opened in the reset state. Referring to fig. 4, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are configured such that: the main shaft 110 moves along the first direction to connect with the first transmission member 210, the first transmission member 210 is driven to rotate by the power output from the driving mechanism 100, the plurality of first teeth of the first transmission member 210 and the plurality of second teeth of the second transmission member 220 cooperate with each other to enable the first transmission member 210 to drive the first end 221 of the second transmission member 220 and the pull rod 230 to move away from the end effector 300 along the extending direction of the pull rod 230, so as to enable the reset mechanism 400 to generate the deformation (specifically, tensile deformation) and enable the end effector 300 to be in a controlled state, and the moving direction of the first end 221 of the second transmission mechanism 220, the moving direction of the pull rod 230 and the tensile direction of the reset mechanism 400 can be respectively referred to three dotted arrows in fig. 4; further, referring to fig. 5, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are further configured to: the main shaft 110 moves along the second direction to separate from the first transmission member 210, the restoring mechanism 400 is restored under the elastic restoring force and drives the pull rod 230 to move towards the end effector 300 along the extending direction thereof, and the pull rod 230 drives the end effector 300 to make the end effector 300 in the restoring state. In the above case, the deformation is tensile deformation.

For example, in connection with the partial structure of fig. 8, the first arm 310 and the second arm 320 of the end effector 300 are opened in the controlled state, and the first arm 310 and the second arm 320 of the end effector 300 are closed in the reset state. For example, referring to fig. 6, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are configured to: the main shaft 110 moves along the first direction to connect with the first transmission member 210, the first transmission member 210 is driven to rotate by the power output from the driving mechanism 100, the first teeth of the first transmission member 210 and the second teeth of the second transmission member 220 cooperate with each other to enable the first transmission member 210 to drive the first end of the second transmission member 220 and the pull rod 230 to move towards the end effector 300, so as to enable the resetting mechanism 400 to generate the deformation (specifically, tensile deformation) and enable the end effector 300 to be in a controlled state, and the moving direction of the first end 221 of the second transmission mechanism 220, the moving direction of the pull rod 230 and the tensile direction of the resetting mechanism 400 can be respectively referred to three dotted arrows in fig. 6; further, referring to fig. 7, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are further configured to: the main shaft 110 moves along the second direction to be separated from the first transmission member 210, the restoring mechanism 400 is restored under the elastic restoring force and drives the pull rod 230 to move away from the end effector 300, and the pull rod 230 drives the end effector 300 to enable the end effector 300 to be in the restoring state. In the above case, the deformation is a tensile deformation. Obviously, the disclosed embodiment is not limited to this, and the deformation may also be a compression deformation by appropriately setting the position of the reset member 400, for example, the reset member 400 is arranged on the side of the second transmission member 220 facing the pull rod 230.

Fig. 9 shows a second schematic diagram of a partial structure of a surgical executing device provided by the embodiment of the present disclosure, in which a first transmission member 210, a second transmission member 220 and a pull rod 230 are specifically shown. For example, referring to fig. 8, the transmission mechanism 200 further includes a rotation pivot 241; the second transmission member 220 is configured to be rotatably connected to the rotation pivot 241, and the rotation pivot 241 is located between the first end 221 of the second transmission member 220 and the second end 222 of the second transmission member 220 in a direction from the first end 221 of the second transmission member 220 to the second end 222 of the transmission member 220; the second end 222 of the second transmission member 220 is provided with a plurality of third teeth and the first end 231 of the drawbar 230 is provided with a plurality of fourth teeth that cooperate with the plurality of third teeth. In this way, the pull rod 230 can move along with the second end 222 of the second transmission mechanism 200. For example, referring to fig. 9, the second end 222 of the second transmission member 220 is provided with a rack having a plurality of fourth teeth. For the arrangement of the rotating pivot 241, reference is made to the above description, and the description is omitted here.

For example, in connection with the partial structure shown in fig. 9, the first arm 310 and the second arm 320 of the end effector 300 are closed in the controlled state, and the first arm 310 and the second arm 320 of the end effector 300 are opened in the reset state. In this case, the driving mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are configured such that: the main shaft 110 moves along the first direction to connect with the first transmission member 210, the first transmission member 210 is driven to rotate by the power output from the driving mechanism 100, the first teeth of the first transmission member 210 and the second teeth of the second transmission member 220 cooperate with each other to make the first end 221 of the second transmission member 220 move towards the end effector 300 and the second end 222 of the second transmission member 220 move away from the end effector 300, the third teeth of the second end 222 of the second transmission member 220 and the fourth teeth of the first end 231 of the pull rod 230 cooperate with each other to drive the pull rod 230 to move away from the end effector 300, so that the reset mechanism 400 generates the deformation and the end effector 300 is in the controlled state; further, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are further configured to: the main shaft 110 moves in the second direction to be separated from the first transmission member 210, the restoring mechanism 400 is restored under the elastic restoring force and drives the pull rod 230 to move towards the end effector 300, and the pull rod 230 drives the end effector 300 to enable the end effector 300 to be in the restoring state. In the above process, the deformation may be tensile deformation or compressive deformation, and the setting position of the resetting mechanism 400 is appropriately selected to realize the tensile deformation or the compressive deformation, which is not described herein again.

For example, in connection with the partial structure shown in fig. 9, the first arm 310 and the second arm 320 of the end effector 300 are opened in the controlled state, and the first arm 310 and the second arm 320 of the end effector 300 are closed in the reset state. In this case, the driving mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are configured such that: the main shaft 110 moves in the first direction to connect with the first transmission member 210, the first transmission member 210 is driven to rotate by the power output from the driving mechanism 100, the first teeth of the first transmission member 210 and the second teeth of the second transmission member 220 cooperate with each other such that the first end 221 of the second transmission member 220 moves away from the end effector 300 and the second end 222 of the second transmission member 220 moves toward the end effector 300, the third teeth of the second end 222 of the second transmission member 230 and the fourth teeth of the first end 231 of the pull rod 230 cooperate with each other to drive the pull rod 230 to move toward the end effector 300, thereby causing the reset mechanism 400 to generate the deformation and the end effector 300 to be in the controlled state; further, the drive mechanism 100, the transmission mechanism 200, the end effector 300, and the return mechanism 400 are further configured to: the main shaft 110 moves along the second direction to separate from the first transmission member 210, the reset mechanism 400 resets under the elastic restoring force and drives the pull rod 230 to move away from the end effector 300, and the pull rod 230 drives the end effector 300 to make the end effector 300 in the reset state. In the above process, the deformation may be tensile deformation or compressive deformation, and the setting position of the resetting mechanism 400 is appropriately selected to realize the tensile deformation or the compressive deformation, which is not described herein again.

For example, according to the disclosed embodiment, the surgical implement is an electrically powered device, and the surgical implement is configured such that the spindle 110 automatically disengages from the drive mechanism 200 after the power is disconnected. In this way, after the surgical execution device is powered off, the end effector 300 can be ensured to reset itself, and the flexibility of use and the user friendliness of the surgical execution device are further improved. For example, a surgical manipulator arm as described below may no longer provide power to a surgical implement, which may be referred to as a "power disconnect".

For example, the main shaft 110 of the drive mechanism 100 is configured to be telescopic, and the drive mechanism 100 is configured to: the main shaft 110 is extended in the first direction to be connected to the driving mechanism 200 by the power, and the main shaft 110 is automatically retracted in the second direction to be separated from the driving mechanism 200 after the power is cut off. For example, in the driving mechanism, the extension and retraction of the main shaft 110 may be achieved by an electro-magnetic control scheme, an electro-mechanical control scheme, or an electro-hydraulic control scheme; in the above control scheme, once the power is turned off, the magnetic field disappears or the mechanical structure is reset or the hydraulic pressure is dropped so that the main shaft 110 is automatically retracted.

For example, the surgical implement further includes an actuator 600 (see fig. 11), and the surgical implement is configured to: the actuator 600 drives the driving mechanism 100 to move in the first direction under the action of the power so as to connect the main shaft 110 with the transmission mechanism 200, and the driving mechanism 100 automatically moves in the second direction after the power is disconnected so as to disconnect the main shaft 110 from the transmission mechanism 200. For example, between the actuator 600 and the driving mechanism 100, the forward and backward movement of the driving mechanism 100 may be achieved by an electro-magnetic control scheme, an electro-mechanical control scheme, or an electro-hydraulic control scheme; in the above control scheme, once the electric power is turned off, the magnetic field disappears or the mechanical structure is reset or the hydraulic pressure is dropped, so that the driving mechanism 100 is automatically retracted.

For example, the surgical execution apparatus according to the embodiment of the present disclosure further includes an intermediate connection structure 500, a first end of the intermediate connection structure 500 is connected with the transmission mechanism 200; the second end of the intermediate coupling structure 500 is detachably coupled to the main shaft 110 of the driving mechanism 100. Thereby, via the intermediate structure 500, a detachable connection of the transmission mechanism 200 with the main shaft 110 of the drive mechanism 100 is achieved.

As described below, the surgical execution apparatus according to the embodiment of the present disclosure may be applied to a surgical robot including a surgical operation arm to which the surgical execution apparatus is detachably connected. In this case, referring to fig. 11, the drive mechanism 100 of the surgical execution apparatus is mounted to the surgical manipulator arm 10 and both the drive mechanism 100 and the surgical manipulator arm 10 are located within a sterile pouch so that both the drive mechanism 100 and the surgical manipulator arm 10 can be reused multiple times; meanwhile, the transmission mechanism 200, the end effector 300 and the reset mechanism 400 of the surgical executing device are all disposable structures and are positioned outside the sterile bag. To achieve the connection of the drive mechanism 100 inside the sterile bag and the transmission mechanism 200 outside the sterile bag, an intermediate connection structure 500 as described above is provided. For example, the intermediate connection structure 500 passes through a sterile bag, a first end of the intermediate connection structure 500 is located outside the sterile bag to connect with the transmission mechanism 200, and a second end of the intermediate connection structure 500 is located inside the sterile bag to detachably connect with the main shaft 110 of the driving mechanism 100. For example, the intermediate connection structure 500 is also a single-use structure. For example, a first end of the intermediate linkage 500 may be snapped into engagement with the drive mechanism 200. For example, a second end of the intermediate coupling structure 500 is engaged with the spindle 110 of the drive mechanism 100.

For example, referring to fig. 10, the end of the main shaft 110 to be connected to the transmission mechanism 200 is provided with a coupling 111; the coupling 111 includes: a first connection part 1110 configured to be connected to the main shaft 110; a second connection portion 1111 disposed opposite to the first connection portion 1110 and configured to be detachably connected to the transmission mechanism 200; and an elastic member 1112 between the first connection portion 1110 and the second connection portion 1111; the coupling 111 is configured such that the elastic member 1112 is compressed and deformed and then restored during the process of connecting the main shaft 110 and the transmission mechanism 200 to each other. For example, during the process of connecting the main shaft 110 and the transmission mechanism 200 (or the intermediate connecting structure 500), the positions where the two are required to be clamped with each other cannot be aligned at the beginning, so that the main shaft 110 needs to be rotated to align the positions where the two are required to be clamped with each other; the elastic member 1112 is compressed and deformed during the process of rotating the main shaft 110, and once the position where the main shaft 110 needs to be clamped with the transmission mechanism 200 (or the intermediate connection structure 500) is aligned with the elastic member 1112, the elastic member 1112 is reset, so that the clamping between the main shaft 110 and the transmission mechanism 200 (or the intermediate connection structure 500) is completed. For example, during rotation of the main shaft 110 to align the position where the snap fit between the main shaft 110 and the transmission mechanism 200 (or the intermediate connection structure 500) is required, the interaction force between the main shaft 110 and the transmission mechanism 200 (or the intermediate connection structure 500) causes the elastic member 1112 to be compressively deformed. It can be seen that the provision of the coupling 111 as described above facilitates the interconnection between the main shaft 110 and the transmission 200.

For example, with continued reference to fig. 10, the first connection portion 1110 has a through hole 1110h, the second connection portion 1111 has a sleeved post 1111p, the sleeved post 1111p passes through the through hole 1110h and is connected to the fastener 1114, and the sleeved post 1111p can slide in the through hole 1110 h. In the state that the elastic member 1112 is reset, the fixing member 1114 contacts the first connection portion 1110 to maintain the structural stability of the whole shaft coupling 111; in the process of rotating the main shaft 110 to align the position where the clamping between the main shaft 110 and the transmission mechanism 200 (or the intermediate connection structure 500) is required, the interaction force between the main shaft 110 and the transmission mechanism 200 (or the intermediate connection structure 500) causes the sheathing pillar 1111p to slide in the through hole 1110h, so that the elastic member 1112 is compressively deformed and the fixing 1114 is spaced apart from the first connection portion 1110 by a distance.

For example, with continued reference to FIG. 10, the main shaft 110 is connected to the first connection portion 1110 by a set screw 1113.

Embodiments of the present disclosure also provide a surgical robot. Referring to fig. 11, the surgical robot includes a surgical operation arm 10, and the surgical performing device as described above is detachably connected to the surgical operation arm 10. For example, surgical robots include a physician console, a patient side cart, and an electronics (e.g., imaging device) cart. In fig. 11, only the patient side cart is shown for convenience purposes; the surgical manipulation arm 10 is provided to the patient side cart.

The surgical robot according to the embodiment of the present disclosure employs the surgical execution device according to the embodiment of the present disclosure as described above, so that the end effector 300 returns to its reset state once the driving of the end effector 300 is disconnected, thereby improving the flexibility and user friendliness of the surgical execution device and the surgical robot.

For example, with continued reference to fig. 11, a surgical robot includes a plurality of surgical manipulator arms 10, and a surgical implement is coupled to one of the plurality of surgical manipulator arms 10. For example, a surgical implement as described above may be mounted for each of a plurality of surgical arms 10.

The above description is intended to be illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the appended claims.

Claims

1. A surgical implement, comprising:

a drive mechanism including a spindle;

the transmission mechanism is detachably connected with the main shaft of the driving mechanism;

the end effector is connected with the transmission mechanism; and

a reset mechanism connected with the transmission mechanism, wherein,

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves in a first direction to connect with the transmission mechanism, and power output from the drive mechanism is transmitted to the return mechanism and the end effector via the transmission mechanism, thereby causing the return mechanism to generate deformation causing elastic restoring force and causing the end effector to be in a controlled state, and

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along a second direction opposite to the first direction so as to be separated from the transmission mechanism, the resetting mechanism resets under the action of the elastic restoring force and drives the transmission mechanism, and the transmission mechanism drives the end effector so that the end effector is in a resetting state.

2. The surgical performing apparatus according to claim 1,

the end effector comprises a first arm and a second arm which can be opened and closed;

the first and second arms of the end effector are closed in the controlled state and open in the reset state; alternatively, the first and second arms of the end effector are open in the controlled state and closed in the reset state.

3. The surgical implement of claim 1, wherein the deformation is a compression deformation or a tension deformation.

4. The surgical implement of claim 1, wherein the transmission mechanism comprises:

a first transmission member detachably connected to the main shaft of the driving mechanism and having a plurality of first teeth;

a second transmission member including first and second ends opposite to each other, the first end being provided with a plurality of second teeth cooperating with the plurality of first teeth; and

and the pull rod comprises a first end and a second end which are opposite to each other along the extension direction of the pull rod, the first end is connected with the second transmission component, and the second end is connected with the end effector.

5. The surgical performing device according to claim 4, wherein the first transmission member, the second transmission member and the pull rod are configured to: the first transmission member rotates, and the first teeth of the first transmission member and the second teeth of the second transmission member cooperate with each other to enable the first end of the second transmission member to have a component of motion along the extension direction of the pull rod.

6. The surgical performing apparatus according to claim 4,

the pull rod and the end effector are configured to: the pull rod moves towards the end effector along the extension direction of the pull rod, and the first arm and the second arm of the end effector are opened; and is

The pull rod and the end effector are further configured to: the pull rod moves away from the end effector in the direction of extension thereof, and the first and second arms of the end effector close.

7. The surgical performing device of claim 4, further comprising a rotation pivot, wherein,

the second transmission member is configured to be rotatably connected to the rotation pivot; and is provided with

The connection location of the first end of the pull rod to the second transmission member is located between the first end of the second transmission member and the rotation pivot in a direction from the first end of the second transmission member to the second end of the transmission member.

8. The surgical implement of claim 7, wherein the first end of the pull rod is snap-fit with the second transmission member.

9. The surgical performing device of claim 7,

the first and second arms of the end effector are closed in the controlled state and open in the reset state;

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched, so that the first transmission member drives the first end of the second transmission member and the pull rod moves away from the end effector along the extension direction of the pull rod, and the reset mechanism generates the deformation and enables the end effector to be in a controlled state;

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along the second direction to be separated from the first transmission component, the reset mechanism resets under the action of the elastic restoring force and drives the pull rod to move towards the end effector along the extension direction of the pull rod, and the pull rod drives the end effector to enable the end effector to be in a reset state.

10. The surgical performing apparatus according to claim 7,

the first and second arms of the end effector are open in the controlled state and closed in the reset state;

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched, so that the first transmission member drives the first end of the second transmission member and the pull rod moves towards the end effector along the extension direction of the pull rod, and the reset mechanism is deformed and the end effector is in a controlled state;

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are further configured to: the main shaft moves along the second direction to be separated from the first transmission component, the reset mechanism resets under the action of the elastic restoring force and drives the pull rod to move away from the end effector along the extension direction of the pull rod, and the pull rod drives the end effector to enable the end effector to be in a reset state.

11. The surgical performing device of claim 4, further comprising a rotation pivot, wherein,

the second transmission member is configured to be rotatably connected to the rotation pivot, and the rotation pivot is located between a first end of the second transmission member and a second end of the second transmission mechanism in a direction from the first end of the second transmission member to the second end of the transmission member;

the second end of the second transmission member is provided with a plurality of third teeth, the first end of the pull rod is provided with a plurality of fourth teeth, and the plurality of fourth teeth are matched with the plurality of third teeth.

12. The surgical performing device of claim 11,

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the plurality of first teeth of the first transmission member and the plurality of second teeth of the second transmission member are mutually matched so that the first end of the second transmission member moves towards the end effector and the second end of the second transmission member moves away from the end effector, and the plurality of third teeth of the second end of the second transmission member and the plurality of fourth teeth of the first end of the pull rod are mutually matched so as to drive the pull rod to move away from the end effector along the extension direction of the pull rod, so that the reset mechanism generates the deformation and the end effector is in a controlled state;

13. The surgical performing device of claim 11,

the drive mechanism, the transmission mechanism, the end effector, and the return mechanism are configured to: the main shaft moves along the first direction to be connected with the first transmission member, the power output from the driving mechanism drives the first transmission member to rotate, the first teeth of the first transmission member and the second teeth of the second transmission member are mutually matched so that the first end of the second transmission member moves away from the end effector and the second end of the second transmission member moves towards the end effector, and the third teeth of the second end of the second transmission member and the fourth teeth of the first end of the pull rod are mutually matched so as to drive the pull rod to move towards the end effector along the extension direction of the pull rod, so that the reset mechanism generates the deformation and the end effector is in a controlled state;

14. The surgical implement according to claim 7 or 11, further comprising a cradle within which the first end of the pull rod, the first transmission member, the second transmission member, and the return mechanism are at least partially housed; and the pivot shaft is connected to the bracket.

15. The surgical implement of claim 14, wherein one end of the return mechanism is directly connected to the second transmission member or the pull rod and the other end of the return mechanism is connected to the bracket.

16. The surgical implement of any of claims 1-13, wherein the surgical implement is an electrically powered device and the surgical implement is configured such that the spindle automatically disengages the transmission mechanism after the power is disconnected.

17. The surgical implement according to claim 16, wherein the main shaft of the drive mechanism is configured to be retractable, the drive mechanism being configured to: the spindle extends in the first direction to connect with the transmission mechanism under the action of the power, and the spindle automatically retracts in the second direction to separate from the transmission mechanism after the power is disconnected.

18. The surgical performing device of claim 16, further comprising an actuator, wherein,

the surgical performing apparatus is configured to: the actuator drives the driving mechanism to move in the first direction under the action of the power so as to enable the spindle to be connected with the transmission mechanism, and the driving mechanism automatically moves in the second direction after the power is disconnected so as to enable the spindle to be separated from the transmission mechanism.

19. The surgical performing device of any one of claims 1-13, further comprising an intermediate connecting structure, wherein,

the first end of the middle connecting structure is connected with the transmission mechanism;

the second end of the intermediate connection structure is detachably connected with the main shaft of the driving mechanism.

20. The surgical performance apparatus according to any one of claims 1 to 13, wherein an end portion of the main shaft to be connected to the transmission mechanism is provided with a coupling, the coupling including:

a first connection portion configured to be connected with the main shaft;

a second connecting portion disposed opposite to the first connecting portion and configured to be separably connected to the transmission mechanism; and

an elastic member located between the first connection portion and the second connection portion, wherein,

the coupling is configured such that the elastic member is compressed and deformed and then restored in a process in which the main shaft and the transmission mechanism are connected to each other.

21. A surgical robot, comprising:

a surgical manipulator arm; and

the surgical implement of any of claims 1-20, wherein the surgical implement is removably coupled to the surgical manipulator.

22. The surgical robot of claim 21, wherein the surgical robot includes a plurality of the surgical manipulator arms, the surgical implement being coupled to one of the plurality of surgical manipulator arms.