CN220477652U

CN220477652U - End effector, surgical instrument, and surgical robot

Info

Publication number: CN220477652U
Application number: CN202321674399.2U
Authority: CN
Inventors: 孙思楠; 侯海山; 凌洋; 柳建飞
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority date: 2022-06-29
Filing date: 2023-06-28
Publication date: 2024-02-13
Anticipated expiration: 2033-06-28
Also published as: CN117297793A

Abstract

The present utility model provides an end effector, a surgical instrument, and a surgical robot, which may include a first swing member and a second swing member pivotally connected by a central pivot, and the first swing member and the second swing member are of an asymmetric structure to increase a clamping force of the swing members within a working range.

Description

End effector, surgical instrument, and surgical robot

Technical Field

The utility model relates to the field of medical instruments, in particular to an end effector, a surgical instrument comprising the end effector and a surgical robot comprising the surgical instrument.

Background

The birth of the minimally invasive surgery overcomes the defects of large wound, large bleeding amount, more complications, large surgical risk and the like in the traditional surgery to a great extent. The minimally invasive surgery can be performed more accurately and stably by assisting a doctor with the surgical robot, and the safety of the surgery is greatly improved. Therefore, minimally invasive surgery is gradually getting favor of medical staff and patients, and is a new field of medical research and clinical application at present.

The surgical robot includes an operating arm including a surgical instrument at an end and an instrument drive unit operably connected to the surgical instrument for actuating the surgical instrument. The surgical instrument includes a driven mechanism coupled to the instrument drive unit and an end effector coupled to the driven mechanism. The instrument driving unit drives the driven mechanism, and further drives the end effector to replace a human hand to perform operation in a human body. Common end effectors include clamp-type instruments that include two swings that are opened and closed relative to each other to clamp, shear, etc., a surgical site.

In the prior art, clamping force attenuation occurs when two swings of an end effector are biased to certain angles, such as extreme positions. Therefore, the existing end instrument has the problem of smaller clamping force.

Disclosure of Invention

The utility model aims to provide an end effector for a surgical instrument, a surgical instrument comprising the end effector and a surgical robot comprising the surgical instrument, wherein two swinging parts of the end effector adopt an asymmetric structure, so that the clamping force in a working range can be improved.

In order to achieve the above object, the present utility model provides an end effector for a surgical robot, the end effector including a first swing member and a second swing member, the first swing member and the second swing member being pivotally connected by a central pivot, the first swing member and the second swing member may be of an asymmetric structure.

The first and second swinging members may be asymmetric structures with respect to the central rotation axis.

The first swinging piece can comprise a first connecting part and a first operating part, an included angle between the first connecting part and the first operating part is a first included angle phi 1, the second swinging piece comprises a second connecting part and a second operating part, and an included angle between the second connecting part and the second operating part is a second included angle phi 2, wherein the first included angle phi 1 is larger than the second included angle phi 2.

The first operation part and the second operation part are provided with a first operation surface and a second operation surface which face each other, the included angle between the first connection part and the first operation surface is a first included angle phi 1, and the included angle between the second connection part and the second operation surface is a second included angle phi 2.

The first connecting portion is provided with a first end and a second end, the second end of the first connecting portion is connected with the second end of the second connecting portion through a central rotating shaft in a pivoted mode, the first end of the first connecting portion is provided with a first driving portion, the first end of the second connecting portion is provided with a second driving portion, an included angle between a connecting line between the first driving portion and the central rotating shaft and between the first operating portion is a first included angle phi 1, and an included angle between a connecting line between the second driving portion and the central rotating shaft and between the second connecting line and the second operating portion is a second included angle phi 2.

The first operation surface and/or the second operation surface are/is coplanar with the central rotating shaft, wherein the first operation part is fixedly connected with the second end of the first connection part and protrudes outwards for extension relative to the first connection part, and the second operation part is fixedly connected with the second end of the second connection part and protrudes outwards for extension relative to the second connection part.

The first included angle phi 1 is larger than or equal to 90 degrees, and the second included angle phi 2 is smaller than 90 degrees.

And the swing angle theta of the first swing piece and the second swing piece is larger than or equal to the difference value between the first included angle phi 1 and the second included angle phi 2.

When the swing angle of the first swing member and the second swing member is θ, the clamping force between the first swing member and the second swing member is maximized when the swing angle is θ/2.

The theta/2 is 30 degrees.

And the difference between the first included angle phi 1 and the second included angle phi 2 is less than or equal to 90 degrees.

The first included angle phi 1 ranges from 127 degrees to 137 degrees, and the second included angle phi 2 ranges from 67 degrees to 77 degrees.

According to another aspect of the present utility model there is provided a surgical instrument comprising an end effector as described above.

The surgical instrument comprises a driven mechanism configured to be connected with an external drive unit, the driven mechanism being connected with a first swinging member and/or a second swinging member, wherein the surgical instrument further comprises a guide rod, the guide rod is internally provided with a containing cavity, at least part of the driven mechanism is contained in the containing cavity of the guide rod, a plane passing through the axis of the guide rod and the axis of the central rotating shaft is defined as a central plane, and the first swinging member and/or the second swinging member can swing relative to the central plane around the central rotating shaft.

The swing angle of the first swing member and/or the second swing member with respect to the center plane ranges from-10 degrees to 70 degrees.

The first swinging member and/or the second swinging member can swing around the central rotating shaft relative to one side of the central surface, wherein the swinging angle of the first swinging member and/or the second swinging member relative to the central surface is 0-60 degrees.

The first swinging piece and the second swinging piece are respectively connected to the driven mechanism through a first driving part and a second driving part, and when the swinging angle of the first swinging piece and the second swinging piece relative to the central plane is 30 degrees, the first driving part and the second driving part are symmetrically arranged relative to the central plane; and/or the first swinging piece and the second swinging piece are respectively connected to the driven mechanism through a first driving part and a second driving part, and when the swinging angle of the first swinging piece and the second swinging piece relative to the central plane is 0 degree, the first driving part and the second driving part are asymmetrically arranged relative to the central plane.

The driven mechanism comprises a first driving piece and a second driving piece, wherein first ends of the first driving piece and the second driving piece are used for being connected with an external driving unit, the first swinging piece is rotationally connected with a second end of the first driving piece through a first driving part, and the second swinging piece is rotationally connected with a second end of the second driving piece through a second driving part.

The guide rod is internally provided with a first guide hole and a second guide hole which are arranged at intervals, the first driving piece and the second driving piece are respectively arranged in the first guide hole and the second guide hole, the guide rod is internally provided with a smoke exhaust hole which enables two ends of the guide rod to be communicated, the smoke exhaust hole is arranged at intervals with the first guide hole and the second guide hole, the guide rod comprises a sleeve and a guide piece connected with the first end of the sleeve, the sleeve is internally provided with an accommodating cavity for accommodating the first driving piece and the second driving piece, and the first guide hole, the second guide hole and the smoke exhaust hole are all formed in the guide piece.

According to another aspect of the present utility model, there is provided a surgical instrument comprising: the guide rod is internally provided with a containing cavity; the connecting mechanism is arranged in the accommodating cavity, and one end of the connecting mechanism is used for being connected with an external unit; the end effector is rotationally connected with the other end of the connecting mechanism, and a through hole which enables one end of the end effector to be mutually communicated with one end of the external unit is arranged in the guide rod.

The guide rod comprises a sleeve and a guide piece connected with one end of the sleeve, the through hole is formed in the guide piece, the through hole comprises a guide hole and a smoke exhaust hole which are arranged at intervals, and the driven mechanism is arranged in the guide hole.

The tail end of the guide rod is provided with the through hole.

The external unit is provided with a communication channel, and the communication channel is communicated with the through hole.

The connecting mechanism is a driven mechanism or an electric connecting piece, and the external unit is an external driving unit or a power supply unit.

The driven mechanism comprises a first driving piece and a second driving piece, the end effector comprises a first swinging piece and a second swinging piece which are in pivot connection, the first swinging piece and the second swinging piece are respectively in rotary connection with the first driving piece and the second driving piece, the guide piece is arranged at one end, close to the end effector, of the sleeve, the through hole is formed in the guide piece, and the end effector comprises a first guide hole for accommodating the first swinging piece, a second guide hole for accommodating the second swinging piece and a smoke exhaust hole arranged between the first guide hole and the second guide hole.

According to another aspect of the present utility model, there may also be provided a surgical robot comprising a surgical instrument as described above.

According to the embodiments of the present utility model, a surgical instrument capable of increasing a working range of an end effector and a robot having the same may be provided.

According to the embodiments of the present utility model, it is possible to provide a surgical instrument in which a clamping force is increased when a swing member swings to a limit angle, and a robot having the same.

According to the embodiments of the present utility model, a surgical instrument provided with a smoke vent to prevent an influence on a scope view and a robot having the same may be provided.

Drawings

The above and other objects and features of the present utility model will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate by way of example an example, in which:

FIGS. 1A and 1B are front and rear views, respectively, of an end effector according to one embodiment of the present utility model;

FIG. 1C shows a schematic diagram of an end effector in a null position according to one embodiment of the present utility model;

fig. 2A and 2B show the maximum cross-sectional area in the working range of two oscillating members having a symmetrical structure and an asymmetrical structure, respectively;

FIGS. 3A to 3C show T-theta graphs of a swing having a symmetrical structure;

Fig. 4A to 4C show T- θ graphs of a swing member having an asymmetric structure according to an embodiment of the present utility model;

fig. 5A to 5D are T- θ graphs showing a process of obtaining a difference in the included angle of two swinging members of an asymmetric structure according to an embodiment of the present utility model;

FIG. 6 illustrates a perspective view of an end portion of a surgical instrument according to an embodiment of the present utility model;

FIGS. 7A and 7B are front and rear views, respectively, of a surgical instrument with a sleeve removed, in accordance with an embodiment of the present utility model;

FIG. 8 shows a schematic diagram of the principle of motion of the second oscillating member and its driven structure in the surgical instrument;

fig. 9 shows a perspective view of a guide according to the utility model;

fig. 10 shows a perspective view of the guide at another angle.

Reference numerals illustrate:

100-a first swinging member; 110-a first connection; 120-a first operation part; 111-a first driving part; 200-a second swinging member; 210-a second connection; 220-a second operation section; 211-a second driving part; 300-guide rod; 301-sleeve; 310-a first guide hole; 320-a second guide hole; 330-smoke vent; 350-a guide; 361-a first rotation support; 362-a second rotational support; 400-a first driving member; 410-a first push-pull rod; 420-a first link; 500-a second driving member; 510-a second push-pull rod; 520-a second link; 1201-a first operative surface; 2201-second operative surface.

Detailed Description

The following description of the embodiments of the present utility model will be made with reference to the accompanying drawings, in order to clearly and completely explain the technical solutions of the present utility model. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be embodied in many other forms other than those described herein, and those skilled in the art will be able to make various modifications without departing from the spirit of the utility model, so that the scope of the utility model is not limited to the specific embodiments described below.

Furthermore, the terms "first," "second," and the like, as used in the following description, are used merely to distinguish one feature from another feature and should not be understood to indicate or imply a sequence, number or importance of the indicated features. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly, as they may be fixed, removable, or integral with each other, as well as indirectly connected via other intermediate members. The specific meaning expressed by the term should be understood by one of ordinary skill in the art based on the context.

The present utility model relates to an end effector, which is a surgical tool at the end of a surgical instrument that can be mounted at the front end (also called distal end) of a surgical robot for assisting in performing minimally invasive surgery. In minimally invasive surgery, the end part of the surgical instrument extends into the patient through a tiny wound on the patient and reaches a focus, and in the surgery process, the surgical instrument swings by taking the wound as a telecentric fixed point when swinging, so that the surgical instrument is prevented from pulling the wound. Therefore, the range of motion of the end effector and the proper clamping force (or shear force) are critical. However, existing tip instruments have difficulty meeting the requirements of proper clamping force (or shear force).

Analyzed because: when it is desired to maintain a certain position for clamping, the clamping force is determined by the one of the two swinging members at which the force generated is smaller. I.e. when the clamping forces of the two swinging members are superimposed, the force of one swinging member is influenced by the other swinging member, so that the actual clamping force will be determined by the swinging member providing the smaller force of the two swinging members. Since the minimum clamping force of the two swings throughout the range of motion is an important aspect for evaluating the clamping force of the end effector over the full range, it is particularly important to increase the minimum clamping force.

Thus, in some deflection angles, for example, at extreme positions, a proper clamping force may not be obtained (the clamping force is small), thereby resulting in a limitation of the deflection angle of the swing member, which makes it difficult to simultaneously achieve a range of motion of the end effector and a proper clamping force. To improve the grip of a surgical tool over an operating range, the present utility model provides an end effector, according to one embodiment of the present utility model, with reference to the accompanying drawings.

Fig. 1A and 1B illustrate schematic views of an end effector according to one embodiment of the present utility model. Fig. 1C shows the two swings in a zero position (i.e., the angle between the two swings and the Z-axis or the center plane mentioned below is 0 degrees) when the end effector is coupled to a driven mechanism (first drive 400 and second drive 500 described below) and a support structure (guide bar 300 described below).

As shown in fig. 1A and 1B, the end effector may include a first swing member 100 and a second swing member 200, the first swing member 100 and the second swing member 200 being pivotally connected by a central rotational axis 150. As shown in the drawings, the first swing member 100 and the second swing member 200 are preferably of an asymmetric structure. Specifically, the first swing member 100 and the second swing member 200 are of an asymmetric structure with respect to the central rotation axis 150. Therefore, the preferred torque range of the first swing member 100 and the preferred torque range of the second swing member 200 can be flexibly selected within the operating range. Therefore, when the swing angle is within the working range, the difference value of the torque of the swing angle and the swing angle is smaller, and the actual clamping force is larger.

It should be appreciated that the clamping force of the first swing member 100 and the second swing member 200 is achieved by the torque applied thereto, since the relation of the clamping force and the torque is: t=f ₀ *L ₀ (F ₀ Is the clamping force, T is the torque, L ₀ The length of the arm), the arm is thus determined in the case of a defined structure of the oscillating element. Thus, the magnitude of the clamping force depends only on the value of the torque and is proportional to the two, the greater the torque the greater the clamping force.

In addition, it is to be understood that the "working range" refers to a range in which the swinging member can perform the gripping operation within a predetermined swinging angle range. The term "swing angle" refers to an angle from one side limit position to the other side limit position of the two swinging members.

Fig. 2A and 2B show the maximum sectional area of the two swinging members having the symmetrical structure and the two swinging members having the asymmetrical structure in the operating range when the swinging angles are both θ, respectively.

As shown in fig. 2A, in the symmetrical structure, the two swinging members can swing left and right by the same angle with respect to the zero position, and when both swinging angles are θ, the swinging angles of the two swinging members with respect to the zero position are θ/2, respectively. Since the surgical instrument to which the end effector is mounted is capable of rotating about the Z-axis, the range of positions (i.e., the working range) that can be reached by the end effector having a symmetrical structure is:

The shaded area shown in fig. 2A, which is circular and perpendicular to the Z-axis, represents the largest cross-sectional area within the working range of the end effector.

In an end effector having an asymmetric structure, the two swings may swing on only one side of the null position, or the swing angles of the two swings with respect to the null position may be different. Fig. 2B shows the largest cross-sectional area (hatched area) in the working range of the end effector of the asymmetric structure, more specifically, fig. 2B shows the case where the two pendulums are swung only on one side of the zero position.

As shown, when other conditions are the same as the end effector having the symmetrical structure described above, the end effector having the asymmetrical structure can achieve the following positional ranges:

s2＝π(Lsinθ)L

it can be seen that the working range s2 of the end effector having the asymmetrical structure is greater than the working range s1 of the end effector having the symmetrical structure when the swing angles of the two swing members are the same.

Similarly, when two swinging members having an asymmetric structure swing on both sides of the zero position but have different swing angles with respect to the zero position, for example, the two swinging members swing θ/5 to the left (based on the direction shown in fig. 2A and 2B) and 4 θ/5 to the right with respect to the zero position, since the operating range of the swinging members is determined by the swing angle that is large with respect to the zero position, the operating range thereof is:

Obviously, s3 is also greater than s1.

It can be seen that the working range of the end effector having the asymmetric structure is larger than that of the end effector having the symmetric structure when the swing angles of the two swing members are the same.

In the case of an end effector rotating about the Z-axis, the working range that can be achieved by the two oscillating members is a conical surface, whereas the description of the maximum cross-sectional area above is only for the sake of general understanding of the working ranges of symmetrical and asymmetrical structures, and not for the precise calculation of the actual working ranges.

However, it should also be understood that the description with reference to fig. 2A and 2B is merely for convenience of understanding the concept of the "operating range", and in fact, the "operating range" may be preset, that is, the operating ranges of the symmetrical structure and the asymmetrical structure may be set to be identical to each other, and hereinafter, an angle value will be used to represent the operating range of the swing member, wherein the operating range may be greater than or equal to the swing angle. In the following embodiments, if the description is made as "the operation range is ±θ", it means a case where the operation range is larger than the swing angle.

When the working ranges of the end effector having a symmetrical structure and the end effector having an asymmetrical structure are set to be identical to each other, the clamping force of the symmetrical structure may not satisfy the surgical requirements, which will be described in detail later.

Referring back to fig. 1A to 1C, the first swing member 100 may include a first connection portion 110 and a first operation portion 120, and an angle between the first connection portion 110 and the first operation portion 120 may be a first angle phi 1. The second swinging member 200 may include a second connection portion 210 and a second operation portion 220, and an included angle between the second connection portion 210 and the second operation portion 220 may be a second included angle phi 2. According to an embodiment of the present utility model, the first included angle phi 1 may be larger than the second included angle phi 2.

In addition, the first connection portion 110 and the second connection portion 210 are symmetrical with respect to the central rotation axis 150. In particular, the first connection portion 110 and the second connection portion 210 may have the same length, or the same structure and size. The first and second operating parts 120 and 220 may have the same length or the same structure or size. That is, the first swing member 100 and the second swing member 200 may be different only in the first angle and the second angle, that is, the first swing member 100 and the second swing member 200 form an asymmetric structure only due to the difference in the angle between the connection portion and the operation portion. In this case, the torque range of the swinging member in the working range can be changed by the difference of the included angles of the swinging member and the working range, so that a better actual clamping force is achieved.

According to the embodiment of the present utility model, the first operation portion 120 and the second operation portion 220 have a first operation surface 1201 and a second operation surface 2201 facing each other, an included angle between the first connection portion 110 and the first operation surface 1201 is a first included angle phi 1, and an included angle between the second connection portion 210 and the second operation surface 2201 is a second included angle phi 2.

In addition, the first connection part 110 has a first end and a second end, the second connection part 210 has a first end and a second end, the first end of the first connection part 110 has a first driving part 111, the first end of the second connection part 210 has a second driving part 211, and the second end of the first connection part 110 and the second end of the second connection part 210 are pivotally connected through the central rotation shaft 150.

The first operating portion 120 is fixedly connected to the second end of the first connecting portion 110 and protrudes outwards relative to the first connecting portion 110, so that an included angle between a connecting line between the first driving portion 111 and the central rotating shaft 150 and the first operating portion 120 is a first included angle phi 1.

The second operating portion 220 is fixedly connected to the second end of the second connecting portion 210 and protrudes outwards relative to the second connecting portion 210, so that an included angle between a connecting line between the second driving portion 211 and the central rotating shaft 150 and the second operating portion 220 is a second included angle phi 2.

According to an embodiment of the present utility model, the first operating surface 1201 of the first operating portion 120 and/or the second operating surface 2201 of the second operating portion are coplanar with the central rotational axis 150. Therefore, the angle between the connection line between the first driving portion 111 and the central rotation shaft 150 and the first operation surface 1201 is the first angle phi 1, and the angle between the connection line between the second driving portion 211 and the central rotation shaft 150 and the second operation surface 2201 is the second angle phi 2.

In the present utility model, the central rotation shaft 150 is not necessarily an independent member independent of the first swing member 100 and the second swing member 200, and may be a protrusion structure fixed to the first swing member 100 or the second swing member 200, which may be a rotation shaft, or may be a protrusion structure mounted or integrally formed to a support structure (a guide bar 300 described below) of the first swing member 100 and the second swing member 200, which may be a rotation shaft.

Further, the first driving part 111 and the second driving part 211 may be rotation shafts having axes parallel to the axis of the central rotation shaft 150, and similarly, the first driving part 111 and the second driving part 211 may be independent members independent of the first swing member 100 and the second swing member 200, respectively, or may be rotation shaft structures integrally formed with the first swing member 100 and the second swing member 200, respectively, and protruding from the respective swing members.

Further, the "connection line of the first driving part/second driving part and the center rotating shaft 150" as described above refers to a connection line of the virtual center axis of the rotating shaft of the first driving part/second driving part and the center axis of the center rotating shaft 150, and corresponds to the shortest distance between the virtual center axis of the rotating shaft of the first driving part/second driving part and the center axis of the center rotating shaft 150.

The drawings only show the case where the end effector is a surgical forceps (i.e., the first swing member 100 and the second swing member 200 together constitute a surgical forceps), but the present utility model is not limited thereto, and the end effector may be a surgical scissors or other surgical tool. When the end effectors are surgical scissors or other surgical tools, they also have a structure having an asymmetric structure with respect to the center rotation shaft 150, and their specific structure is similar to that of the forceps, that is, the rest of the structure may be the same as or similar to the end effector according to the present utility model except for the functional structure (the structures of the first operating portion and the second operating portion).

When the end effector having an asymmetric structure is applied to a surgical instrument, the actual clamping force of the swing member having an asymmetric structure is greater than the actual clamping force of the swing member having a symmetric structure. Further, in the case where the maximum swing angle of the two swinging members of the asymmetric structure is the same as the maximum swing angle of the two swinging members of the symmetric structure, the clamping force when the two swinging members of the asymmetric structure are biased to the extreme position (i.e., the maximum swing angle) is significantly larger than the clamping force of the swinging members of the symmetric structure, wherein the maximum swing angle is the maximum angle through which the two swinging members swing from the zero position (Z axis in fig. 2A and 2B) toward one side, as in fig. 2B, the maximum swing angle is θ, and the maximum swing angle is θ/2 in fig. 2A.

In one embodiment, the two swinging members can be driven by two connecting rod structures respectively, the arrangement structures of the two connecting rod structures can be identical or different, and the two swinging members can be driven independently respectively, so that the two swinging members can be matched with each other to realize clamping or shearing and other operations under the condition of independent movement.

The driving structure of the swinging piece and the connecting rod structure can be equivalent to the offset crank block structure for analysis. In this case, the first and second connection parts 110 and 210 may correspond to a portion of the cranks of the two crank block structures, respectively, and since the first and second connection parts 110 and 210 are fixedly connected with the first and second operation parts 120 and 220, respectively, the rotation of the first and second connection parts 110 and 210 may drive the first and second operation parts 120 and 220 to rotate synchronously.

FIG. 3A illustrates a graph, i.e., a T- θ graph, of torque applied to a wobble member by a slider-crank structure as a function of angle between the wobble member and zero, according to an example. Wherein, the T-theta curve is obtained by presetting a phi value (namely, an included angle value between an operation part and a connecting part in a swinging part) and a thrust force F, and is determined by the following formula:

T＝F*a*cos(β)*sin(α-β)

β＝arcsin((c-a*sinα)/b)

As can be seen from the schematic diagram of the principle of motion of the offset slider-crank structure shown in fig. 8, T is the torque applied to the oscillating piece; f is the force applied to the slider (vector with direction);is the included angle between the swinging piece and the connecting part; α is an angle between a line connecting the central shaft 150 and the central axis of the driving part 111 or 211 and the central plane; beta is the angle between the link (corresponding to the first link 420 or the second link 520 hereinafter) and the vertical direction (based on the direction shown in fig. 6); θ is the angle through which the oscillating member rotates, and is a vector having a direction; a is the length of the connection line between the central axis of the driving part 111 or 211 and the central rotating shaft 150; b is the length of the connecting rod; c isThe vertical distance between the central axis of the push-pull rod (corresponding to the first push-pull rod 410 and the second push-pull rod 510 hereinafter) and said central plane.

Thus, a graph of torque applied to the oscillating member versus angle through which the oscillating member rotates is obtained, as shown in fig. 3A to 3C, the abscissa represents the angle (vector having a direction) between the operating portion and the zero position (i.e., the center plane), the ordinate represents torque of the operating portion (proportional to the clamping force applied to the operating portion), and the T- θ curve has a parabolic-like shape.

According to the embodiment of the present utility model, the first and second operating parts 120 and 220 are fixedly connected to the first or second connecting parts 110 and 210, respectively, so that when the arrangement structure of the crank slider structure is identical, the shape of the curve formed by the torque of each swing member according to the change of the displacement is identical, and the difference of the included angles of the operating parts and the connecting parts only causes the curve to move left and right in the coordinate axes of fig. 3A.

It should be noted that only the torque curve generated when one oscillating piece (the operating portion of which forms a predetermined angle with the connecting portion) oscillates in the range of-90 degrees to 90 degrees with respect to the zero position under the drive of the equivalent offset crank block structure is shown in fig. 3A. In addition, in the end effector having the symmetrical structure, since the included angle of the two swinging members is the same, the T- θ curves of the two swinging members overlap, that is, the T- θ curve in fig. 3A can also be regarded as the overlapping curve of the two swinging members having the symmetrical structure.

Since the two swings need to swing to the same position to achieve clamping or shearing, when the two swings remain attached, their deflection angles are opposite to each other with respect to the zero position (i.e., the position where the deflection angle is 0). For example, when one swing member is deflected 20 degrees relative to the null position, the other swing member needs to be deflected-20 degrees relative to the null position, and similarly, when one swing member is deflected 60 degrees relative to the null position, the other swing member needs to be deflected-60 degrees relative to the null position. It follows that when the end effector has a symmetrical structure, the T- θ curves of the two swings are symmetrical with respect to the position of 0 degrees.

However, as can be seen from fig. 3A, the torque curves of the individual swings are not symmetrical in themselves, that is, when the two swings swing to the same position (i.e., at the same swing angle with respect to the zero position), the maximum torque they can provide is not the same, and therefore, the clamping force of the two swings should be determined by the one swing that provides the smaller clamping force.

Thus, the clamping force that can be achieved by the two swinging members within the predetermined swinging angle range is determined by the swinging member having the smaller clamping force of the two swinging members.

Fig. 3B shows respective T- θ graphs of two swinging members having a symmetrical structure at the time of the cooperative gripping operation. Fig. 3C shows a T-theta graph commonly provided by two oscillating members having a symmetrical structure when operated in cooperation with clamping.

When the T- θ curve in fig. 3A is understood to be a coincidence curve of two wobbles having a symmetrical structure, assuming that the two wobbles are of a symmetrical structure and have the T- θ curve of fig. 3A, as shown in fig. 3B, when the two wobbles are operated in cooperation, the T- θ curve of one of the wobbles is symmetrical about 0 degrees, and at this time, the T- θ curves of the two wobbles intersect at 0 degrees.

Since the clamping force that can be achieved by the two swinging members is determined by the swinging member having the smaller clamping force among the two swinging members, the T- θ graph shown in fig. 3C can be obtained. As shown in fig. 3, the torque curves of the two swings are symmetrical with respect to 0 degrees, and the torque of the two swings is maximum at 0 degrees. Further, as the oscillating member moves away from zero degrees, the torque gradually decreases.

Now, taking an example in which the swing angle of the swing member is designed to be ±60 degrees (i.e., the swing angle of swinging from one side to the other side is 120 degrees), as shown in fig. 3A to 3C, when the swing angle of the swing member is designed to be ±60 degrees, the value of torque (i.e., the magnitude of the clamping force) corresponds to the values of 0 to 60 degrees and 0 to-60 degrees in fig. 3C. Thus, the maximum torque (clamping force) of the two swings is their torque at 0 degrees (about 145n·mm), and the minimum clamping force of the two swings is their torque at 60 degrees (about 50n·mm). It can be seen that as the two swings approach the limit position (i.e., the position at 60 degrees), the clamping force decreases dramatically, resulting in the clamping force may not meet the surgical requirements as the two swings swing to the limit position.

Fig. 4A to 4C show respective T-theta curves of two swinging members of an end effector having an asymmetric structure, respective T-theta curves when working in cooperation, and T-theta curves commonly achieved when working in cooperation.

According to the embodiment of the present utility model, by designing the two swinging members to be of an asymmetric structure, the curves of the two swinging members can be moved leftward or rightward with respect to 0 degrees, in which case, when the same working range as that of the symmetric structure is to be achieved, the difference in torque of the two swinging members can be selected to be small, and thus the actual clamping force can be selected to a larger torque value of the two swinging members, whereby the clamping force at the swinging to extreme positions of the swinging members can be made large.

Fig. 4A to 4C show an example in which the intersection point of two curves is moved 15 degrees to the left, wherein the procedure of obtaining the curves of fig. 4B and 4C is similar to that of fig. 3B and 3C, so that the related description is omitted.

To achieve a working range of 60 degrees, since the two pendulums are rotatable about the Z-axis (i.e., 0 degrees), the working range can be achieved in several ways: the two swinging pieces swing between-60 degrees and 0 degrees; the two swinging pieces swing between 0 degrees and 60 degrees; the two swinging members swing between-60 degrees and 60 degrees. That is, the clamping force of the two swinging members may be in a range of-60 degrees to 0 degrees, 0 degrees to 60 degrees, and-60 degrees to 60 degrees having the maximum torque.

As shown in fig. 4B and 4C, in the range of-60 degrees to 0 degrees, the maximum torque value of the two swinging members is at the position of-15 degrees, and the maximum torque value is about 170n·mm, the minimum torque value is at the position of-60 degrees, and the minimum torque value is about 100n·mm. In the range of 0 degrees to 60 degrees, the maximum torque value is at a position of 0 degrees and the maximum torque value is about 145n·mm, and the minimum torque value is at a position of 60 degrees and the minimum torque value is about 45n·mm. In the range of-60 degrees to 60 degrees, the maximum torque value is at the position of-15 degrees, and the maximum torque value is about 170n·mm, and the minimum torque value is at the position of 60 degrees, and the minimum torque value is about 45n·mm. It is known that the two swinging members swing in the range of-60 degrees to 0 degrees, and the maximum clamping force can be ensured while the working range of + -60 degrees is realized.

By comparison with the end effector having the symmetrical mechanism described above, the torque (about 100n·mm) at the extreme position of the two swinging members of the asymmetrical structure is significantly larger than the torque (about 50n·mm) at the extreme position of the two swinging members of the symmetrical structure.

One of the main reasons for this is: in the range of-60 degrees to 0 degrees, the maximum of the clamping forces of the two swings is at the position of-15 degrees, while the minimum is at the position of-60 degrees, while the position of 60 degrees with the minimum clamping force is deflected 45 degrees (less than the 60 degrees deflected in the symmetrical structure) relative to the position of-15 degrees with the maximum clamping force. Thus, the clamping force of an end effector having a symmetrical configuration at the extreme position is reduced by a value of 60 degrees span relative to the maximum clamping force while the asymmetrical configuration is reduced by a value of 45 degrees span relative to the maximum clamping force while achieving the same swing angle. Accordingly, the two swings having an asymmetric structure have less attenuation from the maximum clamping force to the minimum clamping force than an end effector having a symmetric structure, and thus the asymmetric structure can provide a greater clamping force when the swings swing to a position of-60 degrees.

Fig. 3A to 3C and fig. 4A to 4C show only one assumed case, which is only one principle explanation of the structure to obtain the present utility model.

According to the embodiment of the utility model, the curves of the two swinging pieces can be selected according to different phi values, so that the difference of the torque of the two swinging pieces when the two swinging pieces work together is smaller. For example, the first included angle phi 1 may be greater than or equal to 90 degrees and the second included angle phi 2 may be less than 90 degrees.

According to the embodiment of the utility model, the difference between the first included angle phi 1 and the second included angle phi 2 is less than or equal to 90 degrees.

In addition, when two swinging members want to achieve a deflection angle of ±60 degrees, the two swinging members may be designed to have a maximum clamping force at 30 degrees, so that at a position of 30 degrees, a swinging angle of 60 can be achieved by only swinging left and right by 30 degrees, thereby achieving a working range of ±60 degrees. In this case, the torque value of the span of only 30 degrees is reduced from the maximum clamping force to the minimum clamping force, and therefore the maximum clamping force when the deflection is to the limit angle can be maximally increased.

According to the embodiment of the utility model, the minimum value and the maximum value of the torque of the two swinging parts in the working range can be close to each other through the curve selection of the two swinging parts, so that the actual clamping force is more stable, and the clamping performance of the end effector is improved.

One method of obtaining the maximum clamping force at the limit angle is deduced above with reference to fig. 4A to 4C, and fig. 5A to 5C intuitively illustrate another method of obtaining the maximum clamping force at the limit angle.

As shown in fig. 5A, a T- θ curve of a wobble member is first obtained by presetting a phi value and a thrust force F. As described above, since the two swinging members are rotatable about the Z axis (i.e., 0 degrees), the operating range of ±60 degrees can be achieved by: the two swinging pieces swing between-60 degrees and 0 degrees; the two swinging pieces swing between 0 degrees and 60 degrees; the two swinging members swing between-60 degrees and 60 degrees. That is, the clamping force of the two swinging members may be in a range of-60 degrees to 0 degrees, 0 degrees to 60 degrees, and-60 degrees to 60 degrees having the maximum torque.

In the three working ranges (-60 to 0 degree, 0 to 60 degree, -60 to 60 degree), the larger the width of the selected transverse axis (θ axis) is, the smaller the minimum value of the torque value is, thus, the range of-60 to 0 degree, 0 to 60 degrees is better than the range of-60 to 60 degrees, as known from the T- θ curve of one swinging member.

For a single oscillating member, the clamping force effect achieved is the same, whether in the working range of-60 degrees to 0 degrees or in the working range of 0 degrees to 60 degrees, as the oscillating member rotates about the Z-axis.

Thus, the maximum torque value can be obtained by varying the phi value (i.e., moving the T-theta curve along the horizontal axis) over an operating interval of-60 degrees to 0 degrees or an operating interval of 0 degrees to 60 degrees.

Since the vertical axis (T-axis) represents the torque of the crank and the torque magnitude directly determines the magnitude of the clamping force, the closer the minimum of the curve in the working interval of-60 degrees to 0 degrees or in the working interval of 0 degrees to 60 degrees is to the top of the T- θ curve, the greater the clamping force that can be achieved by the single swing.

Since by varying the phi value the T-theta curve can be moved to different positions along the transverse axis. Thus, there are countless minimum torque values within a working interval of-60 degrees to 0 degrees or a working interval of 0 degrees to 60 degrees, which can be obtained by intercepting the curve within the above working interval. In all the interception schemes, the minimum torque value is the largest in the intercepted curve range only when the T value of-60 degrees and 0 degrees is equal or the T value of 0 degrees and 60 degrees is equal. Fig. 5B shows a case where the T value at-60 degrees is equal to the T value at 0 degrees, so that the phi 1 value of one wobbler, hereinafter referred to as the first wobbler, can be determined.

Since the clamping is done by the cooperation of the two oscillating members, when the first oscillating member is at-60 degrees with respect to the zero position, the second oscillating member is at +60 degrees with respect to the zero position, assuming that phi 2 = phi 1 of the second oscillating member, whereby fig. 5C can be obtained.

As can be seen from fig. 5C, when the angles of the two swinging members are equal, the optimal cutting scheme of the second swinging member is not within the working interval of-60 degrees to 0 degrees, and the maximum value of the minimum torque values of the two swinging members cannot be overlapped within the working interval, so that the optimal clamping force can be obtained by changing the value of phi 2 (i.e. making the curve of the second swinging member translate leftwards).

As shown in fig. 5D, when the curve of the second swing member is shifted left 60 degrees in the θ axial direction, in the range of-60 degrees to 0 degrees, the clamping force of-60 degrees is equal to the clamping force of 0 degrees, at which time the optimal minimum clamping force can be achieved.

Since the angle at which the second oscillating member translates along the θ axis is the angle Δphi at which phi 2 changes, |phi 1-phi 2|= delta phi=60, that is, when the working range of ±60 degrees is to be achieved, the difference between the angles of the two oscillating members may be preferably 60 degrees.

Furthermore, it can also be seen from fig. 5D that the clamping curves of the two pendulums in the range of-60 degrees to 0 degrees are symmetrical about their center (i.e., -30 degrees).

Thus, according to an embodiment of the utility model, when a deflection angle of 60 degrees is desired, the first angle phi 1 of the first oscillating member 100 and the second angle phi 2 of the second oscillating member 200 may preferably be designed such that they differ by 60 degrees. More preferably, the first included angle phi 1 may range from 127 degrees to 137 degrees, and the second included angle phi 2 may range from 67 degrees to 77 degrees. According to one embodiment of the utility model, the first angle phi 1 may be 132 degrees and the second angle phi 2 may be 72 degrees.

However, the present utility model is not limited thereto, and the values of the first included angle phi 1 and the second included angle phi 2 can be changed according to the change of the working range to be realized. For example, when the working range to be achieved is ±70 degrees, the difference between the first angle phi 1 and the second angle phi 2 can be made 70 degrees, and there is a maximum clamping force at 35 degrees. When the working range to be realized is + -50 degrees, the difference between the first included angle phi 1 and the second included angle phi 2 can be 50, and the maximum clamping force is realized at 25 degrees. The utility model is not limited thereto, and the first included angle phi 1 and the second included angle phi 2 can be designed into other angles according to actual requirements. Of course, the maximum clamping force occurs at a value that is not intermediate to the operating range and may be intermediate.

As a preferred embodiment, the maximum swing angle of the first swing member 100 and the second swing member 200 in the working range has two limit values at which the clamping force between the first swing member 100 and the second swing member 200 is equal. And the difference between the clamping force at the limit value and the maximum clamping force in the working range is minimal. In one embodiment, the maximum swing angle of the first swing member 100 and the second swing member 200 with respect to the center plane has limit values of 0 degrees and 60 degrees, and the clamping force between the first swing member 100 and the second swing member 200 at 0 degrees is equal to the clamping force between the first swing member 100 and the second swing member 200 at 60 degrees. In this case, the difference between the clamping force between the first swing member 100 and the second swing member 200 and the clamping force at the swing angle of 30 degrees is small.

According to another aspect of the present utility model, there is provided a surgical instrument to which the end effector described with reference to fig. 1A and 1B is applicable.

Fig. 6 shows a perspective view of an end portion of a surgical instrument according to an embodiment of the present utility model, fig. 7A is a front view of the surgical instrument after removing a sleeve according to an embodiment of the present utility model, and fig. 7B is a rear view of the surgical instrument after removing the sleeve according to an embodiment of the present utility model.

The surgical instrument according to the present utility model may include a driven mechanism connected to the first swing member 100 and the second swing member 200, the driven mechanism being connected to the external driving unit, and the driven mechanism may be equivalent to the crank block coupling structure as described above together with the connection portion of the swing members.

As shown in fig. 6, 7A and 7B, the surgical instrument further includes a guide 300, the guide 300 having a receiving cavity therein, and at least a portion of the follower mechanism being received in the receiving cavity of the guide 300. The plane passing through the axis of the guide bar 300 and the axis of the center rotational shaft 150 is defined as a center plane (corresponding to the "zero position" as described above), and the first swing member 100 and/or the second swing member 200 can swing with respect to the center plane about the center rotational shaft 150.

According to an embodiment of the present utility model, the swing angle of the first swing member 100 and/or the second swing member 200 with respect to the center plane may range from-10 degrees to 70 degrees. The end effector of the present utility model adopts an asymmetric structure, and thus can easily achieve the swing angle to expand the working range of the surgical instrument.

Preferably, the first swing member 100 and/or the second swing member 200 can swing around the center rotation shaft 150 with respect to one side of the center plane. That is, the swing range of the first swing member 100 and/or the second swing member 200 may be 0 to 70 degrees. However, the present utility model is not limited thereto, and the swing angle of the first swing member 100 and/or the second swing member 200 with respect to the center plane may be 0 to 60 degrees.

Since the surgical instrument can rotate around the central axis of the guide bar 300, the end effector also has a degree of freedom of rotation, even if the first swing member 100 and/or the second swing member 200 swings on only one side of the central plane, the working range of the surgical instrument can involve the entire circumferential surface centered on the Z-axis.

According to the embodiment of the present utility model, when the swing angle of the first swing member 100 and the second swing member 200 with respect to the center plane is 30 degrees, the clamping force between the first swing member 100 and the second swing member 200 is maximized. As can be seen from the above, the maximum clamping force indicates that the crank block structure driving the first swing member 100 and the second swing member 200 at this time is symmetrical with respect to the center plane.

According to an embodiment of the present utility model, the first swing member 100 and the second swing member 200 may be rotatably connected to the driven mechanism by the first driving portion 111 and the second driving portion 211, respectively, and the driven mechanism and the first driving portion 111 and the second driving portion 211 are formed as a part of the crank block structure. When the clamping force between the first swing member 100 and the second swing member 200 is maximum, the first driving portion 111 and the second driving portion 211 are also symmetrical with respect to the center plane. Accordingly, when the swing angle of the first swing member 100 and the second swing member 200 with respect to the center plane is 0 degrees, the first driving portion 111 and the second driving portion 211 are asymmetrically disposed with respect to the center plane.

According to an embodiment of the present utility model, the swing angle of the surgical instrument having the end effector is greater than or equal to the difference between the first included angle phi 1 and the second included angle phi 2, so as to provide the maximum clamping force within the predetermined deflection angle range. That is, when the range of the working angle is equal to the difference between the first included angle phi 1 and the second included angle phi 2 and there is the maximum clamping force at the angle of the swing angle (phi 1-phi 2)/2, the surgical instrument can be prevented from being abruptly attenuated when deflected to the limit position within the swing angle. That is, in the case where the swing angle is θ, the clamping force between the first swing member 100 and the second swing member 200 is maximum when the swing angle is θ/2. For example, in the case where the swing angle is 60 degrees, the clamping force between the first swing member 100 and the second swing member 200 is maximum when the swing angle is 30 degrees.

With continued reference to fig. 6, 7A and 7B, a driven mechanism of a surgical instrument according to the present utility model may include a first driver 400 and a second driver 500. The first ends of the first driving part 400 and the second driving part 500 are used to be connected with an external driving unit, the first swing part 100 is rotatably connected with the second end of the first driving part 400 through the first driving part 111, and the second swing part 200 is rotatably connected with the second end of the second driving part 500 through the second driving part 211.

The guide bar 300 has first and second guide holes 310 and 320 formed therein to be spaced apart from each other, and at least a portion of the first and second driving members 400 and 500 are respectively disposed in the first and second guide holes 310 and 320 to guide movement of the first and second driving members 400 and 500, respectively.

The first driving member 400 may include a first push-pull rod 410 and a first link 420 coupled to each other, and a first end of the first coupling portion 110 of the first swing member 100 is rotatably coupled to the first link 420.

The second driving member 500 may include a second push-pull rod 510 and a second link 520 rotatably coupled to each other, and a second end of the second coupling portion 210 of the second swing member 200 is rotatably coupled to the second link 520.

In order to determine the movement path of the first push-pull rod 410 and the second push-pull rod 510 in the guide rod 300 and avoid the movement interference of the first push-pull rod 410 and the second push-pull rod when moving, the first guide hole 310 and the second guide hole 320 are provided. According to an embodiment of the present utility model, the guide 300 includes a sleeve 301 and a guide 350 coupled to a first end of the sleeve 301, and the first guide hole 310 and the second guide hole 320 are formed in the guide 350, and the guide 350 may be a separate member from the sleeve 301 or may be a member integrally formed with the sleeve 301.

At least a portion of the first push-pull rod 410 of the first driver 400 and at least a portion of the second push-pull rod 510 of the second driver 500 may be received in the sleeve 301.

According to an embodiment of the present utility model, the guide 350 is disposed at the first end of the sleeve 301, and the end effector is also disposed at the first end of the sleeve, and when the surgical instrument is used for minimally invasive surgery, the end effector protrudes into the patient, and smoke may be generated during operation, and if the smoke is not timely guided to the outside, the view of the endoscope may be affected.

For this, a smoke discharge hole 330 is further provided in the guide 350 according to the present utility model, and the smoke discharge hole 330 guides smoke into the sleeve 301 of the guide 300 and along the inner passage to the second end of the sleeve 301 to discharge the smoke to the outside.

According to the embodiment of the present utility model, the arrangement of the smoke exhaust holes 330 is not limited thereto as long as a path for communicating the first end and the second end of the guide 300 can be implemented at the guide 300.

In addition, in order to prevent the arrangement of the smoke discharging hole 330 from affecting the movement of the first push-pull rod 410 and the second push-pull rod 510, the smoke discharging hole 330 may be spaced apart from the first guide hole 310 and the second guide hole 320. However, the present utility model is not limited thereto, and the smoke discharging hole 330 may be provided in communication with at least one of the first and second guide holes 310 and 320, as long as the first and second guide holes 310 and 320 can guide the first and second push-pull rods 410 and 510 to move in a direction parallel to the center plane.

Furthermore, the first push-pull rod 410 and the second push-pull rod 510 are used to drive the first swing member 100 and the second swing member 200, respectively, and the first push-pull rod 410 and the second push-pull rod 510 may correspond to the slider of the crank slider structure, which is connected to the first swing member and the second swing member through the first link 420 and the second link 520, respectively, i.e., the first push-pull rod 410 and the second push-pull rod 510 are indirectly connected to the corresponding swing members through the link structure. However, the present utility model is not limited thereto, and for example, the first push-pull rod 410 and the second push-pull rod 510 may be connected to the respective swinging members through a gear transmission mechanism or the like, so long as the respective swinging members can swing when the push-pull rods move in a direction parallel to the horizontal plane.

As described above, the first push-pull rod 410 and the second push-pull rod 510 are disposed in parallel with each other, and furthermore, as shown in fig. 6, the first end of the first push-pull rod 410 and the first end of the second push-pull rod 510 are inserted into the first guide hole 310 and the second guide hole 320, respectively, and the second end of the first push-pull rod 410 and the second end of the second push-pull rod 510 are connected with a driving unit (not shown) disposed at the second end of the sleeve 301, respectively.

According to the embodiment of the present utility model, as described above, the driving structure of the first swing member 100 approximately constitutes one crank block mechanism (specifically, an eccentric crank block mechanism) according to the first push-pull rod 410, the first link 420, the first swing member 100 and the rotational connection structure therebetween. The connection line between the first driving part 111 and the central rotating shaft 150 at the rotation connection position of the first connecting rod 420 and the first swinging member 100 forms a virtual crank, and the motion rule of the virtual crank is the same as that of the first swinging member 100, so that the motion rule of the first swinging member 100 can be obtained through the motion rule of the virtual crank. In addition, the first push-pull rod 410 slides in the first guide hole 310 in a manner that can be regarded as a movement driven by a slider having a predetermined sliding direction.

In addition, as indicated above, the structures formed between the first push-pull rod 410, the first link 420 and the first swinging member 100 are the same as the structures formed between the second push-pull rod 510, the second link 520 and the second swinging member 200, and therefore, the above relationship is also satisfied between the displacement of the second push-pull rod 510 and the angle through which the second swinging member 200 rotates.

Fig. 8 shows a schematic diagram of the principle of motion of the second oscillating member and its driven structure in the surgical instrument, and the second oscillating member in fig. 8 is in a zero position. Specifically, the following relationship is satisfied between the displacement of the second push-pull rod 510 and the swing angle of the second swing member 200:

wherein: s is the displacement of the second push-pull rod 510, which is a vector with direction;

a is the length of the connection line between the central axis of the second driving part 211 and the central rotating shaft (150);

b is the length of the second link 520;

c is the vertical distance between the central axis of the second push-pull rod 510 and the central plane;

d is the horizontal (based on the direction shown in fig. 8) distance from the central rotation axis 150 to the rotational connection of the second link 520 and the second push-pull rod 510;

alpha is the included angle between the central axis of the second driving part 211 and the connecting line of the central rotating shaft 150;

θ is an angle through which the second swing member 200 rotates under the driving of the second push-pull rod 510, and is a vector having a direction.

In addition, the relationship between the swing angle of the first push-pull rod 410 and the first swing member 100 is the same as the displacement of the second push-pull rod 510 and the swing angle of the second swing member 200, so a detailed description thereof will be omitted.

Fig. 9 shows a perspective view of a guide 350 according to the utility model arranged at the end of the sleeve 301. Fig. 10 shows a perspective view of a guide 350 at another angle.

As shown in fig. 9 and 10, the guide 350 may have a cylindrical shape as a whole, and the guide 350 has a first portion 351 embedded in the sleeve 301 and a second portion 352 extending from the first portion 351 toward the end effector, the second portion 352 including a first rotation support 361 and a second rotation support 362 facing each other and disposed along an outer circumference of the guide 350, the first swing member 100 and the second swing member 200 being rotatably disposed on the first rotation support 361 and the second rotation support 362 through the central rotation shaft 150.

As shown in fig. 9, the first guide hole 310, the second guide hole 320, and the smoke exhaust hole 330 are formed at the first and second rotation support parts 361 and 362, and the smoke exhaust hole 330 is formed between the first and second guide holes 310 and 320.

However, the present utility model is not limited thereto, and the first guide hole 310, the second guide hole 320, and the smoke exhaust hole 330 may be in other arrangements.

According to another aspect of the utility model, a surgical instrument may include: the guide rod 300, the guide rod 300 is internally provided with a containing cavity; the connecting mechanism is arranged in the accommodating cavity, and one end of the connecting mechanism is used for being connected with the external unit; and the end effector is rotationally connected with the other end of the connecting mechanism, and a through hole which enables one end of the end effector to be mutually communicated with one end of the external unit is arranged in the guide rod 300.

The guide rod 300 may include a sleeve 301 and a guide 350, and the above-mentioned through holes may be provided in the guide 350, and the through holes may include guide holes 310 and 320 provided to be spaced apart from each other or at least partially communicate with each other and a smoke discharging hole 330, in which the follower is provided.

As described above, the through-holes may be provided at the end of the guide bar 300. Further, the external unit may be provided with a communication passage, which may communicate with the through holes 310, 320, and 330.

According to an embodiment of the utility model, the connection mechanism may be a driven mechanism or an electrical connection, and the external unit may be an external driving unit or a power supply unit. In the case of an external driving unit, the driving of the two push-pull rods may be performed separately, but it is not necessary to use two separate driving structures, and in a possible embodiment, the external driving unit may be provided as a group and have two motion output positions, which may be respectively connected to the second end of the first push-pull rod 410 and the second end of the second push-pull rod 510. In the case where the connection mechanism is a power supply unit, the surgical instrument is an energy instrument, and the power supply unit supplies power to an end effector such as an electric hook through an electrical connection. In this case, smoke generated by the energy apparatus during operation can be discharged through the through holes.

According to an embodiment of the present utility model, the end effector disposed at the other end of the connection structure may be the end effector described according to the above embodiment, and a detailed description thereof will be omitted herein.

The driven mechanism may include the first and second driving members 400 and 500, and the structures of the first and second driving members 400 and 500 and the guide 300 are the same as those according to the above-described embodiments, and detailed descriptions thereof will be omitted.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

Furthermore, the described features, structures, or characteristics of the utility model may be combined in any suitable manner in one or more embodiments. In the above description, numerous specific details are provided to give a thorough understanding of embodiments of the utility model. One skilled in the relevant art will recognize, however, that the inventive aspects may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the utility model.

Claims

1. An end effector for a surgical robot, the end effector comprising a first swing member (100) and a second swing member (200), the first swing member (100) and the second swing member (200) being pivotally connected by a central rotational axis (150), wherein the first swing member (100) and the second swing member (200) are of an asymmetric configuration.

2. The end effector for a surgical robot of claim 1, wherein the first swing (100) and the second swing (200) are of an asymmetric configuration with respect to the central axis of rotation (150).

3. The end effector for a surgical robot according to claim 1, wherein the first swing member (100) includes a first connecting portion (110) and a first operating portion (120), an angle between the first connecting portion (110) and the first operating portion (120) being a first angle phi 1,

the second swinging piece (200) comprises a second connecting part (210) and a second operating part (220), the included angle between the second connecting part (210) and the second operating part (220) is a second included angle phi 2,

wherein, the first included angle phi 1 is larger than the second included angle phi 2.

4. The end effector for a surgical robot of claim 3,

the first operation part (120) and the second operation part (220) are provided with a first operation surface (1201) and a second operation surface (2201) which face each other, an included angle between the first connection part (110) and the first operation surface (1201) is a first included angle phi 1, and an included angle between the second connection part (210) and the second operation surface (2201) is a second included angle phi 2.

5. The end effector for a surgical robot of claim 4, wherein the first connecting portion (110) has a first end and a second end, the second connecting portion (210) has a first end and a second end,

The second end of the first connecting part (110) and the second end of the second connecting part (210) are pivotally connected through a central rotating shaft (150),

the first end of the first connecting part (110) is provided with a first driving part (111), the first end of the second connecting part (210) is provided with a second driving part (211),

an included angle between a connecting line between the first driving part (111) and the central rotating shaft (150) and the first operating part (120) is a first included angle phi 1, and an included angle between a connecting line between the second driving part (211) and the central rotating shaft (150) and the second operating part (220) is a second included angle phi 2.

6. The end effector for a surgical robot according to claim 4, characterized in that the first operating surface (1201) and/or the second operating surface (2201) are coplanar with the central rotation axis (150),

wherein the first operation part (120) is fixedly connected with the second end of the first connection part (110) and protrudes outwards relative to the first connection part (110),

the second operation part (220) is fixedly connected with the second end of the second connection part (210) and protrudes outwards relative to the second connection part (210).

7. The end effector for a surgical robot of any one of claims 3-6,

8. The end effector for a surgical robot according to claim 7, wherein a swing angle θ of the first swing member (100) and the second swing member (200) is equal to or greater than a difference between the first included angle Φ1 and the second included angle Φ2.

9. The end effector for a surgical robot according to any one of claims 3 to 6, wherein in the case where the swing angle of the first swing member (100) and the second swing member (200) is θ, the clamping force between the first swing member (100) and the second swing member (200) is maximized when the swing angle is θ/2.

10. The end effector for a surgical robot of claim 9, wherein the θ/2 is 30 degrees.

11. The end effector for a surgical robot of claim 7, wherein the first included angle phi 1 differs from the second included angle phi 2 by less than or equal to 90 degrees.

12. The end effector for a surgical robot of claim 7, wherein the first included angle phi 1 ranges from 127 degrees to 137 degrees and the second included angle phi 2 ranges from 67 degrees to 77 degrees.

13. A surgical instrument comprising the end effector of any one of claims 1-12.

14. A surgical instrument according to claim 13, characterized in that the surgical instrument comprises a driven mechanism configured to be connected with an external drive unit, the driven mechanism being connected with the first swing member (100) and/or the second swing member (200),

wherein the surgical instrument further comprises a guide rod (300), a containing cavity is formed in the guide rod (300), at least part of the driven mechanism is contained in the containing cavity of the guide rod (300), a plane passing through the axis of the guide rod (300) and the axis of the central rotating shaft (150) is defined as a central plane, and the first swinging member (100) and/or the second swinging member (200) can swing around the central rotating shaft (150) relative to the central plane.

15. A surgical instrument according to claim 14, characterized in that the angle of oscillation of the first and second oscillating members (100, 200) with respect to the centre plane ranges from-10 degrees to 70 degrees.

16. A surgical instrument according to claim 14, characterized in that the first swing member (100) and/or the second swing member (200) is/are swingable about the central rotation axis (150) with respect to one side of the central plane,

Wherein the first swinging member (100) and/or the second swinging member (200) swings at an angle of 0 to 60 degrees with respect to the center plane.

17. The surgical instrument of claim 14, wherein the first swing member (100) and the second swing member (200) are connected to the driven mechanism by a first drive portion (111) and a second drive portion (211), respectively, the first drive portion (111) and the second drive portion (211) being symmetrically disposed with respect to a center plane when the first swing member (100) and the second swing member (200) swing at an angle θ/2 degrees with respect to the center plane; and/or

The first swinging member (100) and the second swinging member (200) are connected to the driven mechanism through a first driving portion (111) and a second driving portion (211), respectively, and when the swinging angle of the first swinging member (100) and the second swinging member (200) relative to the center plane is 0 degree, the first driving portion (111) and the second driving portion (211) are asymmetrically arranged relative to the center plane.

18. A surgical instrument as recited in claim 14, wherein,

the driven mechanism comprises a first driving piece (400) and a second driving piece (500), wherein first ends of the first driving piece (400) and the second driving piece (500) are used for being connected with an external driving unit, the first swinging piece (100) is rotatably connected with a second end of the first driving piece (400) through a first driving part (111), and the second swinging piece (200) is rotatably connected with a second end of the second driving piece (500) through a second driving part (211).

19. A surgical instrument as recited in claim 18, wherein,

first guiding hole (310) and second guiding hole (320) that are formed with each other interval setting in guide arm (300), first driving piece (400) with second driving piece (500) set up respectively in first guiding hole (310) and second guiding hole (320), be provided with in guide arm (300) and make exhaust gas hole (330) of both ends intercommunication of guide arm (300), exhaust gas hole (330) set up with first guiding hole (310) and second guiding hole (320) interval, guide arm (300) include sleeve (301) and connect guide piece (350) of the first end of sleeve (301), sleeve (301) inside be formed with hold first driving piece (400) with hold chamber of second driving piece (500), first guiding hole (310), second guiding hole (320) and exhaust gas hole (330) all form in guide piece (350).

20. A surgical robot, characterized in that it comprises a surgical instrument according to any one of claims 13-19.