WO2022135356A1 - 器械末端、器械末端组件及手术器械 - Google Patents

器械末端、器械末端组件及手术器械 Download PDF

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Publication number
WO2022135356A1
WO2022135356A1 PCT/CN2021/139822 CN2021139822W WO2022135356A1 WO 2022135356 A1 WO2022135356 A1 WO 2022135356A1 CN 2021139822 W CN2021139822 W CN 2021139822W WO 2022135356 A1 WO2022135356 A1 WO 2022135356A1
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WO
WIPO (PCT)
Prior art keywords
guide
opening
instrument
base
traction body
Prior art date
Application number
PCT/CN2021/139822
Other languages
English (en)
French (fr)
Inventor
何裕源
蒋友坤
何超
Original Assignee
上海微创医疗机器人（集团）股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Publication of WO2022135356A1 publication Critical patent/WO2022135356A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members

Definitions

  • the invention relates to the technical field of medical instruments, in particular to an instrument end, an instrument end assembly and a surgical instrument.
  • the micro-traumatic surgical robot can reduce the physical labor of the doctor during the operation, and at the same time achieve the purpose of precise surgery, so that the patient has micro-trauma, less blood loss, less postoperative infection, and faster postoperative recovery.
  • the design of the surgical instruments for the minimally invasive surgical robot directly determines the success or failure of the surgical robot system.
  • the performance of the surgical instrument is a key factor affecting the performance level of the surgical robot system.
  • the purpose of the present invention is to provide an instrument end, an instrument end assembly and a surgical instrument to solve at least one of the problems of complex transmission structure, large space occupation and short service life of the existing instrument end assembly.
  • an instrument tip which includes: an interference portion for acting on a target tissue, a first guide assembly, a second guide assembly, a base body, and a base;
  • the interference portion is rotatably connected to the base body around a first axis
  • the base body is rotatably connected to the base about a second axis
  • the first guide assembly and the second guide assembly are used to guide the traction body and are arranged on both sides of the base body along the direction of the second axis;
  • the base has a channel for guiding the traction body, and the channel is located on the proximal end side of the first guide assembly and the second guide assembly.
  • an instrument end assembly which includes the above-mentioned instrument end and a plurality of traction bodies;
  • One end of a part of the traction body is connected with the interference part, and the other end extends to the proximal end under the guidance of the channel after passing through the first guide assembly and the second guide assembly, and is used for connecting with the drive unit connection;
  • One end of a part of the traction body is connected with the base body, and the other end is extended toward the proximal end under the guidance of the channel for connecting with the driving unit.
  • a surgical instrument which includes the above-mentioned instrument end assembly, an instrument shaft and a driving unit connected to the instrument end assembly.
  • the instrument end includes an interference portion for acting on the target tissue, an interference portion for acting on the target tissue, a first guide assembly, a second guide assembly, a base body and a base; the interference portion is rotatably connected to the base body around a first axis; the base body is rotatably connected to the base around a second axis; the first guide assembly and the second guide assembly is used to guide the traction body and is arranged on both sides of the base body along the direction of the second axis; the base has a channel for guiding the traction body, the channel on the proximal side of the first guide assembly and the second guide assembly.
  • This configuration improves the deflection angle of the traction body at each guide assembly, effectively increases the guide radius of the guide assembly without increasing the outer diameter of the instrument shaft, and thus increases the service life of the instrument end assembly.
  • the assembly structure is simplified, the stability of the end of the instrument is improved, and the end of the instrument has a larger range of motion and flexibility.
  • Fig. 1 is the overall schematic diagram of the surgical instrument according to the first embodiment of the present invention
  • FIG. 2 is a schematic diagram of the instrument end assembly according to the first embodiment of the present invention.
  • FIG. 3 is an exploded view of the instrument end assembly according to the first embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the end of the instrument according to the first embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a first opening and closing assembly and a second opening and closing assembly according to Embodiment 1 of the present invention
  • FIG. 6a is a schematic diagram of a first opening and closing assembly according to Embodiment 1 of the present invention.
  • 6b is a schematic diagram of another angle of the first opening and closing assembly according to the first embodiment of the present invention.
  • FIG. 7a is a schematic diagram of a second opening and closing assembly according to Embodiment 1 of the present invention.
  • FIG. 7b is a schematic diagram of another angle of the second opening and closing assembly according to the first embodiment of the present invention.
  • Fig. 8a is a schematic diagram of the substrate of the first embodiment of the present invention.
  • Fig. 8b is a schematic diagram of another angle of the substrate according to the first embodiment of the present invention.
  • FIG. 9 is a side view of the first opening and closing assembly, the second opening and closing assembly and the base body according to the first embodiment of the present invention.
  • FIG. 10 is a schematic diagram of the base of the first embodiment of the present invention.
  • FIG. 11 is a bottom view of the base of the first embodiment of the present invention.
  • FIG. 13 is a top view of the base body and the base after being assembled according to the first embodiment of the present invention.
  • FIG. 15 is a schematic diagram of an instrument rod connection seat according to Embodiment 1 of the present invention.
  • Figure 16 is a top view of the instrument rod connection seat according to the first embodiment of the present invention.
  • 17 is a schematic diagram of the assembled base and the instrument rod connecting seat according to the first embodiment of the present invention.
  • Fig. 18 is the bottom view after the assembly of the base and the connecting seat of the instrument rod according to the first embodiment of the present invention.
  • Fig. 19 is a schematic diagram of the instrument end assembly according to the second embodiment of the present invention.
  • Figure 20 is an exploded view of the instrument end assembly according to the second embodiment of the present invention.
  • Fig. 21 is an exploded view of another angle of the instrument end assembly according to the second embodiment of the present invention.
  • Figure 22 is an exploded view of the device end assembly according to the third embodiment of the present invention.
  • FIG. 24 is a schematic diagram of the instrument end assembly according to the fourth embodiment of the present invention.
  • Fig. 25 is an exploded view of the instrument end assembly according to the fourth embodiment of the present invention.
  • 26 is a schematic diagram of the base of the fourth embodiment of the present invention.
  • FIG. 27 is a schematic diagram of the substrate of the fourth embodiment of the present invention.
  • 20 the second opening and closing assembly; 200 - the second opening and closing piece; 203 - the third opening and closing piece connecting part; 204 - the fourth opening and closing piece connecting part;
  • 80-instrument rod connection seat 801-seventh traction body groove; 802-eighth traction body groove; 803-ninth traction body groove; 804-tenth traction body groove; 805-eleventh traction body groove; 806- The twelfth traction body slot; 81-limiting plate; 82-card slot; 83-avoidance slot; 810-main body section; 820-diameter reduction section;
  • features defined as “first”, “second”, “third” may expressly or implicitly include one or at least two of these features, the term “proximal” is generally the end close to the operator, the term “proximal” “Distal” is usually the end close to the patient, that is, close to the surgical site, “one end” and “the other end” and “proximal” and “distal” usually refer to the corresponding two parts, which not only include the end point, the term “Installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated; it may be a mechanical connection or an electrical connection; it may be a direct connection, or a It can be indirectly connected through an intermediate medium, and it can be the communication between the two elements or the interaction relationship between the two elements.
  • the arrangement of one element on another element generally only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements may be direct or indirect through intermediate elements connection, coupling, cooperation or transmission, and should not be construed as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any position inside, outside, above, below or on one side of the other element, unless the content Also clearly stated.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the core idea of the present invention is to provide an instrument end, an instrument end assembly and a surgical instrument to solve at least one of the problems of complex transmission structure, large space occupation and short service life of the existing instrument end assembly.
  • FIG. 1 is an overall schematic diagram of the surgical instrument according to the first embodiment of the present invention
  • FIG. 2 is a schematic diagram of the end assembly of the instrument according to the first embodiment of the present invention
  • FIG. 3 is the instrument according to the first embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the device end of the first embodiment of the present invention
  • Fig. 5 is a schematic diagram of the first opening and closing assembly and the second opening and closing assembly of the first embodiment of the present invention
  • Fig. 6a is an embodiment of the present invention
  • Fig. 6b is a schematic diagram of the first opening and closing assembly of the first embodiment of the present invention from another angle
  • FIG. 7a is a schematic diagram of the second opening and closing assembly of the first embodiment of the present invention
  • Fig. 7b is a schematic diagram of another angle of the second opening and closing assembly of the first embodiment of the present invention
  • FIG. 8a is a schematic diagram of the base body of the first embodiment of the present invention
  • FIG. 8b is a schematic diagram of another angle of the base body of the first embodiment of the present invention
  • 9 is a side view of the first opening and closing assembly, the second opening and closing assembly and the base body of the first embodiment of the present invention
  • FIG. 10 is a schematic diagram of the base of the first embodiment of the present invention
  • FIG. 11 is the first embodiment of the present invention.
  • FIG. 12 is a top view of the base of the first embodiment of the present invention
  • Figure 13 is a top view of the base body and the base of the first embodiment of the present invention after assembly
  • Figure 14 is the base body and the base of the first embodiment of the present invention.
  • FIG. 15 is a schematic diagram of the instrument rod connection seat of the first embodiment of the present invention
  • FIG. 16 is a top view of the instrument rod connection seat of the first embodiment of the present invention
  • FIG. 17 is the base of the first embodiment of the present invention.
  • Figure 18 is a bottom view after assembly of the base and the connecting seat of the instrument rod according to the first embodiment of the present invention.
  • the first embodiment of the present invention provides a surgical instrument, which includes: an instrument end 1 and six traction bodies, and the instrument end 1 and the six traction bodies constitute an instrument end assembly.
  • the surgical instrument further includes an instrument rod 2 and a drive unit 3.
  • One end of the six traction bodies is respectively connected to the instrument end 1, and the other end is connected to the drive unit 3 through the instrument rod 2.
  • the drive unit 3 passes through the six traction bodies.
  • the traction body drives the instrument end 1 to perform actions to achieve the operation.
  • FIG. 2 and FIG. 3 show the instrument end assembly provided in the first embodiment; the six traction bodies are the first traction body 71 , the second traction body 72 , the third traction body 73 , and the fourth traction body respectively. 74.
  • the fifth traction body 75 and the sixth traction body 76, the six traction bodies can be filamentary traction bodies such as wire ropes.
  • a clip-type surgical tool including two opening and closing pieces is used as an example for description.
  • the instrument end 1 includes two interference parts, namely a first opening and closing component and a second opening and closing component;
  • the two-opening assembly is used to perform surgery/act on the target tissue.
  • the instrument end 1 further includes: a first guide assembly 30, a second guide assembly 40, a base body 50 and a base 60;
  • the first opening and closing assembly 10 and the second opening and closing assembly 20 are respectively rotatably connected to the base body 50 around the first axis 91;
  • the first opening and closing assembly 10 includes a first opening and closing piece 100, a second opening and closing An opening and closing piece connecting part 101 and a second opening and closing piece connecting part 102, the first opening and closing piece 100 rotates around the first axis 91; the first opening and closing piece connecting part 101 and the second opening and closing piece
  • the opening and closing pieces 102 are fixedly connected with the first opening and closing piece 100 or extend integrally from the first opening and closing piece 100 , and the first opening and closing piece connecting part 101 is connected with the second opening and closing piece
  • the parts 102 are arranged on opposite sides of the base body 50 along the first axis 91; the first opening and closing piece connecting part 101 and the second opening and closing piece connecting part 102 are respectively used for the first traction body 71 and the second traction body 72 are wound in opposite directions; the first opening and closing assembly 10 is configured to be driven by the
  • the second opening and closing assembly 20 includes a second opening and closing piece 200 , a third opening and closing piece connecting portion 203 and a fourth opening and closing piece connecting portion 204 , and the second opening and closing piece 200 rotates around the first axis 91 ;
  • the third opening and closing piece connecting portion 203 and the fourth opening and closing piece connecting portion 204 are fixedly connected with the second opening and closing piece 200 or extend integrally from the second opening and closing piece 200.
  • the third opening and closing piece connecting part 203 and the fourth opening and closing piece connecting part 204 are arranged on both sides of the base body 50 along the first axis 91 ; the third opening and closing piece connecting part 203 and the first opening and closing piece connecting part 203 and the first The four opening and closing piece connecting parts 204 are respectively used for the third pulling body 73 and the fourth pulling body 74 to be wound in opposite directions; the second opening and closing assembly 20 is configured to connect the third pulling body 73 and all the Driven by the fourth traction body 74, it rotates around the first axis 91 in the opposite direction; it can be understood that in some embodiments, one of the first opening and closing assembly 10 and the second opening and closing assembly 20 rotates around One axis 91 rotates, and the other can be rotated or fixed, and both can realize opening and closing movement.
  • the base body 50 is rotatably connected to the base 60 around a second axis 92, and the second axis 92 is perpendicular to the first axis 91; the base body 50 is used for the fifth traction body 75 and the sixth
  • the traction body 76 is connected and used to rotate around the second axis 92 in opposite directions under the driving of the fifth traction body 75 and the sixth traction body 76;
  • the first guide assembly 30 and the second guide assembly 40 are used to guide the traction body and are arranged on both sides of the base body 50 along the direction of the second axis 92.
  • the first traction body 71 and the third traction body 73 are wound around, and the second guide assembly 40 is used for the second traction body 72 and the fourth traction body 74 to be wound around; in a preferred implementation
  • the first guide assembly 30 and the second guide assembly 40 are coaxially arranged along the second axis 92.
  • the first guide assembly 30 and the second guide assembly 40 are not limited to being along the second axis 92, one or both of the first guide assembly 30 and the second guide assembly 40 may also form a certain eccentricity with the second axis 92.
  • the base 60 has a channel for guiding the traction body (for details, please refer to the first to fourth guide grooves 631-634 and the first to sixth traction body grooves 651-656 in FIG. 10 , etc.),
  • the channel is located on the proximal side of the first guide assembly 30 and the second guide assembly 40 .
  • the base 60 includes a base plate 600 , the base plate 600 is parallel to the second axis 92 , and the channel extends from the base plate 600 along the axial direction of the base plate 600 and passes through the base plate.
  • the channel penetrates through the base plate 600 to form at least a first pulling body through hole 601 , a second pulling body through hole 602 , a third pulling body through hole 603 , a fourth pulling body through hole 604 , and a fifth pulling body through hole 604 .
  • the body through holes 605 and the sixth traction body through holes 606 are respectively used for the first to sixth traction bodies 71 to 76 to pass through.
  • the channel here extends along the axial direction of the substrate 600 , and is not limited to the extending direction of the channel being perpendicular to the substrate 600 , it may extend approximately along the axial direction of the substrate 600 , for example, the channel may be curved or skewed, etc. , as long as its general extension direction is along the axial direction of the substrate 600 , it should be regarded as extending along the axial direction of the substrate 600 .
  • one end of the first traction body 71 is connected to the first opening and closing piece 100 , and the other end is wound around the first opening and closing piece connecting portion 101 and the first guide assembly 30 in sequence, Passing through the hole 601 of the first traction body to connect with the drive unit 3; one end of the second traction body 72 is connected to the first opening and closing piece 100, and the other end is wound around the second opening in turn.
  • the sheet connecting part 102 and the second guide assembly 40 pass through the through hole 602 of the second traction body to connect with the drive unit 3; one end of the third traction body 73 is opened and closed with the second traction body
  • the plate 200 is connected, and the other end is wound around the third opening and closing plate connecting portion 203 and the first guide assembly 30 in turn, and passes through the third traction body through hole 603 to connect with the drive unit 3;
  • One end of the fourth traction body 74 is connected to the second opening and closing piece 200, and the other end is sequentially wound around the fourth opening and closing piece connecting portion 204 and the second guide assembly 40, and passes through the first opening and closing piece 40.
  • the four traction body through holes 604 are connected to the drive unit 3 ; one end of the fifth traction body 75 is connected to the base body 50 , and the other end passes through the fifth traction body through holes 605 and is connected to the drive unit 3 ; One end of the sixth traction body 76 is connected to the base body 50 , and the other end passes through the hole 606 of the sixth traction body and is connected to the drive unit 3 .
  • the driving unit 3 preferably includes three drivers, and each driver is connected with two traction bodies respectively, so that the driving unit 3 can realize three degrees of freedom for the instrument end 1 (respectively the first opening and closing pieces) through the six traction bodies.
  • the opening and closing degrees of freedom of the 100, the opening and closing degrees of freedom of the second opening and closing piece 200, and the pitching degrees of freedom of the base body 50) drive control.
  • the driving unit 3 can drive the first opening and closing piece 100 to rotate around the first axis 91 through the first pulling body 71 and the second pulling body 72 , and can drive the first opening and closing piece 100 through the third pulling body 73 and the fourth pulling body 74 .
  • the two opening and closing pieces 200 rotate around the first axis 91, that is, the relative opening and closing movement of the two opening and closing pieces is realized; the driving unit 3 can drive the base body 50 to surround the second When the axis 92 rotates, the driving base 50 can be tilted relative to the base 60 .
  • the first opening and closing piece 100 and the second opening and closing piece 200 are correspondingly provided with the first opening and closing piece connecting part 101 , the second opening and closing piece connecting part 102 , the third opening and closing piece connecting part 203 and the fourth opening and closing piece
  • the opening and closing piece connecting parts 204 are arranged coaxially along the first axis 91; the first guide assembly 30 and the second guide assembly 40 are arranged coaxially along the second axis 92;
  • the opening and closing direction of the closing piece is perpendicular to the first axis 91; on the premise that the radial dimension of the instrument end 1 is constant, the guide radius of the guide assembly and the guide radius of the connecting part of the opening and closing piece can be effectively increased, thereby reducing the traction
  • the bending degree of the body increases the service life of the end components of the instrument.
  • the above-mentioned arrangement is simple, simplifies the assembly structure, improves the stability of the instrument end 1, and at the same time enables the instrument end 1 to have a larger
  • the base body 50 has an opening and closing arm 51 disposed along the direction of the first axis 91 , a first opening and closing piece connecting portion 101 and a second opening and closing piece connecting portion 102
  • the distance is adapted to the axial length of the opening and closing arm 51 along the first axis 91 .
  • the distance between the third opening and closing piece connecting part 203 and the fourth opening and closing piece connecting part 204 is the same as that when the first opening and closing piece connecting part 101 and the second opening and closing piece connecting part 102 are clamped on both sides of the opening and closing arm 51 .
  • the maximum axial length of the first axis 91 (that is, the distance between the two ends of the first opening and closing piece connecting portion 101 and the second opening and closing piece connecting portion 102 away from each other) is adapted, and the third opening and closing piece connecting portion 203 and the fourth opening and closing piece connecting portion 203 and the fourth The opening and closing piece connecting parts 204 are respectively clamped on both sides of the first opening and closing piece connecting part 101 and the second opening and closing piece connecting part 102 .
  • Each of the first, second, third and fourth opening and closing piece connecting parts is arc-shaped around the first axis 91 respectively, and the cross-sectional shape of the opening and closing piece connecting parts in the radial direction It is matched with the cross-sectional shape of the corresponding traction body to accommodate the traction body, and can guide and restrict the traction body to prevent the traction body from slipping out of the connecting part of the opening and closing piece. Further, each opening and closing piece connecting portion also has a traction body fixing point, so as to fix the traction body.
  • the arrangement order of the four opening and closing piece connecting parts is not limited to the third opening and closing piece connecting part 203 , the first opening and closing piece connecting part 101 , the second opening and closing piece connecting part 102 and the first opening and closing piece connecting part 102 .
  • the four opening and closing piece connecting parts 204 are arranged in sequence, or the third opening and closing piece connecting part 203 , the second opening and closing piece connecting part 102 , the first opening and closing piece connecting part 101 and the fourth opening and closing piece connecting part 204 in sequence Arrangement and other arrangements, those skilled in the art can adjust the arrangement sequence of the four opening and closing piece connecting parts according to the actual situation.
  • the four opening and closing piece connecting parts and the opening and closing arm 51 respectively have a first shaft hole, and the four opening and closing piece connecting parts and the opening and closing arm 51 are connected by a first pin shaft 910 passing through the first shaft hole.
  • the direction in which the first pulling body 71 is wound on the first opening and closing piece connecting portion 101 is opposite to the direction in which the second pulling body 72 is wound on the second opening and closing piece connecting portion 102; the third pulling body The direction in which the 73 is wound around the third opening and closing piece connecting portion 203 is opposite to the direction in which the fourth pulling body 74 is wound around the fourth opening and closing piece connecting portion 204 .
  • the base 60 has two supporting beams 61 arranged at intervals along the second axis 92
  • the base 50 has the tilting arms 52 arranged along the second axis 92
  • the distance between the two support beams 61 is adapted to the axial length of the pitch arm 52 along the second axis 92
  • the two support beams 61 are respectively clamped on both sides of the pitch arm 52 .
  • the two support beams 61 and the pitch arm 52 respectively have second shaft holes, and the two support beams 61 and the pitch arm 52 are connected by a second pin shaft 920 passing through the second shaft holes.
  • the fixing point of the fifth traction body 75 on the base body 50 and the fixing point of the sixth traction body 76 on the base body 50 are located on both sides of the second axis 92 respectively, so that it is convenient to pass the fifth traction body 75 and the second axis.
  • the six traction bodies 76 exert torques in different directions relative to the second axis 92 to the base body 50 , so as to drive the base body 50 to pitch and swing around the second axis 92 .
  • the first guide assembly 30 includes a first guide wheel 31 and a third guide wheel 33
  • the second guide assembly 40 includes a second guide wheel 42 and a fourth guide wheel 44; the first guide wheel 42 and the fourth guide wheel 44;
  • To the fourth guide wheel ie the first guide wheel 31, the second guide wheel 42, the third guide wheel 33 and the fourth guide wheel 44
  • the first to fourth guide wheels are respectively used for the first to fourth traction bodies (ie the first traction body 71 , the second traction body 72 , the third traction body 73 and the fourth traction body 74 ) to be wound around .
  • the direction in which the first traction body 71 is wound around the first guide wheel 31 is opposite to the direction in which the second traction body 72 is wound around the second guide wheel 42 , and the third traction body 73 is wound around the third
  • the direction on the guide wheel 33 is opposite to the direction in which the fourth traction body 74 is wound around the fourth guide wheel 44 .
  • the first guide wheel 31 , the second guide wheel 42 , the third guide wheel 33 and the fourth guide wheel 44 respectively have third shaft holes, the third guide wheel 33 and the first guide wheel 31
  • the second guide wheel 42 and the fourth guide wheel 44 are arranged on the other side of the other support beam 61 along the second axis 92, that is, the two support beams 61 are Sandwiched between four guide wheels.
  • the second pin shaft 920 not only penetrates through and connects the two support beams 61 and the pitch arm 52 , but also penetrates through the third shaft holes of the four guide wheels, so that the four guide wheels are rotatably connected with the second pin shaft 920 .
  • the base 60 includes a third guide assembly and a fourth guide assembly, the third guide assembly is located at the proximal end of the first guide assembly 30 along the axial direction of the base 60 , and the fourth guide assembly
  • the guide assembly is located at the proximal end of the second guide assembly 40 along the axial direction of the base 60 ; the third guide assembly and the fourth guide assembly are used to guide the traction body and are arranged along the third axis 93 at the proximal end of the second guide assembly 40 ;
  • the third axis 93 is parallel to the second axis 92; the third guide assembly is used to change the extension direction of the first traction body 71 and the third traction body 73,
  • the fourth guide assembly is used to change the extending directions of the second traction body 72 and the fourth traction body 74 .
  • the channel includes a plurality of guide grooves located at the distal end side of the base plate 600 , a part of the guide grooves is disposed on the third guide assembly, and the other part of the guide grooves is disposed on the third guide assembly.
  • each of the guide grooves is used for a traction body to be wound around, and is used to guide the traction body to extend proximally from the first guide assembly 30 and the second guide assembly 40 .
  • the guide grooves include first to fourth guide grooves (ie, a first guide groove 631, a second guide groove 632, a third guide groove 633 and a fourth guide groove 634).
  • the third guide groove 633 is located on the third guide assembly, the second guide groove 632 and the fourth guide groove 634 are located on the fourth guide assembly; the first to fourth guide grooves are respectively Corresponding one-to-one with the first to fourth guide wheels, the first to fourth guide grooves are respectively used for the first to fourth traction bodies (ie the first traction body 71, the second traction body 72, the The third traction body 73 and the fourth traction body 74) are wound around.
  • each guide groove includes a circular arc segment and a straight line segment, the circular arc segment is centered on the third axis 93, and the straight segment is perpendicular to the base plate 600 and is tangent to the circular arc segment.
  • the through hole of the traction body is located at the intersection of the straight line segment and the base plate 600 .
  • each guide groove can change the direction of the corresponding pulling body, so that the pulling body can vertically pass through the corresponding pulling body through hole on the base plate 600 .
  • the base 60 defines a first base surface passing through the second axis 92 and the third axis 93 , the first traction body through holes 601 and the third traction body through The hole 603 and the fifth pulling body through hole 605 are located on one side of the first base surface, the second pulling body through hole 602, the fourth pulling body through hole 604 and the sixth The pulling body through hole 606 is located on the other side of the first base surface. Since the winding directions of the two pulling bodies corresponding to each opening and closing piece on the connecting part of the opening and closing piece are opposite, correspondingly, the two pulling bodies corresponding to each opening and closing piece are pierced through holes respectively. It is placed on both sides of the first base surface to reduce the traction resistance of the traction body.
  • the four guide grooves are axially distributed along the third axis 93, and the four guide wheels (ie the first guide wheel 31 , the second guide wheel 42 , the third guide wheel 33 and the fourth guide wheel 44 ) the axial distribution positions along the second axis 92 are in one-to-one correspondence, so that the four traction bodies (ie the first traction body When the body 71, the second traction body 72, the third traction body 73 and the fourth traction body 74) extend from the guide wheel to the corresponding guide groove, there is no need to generate an axial direction along the second axis 92 or the third axis 93.
  • the offset effectively reduces the offset stretching of the traction body and reduces the friction of the guide wheel or the guide groove on the traction body.
  • the radius of the circular arc segment of the guide groove is ra
  • the cross-sections of the third guide component and the fourth guide component along the second axis 92 are circular (ie, The first guide wheel 31, the second guide wheel 42, the third guide wheel 33 and the fourth guide wheel 44 are all circular guide wheels)
  • the third guide assembly and the fourth guide assembly are used to change the traction body
  • the radius of the circle at the cross-section of the is rb
  • the distance T between the second axis 92 and the third axis 93 satisfies: ra+rb ⁇ T ⁇ ra+rb+3mm .
  • This configuration can reduce the frictional resistance of the four traction bodies when they extend from the guide wheels to the corresponding guide grooves.
  • the channel defines a circumscribed circle parallel to the substrate 600 , and the circumscribed circles of the channel have different radii along the axial direction of the substrate 600 .
  • the channel includes a traction body groove located at the proximal end side of the base plate 600, and the traction body groove is used to guide and change the extension direction of the traction body; the traction body groove is far from the base plate
  • the radius of the circumscribed circle defined closer to 600 is greater than the radius of the circumscribed circle defined farther from the substrate 600 .
  • the channel includes a plurality of the traction body grooves, and the plurality of traction body grooves are respectively used to guide and change the extending directions of the plurality of the traction bodies;
  • the channel includes six traction body grooves, which are the first to sixth traction body grooves (ie, the first traction body groove 651 , the second traction body groove 651 , the second traction body groove 651 , the second traction body groove slot 652 , third pulling body slot 653 , fourth pulling body slot 654 , fifth pulling body slot 655 and sixth pulling body slot 656 ), the first to sixth pulling body slots are arranged near the base plate 600
  • the first to sixth traction body grooves are respectively used to change the first to sixth traction bodies (ie, the first traction body 71 , the second traction body 72 , the third traction body 73 , the fourth traction body 74, the extension direction of the fifth traction body 75 and the sixth traction body 76); the first to sixth traction body grooves are respectively connected with the first to sixth traction body through holes (that is, the first traction body through Hole 601, second traction body through hole 602, third traction body through hole 603, fourth traction body through
  • the diameter of the circumscribed circle from where the sixth traction body groove is closer to the base plate 600 (the distal end side of the first to sixth traction body grooves).
  • the circumscribed circle of the distal ends of the first to sixth traction body grooves (ie, one end of the first to sixth traction body grooves connected to the base plate 600 ) is the outer circumference of the base plate 600 , and its diameter is D.
  • the first to sixth traction body grooves are all curved, and gradually approach the axis of the base plate 600 toward the proximal end, so that the circumscribed circle of the traction body groove toward the proximal end is gradually reduced, so that the six traction bodies can be After the guide of the traction body grooves changes direction, the distance between them gradually decreases, so that the radial distance between the traction body and the base 60 or the inner wall of the instrument rod connecting seat 80 (see below for details) can be increased, thereby preventing traction. There is friction between the body and the base 60 or the inner wall of the instrument rod connecting seat 80, which improves the efficiency and reliability, and at the same time can reserve the layout space for additional degrees of freedom joints on the periphery. The joint of the overall yaw of the end assembly to increase the range of motion or degree of freedom of the end of the instrument.
  • the instrument end 1 further includes an instrument rod connecting seat 80 , the instrument rod connecting seat 80 is detachably connected to the base 60 and is restricted relative to the base Circumferential rotation of the seat 60; the instrument shaft connecting seat 80 includes a plurality of traction body grooves, and the plurality of traction body grooves form a guide channel for guiding and defining at least a portion of the traction body.
  • the instrument rod connecting seat 80 includes seventh to twelfth traction body grooves (respectively, the seventh pull-in body groove 801, the eighth traction body groove 802, the ninth traction body groove 803, the tenth traction body groove 804, the tenth traction body groove 804, the A traction body groove 805 and a twelfth traction body groove 806), the seventh to twelfth traction body grooves are respectively connected with the first to sixth traction body grooves one by one opposite to each other, and are formed for guiding and limiting the
  • the guide channels of the first to sixth traction bodies for example, for the first traction body 71, the guide channel is composed of two parts, which are the first traction body groove 651 on the base 60 and the first traction body groove 651 on the instrument rod connecting seat 80.
  • the seventh traction body slot 801 the instrument rod connecting base 80 is substantially cylindrical, and has an axially penetrating inner cavity therein, and the seventh to twelfth traction body grooves are all defined in the inner cavity.
  • the instrument rod connecting seat 80 can be nested and assembled with the base 60, and can be positioned with the base 60 through the special-shaped contour of the inner cavity to prevent circumferential rotation. When the instrument rod connecting seat 80 can be nested and assembled with the base 60, the two corresponding traction body grooves cooperate with each other to form a guide channel for the traction body to pass through.
  • the cross-sections of the first traction body groove 651 and the seventh traction body groove 801 are two semicircles respectively, and after the two are connected and spliced together, a circular guide channel is formed for the first traction body 71 to pass through, preferably
  • the cross section of the guide channel formed by splicing the two traction body grooves is slightly larger than the outer diameter of the traction body, so as to guide and define the traction body.
  • the instrument rod connecting seat 80 cooperates with the base 60, so that the first to sixth traction body grooves are connected with the seventh to twelfth traction body grooves respectively, forming a complete traction body guiding channel, which can prevent the traction body from detaching from it and avoid the traction body.
  • the proximal end of the instrument rod connecting seat 80 has a reduced diameter section 820 , the outer diameter of which is smaller than the main body section 810 of the instrument rod connecting seat 80 , so as to be connected with the instrument rod 2 .
  • the cross section of the diameter-reducing section is preferably circular; optionally, a protruding buckle or a stopper may be provided on the diameter-reducing section, so as to limit the connection seat between the instrument rod 2 and the instrument rod after connecting with the instrument rod 2 80 circumferential rotation of both.
  • the diameters of the circumscribed circles of the distal ends of the seventh to twelfth traction body grooves are smaller than the diameters of the circumscribed circles of the proximal ends of the seventh to twelfth traction body grooves.
  • the traction body grooves are all curved, and gradually approach the axis direction of the instrument rod connecting seat 80, so that the circumscribed circle of the proximal end of the traction body groove is reduced, so that the six traction bodies can be guided by the traction body groove and change their direction. The distance between them is further reduced, so that the friction between the traction body and the inner wall of the instrument shaft 2 can be further prevented.
  • At least one of the instrument rod connecting seat 80, the base 60 and the first to fourth opening and closing piece connecting parts is made of materials with low friction coefficient and good wear resistance, such as PEEK, PTFE, FEP, Nylon etc. It should be understood that the entirety of the instrument rod connecting seat 80 , the base 60 and the opening and closing piece connecting part are all made of materials with low friction coefficient and good wear resistance. In some embodiments, it can also be an instrument The rod connecting seat 80 , the base 60 and the part of the opening and closing piece connecting part for contacting the traction body (such as the traction body groove, etc.) are made of materials with low friction coefficient and good wear resistance to reduce cost.
  • the above examples exemplify the instrument end assembly provided in this embodiment, rather than limit the instrument end assembly provided in this embodiment.
  • the number of traction bodies, the number of grooves (including the number of traction body grooves and the number of guide grooves), and the number of each guide assembly can be adjusted according to the actual situation. Therefore, this embodiment
  • the provided instrument end assembly includes the above-mentioned instrument end and a plurality of traction bodies, one end of a part of the traction bodies is connected with the interference part, and the other end passes through the first guide assembly and the second guide assembly.
  • the channel under the guidance of the channel, it extends to the proximal end for connecting with the drive unit; one end of a part of the traction body is connected to the base body, and the other end extends to the proximal end under the guidance of the channel, For connection to the drive unit.
  • the surgical instrument provided in this embodiment includes the above-mentioned instrument end assembly, an instrument shaft and a driving unit connected to the instrument end assembly, the surgical instrument also has the beneficial effects brought by the instrument end assembly.
  • the surgical instrument can set other components and structures of the surgical instrument according to the actual prior art, and the setting principle of the surgical instrument and other components will not be described in detail here.
  • the deflection angle of the traction body at each guide assembly is improved, and the guide radius of the guide assembly is effectively increased without increasing the outer diameter of the instrument shaft, thereby increasing the service life of the instrument end assembly.
  • the assembly structure is simplified, the stability of the end of the instrument is improved, and the end of the instrument has a larger range of motion and flexibility.
  • FIG. 19 is a schematic diagram of the distal part of the instrument end assembly according to the second embodiment of the present invention
  • FIG. 20 is an exploded view of the instrument end assembly according to the second embodiment of the present invention
  • FIG. 21 is the present invention Another perspective exploded view of the instrument tip assembly of the second embodiment.
  • the instrument end, instrument end assembly and surgical instrument provided in the second embodiment of the present invention are basically the same as the instrument end, instrument end assembly and surgical instrument provided in the first embodiment, and the same parts will not be described, and only the differences will be described below.
  • the guiding manner of the first to sixth traction bodies after passing through the holes of the first to sixth traction bodies is different from that of the first embodiment.
  • the end of the instrument further includes a plurality of limit holes located on the proximal side of the base plate 600, the limit holes are arranged along the axial direction of the base plate 600, and are used for the pulling body to pass through and for restricting the The radial displacement of the traction body; the radius of the circumscribed circle defined by the limiting hole is smaller than the radius of the circumscribed circle defined by the channel at the base plate 600 .
  • the instrument rod connecting seat 80 is detachably connected to the base 60, and is restricted from circumferential rotation relative to the base 60;
  • the instrument rod connecting seat includes a limit plate 81, the The limit plate 81 is located at the proximal end side of the instrument rod connecting seat 80 , and the limit plate 81 is provided with first to sixth limit holes, which are respectively used for the first to sixth traction bodies to pass through. , and is used to limit the radial displacement of the first to sixth traction bodies; wherein, the diameters of the circumscribed circles of the first to sixth limiting holes on the limiting plate 81 are smaller than those of the first to sixth limiting holes.
  • the diameter of the circumscribed circle of the sixth traction body is drilled through the hole on the base plate 600 to increase the radial dimension between the traction body and the instrument shaft 2 to prevent friction between the two.
  • the base 60 is not provided with a traction body groove on the proximal end side of the base plate 600, and the inner cavity of the instrument shaft connecting seat 80 is also not provided with a traction body groove.
  • the first to sixth traction bodies are formed by After the distal end passes through the holes of the first to sixth traction bodies, it is no longer in contact with the base 60 and the side walls of the instrument rod connecting seat 80 until it passes through the first to sixth limits on the limiting plate 81 respectively. Bit hole, extending proximally.
  • the distal end of the instrument rod connecting seat 80 has a locking groove 82
  • the proximal end of the base 60 has a locking tooth 66 that matches the locking groove 82.
  • an escape groove 83 is formed on the side wall of the instrument rod connection base 80 , and the escape groove 83 opens along the distal end of the instrument rod connection base 80 and extends along the axial direction of the instrument rod connection base 80 .
  • FIG. 22 is an exploded view of the instrument end assembly according to the third embodiment of the present invention
  • FIG. 23 is a schematic diagram of the base of the third embodiment of the present invention.
  • the instrument end, instrument end assembly and surgical instrument provided in the third embodiment of the present invention are basically the same as the instrument end, instrument end assembly and surgical instrument provided in the first embodiment, and the same parts will not be described, and only the differences will be described below.
  • the cross-sectional shape of the traction body is different from that of the first embodiment.
  • at least one of the traction bodies is in the shape of a flat belt.
  • at least one of the first to sixth traction bodies is in the shape of a flat belt.
  • the first to sixth traction bodies use steel belts instead of wire ropes, and their cross-sections are flat belt-shaped. This configuration can effectively reduce the ratio of the radial thickness of the traction body to the diameter of the guide structure, which can significantly improve the service life of the traction body.
  • each component for contacting the traction body should also be changed accordingly.
  • components such as the connecting part of the opening and closing piece, the guide assembly, the groove of the traction body and the hole for the traction body are also arranged in a flat groove shape according to the winding direction of the traction body.
  • FIG. 24 is a schematic diagram of the distal part of the instrument end assembly according to the fourth embodiment of the present invention
  • FIG. 25 is an exploded view of the instrument end assembly according to the fourth embodiment of the present invention
  • FIG. 26 is the present invention
  • FIG. 27 is a schematic diagram of the base of the fourth embodiment of the present invention.
  • the instrument end, instrument end assembly and surgical instrument provided in Embodiment 4 of the present invention are basically the same as the instrument end, instrument end assembly and surgical instrument provided in Embodiment 1, and the same parts will not be described, and only the differences will be described below.
  • the arrangement of the guide assembly is different from that of the first embodiment.
  • the first guide assembly 30 includes a first guide column 35
  • the second guide assembly 40 includes a second guide column 45; both the first guide column 35 and the second guide column 45 are along the The second axis 92 is disposed
  • the base 60 has a first guide groove 671 and a second guide groove 672
  • the first guide post 35 is rotatably disposed in the first guide groove 671
  • the column 45 is rotatably disposed in the second guide groove 672;
  • the first guide column 35 is used for the first traction body 71 and the third traction body 73 to be wound around
  • the second guide column 45 is used for the second traction body 72 and the fourth traction body 74 to be wound around.
  • first guide post 35 and the second guide post 45 are cylindrical, and the shape of the first guide slot 671 and the second guide slot 672 are respectively the same as the shape of the first guide post 35 and the second guide post 45 is adapted to the shape, the first guide post 35 and the second guide post 45 can be inserted into the first guide groove 671 and the second guide groove 672 respectively, and can rotate around the second axis 92 .
  • the first to fourth traction bodies can be arranged around the outer circumference of the first guide column 35 and the second guide column 45 , and the extension direction of the first guide column 35 and the second guide column 45 can be changed.
  • the first guide column 35 and the second guide column 45 can replace the guide wheel.
  • the instrument end includes an interference portion for acting on the target tissue, an interference portion for acting on the target tissue, a first guide assembly, a second guide assembly, a base body and a base; the interference part is rotatably connected to the base body around a first axis; the base body is rotatably connected to the base around a second axis; the first guide assembly and the second
  • the guide assembly is used to guide the traction body and is arranged on both sides of the base body along the direction of the second axis; the base has a channel for guiding the traction body, and the channel is located in the first A guide assembly and the proximal side of the second guide assembly.
  • This configuration improves the deflection angle of the traction body at each guide assembly, effectively increases the guide radius of the guide assembly without increasing the outer diameter of the instrument shaft, and thus increases the service life of the instrument end assembly.
  • the assembly structure is simplified, the stability of the end of the instrument is improved, and the end of the instrument has a larger range of motion and flexibility.
  • a clip-type surgical tool including two opening and closing pieces is used as an example for description, that is, the surgical tool includes two interference parts for performing surgery/acting on the target tissue.
  • the surgical tool is scissors, coagulation forceps, electric hook, etc.
  • the surgical tool includes one or more than two interference parts, for example, when the surgical tool is an electric hook, it includes one interference part, correspondingly, the above
  • the components used to pull the interference portion are adjusted accordingly, and those skilled in the art can obviously make corresponding modifications according to the concept of the present invention, which will not be repeated here.

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Abstract

一种器械末端（1）、器械末端组件及手术器械，器械末端（1）包括用于作用于目标组织的干涉部、第一导向组件（30）、第二导向组件（40）、基体（50）以及基座（60）；干涉部围绕第一轴线（91）可转动地与基体（50）连接；基体（50）围绕第二轴线（92）可转动地与基座（60）连接；第一导向组件（30）及第二导向组件（40）用于引导牵引体并沿第二轴线（92）的方向布置于基体（50）的两侧；基座（60）具有用于引导牵引体的槽道，槽道位于第一导向组件（30）及第二导向组件（40）的近端侧。如此配置，改善了各个导向组件处牵引体的偏角，在不增加器械杆（2）外部直径的前提下有效地提升了导向组件的导向半径，从而提升了器械末端组件的使用寿命。

Description

器械末端、器械末端组件及手术器械 技术领域
本发明涉及医疗器械技术领域，特别涉及一种器械末端、器械末端组件及手术器械。
背景技术
近年来，随着机器人技术的应用和发展，特别是计算技术的发展，医用手术机器人在临床中的作用越来越受到人们的重视。微创伤手术机器人可以减轻医生在手术过程中的体力劳动，同时达到精准手术目的，使患者微创伤、失血少、术后感染少、术后恢复快。而微创伤手术机器人用手术器械的设计优劣直接决定了手术机器人***的成败与否，手术器械的性能是影响手术机器人***性能水平的关键因素。
现有手术器械的器械末端组件中，常存在传动结构复杂，占用空间大的缺点。特别的，在器械杆外部直径限制下，当导向轮的直径偏小或钢丝绳偏角位置不佳时，会降低手术器械的器械末端组件的使用寿命。
发明内容
本发明的目的在于提供一种器械末端、器械末端组件及手术器械，以解决现有器械末端组件传动结构复杂，占用空间大及使用寿命短等问题中的至少一个。
为解决上述技术问题，基于本发明的第一个方面，提供一种器械末端，其包括：用于作用于目标组织的干涉部、第一导向组件、第二导向组件、基体以及基座；
所述干涉部围绕第一轴线可转动地与所述基体连接；
所述基体围绕第二轴线可转动地与所述基座连接；
所述第一导向组件及所述第二导向组件用于引导牵引体并沿所述第二轴线的方向布置于所述基体的两侧；
所述基座具有用于引导所述牵引体的槽道，所述槽道位于所述第一导向组件及所述第二导向组件的近端侧。
为解决上述技术问题，基于本发明的第二个方面，还提供一种器械末端组件，其包括如上所述的器械末端以及多个牵引体；
一部分的所述牵引体的一端与所述干涉部连接，另一端通过所述第一导向组件和所述 第二导向组件后，在所述槽道的引导下向近端延伸，用于与驱动单元连接；
一部分的所述牵引体的一端与所述基体连接，另一端在所述槽道的引导下向近端延伸，用于与驱动单元连接。
为解决上述技术问题，基于本发明的第三个方面，还提供一种手术器械，其包括如上所述的器械末端组件以及与所述器械末端组件连接的器械杆和驱动单元。
综上所述，本发明提供的器械末端、器械末端组件及手术器械中，所述器械末端包括用于作用于目标组织的干涉部、用于作用于目标组织的干涉部、第一导向组件、第二导向组件、基体以及基座；所述干涉部围绕第一轴线可转动地与所述基体连接；所述基体围绕第二轴线可转动地与所述基座连接；所述第一导向组件及所述第二导向组件用于引导牵引体并沿所述第二轴线的方向布置于所述基体的两侧；所述基座具有用于引导所述牵引体的槽道，所述槽道位于所述第一导向组件及所述第二导向组件的近端侧。如此配置，改善了各个导向组件处牵引体的偏角，在不增加器械杆外部直径的前提下有效地提升了导向组件的导向半径，从而提升了器械末端组件的使用寿命。此外，简化了装配结构，提升器械末端的稳定性，同时使器械末端具有较大的运动范围及灵活性。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：
图1是本发明实施例一的手术器械的整体示意图；
图2是本发明实施例一的器械末端组件的示意图；
图3是本发明实施例一的器械末端组件的分解图；
图4是本发明实施例一的器械末端的示意图；
图5是本发明实施例一的第一开合组件和第二开合组件的示意图；
图6a是本发明实施例一的第一开合组件的示意图；
图6b是本发明实施例一的第一开合组件的另一角度的示意图；
图7a是本发明实施例一的第二开合组件的示意图；
图7b是本发明实施例一的第二开合组件的另一角度的示意图；
图8a是本发明实施例一的基体的示意图；
图8b是本发明实施例一的基体的另一角度的示意图；
图9是本发明实施例一的第一开合组件、第二开合组件与基体装配后的侧视图；
图10是本发明实施例一的基座的示意图；
图11是本发明实施例一的基座的仰视图；
图12是本发明实施例一的基座的俯视图；
图13是本发明实施例一的基体与基座装配后的俯视图；
图14是本发明实施例一的基体与基座装配后的侧视图；
图15是本发明实施例一的器械杆连接座的示意图；
图16是本发明实施例一的器械杆连接座的俯视图；
图17是本发明实施例一的基座与器械杆连接座的装配后的示意图；
图18是本发明实施例一的基座与器械杆连接座的装配后的仰视图；
图19是本发明实施例二的器械末端组件的示意图；
图20是本发明实施例二的器械末端组件的分解图；
图21是本发明实施例二的器械末端组件的另一角度的分解图；
图22是本发明实施例三的器械末端组件的分解图；
图23是本发明实施例三的基座的示意图；
图24是本发明实施例四的器械末端组件的示意图；
图25是本发明实施例四的器械末端组件的分解图；
图26是本发明实施例四的基座的示意图；
图27是本发明实施例四的基体的示意图。
附图中：
1-器械末端；2-器械杆；3-驱动单元；
10-第一开合组件；100-第一开合片；101-第一开合片连接部；102-第二开合片连接部；
20-第二开合组件；200-第二开合片；203-第三开合片连接部；204-第四开合片连接部；
30-第一导向组件；31-第一导向轮；33-第三导向轮；35-第一导向柱；40-第二导向组件；42-第二导向轮；44-第四导向轮；45-第二导向柱；
50-基体；51-开合臂；52-俯仰臂；
60-基座；600-基板；601-第一牵引体穿设孔；602-第二牵引体穿设孔；603-第三牵引 体穿设孔；604-第四牵引体穿设孔；605-第五牵引体穿设孔；606-第六牵引体穿设孔；61-支撑梁；631-第一导向槽；632-第二导向槽；633-第三导向槽；634-第四导向槽；651-第一牵引体槽；652-第二牵引体槽；653-第三牵引体槽；654-第四牵引体槽；655-第五牵引体槽；656-第六牵引体槽；66-卡齿；671-第一导槽；672-第二导槽；
71-第一牵引体；72-第二牵引体；73-第三牵引体；74-第四牵引体；75-第五牵引体；76-第六牵引体；
80-器械杆连接座；801-第七牵引体槽；802-第八牵引体槽；803-第九牵引体槽；804-第十牵引体槽；805-第十一牵引体槽；806-第十二牵引体槽；81-限位板；82-卡槽；83-避让槽；810-主体段；820-缩径段；
91-第一轴线；910-第一销轴；92-第二轴线；920-第二销轴；93-第三轴线。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，术语“近端”通常是靠近操作者的一端，术语“远端”通常是靠近患者即靠近被手术部位的一端，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本发明中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两 元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
本发明的核心思想在于提供一种器械末端、器械末端组件及手术器械，以解决现有器械末端组件传动结构复杂，占用空间大及使用寿命短等问题中的至少一个。
以下参考附图进行描述。
【实施例一】
请参考图1至图18，其中，图1是本发明实施例一的手术器械的整体示意图；图2是本发明实施例一的器械末端组件的示意图；图3是本发明实施例一的器械末端组件的分解图；图4是本发明实施例一的器械末端的示意图；图5是本发明实施例一的第一开合组件和第二开合组件的示意图；图6a是本发明实施例一的第一开合组件的示意图；图6b是本发明实施例一的第一开合组件的另一角度的示意图；图7a是本发明实施例一的第二开合组件的示意图；图7b是本发明实施例一的第二开合组件的另一角度的示意图；图8a是本发明实施例一的基体的示意图；图8b是本发明实施例一的基体的另一角度的示意图；图9是本发明实施例一的第一开合组件、第二开合组件与基体装配后的侧视图；图10是本发明实施例一的基座的示意图；图11是本发明实施例一的基座的仰视图；图12是本发明实施例一的基座的俯视图；图13是本发明实施例一的基体与基座装配后的俯视图；图14是本发明实施例一的基体与基座装配后的侧视图；图15是本发明实施例一的器械杆连接座的示意图；图16是本发明实施例一的器械杆连接座的俯视图；图17是本发明实施例一的基座与器械杆连接座的装配后的示意图；图18是本发明实施例一的基座与器械杆连接座的装配后的仰视图。
如图1所示，本发明实施例一提供一种手术器械，其包括：器械末端1以及六个牵引体，该器械末端1以及六个牵引体构成一器械末端组件。可选的，所述手术器械还包括器械杆2和驱动单元3，六个牵引体的一端分别与器械末端1连接，另一端穿过器械杆2与驱动单元3连接，驱动单元3通过六个牵引体驱动器械末端1执行动作，以实现手术。
请参考图2和图3，其示出了本实施例一提供的器械末端组件；六个牵引体分别为第一牵引体71、第二牵引体72、第三牵引体73、第四牵引体74、第五牵引体75及第六牵 引体76，六个牵引体可为钢丝绳等丝状的牵引体。下面以包括两个开合片的夹子类手术工具作为示例进行说明，所述器械末端1包括两个干涉部，分别为第一开合组件和第二开合组件；第一开合组件和第二开合组件用于执行手术/作用于目标组织。所述器械末端1还包括：第一导向组件30、第二导向组件40、基体50以及基座60；
所述第一开合组件10和所述第二开合组件20分别围绕第一轴线91可转动地与所述基体50连接；所述第一开合组件10包括第一开合片100、第一开合片连接部101和第二开合片连接部102，所述第一开合片100绕所述第一轴线91旋转；所述第一开合片连接部101和所述第二开合片连接部102均与所述第一开合片100固定连接或自所述第一开合片100一体沿伸，所述第一开合片连接部101和所述第二开合片连接部102沿所述第一轴线91布置于所述基体50的相对的两侧；所述第一开合片连接部101和所述第二开合片连接部102分别用于供第一牵引体71和第二牵引体72沿相反的方向绕设；所述第一开合组件10被配置为在所述第一牵引体71和所述第二牵引体72的驱动下沿相反的方向围绕所述第一轴线91转动；和/或，
所述第二开合组件20包括第二开合片200、第三开合片连接部203和第四开合片连接部204，所述第二开合片200绕所述第一轴线91旋转；所述第三开合片连接部203和所述第四开合片连接部204均与所述第二开合片200固定连接或自所述第二开合片200一体沿伸，所述第三开合片连接部203和所述第四开合片连接部204沿所述第一轴线91布置于所述基体50的两侧；所述第三开合片连接部203和所述第四开合片连接部204分别用于供第三牵引体73和第四牵引体74沿相反的方向绕设；所述第二开合组件20被配置为在所述第三牵引体73和所述第四牵引体74的驱动下沿相反的方向围绕所述第一轴线91转动；可以理解的，在一些实施例中，第一开合组件10和第二开合组件20中的一个绕第一轴线91转动，另一个可以转动亦可固定，均可实现开合运动。
所述基体50围绕第二轴线92可转动地与所述基座60连接，所述第二轴线92垂直于所述第一轴线91；所述基体50用于供第五牵引体75和第六牵引体76连接，并用于在所述第五牵引体75和所述第六牵引体76的驱动下沿相反的方向围绕所述第二轴线92转动；
所述第一导向组件30和所述第二导向组件40用于引导牵引体并沿所述第二轴线92的方向布置于所述基体50的两侧，所述第一导向组件30用于供所述第一牵引体71和所述第三牵引体73绕设，所述第二导向组件40用于供所述第二牵引体72和所述第四牵引 体74绕设；在一个优选实施例中，第一导向组件30和第二导向组件40沿第二轴线92同轴布置，当然在其它的实施例中，第一导向组件30和第二导向组件40并不局限于沿第二轴线92设置，第一导向组件30和第二导向组件40中的一个或两个也可以与第二轴线92形成一定的偏心。
所述基座60具有用于引导所述牵引体的槽道(具体可参考图10中的第一至第四导向槽631～634、以及第一至第六牵引体槽651～656等)，所述槽道位于所述第一导向组件30及所述第二导向组件40的近端侧。进一步的，所述基座60包括基板600，所述基板600平行于所述第二轴线92，所述槽道自所述基板600沿所述基板600的轴向延伸并贯通所述基板。所述槽道贯通所述基板600形成至少第一牵引体穿设孔601、第二牵引体穿设孔602、第三牵引体穿设孔603、第四牵引体穿设孔604、第五牵引体穿设孔605和第六牵引体穿设孔606，第一至第六牵引体穿设孔分别用于供所述第一牵引体71至第六牵引体76穿设。需要说明的，这里槽道沿基板600的轴向延伸，并不仅限于槽道的延伸方向垂直于基板600，其可以是大致沿着基板600的轴向延伸，例如槽道可以弯曲或偏斜等，只要其大致的延伸方向是沿着基板600的轴向，均应视作为沿着基板600的轴向延伸。
实际装配中，所述第一牵引体71的一端与所述第一开合片100连接，另一端依次绕设于所述第一开合片连接部101和所述第一导向组件30后，穿过所述第一牵引体穿设孔601，与驱动单元3连接；所述第二牵引体72的一端与所述第一开合片100连接，另一端依次绕设于所述第二开合片连接部102和所述第二导向组件40后，穿过所述第二牵引体穿设孔602，与驱动单元3连接；所述第三牵引体73的一端与所述第二开合片200连接，另一端依次绕设于所述第三开合片连接部203和所述第一导向组件30后，穿过所述第三牵引体穿设孔603，与驱动单元3连接；所述第四牵引体74的一端与所述第二开合片200连接，另一端依次绕设于所述第四开合片连接部204和所述第二导向组件40后，穿过所述第四牵引体穿设孔604，与驱动单元3连接；所述第五牵引体75的一端与所述基体50连接，另一端穿过所述第五牵引体穿设孔605，与驱动单元3连接；所述第六牵引体76的一端与所述基体50连接，另一端穿过所述第六牵引体穿设孔606，与驱动单元3连接。
驱动单元3优选包括三个驱动器，每个驱动器分别与两个牵引体连接，由此驱动单元3可通过六个牵引体来实现对器械末端1的三个自由度(分别为第一开合片100的开合自由度、第二开合片200的开合自由度、以及基体50的俯仰自由度)的驱动控制。具体的， 驱动单元3通过第一牵引体71和第二牵引体72，可以驱动第一开合片100围绕第一轴线91转动，通过第三牵引体73和第四牵引体74，可以驱动第二开合片200围绕第一轴线91转动，即实现了驱动两个开合片的相对开合运动；驱动单元3通过第五牵引体75和第六牵引体76，可以驱动基体50围绕第二轴线92转动，即实现了驱动基体50相对基座60俯仰摆动。
如上所述，第一开合片100、第二开合片200上对应设置第一开合片连接部101、第二开合片连接部102、第三开合片连接部203以及第四开合片连接部204，并且此些开合片连接部沿第一轴线91同轴地排布；第一导向组件30和第二导向组件40沿第二轴线92同轴地排布；两个开合片的开合方向垂直于第一轴线91；在器械末端1的径向尺寸一定的前提下，可以有效地提高导向组件的导向半径和开合片连接部的导向半径，从而减小了牵引体的弯折度，提升了器械末端组件的使用寿命。此外，如上所述的该等布置方式简单，简化了装配结构，提升了器械末端1的稳定性，同时使器械末端1具有较大的运动范围及灵活性。
请参考图4至图8b，在一个示范性的实施例中，基体50具有沿第一轴线91方向设置的开合臂51，第一开合片连接部101和第二开合片连接部102的间距，与开合臂51沿第一轴线91的轴向长度相适配，第一开合片连接部101与第二开合片连接部102分别夹在开合臂51的两侧。进一步，第三开合片连接部203和第四开合片连接部204的间距，与第一开合片连接部101和第二开合片连接部102夹在开合臂51两侧时沿第一轴线91轴向的最大长度(即第一开合片连接部101和第二开合片连接部102相互远离的两端的距离)相适配，第三开合片连接部203和第四开合片连接部204分别夹在第一开合片连接部101与第二开合片连接部102的两侧。所述第一、第二、第三和第四开合片连接部中的每个开合片连接部分别围绕第一轴线91呈圆弧形，而开合片连接部沿径向的截面形状与对应的牵引体的截面形状相适配，以供牵引体容置，并能够引导和限制牵引体，避免牵引体从开合片连接部中滑脱出。进一步的，每个开合片连接部还具有一个牵引体固定点，以便对牵引体进行固定。当然在其它的一些实施例中，四个开合片连接部的排布顺序不限于第三开合片连接部203、第一开合片连接部101、第二开合片连接部102和第四开合片连接部204依次排布，也可以是第三开合片连接部203、第二开合片连接部102、第一开合片连接部101和第四开合片连接部204依次排布等排布方式，本领域技术人员可根据实际对四个开 合片连接部的排布顺序进行调整。可选的，四个开合片连接部和开合臂51分别具有第一轴孔，四个开合片连接部和开合臂51通过一贯穿第一轴孔的第一销轴910进行连接。较佳的，第一牵引体71绕设于第一开合片连接部101上的方向，与第二牵引体72绕设于第二开合片连接部102上的方向相反；第三牵引体73绕设于第三开合片连接部203上的方向，与第四牵引体74绕设于第四开合片连接部204上的方向相反。
请参考图9至图14，在一个可替代的实施例中，基座60具有沿第二轴线92方向间隔布置的两个支撑梁61，基体50具有沿第二轴线92方向设置的俯仰臂52，两个支撑梁61的间距，与俯仰臂52沿第二轴线92的轴向长度相适配，两个支撑梁61分别夹在俯仰臂52的两侧。可选的，两个支撑梁61和俯仰臂52分别具有第二轴孔，两个支撑梁61和俯仰臂52通过一贯穿第二轴孔的第二销轴920进行连接。较佳的，第五牵引体75于基体50上的固定点，与第六牵引体76于基体50上的固定点分别位于第二轴线92的两侧，如此便于通过第五牵引体75和第六牵引体76对基体50施加相对于第二轴线92不同方向的力矩，从而驱动基体50围绕第二轴线92俯仰摆动。
在一个实施例中，所述第一导向组件30包括第一导向轮31和第三导向轮33，所述第二导向组件40包括第二导向轮42和第四导向轮44；所述第一至第四导向轮(即第一导向轮31、第二导向轮42、第三导向轮33和第四导向轮44)分别围绕所述第二轴线92可转动地与所述基座60连接；所述第一至第四导向轮分别用于供所述第一至第四牵引体(即第一牵引体71、第二牵引体72、第三牵引体73和第四牵引体74)绕设。可选的，第一牵引体71绕设于第一导向轮31上的方向，与第二牵引体72绕设于第二导向轮42上的方向相反，第三牵引体73绕设于第三导向轮33上的方向，与第四牵引体74绕设于第四导向轮44上的方向相反。在一个示范性的实施例中，第一导向轮31、第二导向轮42、第三导向轮33和第四导向轮44分别具有第三轴孔，第三导向轮33和第一导向轮31沿第二轴线92设置于一个支撑梁61的一侧，第二导向轮42和第四导向轮44沿第二轴线92设置于另一个支撑梁61的另一侧，即两个支撑梁61被夹在四个导向轮之间。优选的，第二销轴920除了贯穿连接两个支撑梁61和俯仰臂52，还贯穿四个导向轮的第三轴孔，使四个导向轮均与第二销轴920可转动地连接。
优选的，所述基座60包括第三导向组件和第四导向组件，所述第三导向组件沿所述基座60的轴向位于所述第一导向组件30的近端，所述第四导向组件沿所述基座60的轴 向位于所述第二导向组件40的近端；所述第三导向组件和所述第四导向组件用于引导牵引体并沿第三轴线93布置于所述基体50的两侧，所述第三轴线93平行于所述第二轴线92；所述第三导向组件用于改变所述第一牵引体71和所述第三牵引体73的延伸方向，所述第四导向组件用于改变所述第二牵引体72和所述第四牵引体74的延伸方向。进一步的，所述槽道包括位于所述基座板600的远端侧的多个导向槽，一部分的所述导向槽设置于所述第三导向组件上，另一部分的所述导向槽设置于所述第四导向组件上，每个所述导向槽用于供一个牵引体绕设，用于引导牵引体自所述第一导向组件30及所述第二导向组件40向近端延伸。优选的，所述导向槽包括第一至第四导向槽(即第一导向槽631、第二导向槽632、第三导向槽633和第四导向槽634)，所述第一导向槽631和所述第三导向槽633位于所述第三导向组件上，所述第二导向槽632和所述第四导向槽634位于所述第四导向组件上；所述第一至第四导向槽分别与所述第一至第四导向轮一一对应，所述第一至第四导向槽分别用于供所述第一至第四牵引体(即第一牵引体71、第二牵引体72、第三牵引体73和第四牵引体74)绕设。
可选的，每个导向槽均包括圆弧段和直线段，圆弧段以第三轴线93为圆心，直线段则垂直于基板600，与圆弧段相切。牵引体穿设孔即位于直线段与基板600的交点处。如此配置，每个导向槽可以改变对应的牵引体的方向，使牵引体能够垂直地穿过基板600上对应的牵引体穿设孔。
可选的，所述基座60限定了经过所述第二轴线92和所述第三轴线93的第一基面，所述第一牵引体穿设孔601、所述第三牵引体穿设孔603和所述第五牵引体穿设孔605位于所述第一基面的一侧，所述第二牵引体穿设孔602、所述第四牵引体穿设孔604和所述第六牵引体穿设孔606位于所述第一基面的另一侧。由于每个开合片所对应的两个牵引体于开合片连接部上的绕设方向是相反的，因此相对应的，将每个开合片所对应的两个牵引体穿设孔分别置于第一基面的两侧，以减小牵引体的牵引阻力。
可选的，四个导向槽(即第一导向槽631、第二导向槽632、第三导向槽633和第四导向槽634)沿第三轴线93的轴向分布位置，与四个导向轮(即第一导向轮31、第二导向轮42、第三导向轮33和第四导向轮44)沿第二轴线92的轴向分布位置一一对应，使四个牵引体(即第一牵引体71、第二牵引体72、第三牵引体73和第四牵引体74)在从导向轮延伸至对应的导向槽时，不需要产生沿第二轴线92或第三轴线93方向的轴向偏移， 有效地减小了牵引体的偏置拉伸，减小了导向轮或导向槽对牵引体的摩擦。
优选的，如图14所示，所述导向槽之圆弧段的半径为ra，所述第三导向组件和所述第四导向组件沿所述第二轴线92的横截面为圆形(即第一导向轮31、第二导向轮42、第三导向轮33和第四导向轮44均为圆形的导向轮)，所述第三导向组件和所述第四导向组件用于改变牵引体的横截面处圆形的半径(即四个导向轮的半径)均为rb，所述第二轴线92和所述第三轴线93的距离T满足：ra+rb≤T≤ra+rb+3mm。如此配置，可以减小四个牵引体在从导向轮延伸至对应的导向槽时的摩擦阻力。
优选的，所述槽道限定平行于所述基板600的外接圆，所述槽道的外接圆沿所述基板600的轴向具有不同的半径。更优选的，所述槽道包括位于所述基板600的近端侧的牵引体槽，所述牵引体槽用于引导和改变所述牵引体的延伸方向；所述牵引体槽距离所述基板600较近处所限定的外接圆的半径大于距离所述基板600较远处所限定的外接圆的半径。更优选的，所述槽道包括多个所述牵引体槽，所述多个牵引体槽分别用于引导和改变多个所述牵引体的延伸方向；所述槽道贯通所述基板形成多个牵引体穿设孔，所述多个牵引体槽分别与所述多个牵引体穿设孔一一对应连接牵引体槽。在一个示范例中，请参考图10至图12，所述槽道包括六个所述牵引体槽，分别为第一至第六牵引体槽(即第一牵引体槽651、第二牵引体槽652、第三牵引体槽653、第四牵引体槽654、第五牵引体槽655和第六牵引体槽656)，所述第一至第六牵引体槽设置于所述基板600的近端侧，所述第一至第六牵引体槽分别用于改变所述第一至第六牵引体(即第一牵引体71、第二牵引体72、第三牵引体73、第四牵引体74、第五牵引体75和第六牵引体76)的延伸方向；所述第一至第六牵引体槽分别与所述第一至第六牵引体穿设孔(即第一牵引体穿设孔601、第二牵引体穿设孔602、第三牵引体穿设孔603、第四牵引体穿设孔604、第五牵引体穿设孔605和第六牵引体穿设孔606)一一对应连接，形成连通；所述第一至第六牵引体槽距离所述基板600较远处(第一至第六牵引体槽的近端一侧)的外接圆的直径，小于所述第一至第六牵引体槽距离所述基板600较近处(第一至第六牵引体槽的远端一侧)的外接圆的直径。在一个示范例中，第一至第六牵引体槽的远端(即第一至第六牵引体槽与基板600连接的一端)的外接圆即为基板600的外周，其直径为D。第一至第六牵引体槽均呈弯曲状，朝近端的方向逐渐向基板600的轴线方向靠近，使得牵引体槽的朝向近端的外接圆逐渐缩小，从而可以使六个牵引体在被牵引体槽引导改变方向后，相互之间的距离逐渐减小，从而可 以增加牵引体与基座60或器械杆连接座80(详见下文说明)的内壁之间的径向距离，进而防止牵引体与基座60或器械杆连接座80内壁之间发生摩擦，提升效率及可靠性，同时可在外周预留额外自由度关节的布局空间，例如额外增加一组可带动整个图4所示器械末端组件整体偏摆的关节，以增加器械末端的运动范围或者自由度。
请参考图15至图18，优选的，所述器械末端1还包括器械杆连接座80，所述器械杆连接座80可拆卸地与所述基座60连接，且被限制相对于所述基座60的周向转动；所述器械杆连接座80包括多个牵引体槽，所述多个牵引体槽形成用于引导和限定所述牵引体的至少一部分的导向通道。所述器械杆连接座80包括第七至第十二牵引体槽(分别为第七引体槽801、第八牵引体槽802、第九牵引体槽803、第十牵引体槽804、第十一牵引体槽805和第十二牵引体槽806)，所述第七至第十二牵引体槽分别与所述第一至第六牵引体槽一一相对连接，形成用于引导和限定所述第一至第六牵引体的导向通道，例如对于第一牵引体71，其导向通道由两部分组成，分别是位于基座60上的第一牵引体槽651和器械杆连接座80上的第七牵引体槽801。在一个示范性的实施例中，器械杆连接座80大致呈一圆柱状，其内部具有沿轴向贯通的内腔，第七至第十二牵引体槽均开设于所述内腔中。器械杆连接座80可与基座60嵌套装配，并通过内腔的异型轮廓与基座60实现定位，以防止周向转动。当器械杆连接座80可与基座60嵌套装配后，相对应的两个牵引体槽相互配合，形成一个供牵引体穿设的导向通道。例如，第一牵引体槽651与第七牵引体槽801的横截面分别为两个半圆形，两者连接拼合后，形成一个圆形的导向通道，以供第一牵引体71通过，优选该两个牵引体槽所拼合形成的导向通道的横截面略大于牵引体的外径，以对牵引体形成引导和限定。器械杆连接座80配合基座60，使第一至第六牵引体槽分别与第七至第十二牵引体槽连通，组成完整的牵引体导向通道，能够避免牵引体从中脱离，避免牵引体与其他零件产生干涉而影响传动效果。优选的，器械杆连接座80的近端具有一缩径段820，该缩径段的外径小于器械杆连接座80的主体段810，以便于与器械杆2连接。该缩径段的横截面优选为圆形；可选的，缩径段上还可以设置凸出的卡扣或者限位件，便于与器械杆2连接后，限制器械杆2与器械杆连接座80两者的周向转动。
优选的，所述第七至第十二牵引体槽的远端的外接圆的直径，小于所述第七至第十二牵引体槽的近端的外接圆的直径，第七至第十二牵引体槽均呈弯曲状，逐渐朝向器械杆连接座80的轴线方向靠近，使得牵引体槽的近端的外接圆缩小，从而可以使六个牵引体在 被牵引体槽引导改变方向后，相互之间的距离进一步减小，从而可以进一步防止牵引体与器械杆2的内壁发生摩擦。
可选的，器械杆连接座80、基座60及第一至第四开合片连接部中的至少一个选择低摩擦系数且具有良好耐磨性的材料制成，如PEEK，PTFE，FEP，尼龙等。需理解的，这里不限于器械杆连接座80、基座60及开合片连接部的整体均由低摩擦系数且具有良好耐磨性的材料制成，在一些实施例中，还可以是器械杆连接座80、基座60及开合片连接部用于与牵引体接触的部分(如牵引体槽等)由低摩擦系数且具有良好耐磨性的材料制成，以降低成本。
可以理解的，上述示例示范性地说明了本实施例提供的器械末端组件，而非对本实施例提供的器械末端组件的限定。在其它的一些实施例中，牵引体的数量、槽道的数量(包括牵引体槽的数量及导向槽的数量)以及各导向组件的数量等均可根据实际进行调整，由此，本实施例提供的器械末端组件包括如上所述的器械末端以及多个牵引体，一部分的所述牵引体的一端与所述干涉部连接，另一端通过所述第一导向组件和所述第二导向组件后，在所述槽道的引导下向近端延伸，用于与驱动单元连接；一部分的所述牵引体的一端与所述基体连接，另一端在所述槽道的引导下向近端延伸，用于与驱动单元连接。
由于本实施例提供的手术器械包括如上所述的器械末端组件以及与所述器械末端组件连接的器械杆和驱动单元，因此所述手术器械也具备由所述器械末端组件带来的有益效果。本领域技术人员可以根据实际现有技术对手术器械的其他部件和结构进行设置，这里对手术器械的设置原理及其他部件不作详细的说明。
通过上述配置，改善了各个导向组件处牵引体的偏角，在不增加器械杆外部直径的前提下有效地提升了导向组件的导向半径，从而提升了器械末端组件的使用寿命。此外，简化了装配结构，提升器械末端的稳定性，同时使器械末端具有较大的运动范围及灵活性。
【实施例二】
请参考图19至图21，其中，图19是本发明实施例二的器械末端组件的远端局部的示意图；图20是本发明实施例二的器械末端组件的分解图；图21是本发明实施例二的器械末端组件的另一角度的分解图。
本发明实施例二提供的器械末端、器械末端组件及手术器械与实施例一提供的器械末端、器械末端组件及手术器械基本相同，对于相同部分不再叙述，以下仅针对不同点进行 描述。
在本实施例中，第一至第六牵引体在经过第一至第六牵引体穿设孔后的导向方式与实施例一不同。所述器械末端还包括位于所述基板600的近端侧的多个限位孔，所述限位孔沿所述基板600的轴向设置，用于供牵引体穿设，并用于限制所述牵引体的径向位移；所述限位孔所限定的外接圆的半径小于所述槽道于所述基板600处所限定的外接圆的半径。
具体的，所述器械杆连接座80可拆卸地与所述基座60连接，且被限制相对于所述基座60的周向转动；所述器械杆连接座包括限位板81，所述限位板81位于所述器械杆连接座80的近端侧，所述限位板81上开设有第一至第六限位孔，分别用于供所述第一至第六牵引体穿设，并用于限制所述第一至第六牵引体的径向位移；其中，所述第一至第六限位孔于所述限位板81上的外接圆的直径，小于所述第一至第六牵引体穿设孔于所述基板600上的外接圆的直径，以增加牵引体与器械杆2之间的径向尺寸，防止二者之间的摩擦。
在一个示范性的实施例中，基座60于基板600的近端侧不设置牵引体槽，器械杆连接座80的内腔中同样不设置牵引体槽，第一至第六牵引体在由远端穿过第一至第六牵引体穿设孔后，即不再与基座60及器械杆连接座80的侧壁接触，直至分别穿过限位板81上的第一至第六限位孔，向近端延伸。
优选的，器械杆连接座80的远端具有卡槽82，基座60的近端具有与所述卡槽82相适配的卡齿66，器械杆连接座80与基座60装配连接时，卡齿66卡合入卡槽82中，实现器械杆连接座80与基座60的定位配合，且两者的相对周向转动被限制。
可选的，为了在有限的圆周内使导向组件的导向半径尽量大，一部分的牵引体穿设孔被配置为紧靠基板600的外圆周。由此，一部分的牵引体在穿过牵引体穿设孔后，容易与器械杆连接座80的侧壁产生干涉。基于此，在一些实施例中，器械杆连接座80的侧壁上开设有避让槽83，避让槽83沿器械杆连接座80的远端开放，并沿器械杆连接座80的轴向延伸。
通过上述配置，第一至第六牵引体在由远端穿过第一至第六牵引体穿设孔后，不与牵引体槽产生摩擦，减小了牵引体的传动摩擦阻力，提升了传动效率。
【实施例三】
请参考图22和图23，其中，图22是本发明实施例三的器械末端组件的分解图；图23是本发明实施例三的基座的示意图。
本发明实施例三提供的器械末端、器械末端组件及手术器械与实施例一提供的器械末端、器械末端组件及手术器械基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
在本实施例中，牵引体的截面形状与实施例一不同。具体的，至少一个所述牵引体呈扁带形。具体的，所述第一至第六牵引体中的至少一个呈扁带形。
在一个示范性的实施例中，第一至第六牵引体采用了钢带，而非钢丝绳，其横截面为扁带形。如此配置，可有效地减少牵引体的径向厚度与导向结构直径的比值，这样可以显著的提升牵引体使用寿命。
可以理解的，为适配于扁带形的牵引体，各个用于与牵引体相接触的部件的截面形状亦应进行相应地变化。例如：开合片连接部、导向组件、牵引体槽以及牵引体穿设孔等部件，亦根据牵引体的绕设方向，设置为扁平的凹槽形。
【实施例四】
请参考图24至图27，其中，图24是本发明实施例四的器械末端组件的远端局部的示意图；图25是本发明实施例四的器械末端组件的分解图；图26是本发明实施例四的基座的示意图；图27是本发明实施例四的基体的示意图。
本发明实施例四提供的器械末端、器械末端组件及手术器械与实施例一提供的器械末端、器械末端组件及手术器械基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
在本实施例中，导向组件的设置与实施例一不同。具体的，所述第一导向组件30包括第一导向柱35，所述第二导向组件40包括第二导向柱45；所述第一导向柱35与所述第二导向柱45均沿所述第二轴线92设置，所述基座60具有第一导槽671和第二导槽672，所述第一导向柱35可转动地设置于所述第一导槽671中，所述第二导向柱45可转动地设置于所述第二导槽672中；所述第一导向柱35用于供所述第一牵引体71和所述第三牵引体73绕设，所述第二导向柱45用于供所述第二牵引体72和所述第四牵引体74绕设。
在一个可替代的实施例中，第一导向柱35与第二导向柱45呈圆柱形，第一导槽671和第二导槽672的形状则分别与第一导向柱35和第二导向柱45的形状相适配，第一导向柱35和第二导向柱45能够分别嵌入第一导槽671和第二导槽672中，且能够围绕第二轴线92进行转动。第一至第四牵引体可以绕设于第一导向柱35和第二导向柱45的外周， 被第一导向柱35和第二导向柱45改变延伸方向。由此，第一导向柱35和第二导向柱45即可代替导向轮。该方案具有装配简便，结构紧凑可靠的优点。
本发明提供的器械末端、器械末端组件及手术器械中，所述器械末端包括用于作用于目标组织的干涉部、用于作用于目标组织的干涉部、第一导向组件、第二导向组件、基体以及基座；所述干涉部围绕第一轴线可转动地与所述基体连接；所述基体围绕第二轴线可转动地与所述基座连接；所述第一导向组件及所述第二导向组件用于引导牵引体并沿所述第二轴线的方向布置于所述基体的两侧；所述基座具有用于引导所述牵引体的槽道，所述槽道位于所述第一导向组件及所述第二导向组件的近端侧。如此配置，改善了各个导向组件处牵引体的偏角，在不增加器械杆外部直径的前提下有效地提升了导向组件的导向半径，从而提升了器械末端组件的使用寿命。此外，简化了装配结构，提升器械末端的稳定性，同时使器械末端具有较大的运动范围及灵活性。
以上所述的实施例中以包括两个开合片的夹子类手术工具作为示例进行说明，即所述手术工具包括两个用于执行手术/作用于目标组织的干涉部，在一些实施例中，所述手术工具为剪刀，电凝钳，电钩等，并且手术工具包括一个或者两个以上的干涉部，例如当手术工具为电钩时，其包括一个干涉部，对应地，以上所述的实施例中用于牵引干涉部的构件相应调整，本领域技术人员可以根据本发明的构思显而易见的作出相应修改，在此不再赘述。
需要说明的，上述若干实施例的可相互组合。上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (18)

  1. 一种器械末端，其特征在于，包括：用于作用于目标组织的干涉部、第一导向组件、第二导向组件、基体以及基座；
    所述干涉部围绕第一轴线可转动地与所述基体连接；
    所述基体围绕第二轴线可转动地与所述基座连接；
    所述第一导向组件及所述第二导向组件用于引导牵引体并沿所述第二轴线的方向布置于所述基体的两侧；
    所述基座具有用于引导所述牵引体的槽道，所述槽道位于所述第一导向组件及所述第二导向组件的近端侧。
  2. 根据权利要求1所述的器械末端，其特征在于，所述基座包括平行于所述第二轴线设置的基板，所述槽道自所述基板沿所述基板的轴向延伸并贯通所述基板，所述槽道沿所述基板的轴向限定多个平行于所述基板并且具有不同半径的外接圆。
  3. 根据权利要求2所述的器械末端，其特征在于，所述槽道包括位于所述基板的近端侧的牵引体槽，所述牵引体槽用于引导和改变所述牵引体的延伸方向；所述牵引体槽距离所述基板较近处所限定的外接圆的半径大于距离所述基板较远处所限定的外接圆的半径。
  4. 根据权利要求3所述的器械末端，其特征在于，所述槽道包括多个所述牵引体槽，所述多个牵引体槽分别用于引导和改变多个所述牵引体的延伸方向；所述槽道贯通所述基板形成多个牵引体穿设孔，所述多个牵引体槽分别与所述多个牵引体穿设孔一一对应连接。
  5. 根据权利要求1所述的器械末端，其特征在于，所述器械末端还包括器械杆连接座，所述器械杆连接座可拆卸地与所述基座连接，且所述器械杆连接座相对于所述基座的周向转动被限制；所述器械杆连接座包括多个牵引体槽，所述多个牵引体槽形成用于引导和限定所述牵引体的至少一部分的导向通道。
  6. 根据权利要求1所述的器械末端，其特征在于，所述基座包括平行于所述第二轴线设置的基板，所述槽道自所述基板沿所述基板的轴向延伸并贯通所述基板；所述器械末端还包括位于所述基板的近端侧的限位孔，所述限位孔沿所述基板的轴向设置，用于供牵引体穿设，并用于限制所述牵引体的径向位移；所述限位孔所限定的外接圆的半径小于所 述槽道于所述基板处所限定的外接圆的半径。
  7. 根据权利要求6所述的器械末端，其特征在于，所述器械末端还包括器械杆连接座，所述器械杆连接座可拆卸地与所述基座连接，且被限制相对于所述基座的周向转动；所述器械杆连接座包括限位板，所述限位板位于所述器械杆连接座的近端侧，所述器械末端包括多个所述限位孔，多个所述限位孔均开设于所述限位板上。
  8. 根据权利要求3或6所述的器械末端，其特征在于，所述基座包括第三导向组件和第四导向组件，所述第三导向组件沿所述基座的轴向位于所述第一导向组件的近端，所述第四导向组件沿所述基座的轴向位于所述第二导向组件的近端；所述第三导向组件和所述第四导向组件用于引导牵引体并沿第三轴线布置于所述基体的两侧，所述第三轴线平行于所述第二轴线。
  9. 根据权利要求8所述的器械末端，其特征在于，所述槽道包括位于所述基板的远端侧的导向槽，所述导向槽分别设置于所述第三导向组件和所述第四导向组件上，用于引导牵引体自所述第一导向组件及所述第二导向组件向近端延伸。
  10. 根据权利要求9所述的器械末端，其特征在于，所述导向槽包括多个导向槽，一部分的所述导向槽位于所述第三导向组件上，另一部分的所述导向槽位于所述第四导向组件上；每个所述导向槽用于供一个牵引体绕设。
  11. 根据权利要求10所述的器械末端，其特征在于，所述导向槽包括以所述第三轴线为圆心的圆弧段，所述圆弧段的半径为ra，所述第一导向组件和所述第二导向组件沿所述第二轴线的横截面为圆形，所述第一导向组件和所述第二导向组件用于改变牵引体的横截面处圆形的半径均为rb，所述第二轴线和所述第三轴线之间距离T满足：ra+rb≤T≤ra+rb+3mm。
  12. 根据权利要求10所述的器械末端，其特征在于，所述第一导向组件包括第一导向轮和第三导向轮，所述第二导向组件包括第二导向轮和第四导向轮；所述第一至第四导向轮分别围绕所述第二轴线可转动地与所述基座连接；所述第一至第四导向轮分别与所述第一至第四导向槽一一对应，所述第一至第四导向轮分别用于供第一至第四牵引体绕设。
  13. 根据权利要求10所述的器械末端，其特征在于，所述第一导向组件包括第一导向柱，所述第二导向组件包括第二导向柱；所述第一导向柱与所述第二导向柱均沿所述第二轴线设置，所述基座具有第一导槽和第二导槽，所述第一导向柱可转动地设置于所述第 一导槽中，所述第二导向柱可转动地设置于所述第二导槽中；所述第一导向柱用于供第一牵引体和第三牵引体绕设，所述第二导向柱用于供第二牵引体和第四牵引体绕设。
  14. 根据权利要求8所述的器械末端，其特征在于，所述槽道贯通所述基板形成至少第一牵引体穿设孔、第二牵引体穿设孔、第三牵引体穿设孔、第四牵引体穿设孔、第五牵引体穿设孔及第六牵引体穿设孔，所述基座限定了经过所述第二轴线和所述第三轴线的第一基面，所述第一牵引体穿设孔、所述第三牵引体穿设孔和所述第五牵引体穿设孔位于所述第一基面的一侧，所述第二牵引体穿设孔、所述第四牵引体穿设孔和所述第六牵引体穿设孔位于所述第一基面的另一侧。
  15. 根据权利要求1所述的器械末端，其特征在于，所述器械末端包括至少两个所述干涉部，分别为第一开合组件和第二开合组件；所述第一开合组件包括第一开合片、第一开合片连接部和第二开合片连接部，所述第一开合片绕所述第一轴线旋转；所述第一开合片连接部和所述第二开合片连接部均与所述第一开合片固定连接或自所述第一开合片一体沿伸，所述第一开合片连接部和所述第二开合片连接部沿所述第一轴线布置于所述基体的两侧；所述第一开合片连接部和所述第二开合片连接部分别用于供第一牵引体和第二牵引体沿相反的方向绕设；所述第一开合组件被配置为在所述第一牵引体和所述第二牵引体的驱动下沿相反的方向围绕所述第一轴线转动；和/或
    所述第二开合组件包括第二开合片、第三开合片连接部和第四开合片连接部，所述第二开合片绕所述第一轴线旋转；所述第三开合片连接部和所述第四开合片连接部均与所述第二开合片固定连接或自所述第二开合片一体沿伸，所述第三开合片连接部和所述第四开合片连接部沿所述第一轴线布置于所述基体的两侧；所述第三开合片连接部和所述第四开合片连接部分别用于供第三牵引体和第四牵引体沿相反的方向绕设；所述第二开合组件被配置为在所述第三牵引体和所述第四牵引体的驱动下沿相反的方向围绕所述第一轴线转动；
    所述第二轴线垂直于所述第一轴线；所述基体用于供第五牵引体和第六牵引体连接，并用于在所述第五牵引体和所述第六牵引体的驱动下沿相反的方向围绕所述第二轴线转动；
    所述第一导向组件和所述第二导向组件沿所述第二轴线间隔地设置，所述第一导向组件用于供所述第一牵引体和所述第三牵引体绕设，所述第二导向组件用于供所述第二牵引 体和所述第四牵引体绕设。
  16. 一种器械末端组件，包括如权利要求1～15中任一项所述的器械末端以及多个牵引体；
    一部分的所述牵引体的一端与所述干涉部连接，另一端通过所述第一导向组件和所述第二导向组件后，在所述槽道的引导下向近端延伸，用于与驱动单元连接；
    一部分的所述牵引体的一端与所述基体连接，另一端在所述槽道的引导下向近端延伸，用于与驱动单元连接。
  17. 根据权利要求16所述的器械末端组件，其特征在于，至少一个所述牵引体呈扁带形。
  18. 一种手术器械，其特征在于，包括根据权利要求16或17所述的器械末端组件以及与所述器械末端组件连接的器械杆和驱动单元。
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