CN120585474A

CN120585474A - Surgical instruments, operating equipment and surgical robots

Info

Publication number: CN120585474A
Application number: CN202510677891.2A
Authority: CN
Inventors: 王建辰; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2025-09-05
Also published as: CN112603547B; CN112603547A

Abstract

The present invention provides a surgical instrument, an operating device and a surgical robot, wherein the surgical instrument includes a driver, an end effector, and a long shaft connected between the driver and the end effector, the driver includes a shell and a driving structure arranged in the shell, the proximal end of the long shaft is connected to the shell, and the distal end of the long shaft is connected to the end effector, a driving cable connecting the driving structure and the end effector is passed through the long shaft, a liquid inlet is provided on the shell, and a guide structure connected to the liquid inlet is provided in the shell, the guide structure includes an outlet end extending into the long shaft, and the liquid inlet is higher than the outlet end in the axial direction of the long shaft. The surgical instrument of the present invention is provided with a guide structure in the shell to directly send the flushing fluid into the long shaft, ensuring that there is sufficient pressure to effectively flush the distal end of the long shaft. The overall structure is simple, convenient and efficient, and the flushing effect is good.

Description

Surgical instrument, slave operating device, and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument for minimally invasive surgery, a slave operation device with the surgical instrument and a surgical robot with the slave operation device.

Background

Minimally invasive surgery is a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related equipment, and has the advantages of small trauma, light pain, quick recovery and the like. With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The surgical instruments are arranged on the mechanical arm of the robot after being cleaned and disinfected, and the mechanical arm drives the surgical instruments to execute surgical operation.

In existing designs, the surgical instrument generally includes a driver, a long shaft, and an end effector. The driver is connected with a driving device in the mechanical arm, and a driving cable for connecting the driver and the end effector is arranged in the long shaft in a penetrating manner, so that the mechanical arm can drive the end effector to perform operation. However, when the surgical instrument is to be washed and cleaned, the washing fluid is usually injected into the driver, and because the long shaft is of an elongated structure, the washing fluid often has insufficient pressure to reach the distal end of the long shaft, and thus the distal end of the long shaft cannot be washed effectively.

Disclosure of Invention

In view of the above, a surgical instrument, a slave operating device, and a surgical robot are provided that can effectively flush the distal end of the long shaft.

The invention provides a surgical instrument which comprises a driver, an end effector and a long shaft connected between the driver and the end effector, wherein the driver comprises a shell and a driving structure arranged in the shell, the proximal end of the long shaft is connected with the shell, the distal end of the long shaft is connected with the end effector, a driving cable connected with the driving structure and the end effector is arranged in the long shaft in a penetrating manner, a first liquid inlet and a second liquid inlet are arranged on the shell, the first liquid inlet is communicated with the inner space and the outer space of the shell, fluid for flushing the interior of the shell enters the shell from the first liquid inlet, flows out of the shell after flushing the interior of the shell to form a first flushing path, fluid for flushing the long shaft enters the long shaft from the second liquid inlet after entering the diversion structure, is discharged from the distal end of the long shaft to form a second flushing path, and the first flushing path and the second flushing path are independent of each other.

In one embodiment, the first liquid inlet and the second liquid inlet are located at the top of the housing.

In one embodiment, the flow guiding structure comprises an outlet end extending into the long shaft, and the second liquid inlet is higher than the outlet end in the axial direction of the long shaft.

In one embodiment, a seal structure for gas sealing is disposed within the long shaft, the seal structure being opened by fluid as it passes into the long shaft through the flow directing structure to the distal end, the seal structure being in a closed state when not flushed.

In one embodiment, the flow guiding structure comprises a first flow guiding pipe and a first connector for connecting the inlet end of the first flow guiding pipe with the liquid inlet, wherein the outlet end of the first flow guiding pipe is connected with a second connector, and the second connector comprises a fluid outlet facing to the long shaft.

In one embodiment, the second connector is a standard adapter, and the second connector further includes a fluid inlet oriented perpendicular to the orientation of the fluid outlet, and the fluid inlet is plugged with the outlet end of the first flow guide tube.

In one embodiment, the fluid outlet of the second connector is connected to a second flow conduit, the tip of which extends along the long axis to its distal end.

In one embodiment, the wall of the second flow guiding pipe is provided with an opening, and part of the fluid enters the long shaft from the opening for flushing in the process that the flushing fluid flows along the second flow guiding pipe to the far end of the long shaft.

In one embodiment, a one-way valve is disposed within the proximal or distal end of the shaft, the one-way valve being maintained closed during normal use of the surgical instrument and opened during irrigation of the surgical instrument.

In one embodiment, the wrist of the end effector is sleeved with a porous tube, and a through hole is formed in the tube wall of the porous tube, and flushing fluid enters the wrist through the through hole for flushing.

In one embodiment, the liquid inlet comprises a first liquid inlet and a second liquid inlet, the first liquid inlet is communicated with the inner space and the outer space of the shell, and the second liquid inlet is communicated with the flow guiding structure.

The invention also provides a slave operation device, which comprises at least one mechanical arm, wherein the mechanical arm comprises a plurality of joints and a holding mechanical arm, the joints are linked to realize the movement of the holding mechanical arm in a plurality of degrees of freedom, and the surgical instrument is detachably arranged on the holding mechanical arm.

In one embodiment, the manipulator comprises a manipulator body and an instrument mount slidable on the manipulator body, the surgical instrument being mounted on the instrument mount.

In one embodiment, a trocar is secured to the distal end of the manipulator arm, and the surgical instrument is passed through the trocar and into the human body during surgery.

The invention also provides a surgical robot which comprises a master operation console and the slave operation equipment, wherein the slave operation equipment executes the surgical operation on a human body according to the instruction of the master operation console.

In one embodiment, the master operation console and the slave operation device are wirelessly connected.

In one embodiment, the master operation console and the slave operation device are connected by wire.

Compared with the prior art, the surgical instrument of the slave operation equipment of the surgical robot is provided with the flow guide structure in the shell to directly send the flushed fluid into the long shaft, so that the far end of the long shaft can be effectively flushed by enough pressure, and the surgical instrument has the advantages of simple structure, convenience, high efficiency and good flushing effect.

Drawings

Fig. 1 is a schematic view of a slave manipulator of an embodiment of the surgical robot of the present invention.

Fig. 2 is a schematic view of a first embodiment of the surgical instrument of the present invention.

Fig. 3 is a schematic view of the internal structure of the surgical instrument of fig. 2.

Fig. 4 is a schematic view of a second embodiment of the surgical instrument of the present invention.

Fig. 5 is an assembly view of the irrigation structure and the long axis of the surgical instrument of fig. 4.

Fig. 6 is an exploded view of the flushing structure of fig. 5.

Fig. 7 is a schematic view of an end effector of the surgical instrument of fig. 4.

Fig. 8 is a schematic view of a sealing structure of the surgical instrument of fig. 4.

Fig. 9 is a schematic view of a further embodiment of a surgical instrument according to the invention.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. One or more embodiments of the present invention are illustrated in the accompanying drawings to provide a more accurate and thorough understanding of the disclosed subject matter. It should be understood, however, that the invention may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is said to be "coupled" to another element, it is intended that the change in at least one element is limited by the other element, and that the element is "decoupled," i.e., decoupled, meaning that two elements having a coupling relationship no longer have a coupling relationship, and that the change in one element is no longer limited by the other element. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, the surgical robot includes a master console 1000 and a slave operating device 2000. The master console 1000 is used to transmit a control command to the slave operation device 2000 according to an operation of a doctor to control the slave operation device 2000, and is also used to display an image acquired from the slave operation device 2000. The slave operation device 2000 is used to respond to a control command transmitted from the master operation panel 1000 and perform a corresponding operation, and the slave operation device 2000 is also used to acquire an in-vivo image.

Specifically, the slave operation device 2000 includes a robot arm 1, a power mechanism 2 provided on the robot arm 1, a surgical instrument 3 provided on the power mechanism 2, and a sleeve 4 that houses the surgical instrument 3. The mechanical arm 1 is used for adjusting the position of the surgical instrument 3, the power mechanism 2 is used for driving the surgical instrument 3 to perform corresponding operation, and the surgical instrument 3 is used for extending into a body, performing surgical operation through a distal end instrument positioned at the distal end and/or acquiring in-vivo images.

As shown in fig. 2 and 3, the surgical instrument 3 includes a driver 10 and a distal end effector 20, respectively, at a proximal end of the surgical instrument 3, and a long shaft 30 between the driver 10 and the end effector 20, the driver 10 being adapted to be coupled to the power mechanism 2, the power mechanism 2 having a plurality of actuators (not shown) therein, the plurality of actuators being engaged with the driver 10 to transmit driving forces of the actuators to the driver 10. Long shaft 30 is used to connect driver 10 and end effector 20, long shaft 30 is hollow for passage of drive cable 40, and movement of end effector 20 by driver 10 is manipulated by drive cable 40 to cause end effector 20 to perform the associated surgical procedure.

The actuator 10 includes a housing 12, and a driving structure 14 and a flow guiding structure 16 disposed in the housing 12. In this embodiment, the housing 12 of the driver 10 is provided with a first liquid inlet 121 and a second liquid inlet 122 for flushing the surgical instrument of the present invention.

The first liquid inlet 121 is communicated with the inner space and the outer space of the housing 12, and the flushing fluid is poured into the housing 12 through the first liquid inlet 121 to flush the driving structure 14 and the like in the housing 12. The second fluid inlet 122 is connected to the flow guiding structure 16 for introducing the flushing fluid into the long shaft 30 and directly flushing the long shaft 30. That is, the present invention provides two relatively independent flushing paths for flushing the driver 10 and the long shaft 30, respectively, ensuring the flushing effect of the long shaft 30, and the flow direction of the fluid is shown by arrows in fig. 5. In this embodiment, the flow guiding structure 16 is a first flow guiding tube, which is a flexible tube, and the flexible first flow guiding tube can be inserted into the driver 10 at will, so as to be conveniently inserted into the inner space of the housing 12. One end of the flow guiding structure 16 is connected to the second fluid inlet 122 as a fluid inlet 160, and the other end is an outlet 162 extending into the proximal end of the long shaft 30.

Preferably, the first liquid inlet 121 and the second liquid inlet 122 are disposed at the top end of the housing 12, and the fluid of the flush driver 10 flows downward after entering the housing 12 through the first liquid inlet 121, and finally flows out of the housing 12 from the bottom of the housing 12. The second liquid inlet 122 is located higher than the outlet end 162 of the flow guiding structure 16, and the fluid for flushing the long shaft 30 flows into the flow guiding structure 16 from the second liquid inlet 122, then flows down along the flow guiding structure 16 to the proximal end of the long shaft 30, finally flows down along the long shaft 30 to the distal end of the long shaft 30 and flows out of the long shaft 30 from the liquid outlet 32. In general, the fluid being irrigated may utilize gravitational potential energy to achieve a higher flow rate after entering the surgical instrument of the present invention, ensuring more efficient irrigation of the driver 10 and the long shaft 30.

The invention aims at the device that the driver 10 and the long shaft 30 are provided with two independent flow passages, the fluid for flushing the driver 10 enters the device in the shell 12 for flushing the shell 12 through the first liquid inlet 121, and the fluid for flushing the long shaft 30 flows into the long shaft 30 through the second liquid inlet 122 and flows into the long shaft 30 along the flow guiding structure 16, so that the fluid for flushing the driver 10 and the long shaft 30 cannot influence or interfere with each other, the fluid entering the long shaft 30 cannot lose kinetic energy due to the internal structure of the driver 10, the sufficient pressure of the fluid entering the long shaft 30 can be ensured, and the fluid can flow to the far end along the long shaft 30 and finally flows out through the liquid outlet 32 at the far end, thereby achieving the aim of fully flushing the long shaft 30. Through the arrangement of the two flow passages, the flushing effect of the whole surgical instrument is good, and the safety and sanitation of subsequent use are ensured.

Fig. 4-6 illustrate a second embodiment of the surgical instrument according to the present invention, which differs from the first embodiment in that the inlet end 160 and the outlet end 162 of the flow guiding structure 16 are connected to a first connector 17 and a second connector 18, respectively. Wherein the first connector 17 is preferably a standard luer connector connecting the inlet port 160 with the second fluid inlet port 122 and the second connector 18 is a rigid connector secured within the housing 12 or to the long shaft 30. Preferably, the second connector 18 is a standard adapter, including a fluid outlet 180 and a fluid inlet 182 oriented vertically. Wherein the fluid inlet 182 is inserted into the outlet end 162, and the fluid outlet 180 is disposed toward the long axis 30. Through the second connector 18, it is able to avoid that the flushing fluid cannot smoothly flow into the long shaft due to bending generated when the flexible flow guiding structure 16 enters the long shaft 30, fix the position of the liquid outlet of the flow guiding structure 16, and avoid that the flow guiding structure 16 shifts under the action of fluid pressure, so that the flushing fluid cannot smoothly enter the long shaft 30.

In use of the surgical instrument of this embodiment, fluid from the irrigation driver 10 is injected into the housing 12 through the first fluid inlet 121, fluid from the irrigation shaft flows along the flow guide structure 16 to the rigid connector 18, and is injected into the proximal end of the shaft 30 through the fluid outlet 180 thereof, and finally flows down the shaft 30 to the distal end and out through the distal fluid outlet 32, completing irrigation of the shaft 30. Preferably, as shown in fig. 7, the wrist of the end effector 20 is sleeved with a porous tube 22, and a through hole 24 is arranged on the wall of the porous tube 22, and the flushing fluid enters the wrist through the through hole 24 for flushing.

Preferably, to prevent gas leakage, a seal 34 is provided at either the proximal or distal end of the long shaft 30. As shown in fig. 8, the sealing structure 34 is preferably a one-way valve disposed within the proximal end of the long shaft 30 and below the rigid connector 18. That is, the seal 34 is disposed downstream of the rigid joint 18 in the direction of flow of the flushing fluid. Thus, when the surgical instrument of the present invention is used normally, the sealing structure 34 is kept closed to prevent gas leakage, whereas when the surgical instrument of the present invention is flushed, as shown by the broken line in fig. 8, the sealing structure 34 is opened and the flushing fluid flows through the sealing structure 34 toward the distal end of the long shaft 30 to flush the long shaft 30.

Fig. 9 shows a third embodiment of the surgical device according to the present invention, which is different from the second embodiment in that a second flow guiding tube 19 is further disposed in the long shaft 30, and one end of the second flow guiding tube 19 is connected to the fluid outlet 180 of the second connector, and the other end extends along the long shaft 30 to the vicinity of the fluid outlet 32 at the distal end thereof. In this way, the flushing fluid is directly delivered to the distal end of the long shaft 30 through the flow guiding structure 16 and the second flow guiding tube 19, so as to further enhance the flushing effect of the distal end of the long shaft 30. Preferably, an opening is formed on the wall of the second flow guiding tube 19, and during the process of the flushing fluid flowing along the second flow guiding tube 19 towards the distal end of the long shaft 30, part of the fluid enters the long shaft 30 through the opening to flush the long shaft 30.

In summary, the surgical instrument of the present invention directly delivers the irrigation fluid into the long shaft 30 by providing the flow guide structure 16 in the housing 12, and the fluid for irrigating the long shaft 30 forms a separate flow path without being affected by the fluid of the irrigation driver 10, so that it is ensured that the distal end of the long shaft 30 is effectively irrigated with sufficient pressure, and the surgical instrument has a simple overall structure, is convenient and efficient, and has a good irrigation effect. It should be noted that the present invention is not limited to the above embodiments, and those skilled in the art can make other changes according to the inventive spirit of the present invention, and these changes according to the inventive spirit of the present invention should be included in the scope of the present invention as claimed.

Claims

1. A surgical instrument, characterized in that it comprises a driver, an end effector, and a long shaft connected between the driver and the end effector, the driver comprising a housing and a driving structure arranged in the housing, the proximal end of the long shaft being connected to the housing, and the distal end of the long shaft being connected to the end effector, a driving cable connecting the driving structure and the end effector being passed through the long shaft, the housing being provided with a first liquid inlet and a second liquid inlet, the housing being provided with the first liquid inlet, the first liquid inlet communicating with the inner and outer spaces of the housing, the fluid for flushing the interior of the housing entering the housing through the first liquid inlet, and flowing out from the housing after flushing the interior of the housing to form a first flushing path; the fluid for flushing the long shaft entering the guide structure through the second liquid inlet enters the interior of the long shaft, and is discharged from the distal end of the long shaft after flushing the long shaft to form a second flushing path, the first flushing path and the second flushing path being independent of each other.

2 . The surgical instrument according to claim 1 , wherein the first liquid inlet and the second liquid inlet are located at the top of the shell.

3. The surgical instrument according to claim 1, wherein the flow-guiding structure comprises an outlet end extending into the long axis, and the second liquid inlet is higher than the outlet end in the axial direction of the long axis.

4. The surgical instrument as described in claim 1 is characterized in that a sealing structure for gas sealing is provided in the long shaft, and when the fluid enters the long shaft through the guide structure and flows toward the distal end, the sealing structure is opened by the fluid, and the sealing structure is in a closed state when there is no flushing.

5. The surgical instrument according to claim 3, wherein the guide structure comprises a first guide tube and a first connector connecting the inlet end of the first guide tube and the second liquid inlet, and the outlet end of the first guide tube extends into the proximal end of the long axis.

6. The surgical instrument as described in claim 3 is characterized in that the guide structure includes a first guide tube and a first connector connecting the inlet end of the first guide tube and the second liquid inlet, the outlet end of the first guide tube is connected to a second connector, and the second connector includes a fluid outlet facing the inside of the long axis.

7. The surgical instrument according to claim 6, wherein the second connector is a standard adapter, and further comprises a fluid inlet oriented perpendicularly to the direction of the fluid outlet, and the fluid inlet is plugged into the outlet end of the first guide tube.

8 . The surgical instrument according to claim 7 , wherein the fluid outlet of the second connector is connected to a second flow guide tube, and a distal end of the second flow guide tube extends along the long axis to a distal end thereof.

9. The surgical instrument according to claim 8, wherein an opening is formed on the wall of the second flow guide tube, and when the flushing fluid flows along the second flow guide tube toward the distal end of the long axis, part of the fluid enters the long axis through the opening for flushing.

10. The surgical instrument according to any one of claims 1 to 9, characterized in that a one-way valve is provided in the proximal end or the distal end of the long shaft, wherein the one-way valve remains closed when the surgical instrument is in normal use and is opened when the surgical instrument is flushed.

11. A slave operating device, comprising at least one robotic arm, wherein the robotic arm comprises a plurality of joints and a robotic arm, wherein the plurality of joints are linked to achieve movement of the robotic arm with multiple degrees of freedom, and wherein the robotic arm is detachably mounted with the surgical instrument according to any one of claims 1 to 10.

12. A surgical robot, characterized in that it comprises a main operating console and a slave operating device according to claim 11, wherein the slave operating device performs surgical operations on a human body according to instructions from the main operating console.