WO2019228169A1 - Serpentine surgical instrument - Google Patents

Abstract

A serpentine surgical instrument, comprising: a handheld end (1), a swappable instrument (2), and a quick-swap structure (3), where the handheld end (1) comprises a grip structure (11), a wrist structure (14), and a control structure (12); the control structure (12) is connected to the grip structure (11) via the wrist structure (14), the wrist structure (14) has at least one degree of freedom to swing; the swappable instrument (2) comprises a serpentine structure (21), a tool support base (22) and an end effector (23); the quick-swap structure (3) comprises a first Hooke hinge (321) provided on the grip structure (11) and a connector (322) provided on the swappable instrument (2), the first Hooke hinge (321) and the connector (322) are detachably connected to implement the transmission or cutoff of power; and, a transmission apparatus (6), comprising a first part and a second part, respectively arranged on the swappable instrument (2) and the handheld end (1), the first part being connected to the connector (322) and to the serpentine structure (21), and the second part being connected to the wrist structure (14) and to the first Hooke hinge (321). A detachable connection is implemented between the handheld end (1) and the swappable instrument (2) via the quick-swap structure (3), quick swapping is implemented, the quick-swap structure (3) implements the transmission and cutoff of power via the Hooke hinge structure, and the design is simple.

Description

Snake surgical instrument

Cite to join

This application claims priority from a Chinese patent application filed on May 29, 2018 with the Chinese Patent Office, application number 201810532267.3, and the invention name is "snake-shaped surgical instrument", the entire contents of which are incorporated herein by reference.

Technical field

The present application relates to the technical field of medical instruments, and in particular, to a snake-shaped surgical instrument.

Background technique

In the process of microtrauma surgery, in order to achieve a small wound, achieve better treatment results, and reduce damage to other tissues during the surgery, surgical instruments with serpentine joints and endoscopes with serpentine joints are mostly used. To avoid other organs during surgery. However, the movement direction of the end of the snake-shaped surgical instrument is opposite to the operation direction of the operating end, which makes the operation difficult for the doctor and increases the operation risk.

Moreover, although the handheld end of the snake-like surgical instrument can be reused, on the one hand, the service life of the snake-shaped surgical instrument is still determined by the service life of the end effector; The instruments are not easy to clean and disinfect after surgery. In addition, multiple snake-shaped surgical instruments with the same / different end effectors need to be prepared during the operation, which wastes resources and increases the burden on patients. The replaceable snake-shaped surgical instruments are mostly complicated in design and expensive.

Summary of the invention

Various embodiments disclosed herein provide a snake-shaped surgical instrument.

An aspect of the present application provides a snake-shaped surgical instrument, including:

The hand-held end includes a grip structure, a wrist structure, and a control structure, wherein the control structure is connected to the grip structure through a wrist structure, and the wrist structure has at least one first degree of freedom of rotation;

The replaceable instrument includes a serpentine structure, a tool support base and an end effector connected in this order, wherein the serpentine structure has a fifth degree of freedom of rotation;

The quick-change structure includes a detachable joint driver, wherein the detachable joint driver includes a first Hook hinge provided on the holding structure and a connector provided on the replaceable instrument, the first The Hooke hinge is detachably connected to the connector, and the first Hooke hinge has a ninth degree of freedom of rotation; and

The transmission device includes a first part and a second part, which are respectively located on the replaceable instrument and the handheld end, wherein the first part connects the connector and the snake-shaped structure, and the second part connects the The wrist structure and the first Hook hinge; the first portion is configured to drive the snake-like structure to follow a ninth rotation movement of the first Hook hinge to perform a fifth rotation movement; the second portion It is configured to drive the first Hooke hinge to follow the first rotational movement of the wrist structure to perform a ninth rotational movement.

The snake-shaped surgical instrument has a detachable connection between the hand-held end and the exchangeable instrument through a quick-change structure, which can realize rapid replacement. The quick-change structure realizes power transmission and cut-off through a Hook hinge structure, and has a simple design.

In one embodiment, the wrist structure further has a second degree of freedom of rotation;

The first Hooke hinge also has a tenth degree of freedom of rotation;

The second part is further configured to drive the first Hooke hinge to follow a second rotational movement of the wrist structure to perform a tenth rotational movement;

The serpentine structure has a sixth degree of freedom of rotation;

The first part is further configured to drive the snake-like structure to follow a tenth rotation movement of the first Hook hinge to perform a sixth rotation movement.

In one embodiment, the first Hooke hinge performs the ninth rotational movement about a ninth axis, and the serpentine structure performs the fifth rotational movement about a fifth axis; and

The ninth axis is parallel to the fifth axis.

In one embodiment, the first Hooke hinge performs the ninth rotational movement about a ninth axis, and the snake-shaped structure performs the fifth rotational movement about a fifth axis;

The first Hooke hinge performs the tenth rotational movement about a tenth axis, and the snake-shaped structure performs the sixth rotational movement about a sixth axis; and

The ninth axis is parallel to the fifth axis, and the tenth axis is parallel to the sixth axis.

In one embodiment, the wrist structure performs a first rotational movement about a first axis and a second rotational movement about a second axis; and

The first axis is parallel to the fifth axis, and the second axis is parallel to the sixth axis.

In one embodiment, the first Hook hinge has an inner frame and an outer frame, the outer frame rotates relative to the holding structure about the tenth axis, and the inner frame surrounds the ninth axis Rotate relative to the outer frame.

In one embodiment, the replaceable instrument includes a housing and a space defined by the housing, the connector is placed in the space, and the connector includes a movable connection to the replaceable instrument. A connecting plate of a housing of the instrument, the connecting plate being detachably connected to the first Hooke hinge.

In one embodiment, the connector further includes an elastic connection device, and the connection plate is fixed to the housing of the replaceable instrument through the elastic connection device.

In one embodiment, at least one stud is provided on an inner frame of the first Hook hinge, the stud includes a stud body and a protruding structure formed along an axial extension of the stud body, the protrusions The outer diameter of the structure is larger than the outer diameter of the pin body, the connector includes a connecting plate rotatably connected to the replaceable instrument, and the connecting plate is provided with a pin hole at a position corresponding to the pin, The pin hole includes a large diameter portion and a small diameter portion which are arranged side by side and communicate with each other, wherein the size of the large diameter portion is adapted to the outer diameter of the protruding structure, and the small diameter portion has at least And the size of the connection between the large-diameter portion and the small-diameter portion is configured to allow the stud body to pass.

In one embodiment, the first portion of the transmission device includes a first transmission wire group and a second transmission wire group, and the second portion of the transmission device includes a third transmission wire group and a fourth transmission wire group, wherein The proximal ends of the third transmission wire group and the fourth transmission wire group are connected to the wrist structure, and the distal ends are connected to the first Hook hinge; The end is connected to the connecting plate, and the far end is connected to the serpentine structure. The control structure controls the serpentine structure to follow the first hooker hinge through the first transmission wire group and the second transmission wire group. Nine rotation movements to perform the fifth rotation movement, and control the snake-shaped structure to follow the tenth rotation movement of the first Hook hinge to perform the sixth rotation movement, and the control structure passes the third transmission wire And the fourth transmission wire group control the first Hooke hinge to follow the first rotational movement of the wrist structure to make the ninth rotary movement, and control the first Hooke hinge to follow the wrist structure The tenth rotational motion of the second rotational motion .

In one embodiment, the fixed connection points of the distal ends of the first transmission wire group and the second transmission wire group on a serpentine structure are connected to the first transmission wire group and the second transmission wire. The fixed connection points of the proximal end of the group on the connection plate are arranged correspondingly; the fixed connection points of the third transmission wire group and the distal end of the fourth transmission wire group and the inner frame of the first Hooke hinge are connected with The proximal ends of the third transmission wire group and the fourth transmission wire group are arranged opposite to the fixed connection point of the wrist structure; or

The fixed connection points of the distal ends of the first transmission wire group and the second transmission wire group on the serpentine structure are at the proximal ends of the first transmission wire group and the second transmission wire group. The fixed connection points on the connection plate are arranged opposite to each other; the fixed connection points of the distal ends of the third transmission wire group and the fourth transmission wire group and the inner frame of the first Hooke hinge are connected to the first The proximal ends of the three driving wire groups and the fourth driving wire group are arranged corresponding to the fixed connection points of the wrist structure.

In one embodiment, the fixed connection points of the distal ends of the first transmission wire group and the second transmission wire group on the serpentine structure are sequentially connected to form a first rectangle, and one side of the first rectangle Parallel to the fifth axis, and the other side is parallel to the sixth axis;

The first transmission wire group and the proximal end of the second transmission wire group are connected in sequence at a fixed connection point on the connection plate to form a second rectangle, one side of the second rectangle is parallel to the fifth axis, The other side is parallel to the sixth axis;

The third transmission wire group, the distal end of the fourth transmission wire group and the fixed connection point of the inner frame of the first Hooke hinge are sequentially connected to form a third rectangle, and one side of the third rectangle is parallel to the Said ninth axis, the other side being parallel to said tenth axis; and

The third transmission wire group, the proximal end of the fourth transmission wire group and the fixed connection point of the wrist structure are sequentially connected to form a fourth rectangle, one side of the fourth rectangle is parallel to the first axis, The other side is parallel to the second axis.

In one embodiment, the end effector includes at least one tool flap, the tool flap is rotatably connected to the tool support base, and the handheld end further includes an opening and closing control device capable of moving relative to the control structure, The transmission device further includes a first flexible structure, and the opening and closing control device controls the tool flap to rotate through the first flexible structure.

In one embodiment, the quick-change structure further includes a first connection shaft and a first elastic telescopic column detachably connected to the first connection shaft, and the first connection axially extends proximally through the first connection shaft. In the connector, the first elastic telescopic post extends distally through the first Hook hinge, and the holding structure is further provided with a first motor, a first sensor, and a controller, and the first sensor is configured In order to detect the opening and closing movement of the opening and closing control device, the controller controls the first motor to output power according to a signal detected by the first sensor, and the first motor passes the first elastic telescopic column, the A first connecting shaft drives the first flexible structure.

In one embodiment, a positioning protrusion is provided on an end surface of the first elastic telescopic column, and a positioning groove matching the positioning protrusion is provided on an end surface of the first connecting shaft. The cooperation with the positioning groove realizes the detachable connection between the first elastic telescopic post and the first connection shaft.

In one embodiment, the first elastic telescopic column includes a compression spring, an inner cylinder, and an outer cylinder located on the periphery of the inner cylinder, wherein the inner cylinder is connected to the output shaft of the first motor, and the outer cylinder The cylinder is axially movable relative to the inner cylinder, and the compression spring is configured to provide a driving force for moving the outer cylinder away from the inner cylinder.

In one embodiment, the end effector further includes a first reversing device, the first flexible structure includes a steel wire and an elastic structure, and the elastic structure is configured to provide the tool flap to be normally open. The driving force of the steel wire is that the proximal end of the wire is wound on the first connecting shaft, and the distal end of the wire is connected to the first reversing device, and the first reversing device is used for the translational movement of the wire And the opening and closing movement of the tool flap.

In one embodiment, the end effector further includes a second reversing device and a third reversing device. The first flexible structure includes a flexible shaft, and the first connecting shaft is in contact with the second reversing device. To the device, the proximal end of the flexible shaft is fixed on the second reversing device, and the distal end is connected to the third reversing device to drive the tool flap to realize the opening and closing movement, the third reversing device It is configured to convert the translational motion of the soft shaft into the opening and closing motion of the tool flap, and the second reversing device is configured to convert the rotational motion of the first connection shaft into a translational motion of the soft shaft.

In one embodiment, the opening-closing control device has at least one opening-closing flap, and the opening-closing flap is rotatably connected to the control structure, wherein the first sensor is disposed on the opening-closing flap or the opening-closing flap. The Hall sensor on the control structure; or the first sensor is a rotating shaft code disc provided on a rotating shaft of the opening and closing flap.

In one embodiment, the control structure is configured to be rotatable about its own axis relative to the wrist structure, and the tool support base is configured to be rotatable about its own axis relative to the serpentine structure. The transmission device further includes a second flexible transmission structure for transmitting the rotation movement of the control structure to the tool support base to rotate the tool support base.

In one embodiment, the quick-change structure further includes a second connection shaft and a second elastic telescopic column detachably connected to the second connection shaft, and the second connection axially extends distally through the second connection shaft. Said first Hook hinge, said second elastic telescopic post extends proximally through said connector, said holding structure is further provided with a second motor, a second sensor and a controller, said second sensor configuration In order to detect the rotation movement of the control structure, the controller controls the second motor to output power according to a signal detected by the second sensor, and the second motor passes the second elastic telescopic column, the first Two connecting shafts drive the second flexible structure.

In one embodiment, the second flexible structure is a flexible shaft, and two ends of the flexible shaft are fixedly connected to the second connecting shaft and the tool support base, respectively.

In one embodiment, a fixed bracket is provided on the wrist structure, and the second sensor is a rotary code disc provided on the fixed bracket.

In one embodiment, the quick-change structure further includes a locking structure configured to restrict rotation of the first Hooke hinge and the connector in a circumferential direction of the replaceable instrument.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a schematic diagram of a snake-shaped surgical instrument and a degree of freedom of movement thereof according to an embodiment of the present application; FIG.

2 shows a disassembly schematic diagram of a snake-shaped surgical instrument according to an embodiment of the present application;

3 is a schematic diagram of a handheld end of a snake-shaped surgical instrument according to an embodiment of the present application;

4 shows a schematic diagram of a control structure according to an embodiment of the present application;

FIG. 5 shows a schematic diagram of a quick-change joint according to an embodiment of the present application; FIG.

FIG. 6 shows a schematic diagram of a drive-side detachable joint of a handheld end according to an embodiment of the present application; FIG.

FIG. 7 shows a schematic diagram of a drive-detachable joint on the end side of a replaceable instrument according to an embodiment of the present application; FIG.

8 and 9 are schematic diagrams of a transmission device according to an embodiment of the present application;

FIG. 10 shows a schematic diagram of the connection between the drive detachable joint and the transmission wire group of the end of the replaceable instrument according to an embodiment of the present application; FIG.

FIG. 11 is a schematic diagram illustrating a connection between a drive-side removable joint and a transmission wire group of a handheld end according to an embodiment of the present application; FIG.

FIG. 12 shows a connection schematic diagram of a driving detachable joint and a flexible transmission structure according to an embodiment of the present application; FIG.

FIG. 13 is a schematic diagram illustrating a connection between a driving detachable joint and a driving structure at a handheld end side according to an embodiment of the present application.

Detailed ways

In order to make the foregoing objects, features, and advantages of the present application more comprehensible, the following describes specific implementation manners of the present application in detail with reference to the accompanying drawings. Numerous specific details are set forth in the following description in order to fully understand the present application. However, the embodiments of the present application can be implemented in many other ways than those described herein. Those skilled in the art can make similar improvements without violating the connotation of the present application. Therefore, the present application is not subject to the specific embodiments disclosed below limits.

The snake-shaped surgical instrument according to an embodiment of the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. In this application, for ease of understanding, terms such as "proximal" and "distal", "upper", and "lower" are used, and these terms refer to elements relative to each other from the perspective of the physician using the medical device Or the relative position, relative position, or direction of the action. "Proximal" and "distal", "upper" and "lower" are not restrictive, but "proximal" and "lower" generally refer to the end of the medical device that is close to the operator during normal operation, and " "Remote" and "upper" usually refer to the end far from the operator.

As shown in FIGS. 1 and 2, the snake-shaped surgical instrument of the present application includes a handheld end 1, a replaceable instrument 2, and a quick-change joint 3. The hand-held end 1 of the snake-like surgical instrument is reusable. The exchangeable device 2 is designed to be disposable or designed to be used a limited number of times. The hand-held terminal 1 and the replaceable instrument 2 realize quick disassembly and replacement of the instrument through a quick-change joint 3.

Further, the handheld end 1 includes a holding structure 11, a control structure 12 and a wrist structure 14. The control structure 12 is connected to the holding structure 11 through the wrist structure 14. Since the wrist structure 14 can have more than one degree of freedom of rotation, the manipulation structure 12 can rotate in more than one different direction relative to the gripping structure 11. The control structure 12 can also rotate relative to the wrist structure 14 about its own axis. The replaceable instrument 2 includes a serpentine structure 21, a tool support base 22, and an end effector 23 connected in this order.

Figure 1 also shows the freedom of movement of the snake-like surgical instrument. In the embodiment shown in FIG. 1, the control structure 12 can drive the snake-shaped structure 21 to move, thereby driving the end effector 23 to move. In this embodiment, the movement direction of the snake-shaped structure 21 is further configured to be the same as the movement direction of the control structure 12 of the handheld end 1. Specifically, the wrist structure 14 has two degrees of freedom: a first rotational degree of freedom R1 and a second rotational degree of freedom R2, that is, the wrist structure 14 can perform a first rotational movement about the first axis L1 (in the present The embodiment is a pitching swing), and a second rotational movement (a deflecting movement in this embodiment) can be performed around the second axis L2. The serpentine structure 21 has two rotational degrees of freedom: a fifth rotational degree of freedom R5 and a sixth rotational degree of freedom R6, that is, the serpentine structure 21 can make a fifth rotational movement about the fifth axis L5 (in this embodiment, pitching) Swing), and a sixth rotational movement (a deflection movement in this embodiment) can be performed about the sixth axis L6. Further, the control structure 12 drives the wrist structure 14 to tilt and swing about the first axis L1, and drives the corresponding snake-shaped structure 21 to tilt and swing in the same direction about the fifth axis L5, thereby driving the end effector 23 and the snake The structure 21 is tilted in the same direction. At this time, the first axis L1 may be parallel to the fifth axis L5. The control structure 12 drives the wrist structure 14 to deflect and swing about the second axis L2, and drives the snake-shaped structure 21 to deflect and swing in the same direction about the corresponding sixth axis L6, thereby driving the end effector 23 to deflect and swing in the same direction. At this time, the second axis L2 may be parallel to the sixth axis L6. Thus, the end effector 23 has two degrees of freedom R5 ', R6'.

In this embodiment, the end effector 23 is not particularly limited, and can be selected by a doctor according to the needs of the operation, such as scissors, grasping forceps, clamps, forceps, and other multi-tool valve end effectors, or It can be other electric end effectors such as resistance heaters and motor drive elements. Of course, the end effector 23 can also be selected into other forms according to the needs of the doctor, such as a single-tool flap end effector such as a hook.

Due to the different types of end effector 23, the snake-shaped surgical instrument may have different degrees of freedom. For example, the end effector 23 includes at least one tool petal, and the tool petal is rotatably connected to the tool support seat 22. At this time, the end effector 23 is increased by one degree of freedom. In one embodiment, as shown in FIG. 1, the end effector 23 may be a forceps. Therefore, the end effector 23 also has a third degree of freedom: the opening and closing degree of freedom R7 to complete the clamping action. Referring to FIG. 3, correspondingly, the handheld terminal 1 further includes an opening and closing control device 13 located on the control structure 12. The opening and closing control device 13 can be rotated relative to the control structure 12 to form a third degree of freedom R3 to control the end execution. Opening and closing movement of the device 23. The motion configuration of the opening and closing control device 13 of the handheld terminal 1 can be configured to be the same as the opening and closing configuration of the end effector 23, that is, when the opening and closing control device 13 is opened, the end effector 23 performs an opening operation, and when the opening and closing When the control device 13 is closed, the end effector 23 performs a closing operation to complete the clamping action.

In another embodiment, the control structure 12 of the handheld end 1 may also have a fourth degree of freedom of rotation R4, that is, the control structure 12 may rotate relative to the wrist structure 14 about its own axis L4. Correspondingly, the tool support base 22 has an eighth degree of rotation freedom R8, that is, the tool support base 22 can rotate about its own axis L8 relative to the snake-shaped structure 21. When the control structure 12 rotates, it can drive the tool support base 22 to rotate about its own axis L8 to form an eighth degree of freedom R8, so that the end effector 23 has a fourth degree of freedom R8 '.

As shown in FIG. 5, the quick-change joint 3 includes a removable joint driver 32. Among them, the detachable joint driver 32 includes a first Hooke hinge 321 provided on the side of the handheld end 1 and a connector 322 provided on the side of the replaceable instrument 2.

Further, a locking structure is further provided between the handheld end 1 and the exchangeable instrument 2 to restrict the relative movement of the handheld end 1 and the exchangeable instrument 2 in the circumferential and axial directions. The specific structure of the locking structure is not particularly limited in this application, and may be any structure that can realize the locking and limiting functions. For example, the locking structure includes a locking portion provided on the holding structure 11 of the hand-held end 1, and the exchangeable instrument 2 is provided with a locking portion that is matched or detachable with the locking portion. . The holding structure is also provided with an elastic member for providing the locking portion to maintain the mating state. For example, in a specific embodiment, the locking portion is a buckle. One end of the buckle is rotatably connected to the handheld end 1, and a torsion spring is provided between the buckle and the handheld end 1. The other end of the buckle is provided with a protrusion. Correspondingly, the replaceable instrument 2 is provided with a clamping slot matching the protrusion on the buckle, so as to prevent the handheld end 1 and the replaceable instrument 2 from moving relative to each other. When the hand-held end 1 and the interchangeable instrument 2 are connected and assembled, the buckle rotates against the resistance of the torsion spring, and the hand-held end 1 and the interchangeable instrument 2 are cooperatively connected, and then the buckle is released. The buckled protrusion is fitted with the clamping slot, so that the handheld end 1 and the exchangeable instrument 2 are assembled together.

As shown in FIGS. 6 and 7, the detachable joint driver 32 includes a first Hook hinge 321 provided on the side of the hand-held end 1 and a connector 322 provided on the side of the replaceable instrument 2. The first Hooker hinge 321 includes a first Hooker hinge outer frame 3211 and a first Hooker hinge inner frame 3212. The first Hooker hinge outer frame 3211 is connected to the shell of the handheld end 1 and may surround the tenth The axis 33 performs a tenth rotational movement. The first Hooker hinge inner frame 3212 is connected to the first Hooker hinge outer frame 3211 and can perform a ninth rotational movement about a ninth axis 34. The tenth axis 33 may be parallel to the sixth axis L6. Further, the tenth axis 33 may be parallel to the second axis L2. The ninth axis 34 is parallel to the fifth axis L5. Further, the ninth axis 34 may be parallel to the first axis L1. As shown in FIG. 5, the replaceable instrument 2 includes a housing 201 and a space defined by the housing 201. The connector 322 is placed in the space. The connector 322 includes an elastic connection device and a connection plate 3222. The connection plate 3222 is fixed to the housing of the replaceable instrument 2 through the elastic connection device, so that the connection plate 3222 can be deflected relative to the housing of the replaceable instrument 2. . Further, the outer edge of the connecting plate 3222 is not larger than the outer edge of the first Hooke hinge inner frame 3212. The elastic connecting device is an elastic member, such as a tension spring or a compression spring. Through the elastic connection device, the connection plate 3222 can maintain a distance from the housing of the replaceable instrument 2, and in the working state, the connection plate 3222 can synchronously move with the first Hooke hinge 321. As shown in the embodiment shown in FIG. 7, the elastic connection device includes four connection springs 3221 respectively disposed at four corner positions of the connection plate 3222. The connection plate 3222 is disposed in a space defined by a housing of the exchangeable instrument 2 through a connection spring 3221.

As shown in FIGS. 6 and 7, a limiting device is provided on the first Hooker hinge inner frame 3212 to prevent mutual displacement between the first Hooker hinge 321 and the connector 322 in the axial direction of the interchangeable instrument 2. The limiting device may be at least one pin 3213. The stud 3213 includes a stud body and a protruding structure formed along an axial extension of the stud body, and an outer diameter of the protruding structure is greater than an outside diameter of the stud body. Correspondingly, the connecting plate 3222 is provided with a gourd-shaped pin hole 3223 at a position corresponding to the post pin 3213. The gourd-shaped pin hole 3223 includes a large-diameter portion 32232 and a small-diameter portion 32233. The diameter of the large-diameter portion 32232 of the gourd-shaped pin hole 3223 is adapted to the outer diameter of the protruding structure on the stud 3213 so as to accommodate the stud 3213. The diameter of the small diameter portion 32233 of the gourd-shaped pin hole 3223 is at least partially adapted to the outer diameter of the pin body. That is, the small-diameter portion 32233 of the gourd-shaped pin hole 3223 may be a variable-diameter hole. The larger hole diameter matches the outer diameter of the convex structure, and the smaller hole diameter matches the outer diameter of the pin body. Alternatively, the small-diameter portion 32233 of the gourd-shaped pin hole 3223 is a hole adapted to the outer diameter of the pin body. That is, the diameter of the small-diameter portion 32233 of the gourd-shaped pin hole 3223 is changed in the axial direction, but at least part of the hole diameter is greater than or equal to the outer diameter of the pin body and smaller than the outer diameter of the protruding structure to prevent the post. The pin 3213 moves axially. Further, the size of the connection between the large-diameter portion and the small-diameter portion is configured to allow the stud body to pass.

In the assembled state, the pin 3213 on the inner frame 3212 of the first Hook hinge is assembled on the small-diameter portion 32233 of the gourd-shaped pin hole 3223. Specifically, when assembling the handheld end 1 and the exchangeable instrument 2, press the buckle and align the large diameter portion 32232 of the gourd-shaped pin hole 3223 of the connector 322 with the post pin 3213 of the first Hook hinge. The post pin 3213 with a protruding structure is inserted from the large-diameter portion 32232 of the gourd-shaped pin hole 3223. Subsequently, the interchangeable instrument 2 / handheld end 1 is rotated, so that the pin 3213 with a protruding structure is screwed into the small diameter portion 32233 of the gourd-shaped pin hole 3223 to restrict the first Hooke hinge 321 and the connector 322 along the interchangeable instrument 2 Relative movement in the direction of the axis. At the same time, the buckle of the handheld end 1 is released, so that the buckle on the housing of the handheld end 1 is assembled with the slot 24 on the housing of the replaceable instrument 2. The locking structure restricts the movement of the handheld end 1 and the replaceable instrument 2 in the circumferential and axial directions of the replaceable instrument 2, thereby locking the handheld end 1 and the replaceable instrument 2 through the quick-change joint 3.

As shown in FIG. 8, the snake-shaped surgical instrument further includes a sensing device, a controller, a driving device 5, and a transmission device 6. The sensing device, the controller, and the driving device 5 are disposed on the hand-held end 1, and the transmission device 6 is disposed in the space defined by the cavity of the holding structure 11 and the housing 201 of the interchangeable instrument 2. The control device 12 of the handheld terminal 1 controls the end effector 23's pitch and yaw through the transmission device 6; the sensor device is communicatively connected with the controller for detecting the opening and closing movement of the opening and closing control device 13 and / Or control the rotation motion of the structure 12 and transmit the detected motion signal to the controller. The controller controls the driving device 5 to output power according to a signal detected by the sensing device. The driving device 5 controls the end effector 23 to perform the opening and closing movement and / or the tool support base 22 to perform the rotation movement about its own axis L8 through the transmission device 6. Further, the movement directions of the end effector 23 and the tool support base 22 are the same as the movement directions of the opening and closing control device 13 and the control structure 12.

8-9 show schematic views of the transmission device 6. The transmission device 6 includes a first part and a second part, which are respectively located in the replaceable instrument 2 and the handheld end 1. The first part connects the connector 322 and the snake-shaped structure 21, and the second part connects the wrist structure 14 and the first Hook hinge 321. The first portion is configured to drive the snake-shaped structure 21 to follow a ninth rotation of the first Hook hinge 321 to perform a fifth rotation motion, and drive the snake-shaped structure 21 to follow the first hook of the Hook hinge 321. Ten rotations are performed while a sixth rotation is performed. The second part is configured to drive the first Hooke hinge 321 to follow the first rotary motion of the wrist structure 14 to perform a ninth rotary movement, and to drive the first Hooke hinge 321 to follow the wrist structure 14 The second rotational motion performs a tenth rotational motion.

Further, the first portion includes a first transmission wire group 61 and a second transmission wire group 62, and the second portion includes a third transmission wire group 61 'and a fourth transmission wire group 62'. The first transmission wire group 61 and the second transmission wire group 62 are disposed on the end side of the replaceable instrument, and the third transmission wire group 61 'and the fourth transmission wire group 62' are disposed on the hand-held end side. The control device 12 of the hand-held terminal 1 controls the pitching, deflection and swing of the snake-shaped structure 21 through a first transmission wire group 61, a second transmission wire group 62, a third transmission wire group 61 ', and a fourth transmission wire group 62'. motion.

Further, a proximal end of the third transmission wire group 61 'and a fourth transmission wire group 62' is connected to the wrist structure 14, and a distal end is connected to the inner frame 3212 of the first Hook hinge 321. A proximal end of the first transmission wire group 61 and a second transmission wire group 62 are connected to the connecting plate 3222, and a distal end is connected to the snake-shaped structure 21.

Furthermore, the fixed connection points of the distal ends of the first transmission wire group 61 and the second transmission wire group 62 on the serpentine structure 21 are sequentially connected to form a first rectangle X1. One side of the first rectangle X1 is parallel to the fifth axis L5, and the other side is parallel to the sixth axis L6. The fixed ends of the proximal ends of the first transmission wire group 61 and the second transmission wire group 62 on the connection plate 3222 are sequentially connected to form a second rectangle X2. One side of the second rectangle X2 is parallel to the fifth axis L5, and the other side is parallel to the sixth axis L6. At the same time, the distal ends of the third transmission wire group 61 'and the fourth transmission wire group 62' and the fixed connection points of the inner frame of the first Hook hinge 321 are sequentially connected to form a third rectangle X3. One side of the third rectangle X3 is parallel to the ninth axis 34, and the other side is parallel to the tenth axis 33. The proximal ends of the third transmission wire group 61 'and the fourth transmission wire group 62' and the fixed connection point of the wrist structure 14 are sequentially connected to form a fourth rectangle X4. One side of the fourth rectangle X4 is parallel to the first axis L1, and the other side is parallel to the second axis L2.

Furthermore, the fixed connection points of the distal ends of the first transmission wire group 61 and the second transmission wire group 62 on the serpentine structure 21 and the proximal ends of the first transmission wire group 61 and the second transmission wire group 62 are on the connecting plate. The fixed connection points on 3222 are correspondingly arranged. At the same time, the fixed connection points of the distal ends of the third transmission wire group 61 ′ and the fourth transmission wire group 62 ′ and the inner frame of the first Hook hinge 321 are connected to the The proximal ends of the third transmission wire group 61 ′ and the fourth transmission wire group 62 ′ are arranged opposite to the fixed connection point of the wrist structure 14. Alternatively, the fixed connection points of the distal ends of the first transmission wire group 61 and the second transmission wire group 62 on the serpentine structure 21 and the proximal ends of the first transmission wire group 61 and the second transmission wire group 62 are on the connecting plate 3222. The fixed connection points on the upper side are arranged opposite to each other, and at the same time, the fixed connection points of the distal ends of the third transmission wire group 61 'and the fourth transmission wire group 62' and the inner frame of the first Hook hinge 321 are connected to the first The proximal ends of the three driving wire groups 61 ′ and the fourth driving wire group 62 ′ are arranged corresponding to the fixed connection points of the wrist structure 14. By connecting the first transmission wire group 61, the second transmission wire group 62, the third transmission wire group 61 ', and the fourth transmission wire group 62' in such a configuration, the control device 12 pitches, deflects, and the end effector. The pitch and yaw movement directions of 23 are the same.

In one embodiment, referring to FIG. 9, the fixed connection points between the distal ends of the first transmission wire group 61 and the second transmission wire group 62 and the serpentine structure 21 and the first transmission wire group 61, The proximal end of the second transmission wire group 62 is arranged corresponding to the fixed connection point of the connector 322. The fixed connection point between the distal end of the third transmission wire group 61 'and the fourth transmission wire group 62' and the first Hook hinge 321, and the third transmission wire group 61 'and the fourth transmission wire group 62 The proximal end is arranged opposite the fixed connection point of the wrist structure 14.

Furthermore, as shown in FIG. 10, four fixing points are set at the upper left, upper right, lower left, and lower right positions of the front surface of the connecting plate 3222, namely a first fixing point 322A, a second fixing point 322B, a third fixing point 322C, Fourth fixed point 322D. The "upper left, upper right, lower left, and lower right" are positions when facing the front of the connection plate (that is, the end face of the connector 322 opposite the first Hook hinge 321, as shown in FIG. 9). Viewed from the near end to the far end, the first fixed point 322A is located at the upper left position, the second fixed point 322B is located at the upper right position, the third fixed point 322C is located at the lower left position, and the fourth fixed point 322D is located at the lower right position. The first fixed point 322A (upper left position) and the fourth fixed point 322D (lower right position) are fixedly connected to the proximal end of the first transmission wire group 61, while the second fixed point 322B (upper right position) and the third fixed point 322C (lower left position) Position) is fixedly connected to the proximal end of the second transmission wire group 62. The fixed connection points of the distal ends of the first transmission wire group 61 and the second transmission wire group 62 on the serpentine structure 21 and the fixed connection points of the first transmission wire group 61 and the second transmission wire group 62 on the connecting plate 3222. Corresponding arrangement of mirrors. Specifically, the serpentine structure 21 is also provided with four fixing points, which are respectively located at the upper left position, the upper right position, the lower left position, and the lower right position of the serpentine structure 21 (facing the serpentine structure 21 opposite to the front face of the connection plate). End face positioning). Taking the connection of the first transmission wire group 61 as an example, the first transmission wire group 61 includes an upper transmission wire 61a and a lower transmission wire 61b. The distal end of the driving wire 61a is connected to the upper left fixing point of the snake-shaped structure 21 (positioned facing the end surface of the snake-shaped structure 21 opposite to the front side of the connecting plate), and the proximal end is fixedly connected to the first fixing point 322A of the connecting plate 3222. . The distal end of the lower transmission wire 61b is connected to the lower right fixing point of the serpentine structure 21 (positioned facing the end surface of the serpentine structure 21 opposite to the front side of the connection plate), and the proximal end is fixed to the fourth fixing point 322D of the connection plate 3222. connection.

Correspondingly, as shown in FIG. 11, the first Hook hinge inner frame 3212 is provided with four corresponding fixing points, namely a fifth fixing point 321A, a sixth fixing point 321B, a seventh fixing point 321C, and an eighth fixing point 321D, respectively. It is located at the upper left, upper right, lower left, and lower right of the first Hook hinge inner frame 3212. Among them, “upper left, upper right, lower left, and lower right” are positions when facing the back of the first Hook hinge inner frame (that is, the end face of the first Hook hinge opposite to the driving device, as shown in FIG. 11). The fifth fixed point 321A and the eighth fixed point 321D are used to fixedly connect the distal end of the third transmission wire group 61 ', and the sixth fixed point 321B and the seventh fixed point 321C are used to fixedly connect the fourth transmission wire group 62' remote.

The control device 12 controls the pitch and yaw movements realized by the wrist structure 14 to be transmitted to the first Hooke hinge 321 through the third drive wire group 61 ′ and the fourth drive wire group 62 ′, and the first Hooke hinge 321 and the control device 12 Co-movement. Therefore, the fixed connection points between the distal ends of the third transmission wire group 61 ′ and the fourth transmission wire group 62 ′ and the first Hooke hinge inner frame 3212 are configured to be connected to the third transmission wire group 61. The proximal end of the fourth and fourth transmission wire group 62 ′ is arranged opposite to the fixed connection point of the wrist structure 14. Specifically, the wrist structure 14 is provided with four fixed connection points, namely a first fixed connection point 14A, a second fixed connection point (not labeled), a third fixed connection point (not labeled), and a fourth fixed connection point 14D. Bottom left, bottom right, top left, and top right respectively on the back of the wrist structure 14 (ie, the side of the wrist structure 14 away from the control structure 12), where "top left, top right, bottom left, bottom right" are facing the wrist structure 14 Positioning at the back (as shown in FIG. 11, the axis of the wrist structure is perpendicular to the axis corresponding to the serpentine structure 21).

Taking the connection mode of the third transmission wire group 61 'as an example, the third transmission wire group 61' includes a first transmission wire 61a 'and a second transmission wire 61b'. The distal end of the first transmission wire 61a 'is connected to the eighth fixed point 321D of the first Hooke hinge inner frame 3212, and the proximal end is fixedly connected to the first fixed connection point 14A of the wrist structure 14. The distal end of the second transmission wire 61b 'is connected to the fifth fixed point 321A of the first Hooke hinge inner frame 3212, and the proximal end is fixedly connected to the fourth fixed connection point 14D of the wrist structure 14.

Those skilled in the art should understand that the fixed connection points of the distal ends of the first transmission wire group 61 and the second transmission wire group 62 on the serpentine structure 21 are close to the first transmission wire group 61 and the second transmission wire group 62. The fixed connection points on the connection plate 3222 are arranged in opposite mirror images. At the same time, the fixed connection points of the distal ends of the third transmission wire group 61 'and the fourth transmission wire group 62' and the first Hooke hinge inner frame 3212, and the third transmission wire group 61 ', the first The proximal ends of the four transmission wire sets 62 ′ are arranged correspondingly to the fixed connection points of the wrist structure 14. With this arrangement, the wrist structure 14 and the serpentine structure 21 can move in the same direction.

Further, as shown in FIGS. 8-9, the transmission device 6 further includes a first flexible transmission structure 63 and a second flexible transmission structure 64. The first flexible transmission structure 63 and the second flexible transmission structure 64 are disposed on the end side of the replaceable instrument. The first flexible transmission structure 63 is used to control the end effector 23 to open and close. The second flexible transmission structure 64 is used to control the rotation of the tool support base 22.

In an embodiment, the opening and closing control device 13 controls the opening and closing movement of the end effector 23 through the first flexible transmission structure 63, and the operating device 12 controls the rotation movement of the tool support base 22 through the second flexible transmission structure 64. Further, the direction of the opening and closing movement of the end effector 23 and the direction of the rotation movement of the tool support base 22 are configured to be the same as the direction of the opening and closing movement of the opening and closing control device 13 and the direction of the rotating movement of the manipulation device 12, respectively.

In a specific embodiment, as shown in FIG. 8, the end effector further includes a first commutation device. The first flexible transmission structure 63 may be a combination of a steel wire 631 and an elastic structure 632. The wire 631 is connected to the end effector 23 through a first reversing device. The elastic structure 632 is used to keep the end effector 23 in a normally open state. For example, when the elastic structure 632 is a compression spring, the compression spring is disposed between the tool petals of the end effector 23 and is used to maintain the end effector 23 It is normally open. As another example, as shown in FIG. 8, a proximal end of the compression spring abuts on the tool support base 22, and a distal end is connected to the first reversing device. The compression spring is compressed when the first reversing device is moved closer. The first reversing device is used for conversion between the axial movement of the wire 631 and the rotational movement of the end effector 23. For example, the proximal end translational movement of the steel wire 631 is converted into a rotary motion of the tool flap by the first reversing device to control the closing of the end effector 23. Further, the rotary motion of the tool flap is converted into a distal translational movement of the wire 631 by the first reversing device, so as to realize the reset of the control wire 631 or the end effector 23 to be opened by the first reversing device to be moved distally. , And wire 631 translate distally. Those skilled in the art should understand that the elastic structure 632 may also be a tension spring. The tension spring may be disposed between the end effector 23 and the tool support base 22 to keep the end effector 23 in a normally open state. Alternatively, the elastic structure 632 may also be a torsion spring disposed on the first connecting shaft 3224 and / or the first elastic telescopic post 3214 to keep the end effector 23 in a normally open state. Alternatively, the elastic structure 632 may also be a spring placed between the opening and closing control device 13 and the control structure 12 (for example, a compression spring provided between the opening and closing flap and the control structure 12 so that The opening and closing flaps remain in a normally open state) to keep the end effector 23 in a normally open state. The second flexible transmission structure 64 is a flexible shaft. The distal end of the second flexible transmission structure 64 is fixedly connected to the tool support base 22 for controlling the end effector 23 to rotate around its own axis.

Further, referring to FIG. 6 and FIG. 7, a first elastic telescopic column 3214 and a second elastic telescopic column 3215 are disposed in a central hole of the first Hook hinge inner frame 3212. A first connection shaft 3224 and a second connection shaft 3225 are disposed in the center hole of the connection plate 3222 correspondingly. The first connection shaft 3224 and the second connection shaft 3225 are supported by bearings, for example, on a mounting plate fixed to the housing of the replaceable instrument 2 through bearings. The proximal end of the first connecting shaft 3224 can be detachably connected with the distal end of the first elastic telescopic post 3214, and the proximal end of the second connecting shaft 3225 can be detachably connected with the distal end of the second elastic telescopic post 3215, thereby realizing the driving force Pass / disconnect. Further, as shown in FIG. 7, two positioning grooves 3226 are respectively provided on the end surfaces of the proximal ends of the first connection shaft 3224 and the second connection shaft 3225. Correspondingly, as shown in FIG. 6, two positioning protrusions 3216 are respectively provided on the distal end surfaces of the first elastic telescopic column 3214 and the second elastic telescopic column 3215. The positioning groove 3226 on the connecting shaft and the positioning protrusion 3216 on the elastic telescopic post are correspondingly arranged in shape and position. Meanwhile, as shown in FIG. 12, the proximal end of the steel wire 631 of the first flexible transmission structure 63 is wound around the distal end of the first connection shaft 3224 and is fixedly connected to the distal end of the first connection shaft 3224, and the second connection shaft 3225 The distal end is fixedly connected to the second flexible transmission structure 64.

The structures of the first elastic telescopic column 3214 and the second elastic telescopic column 3215 are shown in FIG. 13. The elastic telescopic column is a sleeve structure. The inner cylinder 3217 is connected to the motor output shaft. The outer cylinder 3218 is axially movable relative to the inner cylinder 3217. A compression spring 3219 is provided between the inner cylinder 3217 and the outer cylinder 3218, and a limiting device is provided on the inner cylinder 3217 to limit the axial movement range of the outer cylinder 3218 relative to the inner cylinder 3217. The compression spring 3219 is configured to provide a driving force that moves the outer cylinder 3218 away from the inner cylinder 3217.

When the post pin 3213 of the first Hooke hinge is matched with the pin hole 3223 of the connector 322, the first elastic telescopic post 3214 on the side of the first Hooke hinge 321 is abutted with the first connection shaft 3224 on the side of the connector 322, The second elastic telescopic column 3215 on the side of the handheld end 1 is docked with the second connection shaft 3225 on the side of the interchangeable instrument 2. At this time, the positioning protrusions 3216 on the distal end surfaces of the first elastic telescopic column 3214 and the second elastic telescopic column 3215 contact the end surfaces of the first connecting shaft 3224 and the second connecting shaft 3225, and the first elastic telescopic column 3214, the first The compression spring 3219 on the two elastic telescopic columns 3215 is deformed accordingly. During subsequent registration, the elastic telescopic column is driven to rotate relative to the connecting shaft by the driving device 5. When the positioning protrusions 3216 on the distal end surfaces of the first elastic telescopic column 3214 and the second elastic telescopic column 3215 are rotated to match the positioning grooves 3226 on the first connecting shaft 3224 and the second connecting shaft 3225, The positioning springs 3216 of the first elastic telescopic column 3214 and the second elastic telescopic column 3215 extend axially into the first connecting shaft 3224 under the action of the compression spring 3219 in the first elastic telescopic column 3214 and the second elastic telescopic column 3215. The positioning groove 3226 of the second connecting shaft 3225 can further drive the connecting shaft to rotate, thereby completing the registration between the elastic telescopic column and the connecting shaft.

As shown in FIG. 3, the driving device 5 is disposed at the distal end of the handheld end 1. Referring specifically to FIGS. 6 and 12, the driving device 5 includes a first motor 51 and a second motor 52. The first motor 51 controls the opening and closing movement of the end effector 23 through the first flexible transmission structure 63. The second motor 52 controls the rotation movement of the tool support base 23 through the second flexible transmission structure 64, and further controls the rotation movement of the end effector 23. 11, the proximal end of the first elastic telescopic column 3214 is connected to the output shaft of the first motor 51, and the proximal end of the second elastic telescopic column 3215 is connected to the output shaft of the second motor 52. As shown in FIG. 12, the steel wire 631 of the first flexible transmission structure 63 is wound and fixed on the first connection shaft 3224, and the second flexible transmission structure 64 is fixedly connected to the second connection shaft 3225. The second flexible transmission structure 64 converts torque Passed to the tool support seat 22. With the above structure, the first motor 51 can drive the first flexible transmission structure 63 through the first elastic telescopic post 3214 and the first connecting shaft 3224. The translation movement of the first flexible transmission structure 63 is converted into the opening and closing movement of the end effector 23 by the first reversing device. The second motor 52 can drive the second flexible transmission structure 64 through the second elastic telescopic column 3215 and the second connection shaft 3225 to control the rotation movement of the end effector 23.

As shown in FIGS. 3 and 4, the sensing device includes a first sensor 41 and a second sensor 42. The first sensor 42 is used to detect the opening and closing movement of the opening and closing control device 13. The second sensor 42 is used to detect the rotation movement of the control structure 12.

In a specific embodiment, the opening and closing control device 13 includes at least one opening and closing flap. The proximal end of the opening and closing flap is rotatably connected to the manipulation structure 12 through a rotating shaft, and the distal end is far from the manipulation structure 12. The first sensor 41 is a Hall sensor and is disposed on the opening and closing flap and the manipulation structure 12 for detecting the distance between the opening and closing flap of the opening and closing control device 13 and the manipulation structure 12 so as to detect the relative opening and closing flap. For the rotational movement of the control structure 12. In another specific embodiment, the first sensor 41 may be a rotary encoder. The first sensor 41 is at least one, and is disposed on a rotating shaft at the proximal end of the opening and closing flap of the opening and closing control device 13 for detecting a rotational movement of the opening and closing flap.

In a specific embodiment, the second sensor 42 is a rotary encoder. A fixing bracket is provided on the back of the inner frame 141 of the wrist structure 14. The second sensor 42 is disposed at the center of the fixed bracket and is used to detect the rotation movement of the control structure 12 about its own axis.

During operation, the first sensor 41 and the second sensor 42 respectively detect the opening and closing motion signals of the opening and closing control device 13 of the handheld terminal 1 and the rotation motion signals of the control structure 12 and transmit the detected signals to the controller ( (Not shown). The controller analyzes the detected signals and controls the movement of the first motor 51 and the second motor 52, respectively, and then transmits the motion through the first flexible transmission structure 63 and the second flexible transmission structure 64, thereby controlling the opening of the end effector. Closing, tool support seat rotation movement. Further, the opening and closing motion signal includes opening and closing movement direction information, and the rotation motion signal includes rotating rotation direction information. The controller controls the movement directions of the first motor 51 and the second motor 52 according to the above signals and the structures of the first flexible transmission structure 63 and the second flexible transmission structure 64, so as to control the opening and closing of the end effector 23 in the same direction. Movement, co-rotational movement of the tool support base 22.

In an alternative embodiment, the end effector further includes a second reversing device and a third reversing device. The first flexible transmission structure 63 includes a flexible shaft. Compared with steel wire, the flexible shaft can be reciprocated by applying force in any direction. At this time, the first connecting shaft 3224 is connected to the second commutation device. The proximal end of the flexible shaft of the first flexible transmission structure can be directly fixed on the second reversing device, and the distal end is connected to the third reversing device to drive the tool flap to realize the opening and closing movement. With this configuration, the rotation movement of the first connecting shaft 32241 can be converted into the translation movement of the soft shaft of the first flexible transmission structure 63, and then converted into the opening and closing movement of the end effector 23, thereby controlling the end effector 23 Opening and closing movement. The third reversing device is a device capable of converting the translational movement of the soft shaft into the opening and closing movement of the tool flap. The second reversing device is a device capable of converting a rotational motion of the first connection shaft into a translation motion of a soft shaft. For example, a rack and pinion structure, a structure in which a linear track matches a rotating shaft, a worm gear structure, and the like.

The technical features of the above embodiments can be arbitrarily combined. In order to make the description concise, all possible combinations of the technical features in the above embodiments have not been described. However, as long as there is no contradiction in the combination of these technical features, it should be It is considered to be the range described in this specification.

The above embodiments only express several implementation manners of the present application, and their descriptions are more specific and detailed, but they cannot be understood as limiting the patent scope of the present application. It should be noted that, for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims (24)

1. A snake-shaped surgical instrument includes:

   The hand-held end includes a grip structure, a wrist structure, and a control structure, wherein the control structure is connected to the grip structure through a wrist structure, and the wrist structure has at least one first degree of freedom of rotation;

   The replaceable instrument includes a serpentine structure, a tool support base and an end effector connected in this order, wherein the serpentine structure has a fifth degree of freedom of rotation;

   The quick-change structure includes a detachable joint driver, wherein the detachable joint driver includes a first Hook hinge provided on the holding structure and a connector provided on the replaceable instrument, the first The Hooke hinge is detachably connected to the connector, and the first Hooke hinge has a ninth degree of freedom of rotation; and

   The transmission device includes a first part and a second part, which are respectively located on the replaceable instrument and the handheld end, wherein the first part connects the connector and the snake-shaped structure, and the second part connects the The wrist structure and the first Hook hinge; the first portion is configured to drive the snake-like structure to follow a ninth rotation movement of the first Hook hinge to perform a fifth rotation movement; the second portion It is configured to drive the first Hooke hinge to follow the first rotational movement of the wrist structure to perform a ninth rotational movement.
2. The snake-like surgical instrument according to claim 1, wherein the wrist structure further has a second degree of freedom of rotation;

   The first Hooke hinge also has a tenth degree of freedom of rotation;

   The second part is further configured to drive the first Hooke hinge to follow a second rotational movement of the wrist structure to perform a tenth rotational movement;

   The snake-shaped structure has a sixth degree of freedom of rotation; and

   The first part is further configured to drive the snake-like structure to follow a tenth rotation movement of the first Hook hinge to perform a sixth rotation movement.
3. The snake-like surgical instrument according to claim 1, wherein:

   The first Hooke hinge performs the ninth rotational movement about a ninth axis, and the serpentine structure performs the fifth rotational movement about a fifth axis; and

   The ninth axis is parallel to the fifth axis.
4. The snake-like surgical instrument according to claim 2, wherein:

   The first Hooke hinge performs the ninth rotational movement about a ninth axis, and the snake-shaped structure performs the fifth rotational movement about a fifth axis;

   The first Hooke hinge performs the tenth rotational movement about a tenth axis, and the snake-shaped structure performs the sixth rotational movement about a sixth axis; and

   The ninth axis is parallel to the fifth axis, and the tenth axis is parallel to the sixth axis.
5. The snake-like surgical instrument according to claim 4, wherein:

   The wrist structure performs a first rotational movement around a first axis and a second rotational movement around a second axis; and

   The first axis is parallel to the fifth axis, and the second axis is parallel to the sixth axis.
6. The snake-shaped surgical instrument according to claim 4, wherein the first Hook hinge has an inner frame and an outer frame, and the outer frame rotates relative to the holding structure about the tenth axis, and the inner frame The frame is rotated relative to the outer frame around the ninth axis.
7. The snake-like surgical instrument according to claim 6, wherein the replaceable instrument includes a housing, and a space defined by the housing, the connector is placed in the space, and the connector includes a removable A connecting plate that is dynamically connected to the housing of the replaceable instrument, and the connecting plate is detachably connected to the first Hook hinge.
8. The snake-like surgical instrument according to claim 7, wherein the connector further comprises an elastic connection device, and the connection plate is fixed to the housing of the replaceable instrument through the elastic connection device.
9. The snake-shaped surgical instrument according to claim 7, wherein at least one stud is provided on an inner frame of the first Hook hinge, the stud comprises a stud body and a protrusion formed along an axial extension of the stud body. Structure, the outer diameter of the protruding structure is greater than the outer diameter of the pin body, the connector includes a connecting plate rotatably connected to the exchangeable instrument, and the connecting plate is in contact with the pin Pin holes are provided at corresponding positions, and the pin holes include a large-diameter portion and a small-diameter portion arranged side by side and communicating with each other, wherein the size of the large-diameter portion is adapted to the outer diameter of the convex structure, and the small-diameter portion is at least There is a portion adapted to the outer diameter of the stud body, and the size of the connection between the large diameter portion and the small diameter portion is configured to allow the stud body to pass.
10. The snake-like surgical instrument according to claim 7, wherein the first portion of the transmission device includes a first transmission wire group and a second transmission wire group, and the second portion of the transmission device includes a third transmission wire group, the first A four driving wire group, wherein the proximal end of the third driving wire group and the fourth driving wire group are connected to the wrist structure, and the distal end is connected to the first Hook hinge; the first driving wire group, The proximal end of the second transmission wire group is connected to the connection plate, and the distal end is connected to the snake-shaped structure. The control structure controls the snake-shaped structure to follow the control through the first transmission wire group and the second transmission wire group. The ninth rotation of the first Hook hinge performs the fifth rotation, and the snake-shaped structure is controlled to follow the tenth rotation of the first Hook hinge to perform the sixth rotation, The control structure controls the first Hooke hinge to follow the first rotary movement of the wrist structure to perform the ninth rotary movement through the third drive wire group and the fourth drive wire group, and controls the first Hooke The hinge follows the tenth rotational movement of the wrist structure and Make the second rotation motion.
11. The snake-shaped surgical instrument according to claim 10, wherein the fixed connection points of the distal ends of the first transmission wire group and the second transmission wire group on the serpentine structure are connected to the first transmission wire group The fixed connection points of the proximal end of the second transmission wire group on the connection plate are arranged correspondingly; the distal ends of the third transmission wire group and the fourth transmission wire group and the inside of the first Hook hinge The fixed connection points of the frame are arranged opposite to the fixed connection points of the proximal ends of the third and fourth transmission wire groups and the wrist structure; or

    The fixed connection points of the distal ends of the first transmission wire group and the second transmission wire group on the serpentine structure are at the proximal ends of the first transmission wire group and the second transmission wire group. The fixed connection points on the connection plate are arranged opposite to each other; the fixed connection points of the distal ends of the third transmission wire group and the fourth transmission wire group and the inner frame of the first Hooke hinge are connected to the first The proximal ends of the three driving wire groups and the fourth driving wire group are arranged corresponding to the fixed connection points of the wrist structure.
12. The snake-like surgical instrument according to claim 10, wherein the fixed connection points on the serpentine structure of the distal ends of the first transmission wire group and the second transmission wire group are sequentially connected to form a first rectangle, One side of the first rectangle is parallel to the fifth axis, and the other side is parallel to the sixth axis;

    The first transmission wire group and the proximal end of the second transmission wire group are connected in sequence at a fixed connection point on the connection plate to form a second rectangle, one side of the second rectangle is parallel to the fifth axis, The other side is parallel to the sixth axis;

    The third transmission wire group, the distal end of the fourth transmission wire group and the fixed connection point of the inner frame of the first Hooke hinge are sequentially connected to form a third rectangle, and one side of the third rectangle is parallel to the Said ninth axis, the other side being parallel to said tenth axis; and

    The third transmission wire group, the proximal end of the fourth transmission wire group and the fixed connection point of the wrist structure are sequentially connected to form a fourth rectangle, one side of the fourth rectangle is parallel to the first axis, The other side is parallel to the second axis.
13. The snake-like surgical instrument according to claim 1, wherein the end effector includes at least one tool flap, the tool flap is rotatably connected to the tool support base, and the hand-held end further comprises a controllable structure The opening and closing control device for movement, the transmission device further includes a first flexible structure, and the opening and closing control device controls the rotation of the tool flap through the first flexible structure.
14. The snake-like surgical instrument according to claim 13, wherein the quick-change structure further comprises a first connection shaft and a first elastic telescopic column detachably connected to the first connection shaft, the first connection The axial proximal end extends through the connector, the first elastic telescopic post extends distally through the first Hook hinge, and the holding structure is further provided with a first motor, a first sensor, and a controller. The first sensor is configured to detect the opening and closing movement of the opening and closing control device, and the controller controls the first motor to output power according to a signal detected by the first sensor, and the first motor passes the first An elastic telescopic column and the first connecting shaft drive the first flexible structure.
15. The snake-shaped surgical instrument according to claim 14, wherein a positioning protrusion is provided on an end surface of the first elastic telescopic column, and a positioning recess matching the positioning protrusion is provided on an end surface of the first connecting shaft. A groove, through which the first elastic telescopic column and the first connecting shaft are detachably connected through cooperation of the positioning protrusion and the positioning groove.
16. The snake-shaped surgical instrument according to claim 14, wherein the first elastic telescopic column comprises a compression spring, an inner cylinder, and an outer cylinder located on the periphery of the inner cylinder, wherein the inner cylinder and the first motor The output shaft is connected, the outer cylinder is axially movable relative to the inner cylinder, and the compression spring is configured to provide a driving force for moving the outer cylinder away from the inner cylinder.
17. The snake-like surgical instrument according to claim 13, wherein the end effector further comprises a first reversing device, the first flexible structure includes a steel wire and an elastic structure, and the elastic structure is configured to provide The driving force of the tool flap maintained in a normally open state, the proximal end of the steel wire is wound on the first connecting shaft, and the distal end of the steel wire is connected to the first commutation device, and the first commutation device is A conversion between the translational movement of the steel wire and the opening and closing movement of the tool flap.
18. The snake-like surgical instrument according to claim 13, wherein the end effector further comprises a second reversing device, a third reversing device, the first flexible structure includes a flexible shaft, and the first connection A shaft is connected to the second reversing device, a proximal end of the flexible shaft is fixed to the second reversing device, and a distal end is connected to the third reversing device to drive the tool flap to realize opening and closing movement, The third reversing device is configured to convert the translational movement of the soft shaft into the opening and closing movement of the tool flap, and the second reversing device is configured to convert the rotational movement of the first connecting shaft into all The translational movement of the flexible shaft is described.
19. The snake-like surgical instrument according to claim 14, wherein the opening-closing control device has at least one opening-closing flap, and the opening-closing flap is rotatably connected to the control structure, wherein the first sensor is provided at The opening and closing flap or a Hall sensor on the control structure; or the first sensor is a rotary axis code disc disposed on a rotating shaft of the opening and closing flap.
20. The snake-like surgical instrument according to claim 1, wherein the manipulation structure is configured to be rotatable about its own axis relative to the wrist structure, and the tool support base is configured to be rotatable relative to the snake-shaped structure Rotating around its own axis, the transmission device further includes a second flexible transmission structure for transmitting the rotation movement of the control structure to the tool support base to cause the tool support base to rotate.
21. The snake-shaped surgical instrument according to claim 20, wherein the quick-change structure further comprises a second connection shaft, and a second elastic telescopic column detachably connected to the second connection shaft, the second connection The axial distal end extends through the first Hook hinge, the second elastic telescopic post extends proximally through the connector, and the holding structure is further provided with a second motor, a second sensor, and a controller. The second sensor is configured to detect a rotation movement of the control structure, and the controller controls the second motor to output power according to a signal detected by the second sensor, and the second motor passes the second motor The elastic telescopic column and the second connecting shaft drive the second flexible structure.
22. The snake-like surgical instrument according to claim 21, wherein the second flexible structure is a flexible shaft, and two ends of the flexible shaft are fixedly connected to the second connection shaft and the tool support base, respectively.
23. The snake-shaped surgical instrument according to claim 21, wherein a fixed bracket is provided on the wrist structure, and the second sensor is a rotary code disc provided on the fixed bracket.
24. The snake-like surgical instrument according to claim 1, wherein the quick-change structure further comprises a locking structure configured to restrict the first Hooke hinge and the connector in a circumferential direction of the interchangeable instrument. Turn.

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