Surgical effector, surgical tool and surgical robot
View Patent ↗A surgical effector, a surgical tool, and a surgical robot are provided. The surgical effector includes a support part, a head part, a drive part, and a sealing member. The support part includes an inner cavity, the head part is at least partially movably arranged at a distal end of the support part, the drive part is slidably arranged in the inner cavity of the support part and is connected to a proximal end of the head part, the sealing member is connected to the drive part in a sealed manner at a first end thereof and is connected to the support part in a sealed manner at a second end thereof, and at least a part of the sealing member is deformable.
1. A surgical effector, comprising:
a support part comprising an inner cavity;
a head part at least partially movably arranged at a distal end of the support part;
a drive part slidably arranged in the inner cavity of the support part and connected to a proximal end of the head part; and
a sealing member connected to the drive part in a sealed manner at a first end thereof and connected to the support part in a sealed manner at a second end thereof, at least a part of the sealing member being deformable;
wherein the sealing member comprises an inner tubular portion, an outer tubular portion, and a transition portion connected to the inner tubular portion and the outer tubular portion, a distal end of the inner tubular portion forms the first end, and a distal end of the outer tubular portion forms the second end.
2. The surgical effector according to claim 1 , wherein the head part comprises a first head member and a second head member capable of mating with the first head member; and
the drive part comprises a drive wire.
3. The surgical effector according to claim 2 , wherein the drive wire is connected to the second head member by at least one first drive part connecting pin for transmitting a drive force from the drive wire to the second head member.
4. The surgical effector according to claim 3 , wherein the drive wire is connected to the first head member by at least one second drive part connecting pin for transmitting a drive force from the drive wire to the first head member.
5. The surgical effector according to claim 4 , wherein the drive part comprises a first connecting rod and a second connecting rod;
end portions of inner ends of the first connecting rod and the second connecting rod are hinged to each other;
a distal end of the drive wire is connected to a hinged joint between the first connecting rod and the second connecting rod; and
end portions of outer ends of the first connecting rod and the second connecting rod are respectively connected to corresponding one of the first and second drive part connecting pins, and the second drive part connecting pin and the first drive part connecting pin are respectively connected to the first head member and the second head member, so that the first head member and the second head member are driven by the drive wire to approach each other or move away from each other.
6. The surgical effector according to claim 4 , wherein the first head member and the second head member are pivotally connected to the distal end of the support part by a pivotal connecting pin.
7. The surgical effector according to claim 3 , wherein the drive part further comprises: a slider;
the slider is slidably arranged in the inner cavity of the support part, and a distal end of the slider is connected to the drive part connecting pin; and
the distal end of the drive wire is connected to a proximal end of the slider to drive the slider to reciprocate in the support part.
8. The surgical effector according to claim 7 , wherein
the sealing member is attached around an outer periphery of the proximal end of the slider in a sealed manner at the first end; or the sealing member is attached around a proximal end of the support part in a sealed manner at the second end; or the sealing member is attached to an inner wall of the support part in a sealed manner at the second end.
9. The surgical effector according to claim 8 , further comprising: a ferrule secured on an outer periphery of the sealing member at the first and/or second end.
10. The surgical effector according to claim 8 , wherein the slider further comprises: a slide bar and a pin connecting part; and
the sealing member is attached around at least a part of an outer periphery of the slide bar in a sealed manner at the first end.
11. The surgical effector according to claim 3 , wherein
the first head member is fixedly arranged at the distal end of the support part, and the second head member is movably arranged at the distal end of the support part.
12. The surgical effector according to claim 3 , wherein
the support part comprises at least one pair of support part slide slots, and at least one first drive part connecting pin is slidably arranged in the at least one pair of support part slide slots.
13. The surgical effector according to claim 12 , wherein the second head member comprises a jaw and jaw support members which are connected to and support the jaw, the jaw support members are symmetrically arranged on two sides of a proximal end of the second head member, and the jaw support members are pivotally connected to the support part by a pivotal connecting pin; and
the jaw support members comprise jaw slide slots, and at least one first drive part connecting pin is slidably arranged in the at least one pair of support part slide slots and the jaw slide slots.
14. The surgical effector according to claim 2 , wherein
a proximal end of the drive wire is connected to a power supply apparatus so that a conductive pathway is formed between the second head member and the drive wire.
15. The surgical effector according to claim 14 , wherein
the first head member is connected to another power supply apparatus so that another conductive pathway is formed between the first head member and the another power supply apparatus; and
the conductive pathway and the another conductive pathway are insulated from each other.
16. The surgical effector according to claim 15 , wherein
an insulation part is arranged between at least one of the first and second head members and the support part, so that the first head member and the second head member are insulated from each other.
17. The surgical effector according to claim 1 , wherein at least a part of the sealing member comprises an elastic material or a flexible material.
18. A surgical tool comprising:
a surgical tool arm;
a surgical effector arranged at a distal end of the surgical tool arm; and
a transmission part arranged at a proximal end of the surgical tool arm and configured to drive the surgical tool arm or the surgical effector to move;
wherein the surgical effector comprises:
a support part comprising an inner cavity;
a head part at least partially movably arranged at a distal end of the support part;
a drive part slidably arranged in the inner cavity of the support part and connected to a proximal end of the head part; and
a sealing member connected to the drive part in a sealed manner at a first end thereof and connected to the support part in a sealed manner at a second end thereof, at least a part of the sealing member being deformable;
wherein the sealing member comprises an inner tubular portion, an outer tubular portion, and a transition portion connected to the inner tubular portion and the outer tubular portion, a distal end of the inner tubular portion forms the first end, and a distal end of the outer tubular portion forms the second end.
19. A surgical robot comprising:
at least one surgical cart;
at least one robot arm arranged on the at least one surgical cart;
at least one surgical tool arranged at a distal end of the at least one robot arm respectively;
at least one surgical effector arranged at a distal end of the at least one surgical tool; and
at least one control device configured to control the movement of the at least one surgical tool or the at least one surgical effector; wherein
the at least one surgical effector comprises:
a support part comprising an inner cavity;
a head part at least partially movably arranged at a distal end of the support part;
a drive part slidably arranged in the inner cavity of the support part and connected to a proximal end of the head part; and
a sealing member connected to the drive part in a sealed manner at a first end thereof and connected to the support part in a sealed manner at a second end thereof, at least a part of the sealing member being deformable.
20. The surgical robot according to claim 19 , wherein the sealing member comprises:
an inner tubular portion;
an outer tubular portion; and
a transition portion connected to the inner tubular portion and the outer tubular portion;
wherein a distal end of the inner tubular portion forms the first end, and a distal end of the outer tubular portion forms the second end.