Surgical instrument, support equipment, and surgical robot system

摘要

A surgical instrument includes an extension portion having a surgical tool at an end thereof, and a head portion connected to the extension portion and actuating the surgical tool. In the surgical instrument, the extension portion includes a first extension portion connected to the head portion, a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion, and a connection portion connecting the first and second extension portions at an angle.

主权项

1. A surgical instrument comprising:
an extension portion having a surgical tool at an end thereof; a head portion connected to the extension portion, the head portion configured to generate a reciprocating force; and a plurality of rods linearly connected from the head portion to the extension portion, the plurality of rods including at least a rigid main rod and a rigid actuation rod connected via a flexible rod such that the rigid main rod is configured to transfer the reciprocating force from the rigid main rod to the rigid actuation rod via the flexible rod, wherein the extension portion includes,
a first extension portion connected to the head portion and having at least a portion of the rigid main rod passing therethrough,a second extension portion having an elbow joint portion that is bending-actuated by the rigid actuation rod that is reciprocated in a lengthwise direction by the head portion, anda connection portion connecting the first extension portion and the second extension portion, the connection portion having the flexible rod passing therethrough from the rigid main rod to the rigid actuation rod at an angle, the connection portion having a plurality of guides therein such that the plurality of guides are configured to come into rolling contact with the flexible rod when the flexible rod passes therethrough.