Surgical actuators, surgical tools and surgical robots

Abstract

The present disclosure relates to the field of medical devices and discloses a surgical actuator comprising a support portion, a forceps head portion, a drive portion, and a seal. The support portion includes an internal cavity, the forceps head portion is at least partially movably disposed at the distal end of the support portion, the drive portion is slidably disposed in the internal cavity of the support portion and connected to the proximal end of the forceps head portion, the seal portion is sealedly connected to the drive portion at a first end and sealedly connected to the support portion at a second end, and at least a portion of the seal portion is deformable. This provides a surgical actuator having excellent sealing performance and capable of repeated cleaning and disinfection. A further purpose is to provide a surgical actuator, surgical tool, and surgical robot having excellent insulation performance while taking into account the advantages of miniaturization.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a surgical actuator, a surgical tool, and a surgical robot. Background Art

[0002] Minimally invasive medical procedures often utilize surgical tools, which include various surgical actuators, such as clamps, cutting instruments, and needle holders. These tools can be categorized by function as either powered or non-powered surgical tools. Powered surgical tools include bipolar or monopolar powered surgical tools. A surgical actuator is typically mounted on the distal end of a surgical tool and inserted directly or through a cannula into a small incision or natural orifice in the patient to perform the corresponding surgical procedure.

[0003] Existing surgical tools can be divided into disposable surgical tools and reusable surgical tools: disposable surgical tools are mostly made of a combination of polymer materials and stainless steel, but there is a risk of stainless steel falling off, which can easily cause surgical accidents; the main body of reusable surgical tools is generally made of stainless steel. The product is not easy to damage and can be repeatedly disinfected and used, but the post-operative recovery procedure is complicated, and if the subsequent disinfection and sterilization is not thorough, it is easy to cause secondary contamination and infection problems.

[0004] Existing reusable surgical instruments are often sterilized by disassembling the instrument components or by cleaning the instrument channels. The former is costly, complex, and prone to wear and loosening. The latter, due to the long channels, is difficult to flush thoroughly, resulting in incomplete disinfection and difficult-to-detect residues, leading to secondary contamination later. Summary of the Invention

[0005] In some embodiments, the present disclosure provides an exemplary surgical actuator, comprising: a support portion, the support portion including an internal cavity; a clamp head portion, the clamp head portion being at least partially movably disposed at the distal end of the support portion; a driving portion, the driving portion being slidably disposed in the internal cavity of the support portion and connected to the proximal end of the clamp head portion; a sealing member, the sealing member being sealingly connected to the driving member at a first end and sealingly connected to the support portion at a second end, and at least a portion of the seal being deformable.

[0006] In some embodiments, the present disclosure also provides a surgical tool, including a driving part, a surgical tool arm and the surgical actuator in the above technical solution; the surgical actuator is arranged at the distal end of the surgical tool arm, and the driving part is arranged at the proximal end of the surgical tool arm, and the driving part is used to drive the movement of the surgical tool arm or the surgical actuator.

[0007] In some embodiments, the present disclosure also provides a surgical robot, comprising at least one control device, at least one operating trolley, at least one robotic arm, at least one surgical tool, and at least one surgical actuator in the above technical solution; at least one robotic arm is arranged on at least one operating trolley, at least one surgical tool is respectively arranged at the distal end of at least one robotic arm, at least one surgical actuator is respectively arranged at the distal end of at least one surgical tool, and at least one control device is used to control the movement of at least one surgical tool and / or at least one surgical actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present disclosure and these drawings without any creative work.

[0009] Figure 1 A schematic diagram showing the three-dimensional structure of a surgical implement according to some embodiments of the present disclosure is shown;

[0010] Figure 2 shows a left side view of a surgical implement according to some embodiments of the present disclosure;

[0011] Figure 3 An axial cross-sectional view of a surgical implement according to some embodiments of the present disclosure is shown;

[0012] Figure 4 A cross-sectional view showing a first clamp head member and a support portion according to some embodiments of the present disclosure;

[0013] Figure 5 A perspective view showing a support portion according to some embodiments of the present disclosure;

[0014] Figure 6 A perspective view showing a support portion according to other embodiments of the present disclosure;

[0015] Figure 7 A perspective view showing a second clamp head member according to some embodiments of the present disclosure;

[0016] Figure 8 shows a side view of a slidable body according to some embodiments of the present disclosure;

[0017] Figure 9 A perspective view showing a seal according to some embodiments of the present disclosure;

[0018] Figure 10 A cross-sectional view showing two pliers opened according to some embodiments of the present disclosure;

[0019] Figure 11 A perspective view showing a surgical implement according to some embodiments of the present disclosure;

[0020] Figure 12 A cross-sectional view illustrating a surgical implement according to some embodiments of the present disclosure;

[0021] Figure 13 A perspective view showing a partial structure of a surgical implement according to some embodiments of the present disclosure;

[0022] Figure 14 A perspective view showing a surgical implement according to some embodiments of the present disclosure;

[0023] Figure 15 A cross-sectional view illustrating a surgical implement according to some embodiments of the present disclosure;

[0024] Figure 16 A perspective view showing a partial structure of a surgical implement according to some embodiments of the present disclosure;

[0025] Figure 17 A perspective view showing the cooperation between the clamp head and the driving part according to some embodiments of the present disclosure;

[0026] Figure 18 A schematic structural diagram of a driving unit according to some embodiments of the present disclosure is shown;

[0027] Figure 19 A perspective view showing a support portion according to some embodiments of the present disclosure;

[0028] Figure 20 A perspective view showing a protective cover according to some embodiments of the present disclosure;

[0029] Figure 21 A perspective view showing a surgical implement according to some embodiments of the present disclosure;

[0030] Figure 22 A cross-sectional view illustrating a surgical implement according to some embodiments of the present disclosure;

[0031] Figure 23 A perspective view showing the cooperation between the clamp head and the driving part according to some embodiments of the present disclosure;

[0032] Figure 24 A schematic structural diagram of a support portion according to some embodiments of the present disclosure is shown;

[0033] Figure 25 A perspective view showing a driving portion according to some embodiments of the present disclosure;

[0034] Figure 26 A perspective view showing a seal according to some embodiments of the present disclosure;

[0035] Figure 27 A perspective view showing a protective cover according to some embodiments of the present disclosure;

[0036] Figure 28 A perspective view showing a surgical implement according to some embodiments of the present disclosure;

[0037] Figure 29 A cross-sectional view illustrating a surgical implement according to some embodiments of the present disclosure;

[0038] Figure 30 A schematic structural diagram of a support portion according to some embodiments of the present disclosure is shown;

[0039] Figure 31 A perspective view showing the cooperation between the clamp head and the driving part according to some embodiments of the present disclosure;

[0040] Figure 32 A side view showing the cooperation between the pliers head and the driving portion according to some embodiments of the present disclosure;

[0041] Figure 33 A perspective view showing a driving portion according to some embodiments of the present disclosure;

[0042] Figure 34 A perspective view showing a protective cover according to some embodiments of the present disclosure;

[0043] Figure 35 A perspective view showing a surgical implement according to some embodiments of the present disclosure;

[0044] Figure 36 A cross-sectional view illustrating a surgical implement according to some embodiments of the present disclosure;

[0045] Figure 37 A partial structural cross-sectional view of a surgical implement according to some embodiments of the present disclosure is shown;

[0046] Figure 38 A perspective view showing a partial structure of a surgical implement according to some embodiments of the present disclosure;

[0047] Figure 39 A perspective view showing a surgical implement support portion according to some embodiments of the present disclosure;

[0048] Figure 40 A perspective view showing a surgical tool according to some embodiments of the present disclosure;

[0049] Figure 41 A stereoscopic view of a surgical robot according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0050] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present disclosure.

[0051] In the description of the present disclosure, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," "outside," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present disclosure and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0052] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances.

[0053] In the present disclosure, the end close to the operator is defined as the proximal end, the near part, the rear end, or the rear part, and the end close to the surgical patient is defined as the distal end, the far end, the front end, or the front part.

[0054] Figures 1 to 3 The figures show a perspective structural diagram, a left side view, and an axial cross-sectional view of a surgical implement 100 according to some embodiments of the present disclosure. The surgical implement 100 may include a forceps head 120 , a support portion 110 , a driving portion 130 , and a sealing member 140 .

[0055] The clamp head 120 is at least partially movably disposed at the distal end of the support portion 110 and supported by the support portion 110. Figure 3As shown, the support portion 110 may include an internal cavity 1121, and the driving portion 130 may be movably disposed in the internal cavity 1121 of the support portion 110 and connected to the proximal end of the forceps head 120, thereby driving at least a portion of the forceps head 120 to move relative to the distal end of the support portion 110 through movement within the support portion 110. It is understood that the forceps head 120 may be any tool capable of opening and closing used in a surgical actuator, such as separating forceps, grasping forceps, needle holders, and curved scissors.

[0056] The seal 140 may be provided at a first end (eg, proximal end or Figure 3 130 and is sealed to the driver 130 at a second end (e.g., distal end or as shown) and Figure 3 The seal 140 is sealably connected to the support portion 110 at its proximal end (as shown), and at least a portion of the seal 140 is deformable. Thus, when the driver 130 moves relative to the support portion 110, the seal 140 can adaptively deform. The seal 140 provides a sealed barrier between the driver 130, the support portion 110, and the forceps head 120, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 100 through the pores during surgery, thereby facilitating repeated cleaning and disinfection of the surgical actuator 100.

[0057] At least a portion of the seal 140 may include an elastic and stretchable material, such as rubber or thermoplastic elastomer, or a flexible material, such as plastic, non-woven fabric, etc. In some embodiments, as Figure 3 As shown, the sealing member 140 may include a first end, a second end, and a transition portion between the first end and the second end. The first end and the second end may be sealedly connected to the outer circumference of the driving portion 130 and the proximal outer circumference of the support portion 110, respectively, for example, by bonding, thermoplasticization, a clamp, etc. At least a portion of the transition portion may include a flexible material, or at least a portion of the transition portion may include a pleated portion, which may be extended and expanded or contracted and folded. Therefore, when the driving portion 130 moves in the support portion 110, the sealing member 140 may be adaptively deformed, thereby achieving sealing without affecting the relative movement between the driving portion 130 and the support portion 110.

[0058] Figure 5 and Figure 6 1 and 2 show three-dimensional views of the support portion 110 according to some embodiments of the present disclosure. In some embodiments, the support portion 110 may include at least one pair of support portion slots 1122a-b. Figure 5 As shown, the support portion slots 1122a-b may be a pair of axial slots that are radially opposite to each other and extend axially. Figure 6As shown, the support portion 110 may include two pairs of support portion sliding grooves 1122a - b , and the two pairs of support portion sliding grooves 1122a - b may be two pairs of axial sliding grooves that are radially opposite to each other and extend axially.

[0059] In some embodiments, as Figure 5 and Figure 6 As shown, the support portion 110 may include a support connector 111 at the proximal end and at least one support member (e.g., a pair of support members 112a-b) circumferentially spaced apart at the distal end of the support connector 111. The support connector 111 may be cylindrical, and its cross section may be circular, elliptical, rectangular, polygonal, etc. A hollow slideway 1123 is formed therein along the axial direction (see also FIG. Figure 4 ). The support member 112a and the support member 112b may be arranged relative to each other, and the support portion slide grooves 1122a-b may be formed relatively on the support members 112a-b, respectively. The support member 112 and the support connector 111 may be fixedly connected or integrally formed. In some embodiments, the support member 112 of the support portion 110 may be cylindrical or a part of a cylindrical shape, and the cross-section may be circular, elliptical, rectangular, polygonal, and the like. By arranging circumferentially spaced support members 112, the hollow structure of the distal end of the support portion 110 is increased, and the internal pores and shielding area are reduced to facilitate the cleaning of the distal end of the surgical tool. The support portion slide grooves 1122a-b are relatively formed on the side walls of the support portion 110. In some embodiments, the support portion 110 may include a plurality of spaced support members 112 to facilitate the cleaning of the surgical tool.

[0060] like Figures 1 to 3 As shown, the clamp head 120 may include a first clamp member 121 and a second clamp member 122 that can cooperate with the first clamp member 121. In some embodiments, as shown in FIG. Figure 1 and Figure 2 As shown, the first clamp member 121 can be fixedly disposed at the distal end of the support portion 110, such as by welding, bonding or integral molding. The second clamp member 122 can be rotatably connected to the first clamp member 121 or the support portion 110, such as by hinged connection. Figure 4 FIG. 5 shows a cross-sectional view of the first clamp member 121 and the support portion 110 according to some embodiments of the present disclosure. Figure 4 As shown, the first clamp member 121 is fixedly disposed at the distal end of the support portion 110. In some embodiments, the first clamp member 121 can be integrally formed with the support portion 110.

[0061] Figure 7 FIG. 2 shows a perspective view of the second clamp member 122 according to some embodiments of the present disclosure. Figure 7As shown, the second clamp head member 122 may include a clamp head 1221 and a pair of clamp head support members 1222a and 1222b connected to and supporting the clamp head 1221. The pair of clamp head support members 1222a-b may be symmetrically arranged on both sides of the proximal end of the clamp head 1221. The distal ends of the clamp head support members 1222a-b are respectively provided with connecting holes 1224a-b. Figure 7 As shown, the jaw support members 1222a-b may include jaw slide grooves 1223a-b, respectively. In some embodiments, the jaw slide grooves 1223a-b may be arcuate slide grooves, and the jaw slide grooves 1223a-b are arranged relative to each other on the jaw support members 1222a-b. The contour of the arcuate slide groove may be, for example, an arc A, as shown in FIG. Figure 7 As shown. The contour line of the arc chute is composed of one or more arc segments. By adjusting the curvature of the arc, the clamping force output by the surgical tool can be adjusted. It should be understood by those skilled in the art that the contour line of the arc chute can also be formed by multiple straight line segments to form an approximate arc. In some embodiments, as Figure 7 As shown, the jaw support members 1222a-b can include connection holes 1224a-b, respectively. The connection holes 1224a-b can be used to mount the second jaw member 122, as described in detail below.

[0062] In some embodiments, the driving portion 130 includes a driving wire 131, such as Figure 1 、 3 As shown. In some embodiments, the drive wire 131 can be a nickel-titanium alloy wire or a steel wire. By pushing and pulling the drive wire to drive the forceps heads, and by driving one forceps head while the other is fixed, the drive structure can be simplified. Therefore, it can be widely used in various minimally invasive surgeries, especially in minimally invasive surgical robots, such as laparoscopic surgical robots.

[0063] In some embodiments, as Figure 1 As shown, the clamp head supports 1222a-b can be arranged on the outside of the support portion 110. Those skilled in the art will appreciate that, in some embodiments, the clamp head supports 1222a-b can also be arranged on the inside of the support portion 110. Figure 2 As shown in FIG, the driving portion connecting pin 150 can be slidably arranged in the supporting portion sliding groove 1122a-b (as shown in FIG. Figure 5 As shown) and the clamp head slide 1223a-b (as shown Figure 7 The rotating connecting pin 151 passes through a pair of connecting holes 1224a-b (as shown in Figure 7 As shown), its two ends are respectively pivotally connected to a pair of supporting portion connecting holes 1124a-b of the supporting portion 110 (refer to Figure 5 and Figure 6) so that the second jaw member 122 is hinged to the support portion 110. The driving portion connecting pin 150 is connected to the distal end of the driving wire 131. When the driving wire 131 moves relatively in a push-pull motion within the hollow slideway 1123 of the support portion 110, the driving portion connecting pin 150 is driven to slide back and forth along the jaw slide grooves 1223a-b and the support portion slide grooves 1122a-b, thereby driving the second jaw member 122 to open and close relative to the first jaw member 121.

[0064] In some embodiments, a pair of driving portion connecting pins 150 are respectively slidably disposed in two pairs of supporting portion sliding grooves 1122a-b (eg Figure 6 (as shown), one of the drive unit connecting pins 150 is also slidably disposed in the jaw slide groove 1223a-b. The pair of drive unit connecting pins 150 are both connected to the distal end of the drive wire 131. Thus, under the drive wire 131, the pair of drive unit connecting pins 150 can slide along the support portion slide grooves 1122a-b. The drive unit connecting pin 150 disposed in the jaw slide grooves 1223a-b can also reciprocate along the support portion slide grooves 1122a-b, thereby driving the second jaw member 122 to open and close relative to the first jaw member 121. By providing two pairs of support portion slide grooves 1122a-b and disposing the drive unit connecting pin 150 therein, the drive is made more stable.

[0065] In some embodiments, as Figure 3 As shown, the driving portion 130 may further include a sliding body 132, and the driving portion connecting pin 150 may be fixedly disposed at the distal end of the sliding body 132. The distal end of the driving wire 131 is connected to the proximal end of the sliding body 132. The sliding body 132 is slidably disposed in the internal cavity 1121 of the support portion 110, and the driving wire 131 is used to drive the sliding body 132 to reciprocate within the support portion 110. Figure 8 FIG. 1 shows a side view of a slidable body 132 according to some embodiments of the present disclosure. Figure 3 and Figure 8 As shown, the seal 140 can be sealingly covered on the outer circumference of the sliding body 132 or the outer circumference of the proximal part of the sliding body 132 at the first end, and the seal 140 can be sealingly covered on the end of the proximal end of the support portion 110 at the second end. In some embodiments, the seal 140 can also be configured to be sealingly combined with the inner wall of the proximal end of the support portion 110 at the second end. The seal 140 can seal the distal end of the drive portion 130 relative to the hollow slide 1123 of the support portion 110. In some embodiments, the sliding body 132 can be cylindrical, cubic, polyhedral or a special-shaped structure, and the drive portion connecting pin 150 can be fixedly penetrated at the distal end of the slider along the radial direction of the slider, or there can be two drive portion connecting pins 150, which are respectively fixedly arranged at the distal end of the slider in radial direction. In some embodiments, as Figure 8As shown, a ferrule 180 may be provided on the outer periphery of the first end of the seal 140 for fastening the first end of the seal 140 to the proximal end of the sliding body 132 .

[0066] Figure 10 A cross-sectional view of two clamps opened according to some embodiments of the present disclosure is shown. Figure 10 As shown, the sliding body 132 may include a radially extending pin connection portion 1321 and a slide rod 1322 extending axially from the pin connection portion 1321 toward the proximal side. The pin connection portion 1321 and the slide rod 1322 may be formed integrally, or may be independent and fixedly connected to each other, such as by welding, bonding, or integral molding. The drive unit connecting pin 150 is fixedly disposed on the pin connection portion 1321. In some embodiments, as Figure 10 As shown, the outer periphery of the sliding rod 1322 and the driving wire 131 can also be covered with a sealing sleeve 133. Figure 10 As shown, a sliding sleeve 134 may be provided on the distal end of the sealing sleeve 133. In some embodiments, instead of the pin connection portion 1321, the sliding sleeve 134 may be provided with a radially extending drive unit connecting pin 150. In some embodiments, the sliding sleeve 134 may be integrally formed with or fixedly connected to the pin connection portion 1321. A seal 140 may be sealingly provided on the outer circumference of the sliding sleeve 134 at a first end and may be sealingly applied to the proximal end of the support portion 110 at a second end to seal the distal end of the drive portion 130 and the forceps head 120 relative to the hollow slideway 1123 of the support portion 110. Although in the above embodiment, the drive portion 130 may include a sliding body 132, a drive wire 131, a sealing sleeve 133, and a sliding sleeve 134, it should be understood that the drive portion 130 may be entirely or at least partially integrally formed. In some embodiments, the sealing sleeve 133 and the slide rod 1322 may be made of an insulator such as rubber, plastic, or ceramic to prevent the surgical actuator from becoming electrically charged and potentially burning the patient during surgery.

[0067] Figure 9 FIG. 1 shows a perspective view of a seal 140 according to some embodiments of the present disclosure. Figure 8 and Figure 9As shown, the sealing member 140 may include an inner cylinder portion 141, an outer cylinder portion 142 and a curved transition portion 143. The inner cylinder portion 141 may be sleeved on the outer circumference of the proximal end of the sliding body 132 (e.g., the sliding sleeve 134, the sealing sleeve 133 or the sliding rod 1322) and located in the internal cavity 1121 of the support portion 110. The inner cylinder portion 141 may move axially along the internal cavity 1121 driven by the sliding body 132. The inner wall of the outer cylinder portion 142 may be sealed and wrapped around the outer circumference of the proximal end of the support portion 110. However, it should be understood that the outer wall of the outer cylinder portion 142 may be sealed and bonded to the inner circumference of the proximal end of the support portion 110. The outer cylinder portion 142 is connected to the inner cylinder portion 141 as a whole through the curved transition portion 143. Thus, the seal 140 can seal the distal end of the sliding body 132 and the forceps head 120 from the drive wire 131 relative to the distal side of the seal 140, thereby isolating the drive wire 131 from the surgical interface and preventing the patient's body fluids and external bacteria from penetrating into the interior of the surgical actuator through the pores during surgery. By providing a deformable seal, the sliding body and the drive wire form an integral sealing structure. Therefore, during cleaning and disinfection, the surgical actuator can be left undisassembled, and only the surface of the forceps head can be cleaned, which facilitates cleaning and can reduce or avoid secondary infection.

[0068] In some embodiments, as Figure 10 As shown, a ferrule 180 can be mounted on the exterior of the inner cylindrical portion 141 of the seal 140 to provide a sealed and secure connection between the seal 140 and the sliding body 132. The provision of the ferrule 180 further ensures the seal between the seal 140 and the drive wire 131, thereby reducing the risk of the seal 140 slipping during telescopic movement.

[0069] In some embodiments, as Figure 1 and Figure 2 As shown, a protective cover 170 may be further provided on the outer periphery of the proximal end of the support portion 110. The protective cover 170 may include a proximal section 171 and a distal section 172, wherein the radial dimension of the distal section 172 is larger than the radial dimension of the proximal section 171. The distal section 172 of the protective cover 170 may include a receiving groove at the distal end. The receiving groove of the protective cover 170 receives the proximal end of the support portion 110 and is sealed with the end of the support portion 110, and the proximal section 171 of the protective cover 170 receives the drive wire 131. The end of the proximal section 171 of the protective cover 170 may be provided with a through hole for the drive wire 131 to pass through. In some embodiments, the protective cover 170 may be an insulator such as rubber, plastic or ceramic. The protective cover 170 may prevent the surgical actuator from being electrified and burning the patient during surgery. In some embodiments, the protective cover 170 may insulate the surgical actuator from the arm of the surgical tool, thereby preventing contaminants from entering the interior of the surgical tool and making cleaning difficult.

[0070] Figure 11 、 Figure 12 and Figure 13A stereoscopic view, a cross-sectional view, and a partial structural stereoscopic view of a surgical implement 200 according to some embodiments of the present disclosure are respectively shown.

[0071] In some embodiments, the surgical implement 200 may include a forceps head 220 , a support portion 210 , a driving portion 230 , and a seal 240 .

[0072] like Figure 11 and Figure 13 As shown, the pliers head portion 220 is at least partially movably disposed at the distal end of the support portion 210. The support portion 210 may include an internal cavity (not shown), and the driving portion 230 may be slidably disposed in the internal cavity of the support portion 210 and connected to the proximal end of the pliers head portion 220, thereby driving at least a portion of the pliers head portion 220 to move relative to the distal end of the support portion 210 through movement within the support portion 210.

[0073] The seal 240 may be provided at a first end (eg, proximal end or Figure 12 The distal end shown in FIG. 2 is sealed to the outer circumference of the driving portion 230 and is sealed to the outer circumference of the driving portion 230 at a second end (eg, distal end or as shown in FIG. Figure 12 The seal 240 is sealably connected to the proximal inner circumference of the support portion 210 at its proximal end (as shown). At least a portion of the seal 240 is deformable. Thus, when the driver 230 moves relative to the support portion 210, the seal 240 can adaptively deform. The seal 240 provides a sealed barrier between the driver 230, the support portion 210, and the forceps head 220, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 200 through the pores during surgery, thereby facilitating repeated cleaning and disinfection of the surgical actuator 200.

[0074] In some embodiments, the support portion 210 may include at least one pair of support portion slots 2122. Figure 11 As shown, the support portion 210 may include two pairs of support portion slots 2122, and the two pairs of support portion slots 2122 may be two pairs of axial slots that are radially opposite to each other and extend axially. Figure 11 As shown, the support portion 210 may include a support connector 211 located at the proximal end and a pair of support members 212 arranged at circumferential intervals at the distal end of the support connector 211. The support connector 211 may be cylindrical, and the cross-section may be circular, elliptical, rectangular or polygonal, etc. A hollow slideway (not shown) arranged axially is formed therein. Two pairs of support portion slide grooves 2122 may be relatively symmetrically formed on the support member 212. The support member 212 and the support connector 211 may be fixedly connected or integrally formed. In some embodiments, the support member 212 of the support portion 210 may be cylindrical or a part of a cylindrical shape, and the cross-section may be circular, elliptical, rectangular, polygonal, etc.

[0075] In some embodiments, as Figure 11 and Figure 12 As shown, the clamp head 220 may include a first clamp member 221 and a second clamp member 222 capable of cooperating with the first clamp member 221. The first clamp member 221 and the second clamp member 222 may be rotatably connected to the support portion 210, for example, hinged.

[0076] In some embodiments, as Figure 13 The second jaw member 222 may include a jaw head 2221 and a pair of jaw support members 2222a-b. The pair of jaw support members 2222a-b may be symmetrically disposed on either side of the proximal end of the jaw head 2221. The distal ends of the jaw support members 2222a-b are provided with connection holes 2224a-b, respectively, facing each other. The jaw support members 2222a-b may each include a jaw slide 2223a-b, which are disposed opposite each other on the jaw support members 2222a-b. The jaw slide 2223a-b may be an arc-shaped slide.

[0077] like Figure 12 As shown, the structure of the first pliers member 221 can be similar to that of the second pliers member 222. The first pliers member 221 can include a pliers head 2211 and a pair of pliers head supports 2212. The pair of pliers head supports 2212 can be symmetrically arranged on both sides of the proximal end of the pliers head 2211. The spacing between the pair of pliers head supports 2212 can be greater or less than the spacing between the pair of pliers head supports 2222a-b, so as to facilitate the rotational articulation between the pliers head supports 2212 and the pliers head supports 2222a-b. The distal ends of the pair of pliers head supports 2212 can be respectively provided with a pair of connecting holes 2214, and the pair of pliers head supports 2212 can respectively include pliers head slide grooves 2213. In some embodiments, as Figure 12 As shown, the jaw slide groove 2213 can be an arcuate slide groove, and a pair of jaw slide grooves 2213 can be arranged opposite to each other on a pair of jaw supports 2212. The connecting holes 2214 and 2224a-b can be used to install the first jaw member 221 and the second jaw member 222 respectively, as described in detail below.

[0078] In some embodiments, the driving portion 230 includes a driving wire 231, such as Figure 13 shown.

[0079] In some embodiments, as Figure 11 As shown, the pair of jaw support members 2222a-b of the second jaw member 222 can be arranged inside the pair of support members 212 of the support portion 210, and the pair of jaw support members 2212 of the first jaw member 221 can be arranged inside the jaw support members 2222a-b. It should be understood that the pair of jaw support members 2222a-b of the second jaw member 122 can also be arranged inside the pair of jaw support members 2212 of the first jaw member 221. Figure 11 and Figure 12 As shown, most of the clamp head 2211 of the first clamp head member 221 and the clamp head support members 2222a-b of the second clamp head member 222 can be located on one side of the center line B of the support member 212, and most of a pair of clamp head support members 2212 of the first clamp head member 221 and the clamp head 2221 of the second clamp head member 222 can be located on the other side opposite to one side of the center line B.

[0080] like Figure 11 As shown, a pair of driving portion connecting pins 250a-b can be slidably provided on the center line B of the support member 212 (see Figure 12 ) on one side and the other side of the two pairs of support portion slots 2122. Figure 12 As shown, the driving portion connecting pin 250b can also be slidably inserted into a pair of jaw slide grooves 2223a-b of the second jaw member 222, and the driving portion connecting pin 250a can also be slidably inserted into a pair of jaw slide grooves 2213 of the first jaw member 221. The pair of connecting holes 2214 of the first jaw member 221 and the pair of connecting holes 2224a-b of the second jaw member 222 are aligned with each other, and the rotating connecting pin 251 can radially penetrate the pair of connecting holes 2214 and the pair of connecting holes 2224a-b (as shown in FIG. Figure 12 and Figure 13 As shown in FIG, the driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210. The driving portion 210 and the driving portion 2122 are connected to each other by the driving portion 210.

[0081] In some embodiments, as Figure 12 and Figure 13 As shown, the driving portion 230 may further include a sliding body 232. A pair of driving portion connecting pins 250a-b may be fixedly disposed at the distal ends of the sliding body 232. The distal end of the driving wire 231 is connected to the proximal end of the sliding body 232. The sliding body 232 is slidably disposed within the internal cavity of the support portion 210, and the driving wire 231 is used to drive the sliding body 232 to reciprocate within the support portion 210.

[0082] like Figure 12As shown, the seal 240 can be sealingly wrapped around the outer circumference of the sliding body 232 or the outer circumference of the proximal part of the sliding body 232 or the distal periphery of the driving wire 231 at the first end, and the seal 240 can be sealingly joined to the inner circumference of the proximal end of the support portion 210 at the second end or sealingly wrapped around the proximal periphery of the support portion 210 at the second end. The seal 240 can seal the distal part of the driving portion 230 relative to the hollow slideway of the support portion 210. In some embodiments, the sliding body 232 can be cylindrical, cubic, polyhedral or a special-shaped structure. A pair of driving portion connecting pins 250a-b can be fixedly penetrated at the distal end of the sliding body 232 along the transverse direction of the sliding body 232. In some embodiments, as Figure 12 As shown, a cuff 280 can be provided on the periphery of the first end of the seal 240 to fasten the first end of the seal 240 to the proximal end of the sliding body 232. In some embodiments, a cuff can also be provided on the periphery of the second end of the seal 240 to fasten the second end of the seal 240 to the support portion 210.

[0083] like Figure 12 As shown, the seal 240 may include an inner cylindrical portion 241, an outer cylindrical portion 242, and a curved transition portion 243. The inner cylindrical portion 241 can be sleeved onto the outer circumferential surface of the proximal end of the slider 232 and positioned within the internal cavity of the support portion 210. Driven by the slider 232, the inner cylindrical portion 241 can move axially along the internal cavity. The outer cylindrical portion 242 has an outer wall that can be sealingly attached to the inner circumferential surface of the proximal end of the support portion 210. However, it should be understood that the inner wall of the outer cylindrical portion 242 can also be sealingly wrapped around the outer circumferential surface of the proximal end of the support portion 210. The outer cylindrical portion 242 is integrally connected to the inner cylindrical portion 241 via the curved transition portion 243. Thus, the seal 240 seals the distal end of the slider 232, the forceps head 220, and the drive wire 231 distal to the seal 240, isolating the drive wire 231 from the surgical interface and preventing bodily fluids from the patient and bacteria from the outside from penetrating into the interior of the surgical actuator through the pores during surgery. Therefore, during cleaning and disinfection, the surgical actuator does not need to be disassembled, and only the surface of the forceps head needs to be cleaned, which is convenient for cleaning and can reduce or avoid secondary infection.

[0084] In some embodiments, as Figure 12As shown, a protective sleeve 270 may be disposed on the outer periphery of the proximal end of the support portion 210. The protective sleeve 270 may include a proximal section 271 and a distal section 272, wherein the radial dimension of the distal section 272 is larger than that of the proximal section 271. The distal section 272 of the protective sleeve 270 may include a receiving groove (not shown) at its distal end. The receiving groove of the protective sleeve 270 accommodates the proximal end of the support portion 210, such as the support connector 211, and seals against the end of the support portion 210. Those skilled in the art will appreciate that the distal section 272 and the support connector 211 at the proximal end of the support portion 210 may be threaded, interference fit, welded, bonded, or integrally formed. The proximal section 271 of the protective sleeve 270 accommodates the drive wire 231. A through-hole may be provided at the end of the proximal section 271 of the protective sleeve 270 for passage of the drive wire 231. The protective sleeve 270 insulates the surgical actuator from the arm of the surgical tool, preventing contaminants from entering the interior of the surgical tool and making cleaning difficult.

[0085] Figure 14 、 Figure 15 and Figure 16 A stereoscopic view, a cross-sectional view, and a partial structural stereoscopic view of a surgical implement 300 according to some embodiments of the present disclosure are respectively shown.

[0086] In some embodiments, the surgical implement 300 may include a clamp head 320, a support portion 310, a drive portion 330 (see Figure 18 ) and seal 340.

[0087] like Figure 14 and Figure 15 As shown, the clamp head 320 is at least partially movably disposed at the distal end of the support portion 310. The support portion 310 may include an internal cavity 3121, a driving portion 330 (see Figure 18 ) can be slidably disposed in the internal cavity 3121 of the support portion 310 and connected to the proximal end of the pliers head 320, thereby driving at least a portion of the pliers head 320 to move relative to the distal end of the support portion 310 through movement inside the support portion 310.

[0088] The seal 340 may be provided at a first end (eg, proximal end or Figure 15 The distal end shown in FIG) is sealed and connected to the drive portion 330 (refer to FIG. Figure 18 ), and at a second end (eg, distal end or Figure 15The seal 340 is sealably connected to the support portion 310 at its proximal end (as shown), and at least a portion of the seal 340 is deformable. Thus, when the driver 330 moves relative to the support portion 310, the seal 340 can adaptively deform. The seal 340 provides a sealed barrier between the driver 330, the support portion 310, and the forceps head 320, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 300 through the pores during surgery, thereby facilitating repeated cleaning and disinfection of the surgical actuator 300.

[0089] In some embodiments, the support portion 310 may include at least one pair of support portion sliding grooves. Figure 19 FIG. 3 shows a perspective view of the support portion 310 according to some embodiments of the present disclosure. Figure 19 As shown, the support portion 310 may include a pair of support portion sliding grooves 3122a-b. The support portion sliding grooves 3122a-b may be a pair of axial sliding grooves that are radially opposite to each other and extend axially.

[0090] In some embodiments, as Figure 19 As shown, the support portion 310 may include a support connector 311 located at the proximal end and a pair of support members 312a-b circumferentially spaced apart at the distal end of the support connector 311. The support connector 311 may be cylindrical, and its cross section may be circular, elliptical, rectangular, polygonal, or the like. A hollow slideway 3123 arranged axially is formed therein. The support portion slide grooves 3122a-b may be relatively symmetrically formed on the support members 312a-b, respectively. The support member 312 and the support connector 311 may be fixedly connected or integrally formed. In some embodiments, the support member 312 of the support portion 310 may be cylindrical or a portion of a cylindrical shape, and its cross section may be circular, elliptical, rectangular, polygonal, or the like.

[0091] like Figure 15 As shown, the clamp head 320 may include a first clamp member 321 and a second clamp member 322 that can cooperate with the first clamp member 321. In some embodiments, the first clamp member 321 can be fixedly arranged at the distal end of the support portion 310, for example, by welding, bonding, or integral molding. The second clamp member 322 can be rotatably connected to the first clamp member 321 or the support portion 310, for example, by hinged connection. Figure 19 As shown, the first clamp member 321 can be integrally formed with or fixedly connected to one of the support members 312a and 312b of the support portion 310. It should be understood that the first clamp member 321 can also be integrally formed with or fixedly connected to a pair of support members 312a-b.

[0092] Figure 17 FIG. 3 shows a perspective view of the cooperation between the clamp head 320 and the driving part 330 according to some embodiments of the present disclosure. Figure 17As shown, the second pliers 322 may include a pliers 3221, a pliers connector 3225, and a pair of pliers support members 3222a and 3222b. The pliers connector 3225 may be integrally formed or fixedly connected to the proximal end of the pliers 3221, and a pair of pliers support members 3222a-b may be symmetrically arranged on both sides of the proximal end of the pliers connector 3225. The pliers 3221, the pliers connector 3225, and the pair of pliers support members 3222a-b may be integrally formed or partially integrally formed or fixedly connected. The pliers connector 3225 may be provided with a pair of connection holes 3224, respectively. Figure 17 As shown, the jaw supports 3222a-b may include jaw slots 3223a-b, respectively. In some embodiments, the jaw slots 3223a-b may be arcuate slots, and the jaw slots 3223a-b are disposed opposite to each other on the jaw supports 3222a-b.

[0093] In some embodiments, the driving portion 330 includes a driving wire 331, such as Figures 14 to 18 shown.

[0094] In some embodiments, the clamp head supports 3222a-b can also be disposed on the inner side of the support portion 310. Figure 15 and Figure 16 As shown, the driving portion connecting pin 350 can be slidably arranged in the supporting portion sliding groove 3122a-b (as shown in FIG. Figure 19 As shown) and the clamp head slide 3223a-b (as shown Figure 17 The rotating connecting pin 351 passes through a pair of connecting holes 3224 (as shown in FIG. Figure 17 As shown), its two ends are respectively pivotally connected to a pair of supporting portion connecting holes 3124a-b of the supporting portion 310 (refer to Figure 19 ) so that the second jaw member 322 is hinged to the support portion 310. The driving portion connecting pin 350 is connected to the distal end of the driving wire 331. When the driving wire 331 moves relative to the hollow slide 3123 of the support portion 310, the driving portion connecting pin 350 is driven to slide back and forth along the jaw slide grooves 3223a-b and the support portion slide grooves 3122a-b, thereby driving the second jaw member 322 to open and close relative to the first jaw member 321.

[0095] Figure 18 FIG. 3 shows a schematic diagram of the structure of the driving unit 330 according to some embodiments of the present disclosure. Figure 15 and Figure 18As shown, the driving part 330 may further include a sliding body 332, and the driving part connecting pin 350 may be fixedly disposed at the distal end of the sliding body 332. The distal end of the driving wire 331 is connected to the proximal end of the sliding body 332. The sliding body 332 is slidably disposed in the internal cavity 3121 of the support part 310, and the driving wire 331 is used to drive the sliding body 332 to reciprocate in the support part 310. Figure 15 and Figure 17 As shown, the seal 340 can be sealingly wrapped around the outer circumference of the sliding body 332 or the outer circumference of the proximal portion of the sliding body 332 at a first end. The seal 340 can also be configured to be sealingly coupled to the inner wall of the proximal end of the support portion 310 at a second end. In some embodiments, the seal 340 can be sealingly wrapped around the proximal end of the support portion 310 at a second end, such as the outer circumference of the support connector 311. The seal 340 can seal the distal end of the driving portion 330 relative to the hollow slideway 3123 of the support portion 310. In some embodiments, the sliding body 332 can have a cylindrical, cubic, polyhedral, or other special-shaped structure, and the driving portion connecting pin 350 can be fixedly disposed through the distal end of the sliding body 332 along the radial direction of the sliding body 332.

[0096] like Figure 15 As shown, the sliding body 332 may include a radially extending pin connection portion 3321 and a slide rod 3322 extending axially from the pin connection portion 3321 toward the proximal side. The pin connection portion 3321 and the slide rod 3322 may be formed integrally, or may be independent of each other and fixedly connected, such as by welding or bonding. The drive unit connecting pin 350 is fixedly disposed on the pin connection portion 3321. In some embodiments, as Figure 15 and Figure 18 As shown, a sliding sleeve 334 is provided around the outer periphery of the sliding rod 3322 and the drive wire 331. The sliding sleeve 334 and the pin connection portion 3321 may be integrally formed. The pin connection portion 3321 is provided with a radially extending drive unit connecting pin 350. It should be understood that the sliding sleeve 334 and the pin connection portion 3321 may also be independent of each other and fixedly connected, for example, by welding or bonding. A sealing member 340 may be sealingly provided on the outer periphery of the sliding sleeve 334 at a first end and sealingly attached to the inner periphery of the proximal end of the support portion 310 at a second end, thereby sealing the distal end of the drive portion 330 and the pliers head 320 relative to the hollow slideway 3123 of the support portion 310. Although in the above embodiment, the drive portion 330 includes the sliding body 332, the drive wire 331, and the sliding sleeve 334, it should be understood that the drive portion 330 may be entirely or at least partially integrally formed.

[0097] In some embodiments, the proximal end of the drive wire 331 can be connected to a power supply device (not shown) to form a conductive path between the second clamp head member 322 and the drive wire 331. In some embodiments, the sliding body 332, the drive unit connecting pin 350 and the support member 312 can all include conductive materials, such as metal. It should be understood by those skilled in the art that the sliding body 332, the drive unit connecting pin 350 and the support member 312 can also be plated with a conductive layer on their surfaces to achieve the function of conductivity. The proximal end of the drive wire 331 is connected to the power supply device, and the second clamp head member 322 can form a conductive path between the sliding body 332 and the drive wire 331. The first clamp head member 321 can be connected to the conductive path through the support member 312 and the drive unit connecting pin 350. The conductive path can supply power to the first clamp head member 321 and the second clamp head member 322 to form a "single stage", thereby enabling operations such as electric shearing and electric cutting.

[0098] In some embodiments, as Figure 15 As shown, the outer periphery of the drive wire 331 outside the proximal end of the sliding body 332 (e.g., the sliding sleeve 334 or the sliding rod 3322) can be covered with an insulating protective sleeve 333. The distal end of the drive wire 331 passes through the insulating protective sleeve 333 and is connected to the proximal end of the sliding body 332. The insulating protective sleeve 333 can prevent the proximal end of the surgical actuator from being electrically conductive and posing a safety hazard.

[0099] In some embodiments, the outer periphery of the pair of support members 312a-b of the support portion 310 may be covered with an insulating cover 390 (see Figure 14 ), the distal ends of the first and second forceps members 321, 322 may extend beyond the insulating cover 390. The insulating cover 390 may be a cylindrical member with a circular, oval, rectangular, or polygonal cross-section. The insulating cover 390 may be made of an insulator such as rubber, plastic, or ceramic. The insulating cover 390 reduces the conductive area of ​​the surgical actuator, preventing the formation of a conductive path between the surgical actuator and other body tissues besides the target tissue, which could potentially burn the patient.

[0100] like Figure 17As shown, the sealing member 340 may include an inner cylinder portion 341, an outer cylinder portion 342 and a curved transition portion 343. The inner cylinder portion 341 may be sleeved on the outer circumference of the proximal end of the sliding body 332 (e.g., the sliding sleeve 334 or the sliding rod 3322) and located in the internal cavity 3121 of the support portion 310. The inner cylinder portion 341 may move axially along the internal cavity 3121 driven by the sliding body 332. The outer wall of the outer cylinder portion 342 may be sealed against the inner circumference of the proximal end of the support portion 310. However, it should be understood that the inner wall of the outer cylinder portion 342 may be sealed and wrapped around the outer circumference of the proximal end of the support portion 310. The outer cylinder portion 342 is connected to the inner cylinder portion 341 as a whole via the curved transition portion 343. Thus, the seal 340 can seal the distal end of the slider 332 and the forceps head 320 from the drive wire 331 relative to the distal side of the seal 340, isolating the drive wire 331 from the surgical interface and preventing body fluids from the patient and bacteria from the outside from penetrating into the interior of the surgical actuator through the pores during surgery. Therefore, during cleaning and disinfection, the surgical actuator can be left undisassembled, and only the surface of the forceps head can be cleaned, which facilitates cleaning and reduces or avoids secondary infections.

[0101] In some embodiments, as Figure 15 As shown, a sleeve 380a can be provided on the outside of the inner cylinder portion 341 of the seal 340 to seal and fasten the seal 340 and the sliding body 332. In some embodiments, as shown in FIG. Figure 15 As shown, a cuff 380b can be sleeved on the outside of the outer tube portion 342 of the seal 340, and the cuff 380b can be tightly connected to the proximal end of the support portion 310, so that the outer tube portion 342 and the support portion 310 are sealed and tightly connected. The provision of the cuffs 380a-b can respectively ensure the sealing between the seal 340 and the drive wire 331 and between the seal 340 and the support portion 310, thereby reducing the risk of the seal 340 slipping during telescopic movement.

[0102] Figure 20 3D diagram showing a protective cover 370 according to some embodiments of the present disclosure. In some embodiments, a protective cover 370 may be further provided on the proximal periphery of the support portion 310. Figure 16 and Figure 20As shown, the protective cover 370 may include a proximal section 371 and a distal section 372, wherein the radial dimension of the distal section 372 is larger than the radial dimension of the proximal section 371. The distal section 372 of the protective cover 370 may include a receiving groove (not shown) at its distal end. The receiving groove of the protective cover 370 accommodates the proximal end of the support portion 310 and is sealed with the end of the support portion 310. Those skilled in the art will appreciate that the distal section 372 and the proximal end of the support portion 310 may be threaded, interference fit, welded, bonded, or integrally formed. The proximal section 371 of the protective cover 370 accommodates the drive wire 331. The end of the proximal section 371 of the protective cover 370 may be provided with a through hole 3711 for the drive wire 331 to pass through. In some embodiments, the protective cover 370 may be made of an insulator such as rubber, plastic, or ceramic. The protective cover 370 insulates the surgical actuator from the arm of the surgical tool, preventing contaminants from entering the interior of the surgical tool and making cleaning difficult.

[0103] Figure 21 and Figure 22 A perspective view and a cross-sectional view of a surgical implement 400 according to some embodiments of the present disclosure are respectively shown.

[0104] In some embodiments, the surgical actuator 400 may include a clamp head 420, a support portion 410, a drive portion 430 (see Figure 25 ) and seal 440.

[0105] like Figure 21 and Figure 22 As shown, the clamp head 420 is at least partially movably disposed at the distal end of the support portion 410. The support portion 410 may include an internal cavity 4121, a driving portion 430 (see Figure 25 ) can be slidably disposed in the internal cavity 4121 of the support portion 410 and connected to the proximal end of the pliers head 420, thereby driving at least a portion of the pliers head 420 to move relative to the distal end of the support portion 410 through movement inside the support portion 410.

[0106] The seal 440 may be provided at a first end (eg, proximal end or Figure 22 4 and 5. The distal end shown in FIG. 4 is sealed to the driver 430 at a second end (e.g., distal end or as shown in FIG. Figure 22 The seal 440 is sealably connected to the support portion 410 at its proximal end (as shown), and at least a portion of the seal 440 is deformable. Thus, when the driver 430 moves relative to the support portion 410, the seal 440 can adaptively deform. The seal 440 provides a sealed barrier between the driver 430, the support portion 410, and the forceps head 420, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 400 through the pores during surgery, thereby facilitating repeated cleaning and disinfection of the surgical actuator 400.

[0107] In some embodiments, the support portion 410 may include at least one pair of support portion sliding grooves. Figure 24 FIG. 4 is a schematic diagram showing the structure of the support portion 410 according to some embodiments of the present disclosure. Figure 24 As shown, the support portion 410 may include a pair of support portion sliding grooves 4122. The pair of support portion sliding grooves 4122 may be a pair of axial sliding grooves that are radially opposite to each other and extend axially.

[0108] In some embodiments, as Figure 22 and Figure 24 As shown, the support portion 410 may include a support connector 411 at the proximal end and a pair of support members 412a-b circumferentially spaced apart at the distal end of the support connector 411. The support connector 411 may be cylindrical, and the cross section may be circular, elliptical, rectangular or polygonal, etc., and a hollow slideway 4123 arranged axially therein is formed (see FIG. Figure 24 A pair of support portion slots 4122 can be symmetrically formed on the support members 412a-b. The support members 412a-b and the support connector 411 can be fixedly connected or integrally formed. In some embodiments, the support member 412 of the support portion 410 can be cylindrical or a portion of a cylindrical shape, and the cross-section can be circular, elliptical, rectangular, polygonal, etc.

[0109] like Figure 21 As shown, the clamp head 420 may include a first clamp member 421 and a second clamp member 422 that can cooperate with the first clamp member 421. In some embodiments, the first clamp member 421 can be fixedly arranged at the distal end of the support portion 410, for example, by welding, bonding, or integral molding. The second clamp member 422 can be rotatably connected to the first clamp member 421 or the support portion 410, for example, by hinged connection. Figure 21 As shown, the first clamp member 421 can be integrally formed or fixedly connected to the pair of support members 412. It should be understood that the first clamp member 421 can also be integrally formed or fixedly connected to one of the pair of support members 412 of the support portion 410.

[0110] Figure 23 FIG. 4 shows a perspective view of the cooperation between the clamp head 420 and the driving part 430 according to some embodiments of the present disclosure. Figure 23 As shown, the second clamp head member 422 may include a clamp head 4221 and a pair of clamp head support members 4222a and 4222b connected to and supporting the clamp head 4221. The pair of clamp head support members 4222a-b may be symmetrically arranged on both sides of the proximal end of the clamp head 4221. The distal ends of the clamp head support members 4222a-b are respectively provided with connecting holes 4224a-b. Figure 23As shown, the jaw supports 4222a-b can include jaw slots 4223a-b, respectively. In some embodiments, the jaw slots 4223a-b can be arcuate slots, and the jaw slots 4223a-b are disposed opposite to each other on the jaw supports 4222a-b.

[0111] In some embodiments, the driving portion 430 includes a driving wire 431, such as Figures 21 to 25 shown.

[0112] In some embodiments, the clamp head supports 4222a-b can be disposed on the inner side of the support portion 410. Figure 21 As shown, the driving portion connecting pin 450 can be slidably inserted into a pair of supporting portion sliding grooves 4122 (such as Figure 24 As shown) and a pair of clamp head slots 4223a-b (as shown Figure 23 The rotating connecting pin 451 passes through a pair of connecting holes 4224a-b (as shown in Figure 23 As shown), its two ends are respectively pivotally connected to a pair of supporting portion connecting holes 4124 of the supporting portion 410 (refer to Figure 24 ) so that the second jaw member 422 is hinged to the support portion 410. The driving portion connecting pin 450 is connected to the distal end of the driving wire 431. When the driving wire 431 moves relative to the hollow slide 4123 of the support portion 410, the driving portion connecting pin 450 is driven to slide back and forth along the jaw slide grooves 4223a-b and the pair of support portion slide grooves 4122, thereby driving the second jaw member 422 to open and close relative to the first jaw member 421.

[0113] Figure 25 FIG. 4 is a schematic diagram showing the structure of the driving unit 430 according to some embodiments of the present disclosure. Figure 22 and Figure 25 As shown, the driving part 430 may further include a sliding body 432, and the driving part connecting pin 450 may be fixedly disposed at the distal end of the sliding body 432. The distal end of the driving wire 431 is connected to the proximal end of the sliding body 432. The sliding body 432 is slidably disposed in the internal cavity 4121 of the support part 410, and the driving wire 431 is used to drive the sliding body 432 to reciprocate in the support part 410. Figure 22As shown, the seal 440 can be sealingly wrapped around the outer circumference of the sliding body 432 or the outer circumference of the proximal portion of the sliding body 432 at a first end. The seal 440 can also be configured to be sealingly coupled to the inner wall of the proximal end of the support portion 410 at a second end. In some embodiments, the seal 440 can be sealingly wrapped around the proximal end of the support portion 410 at a second end, such as the outer circumference of the support connector 411. The seal 440 can seal the distal end of the driving portion 430 relative to the hollow slideway 4123 of the support portion 410. In some embodiments, the sliding body 432 can have a cylindrical, cubic, polyhedral, or other special-shaped structure, and the driving portion connecting pin 450 can be fixedly disposed through the distal end of the sliding body 432 along the radial direction of the sliding body 432.

[0114] like Figure 22 and Figure 25 As shown, the sliding body 432 may include a sliding rod 4322 and a pair of sliding body connecting parts 4321a-b symmetrically arranged at the distal end of the sliding rod 4322 and extending in the axial direction. The sliding rod 4322 and the pair of sliding body connecting parts 4321a-b may be formed integrally, or they may be independent of each other and fixedly connected, for example, by welding or bonding. The driving part connecting pin 450 is fixedly arranged on the pair of sliding body connecting parts 4321a-b. In some embodiments, as Figure 22 and Figure 25 As shown, a sliding sleeve 434 is provided around the outer periphery of the sliding rod 4322 and the drive wire 431. The sliding sleeve 434 and the pair of sliding body connecting portions 4321a-b can be integrally formed. It should be understood that the sliding sleeve 434 and the pair of sliding body connecting portions 4321a-b can also be independent of each other and fixedly connected, for example, by welding or bonding. A sealing member 440 can be sealingly provided on the outer periphery of the sliding sleeve 434 at a first end and can be sealingly attached to the inner periphery of the proximal end of the support portion 410, such as the inner wall of the support connecting member 411, at a second end, to seal the distal end of the drive portion 430 and the clamp head 420 relative to the hollow slideway 4123 of the support portion 410. Although in the above embodiment, the drive portion 430 includes the sliding body 432, the drive wire 431, and the sliding sleeve 434, it should be understood that the drive portion 430 can be entirely or at least partially integrally formed.

[0115] In some embodiments, as Figure 22 As shown, the outer periphery of the driving wire 431 outside the sliding sleeve 434 is covered with an insulating protective sleeve 433, and the distal end of the driving wire 431 can pass through the insulating protective sleeve 433 and be fastened to the proximal end of the sliding body 432, for example, by welding, bonding, integral molding or snap-fitting.

[0116] In some embodiments, the first clamp member 421 can be connected to a first power supply device (not shown) to form a first conductive path between the first clamp member 421 and the first power supply device. The proximal end of the drive wire 431 can be connected to a second power supply device (not shown) to form a second conductive path between the second clamp member 422 and the drive wire 431. The first conductive path and the second conductive path are insulated from each other when the first clamp member 421 and the second clamp member 422 are not in contact with each other. The first conductive path and the second conductive path respectively supply power to the first clamp member 421 and the second clamp member 422 to form a "bipolar" state, thereby enabling operations such as clamping and electrocoagulation.

[0117] In some embodiments, the sliding body 432 can be made of a conductive material, such as metal. It should be understood by those skilled in the art that the sliding body 432 can also be plated with a conductive layer on its surface to achieve the function of conducting electricity. The proximal end of the driving wire 431 is connected to the second power supply device, and the second clamp head 422 can form a second conductive path between the sliding body 432 and the driving wire 431. The first power supply device can be connected to the second power supply device through the wire 490 (see Figure 22 、 23 ) directly forms a first conductive path with the first clamp member 421, or the first power supply device is electrically connected to the support portion 410 through a wire 490, and the support portion 410 is electrically connected to the first clamp member 421 to form a first conductive path. At least one of the first clamp member 421 and the second clamp member 422 can be provided with an insulating portion 460 (see Figure 21 ) so that the first clamp head 421 and the second clamp head 422 are insulated from each other when separated. When clamping tissue, the first clamp head 421 and the second clamp head 422 can form a conductive path through the tissue between the two, thereby realizing operations such as tissue clamping and electrocoagulation.

[0118] In some embodiments, an insulating portion 460 may be provided between the first clamp member 421 and the support portion 410. Those skilled in the art should understand that the support portion 410 may be directly an insulating material, the insulating portion 460 may be directly a part of the support portion 410, or the insulating portion 460 may include a first insulating member (not shown) fixedly provided on the support portion 410, and the first insulating member may include an insulating layer or an insulating fixing member provided at the connection between the first clamp member 421 and the support portion 410 to achieve insulation between the first clamp member 421 and the support portion 410, and further achieve insulation from the second clamp member 422. The first clamp member 421 may be fixedly or integrally provided on the support portion 410 or fixedly provided on the first insulating member, and the first power supply device may be directly electrically connected to the first clamp member 421 through the wire 490 to form a first conductive path. As Figure 24 As shown, the first clamp member 421 may be disposed on a pair of support members 412 of the support portion 410 .

[0119] In some embodiments, the support portion 410 may be made of a conductive material, the first power supply device forms a conductive path with the support portion 410 through the wire 490, and the first clamp head 421 forms a first conductive path with the first power supply device through the support portion 410. An insulating portion 460 may be provided between the second clamp head 422 and the support portion 410. Figure 22 and Figure 24 As shown, the insulating portion 460 may include a support frame insulating lining 462 that is tightly attached to the inner wall of the support portion 410 and a second insulating member 463 that is provided at the contact position between the second clamp head 422 and the support portion 410. The first clamp head 421 is fixedly provided at the distal end of the support members 412a-b or is integrally formed with the support members 412a-b. The support frame insulating lining 462 may be made of an insulating material such as rubber, plastic or ceramic, and the support frame insulating lining 462 may prevent the second clamp head 422 from contacting the inner circumference of the support portion 410 to form a conductive path during movement. In some embodiments, as Figure 24 As shown, the shape of the support frame insulating lining 462 can match the shape of the support portion 410. The support frame insulating lining 462 has an internal cavity. The clamp head support members 4222a-b, the sliding body 432 and the sealing member 440 of the second clamp head member 422 are all located in the internal cavity of the support frame insulating lining 462. The outer wall of the support frame insulating lining 462 is closely attached to the inner wall of the support portion 410. The support frame insulating lining 462 is provided with a pair of slide grooves corresponding to the pair of support portion slide grooves 4122, and a pair of connection holes corresponding to the connection holes 4224a-b and the pair of support portion connection holes 4124. Figure 23 As shown, the jaw support members 4222a-b can be located on either side of the sliding body connecting portion 4321a-b, respectively. The drive unit connecting pin 450 is fixedly disposed on the sliding body connecting portion 4321a-b. The ends of the drive unit connecting pin 450 can be slidably disposed in the jaw slide grooves 4223a-b, a pair of slide grooves in the support frame insulating lining 462, and a pair of support portion slide grooves 4122. The ends of the rotating connecting pin 451 can be respectively passed through a pair of connection holes in the jaw support members 4222a-b and the support frame insulating lining 462, and then disposed in a pair of connection holes 4224a-b in the support portion 410. It should be understood that the support frame insulating lining 462 can also be any other structure that prevents contact between the second jaw member 422 and the inner circumference of the support portion 410 to form a conductive path, without departing from the scope of this disclosure.

[0120] The contact position between the second clamp head member 422 and the support portion 410 may include the inner circumference of the support portion 410 or the driving portion connecting pin 450 and the rotating connecting pin 451 or the surface of the support portion slide groove 4122a-b of the support portion 410 or the clamp head slide groove 4223a-b of the clamp head support member 4222a-b. Figure 23As shown, the second insulating member 463 may be an insulating sleeve or layer covering the outer periphery or both ends of the drive unit connecting pin 450 and the rotating connecting pin 451. It should be understood that in some embodiments, the second insulating member 463 may also be an insulating layer provided on the surface of the support portion slide grooves 4122a-b. This ensures mutual insulation between the second clamp member 422 and the support portion 410 at the contact point when connected via the drive unit connecting pin 450 and the rotating connecting pin 451. The second clamp member 422 can form a second conductive path with the second power supply device via the drive unit connecting pin 450, the sliding body 432, and the driving wire 431, or the second clamp member 422 can form a second conductive path with the second power supply device via the sliding body 432 and the driving wire 431. The combination of the support frame insulating lining 462 and the second insulating member 463 ensures mutual insulation between the second conductive path and the first conductive path, simplifying the insulating structure and allowing the first and second clamp members 421 and 422 to form separate conductive paths, each insulated from the other. Among them, the first clamp head member 421, the second clamp head member 422, the drive wire 431, the sliding body 432, the drive unit connecting pin 450 and the rotating connecting pin 451 can all be conductive materials, such as metal and stainless steel materials, or a conductive layer can be plated on their surface to achieve the conductive function. In some embodiments, the drive unit connecting pin 450 and the rotating connecting pin 451 can also be insulating materials. By achieving insulation of single-pole or bipolar tools of small-sized surgical actuators, insulation is formed between surgical actuators, and between surgical actuators and surgical tool arms or the robotic arms of surgical robots, thereby ensuring that places other than the surgical actuators will not burn patients and users, avoiding damage to equipment, etc.

[0121] In some embodiments, the end of the support portion 410 away from the first clamp head 421 is provided with an annular conductive plate 413, the wire 490 is connected to the annular conductive plate 413, and the conductor in the wire 490 contacts the annular conductive plate 413 to form an electrical connection, such as Figure 23 The provision of the annular conductive plate 413 can increase the contact surface with the support portion 410 , making it easier for the wire 490 to form a conductive path with the support portion 410 .

[0122] Figure 26 FIG. 4 shows a perspective view of a seal 440 according to some embodiments of the present disclosure. Figure 22 and Figure 26As shown, the sealing member 440 may include an inner cylinder portion 441, an outer cylinder portion 442 and a curved transition portion 443. The inner cylinder portion 441 may be sleeved on the outer circumference of the proximal end of the sliding body 432 (e.g., the sliding sleeve 434 or the sliding rod 4322) and located in the internal cavity 4121 of the support portion 410. The inner cylinder portion 441 may move axially along the internal cavity 4121 driven by the sliding body 432. The outer wall of the outer cylinder portion 442 may be sealed against the inner circumference of the proximal end of the support portion 410 or may be sealed and wrapped around the outer circumference of the proximal end of the support portion 410. In some embodiments, as Figure 22 As shown, the outer wall of the outer cylindrical portion 442 can be sealingly attached to the inner circumference of the proximal end of the support frame insulating liner 462. However, it should be understood that the inner wall of the outer cylindrical portion 442 can be sealingly wrapped around the outer circumference of the proximal end of the support frame insulating liner 462. The outer cylindrical portion 442 is integrally connected to the inner cylindrical portion 441 via a curved transition portion 443. Thus, the seal 440 can seal the distal end of the slider 432, the forceps head 420, and the drive wire 431 distal to the seal 440, isolating the drive wire 431 from the surgical interface.

[0123] In some embodiments, as Figure 23 As shown, a cuff 480 can be sleeved on the outside of the inner cylindrical portion 441 of the seal 440 to ensure a sealed and fastened connection between the seal 440 and the sliding body 432. In some embodiments, a cuff (not shown) can also be sleeved on the outside of the outer cylindrical portion 442 of the seal 440, and the cuff can be fastened to the proximal end of the support portion 410 to ensure a sealed and fastened connection between the outer cylindrical portion 442 and the support portion 410. The provision of the cuff can further ensure the sealing between the seal 440 and the drive wire 431 and between the seal 440 and the support portion 410, thereby reducing the risk of the seal 440 slipping during telescopic movement.

[0124] Figure 27 4 shows a perspective view of a protective cover 470 according to some embodiments of the present disclosure. In some embodiments, a protective cover 470 may be further provided on the proximal periphery of the support portion 410. Figure 27 As shown, the protective sleeve 470 may include a proximal section 471 and a distal section 472, wherein the radial dimension of the distal section 472 is larger than the radial dimension of the proximal section 471. The distal section 472 of the protective sleeve 470 may include a receiving groove (not shown) at the distal end. The receiving groove of the protective sleeve 470 receives the proximal end of the support portion 410 and is sealed with the end of the support portion 410. It should be understood by those skilled in the art that the distal section 472 and the proximal end of the support portion 410 may be threaded, interference fit, welded, bonded, or integrally formed. The proximal section 471 of the protective sleeve 470 receives the drive wire 431. As shown Figure 27As shown, the proximal end portion 471 of the protective cover 470 may be provided with a drive wire through-hole 4711 and at least one wire through-hole 4712 for respectively passing the drive wire 431 and the lead wire 490. In some embodiments, the protective cover 470 may be made of an insulator such as rubber, plastic, or ceramic. The protective cover 470 insulates the surgical actuator from the arm of the surgical tool, preventing contaminants from entering the surgical tool and making cleaning difficult.

[0125] Figure 28 and Figure 29 A perspective view and a cross-sectional view of a surgical implement 500 according to some embodiments of the present disclosure are respectively shown.

[0126] In some embodiments, the surgical implement 500 may include a forceps head 520 , a support portion 510 , a driving portion 530 , and a seal 540 .

[0127] like Figure 28 and Figure 29 As shown, the clamp head 520 is at least partially movably disposed at the distal end of the support portion 510. The support portion 510 may include an internal cavity 5121, a driving portion 530 (see Figure 33 ) can be slidably disposed in the internal cavity 5121 of the support portion 510 and connected to the proximal end of the pliers head 520, thereby driving at least a portion of the pliers head 520 to move relative to the distal end of the support portion 510 through movement inside the support portion 510.

[0128] The seal 540 may be provided at a first end (eg, proximal end or Figure 29 530 and is sealed to the driver 530 at a second end (e.g., distal end or as shown) and Figure 29 The seal 540 is sealably connected to the support portion 510 at its proximal end (as shown), and at least a portion of the seal 540 is deformable. Thus, when the driver 530 moves relative to the support portion 510, the seal 540 can adaptively deform. The seal 540 provides a sealed barrier between the driver 530, the support portion 510, and the forceps head 520, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 500 through the pores during surgery, thereby facilitating repeated cleaning and disinfection of the surgical actuator 500.

[0129] In some embodiments, the support portion 510 may include at least one pair of support portion sliding grooves 5122 . Figure 30 FIG. 5 shows a schematic structural diagram of the support portion 510 according to some embodiments of the present disclosure. Figure 30 As shown, the support portion 510 may include support portion sliding grooves 5122a - d , and the support portion sliding grooves 5122a - b and 5122c - d may be two pairs of axial sliding grooves that are radially opposite to each other and extend axially.

[0130] In some embodiments, as Figure 29 and Figure 30 As shown, the support portion 510 may include a support connector 511 located at the proximal end and a pair of support members 512a-b circumferentially spaced apart at the distal end of the support connector 511. The support connector 511 may be cylindrical, and its cross-section may be circular, elliptical, rectangular, polygonal, or the like. A hollow slideway 5123 arranged axially is formed therein. Two pairs of support portion slideways 5122a-b and 5122c-d may be relatively symmetrically formed on the support members 512a-b, respectively. The support members 512a-b and the support connector 511 may be fixedly connected or integrally formed. In some embodiments, the support member 512 of the support portion 510 may be cylindrical or a portion of a cylindrical shape, and its cross-section may be circular, elliptical, rectangular, polygonal, or the like.

[0131] like Figure 28 As shown, the clamp head 520 may include a first clamp member 521 and a second clamp member 522 that can cooperate with the first clamp member 521. In some embodiments, the first clamp member 521 can be fixedly arranged at the distal end of the support portion 510, for example, by welding, bonding, integral molding, etc. The second clamp member 522 can be rotatably connected to the first clamp member 521 or the support portion 510, for example, by hinged connection. Figure 28 and Figure 30 As shown, the first clamp member 521 can be integrally formed with or fixedly connected to the pair of support members 512a - b . It should be understood that the first clamp member 521 can also be integrally formed with or fixedly connected to one of the support members 512a - b of the support portion 510 .

[0132] Figure 31 and Figure 32 The three-dimensional view and the side view respectively show the cooperation of the clamp head 520 and the driving part 530 according to some embodiments of the present disclosure. Figure 31 As shown, the second clamp head 522 may include a clamp head 5221 and a pair of clamp head support members 5222a and 5222b connected to and supporting the clamp head 5221. The pair of clamp head support members 5222a-b may be symmetrically arranged on both sides of the proximal end of the clamp head 5221. The distal ends of the clamp head support members 5222a-b are respectively provided with connecting holes 5224a-b. Figure 31 As shown, the jaw supports 5222a-b may include jaw slots 5223a-b, respectively. In some embodiments, the jaw slots 5223a-b may be arcuate slots, and the jaw slots 5223a-b are disposed opposite to each other on the jaw supports 5222a-b.

[0133] Figure 33 1 shows a perspective view of a driving unit according to some embodiments of the present disclosure. Figure 33 As shown, in some embodiments, the drive portion 530 includes a drive wire 531 .

[0134] In some embodiments, the clamp head supports 5222a-b can be disposed on the inner side of the support portion 510. Figure 31 As shown, a pair of driving portion connecting pins 550a-b can be slidably provided in two pairs of supporting portion sliding grooves 5122a-b and 5122c-d (as shown in FIG. Figure 30 As shown in FIG, the driving portion connecting pin 550a can also be slidably arranged in the clamp head sliding groove 5223a-b. The rotating connecting pin 551 passes through a pair of connecting holes 5224a-b, and its two ends are respectively pivotally connected to a pair of supporting portion connecting holes 5124a-b of the supporting portion 510 (see FIG. Figure 30 ) so that the second jaw member 522 is hinged to the support portion 510. A pair of drive unit connecting pins 550a-b are connected to the distal end of the drive wire 531. When the drive wire 531 moves relatively in a push-pull motion within the hollow slideway 5123 of the support portion 510, the drive unit connecting pin 550a is driven to slide back and forth along the jaw slide grooves 5223a-b and the pair of support portion slide grooves 5122a-b, and the drive unit connecting pin 550b is driven to slide back and forth along the other pair of support portion slide grooves 5122c-d, thereby driving the second jaw member 522 to open and close relative to the first jaw member 521.

[0135] In some embodiments, as Figure 29 and Figure 33 As shown, the driving part 530 may further include a sliding body 532, and the driving part connecting pins 550a-b may be fixedly disposed at the distal end of the sliding body 532. The distal end of the driving wire 531 is connected to the proximal end of the sliding body 532. The sliding body 532 is slidably disposed in the internal cavity 5121 of the support part 510, and the driving wire 531 is used to drive the sliding body 532 to reciprocate in the support part 510. Figure 29 、 Figure 31 and Figure 32 As shown, the seal 540 can be sealingly wrapped around the outer circumference of the sliding body 532 or the outer circumference of the proximal portion of the sliding body 532 at a first end. The seal 540 can also be configured to be sealingly coupled to the inner wall of the proximal end of the support portion 510 at a second end. In some embodiments, the seal 540 can be sealingly wrapped around the proximal end of the support portion 510 at a second end. The seal 540 can seal the distal end of the driving portion 530 relative to the hollow slideway 5123 of the support portion 510. In some embodiments, the sliding body 532 can have a cylindrical, cubic, polyhedral, or special-shaped structure, and the driving portion connecting pins 550a-b can be fixedly inserted through the distal end of the sliding body 532 at intervals along the lateral direction of the sliding body 532.

[0136] like Figure 29 and Figure 33As shown, the sliding body 532 may include a radially extending pin connection portion 5321 and a slide rod 5322 extending axially proximally from the pin connection portion 5321. The slide rod 5322 and the pin connection portion 5321 may be formed integrally, or may be independent of each other and fixedly connected, for example, by welding or bonding. The drive unit connecting pins 550a-b are fixedly disposed on the pin connection portion 5321. In some embodiments, as Figure 29 and Figure 33 As shown, a sliding sleeve 534 is provided around the outer periphery of the sliding rod 5322 and the drive wire 531. The sliding sleeve 534 and the pair of sliding body connecting portions 5321a-b can be integrally formed. It should be understood that the sliding sleeve 534 and the pair of sliding body connecting portions 5321a-b can also be independent of each other and fixedly connected, for example, by welding or bonding. A sealing member 540 can be sealingly provided on the outer periphery of the sliding sleeve 534 at a first end and can be sealingly attached to the inner periphery of the proximal end of the support portion 510 at a second end to seal the distal end of the drive portion 530 and the clamp head 520 relative to the hollow slideway 5123 of the support portion 510. Although in the above embodiment, the drive portion 530 includes the sliding body 532, the drive wire 531, and the sliding sleeve 534, it should be understood that the drive portion 530 can be integrally formed in whole or in part.

[0137] In some embodiments, as Figure 29 As shown, the outer periphery of the driving wire 531 outside the sliding sleeve 534 is covered with an insulating protective sleeve 533, and the distal end of the driving wire 531 can pass through the insulating protective sleeve 533 and be fastened to the proximal end of the sliding body 532, for example, by welding, bonding, integral molding or snap-fitting.

[0138] In some embodiments, the first clamp member 521 can be connected to a first power supply device (not shown) to form a first conductive path between the first clamp member 521 and the first power supply device. The proximal end of the drive wire 531 can be connected to a second power supply device (not shown) to form a second conductive path between the second clamp member 522 and the drive wire 531. The first conductive path and the second conductive path are insulated from each other when the first clamp member 521 and the second clamp member 522 are not in contact with each other. The first conductive path and the second conductive path respectively supply power to the first clamp member 521 and the second clamp member 522 to form a "bipolar" state, thereby enabling operations such as clamping and electrocoagulation.

[0139] In some embodiments, the sliding body 532 can be a conductive material, such as metal. It should be understood by those skilled in the art that the sliding body 532 can also be plated with a conductive layer on its surface to achieve the function of conducting electricity. The proximal end of the driving wire 531 is connected to the second power supply device, and the second clamp head 522 can form a second conductive path between the sliding body 532 and the driving wire 531. The first power supply device can directly form a first conductive path with the first clamp head 521 through the wire 590 (see Figure 32 As shown), or the first power supply device is electrically connected to the support portion 510 through a wire 590, and the support portion 510 is electrically connected to the first clamp member 521, forming a first conductive path. At least one of the first clamp member 521 and the second clamp member 522 can be provided with an insulating portion 560 (see Figure 28 ) so that the first clamp head 521 and the second clamp head 522 are insulated from each other when separated. When clamping tissue, the first clamp head 521 and the second clamp head 522 can form a conductive path through the tissue between the two, thereby realizing operations such as tissue clamping and electrocoagulation.

[0140] like Figure 28 As shown, in some embodiments, an insulating portion 560 may be provided between the first clamp member 521 and the support portion 510. It should be understood by those skilled in the art that the support portion 510 may be directly made of insulating material, the insulating portion 560 may be directly a part of the support portion 510, or the insulating portion 560 may include a first insulating member 561 fixedly provided on the support portion 510, as shown in FIG. Figure 31 As shown. Figure 30 and Figure 32 As shown, the first insulating member 561 may include an isolation insulating layer or an insulating fixing member provided at the connection between the first clamp member 521 and the support portion 510 to achieve insulation between the first clamp member 521 and the support portion 510, and further achieve insulation from the second clamp member 522. Figure 30 As shown, the first clamp head 521 is fixed or integrally formed on the support portion 510 or fixedly set on the first insulating member 561, and the first power supply device can be directly electrically connected to the first clamp head 521 through a wire 590 to form a first conductive path. Figure 30 As shown, the first clamp member 521 may be disposed on a pair of support members 512 a - b of the support portion 510 .

[0141] In some embodiments, the support portion 510 can be made of a conductive material. The first power supply device forms a conductive path with the support portion 510 via a wire 590. The first clamp member 521 forms a first conductive path with the first power supply device via the support portion 510. An insulating portion 560 can be provided between the second clamp member 522 and the support portion 510. The insulating portion 560 can include a second insulating member (not shown) disposed at the contact point between the second clamp member 522 and the support portion 510. It should be understood that the contact point between the clamp support members 5222a-b of the second clamp member 522 and the support portion 510 can include the ends of the drive connecting pins 550a-b and the rotating connecting pin 551, or the surfaces of the support portion slots 5122a-d of the support portion 510. The second insulating member can include an insulating member provided on the support portion slots 5122a-d contacting the second clamp member 522, an insulating layer provided at the ends of the drive connecting pins 550a-b and the rotating connecting pin 551, or an insulating layer or insulating member provided at other contact points. This allows insulation between the second clamp member 522 and the support portion 510, thereby achieving mutual insulation between the second conductive path and the first conductive path. This simplifies the structure of the insulating portion, allowing the first clamp member 521 and the second clamp member 522 to form separate conductive paths, each of which is insulated from the other. The first clamp member 521, the second clamp member 522, the drive wire 531, and the sliding body 532 can all be made of conductive materials, such as metal and stainless steel, or can be coated with a conductive layer to achieve a conductive function. In some embodiments, the drive unit connecting pins 550a-b and the rotating connecting pin 551 can be made of conductive materials or insulating materials.

[0142] like Figure 29 and Figure 32 As shown, the seal 540 may include an inner cylindrical portion 541, an outer cylindrical portion 542, and a curved transition portion 543. The inner cylindrical portion 541 can be sleeved onto the outer circumference of the proximal end of the slider 532 (e.g., the sliding sleeve 534 or the sliding rod 5322) and positioned within the internal cavity 5121 of the support portion 510. Driven by the slider 532, the inner cylindrical portion 541 can move axially along the internal cavity 5121. The outer wall of the outer cylindrical portion 542 can be sealingly attached to the inner circumference of the proximal end of the support portion 510 or can be sealingly wrapped around the outer circumference of the proximal end of the support portion 510. The outer cylindrical portion 542 is integrally connected to the inner cylindrical portion 541 via the curved transition portion 543. Thus, the seal 540 can seal the distal end of the slider 532, the forceps head 520, and the drive wire 531 distal to the seal 540, thereby isolating the drive wire 531 from the surgical interface.

[0143] In some embodiments, as Figure 29 and Figure 32As shown, a cuff 580 can be sleeved on the outside of the inner cylindrical portion 541 of the seal 540 to ensure a sealed and fastened connection between the seal 540 and the sliding body 532. In some embodiments, a cuff (not shown) can also be sleeved on the outside of the outer cylindrical portion 542 of the seal 540, and the cuff can be fastened to the proximal end of the support portion 510 to ensure a sealed and fastened connection between the outer cylindrical portion 542 and the support portion 510. The provision of the cuff can further ensure the sealing between the seal 540 and the drive wire 531 and between the seal 540 and the support portion 510, thereby reducing the risk of the seal 540 slipping during telescopic movement.

[0144] Figure 34 1 shows a perspective view of a protective cover 570 according to some embodiments of the present disclosure. In some embodiments, a protective cover 570 may be further provided on the proximal periphery of the support portion 510. Figure 34 As shown, the protective sleeve 570 may include a proximal section 571 and a distal section 572, wherein the radial dimension of the distal section 572 is larger than the radial dimension of the proximal section 571. The distal section 572 of the protective sleeve 570 may include a receiving groove (not shown) at the distal end. The receiving groove of the protective sleeve 570 receives the proximal end of the support portion 510 and is sealed with the end of the support portion 510. It should be understood by those skilled in the art that the distal section 572 and the proximal end of the support portion 510 may be threadedly connected, interference fit connected, welded, bonded or integrally formed, etc. The proximal section 571 of the protective sleeve 570 receives the drive wire 531. The end of the proximal section 571 of the protective sleeve 570 may be provided with a drive wire through hole 5711 and a wire through hole 5712 for the drive wire 531 and the wire 590 to pass through, respectively. As shown Figure 34 As shown, the wire through hole 5712 can be a wire groove provided along the side wall of the protective cover 570. In some embodiments, the protective cover 570 can be made of an insulator such as rubber, plastic, or ceramic. The protective cover 570 can insulate the surgical actuator from the arm of the surgical tool, preventing contaminants from entering the surgical tool and making cleaning difficult.

[0145] Figure 35 、 Figure 36 、 Figure 37 A perspective view, a cross-sectional view, and a partial cross-sectional view of a surgical implement 600 according to some embodiments of the present disclosure are respectively shown.

[0146] In some embodiments, the surgical implement 600 may include a forceps head 620 , a support portion 610 , a driving portion 630 , and a seal 640 .

[0147] like Figure 35 As shown, the clamp head 620 is at least partially movably disposed at the distal end of the support portion 610 . Figure 38 A perspective view showing a partial structure of a surgical actuator according to some embodiments of the present disclosure. Figure 35 and 37As shown, the support portion 610 may include an internal cavity 6121, and the driving portion 630 can be slidably disposed in the internal cavity 6121 of the support portion 610 and connected to the proximal end of the clamp head 620, thereby driving at least a portion of the clamp head 620 to move relative to the distal end of the support portion 610 through movement inside the support portion 610.

[0148] The seal 640 may be provided at a first end (eg, proximal end or Figure 36 The distal end shown in FIG. 1 is sealed to the outer peripheral surface of the driving portion 630 and is sealed to the outer peripheral surface of the driving portion 630 at a second end (e.g., the distal end or as shown in FIG. Figure 36 The seal 640 is sealably connected to the proximal inner circumference of the support portion 610 at its proximal end (as shown). At least a portion of the seal 640 is deformable. Thus, when the driver 630 moves relative to the support portion 610, the seal 640 can adaptively deform. The seal 640 provides a sealed barrier between the driver 630, the support portion 610, and the forceps head 620, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 600 through the pores during surgery, thereby facilitating repeated cleaning and disinfection of the surgical actuator 600.

[0149] Figure 39 FIG. 1 shows a perspective view of a surgical implement support portion 610 according to some embodiments of the present disclosure. Figure 39 As shown, the support portion 610 may include a support connector 611 at the proximal end and a pair of support members 612a-b circumferentially spaced apart at the distal end of the support connector 611. The support connector 611 may be cylindrical, with a cross-section that may be circular, elliptical, rectangular, or polygonal, etc. The support members 612a-b and the support connector 211 may be fixedly connected or integrally formed. The support member of the support portion 610 may be cylindrical or a portion of a cylindrical shape, with a cross-section that may be circular, elliptical, rectangular, or polygonal, etc.

[0150] like Figure 39As shown, the first clamp member 621 may include a clamp head 6211 and a pair of first extensions 6212a-b extending inwardly from both sides of the clamp head 6211, the first extensions 6212a-b are located on the inner side of the first clamp member 621, and the first extensions 6212a-b may include a pair of connecting shaft through-holes 6214a-b arranged oppositely. The second clamp member 622 may include a clamp head 6221 and a pair of second extensions 6222a-b extending inwardly from both sides of the clamp head 6221, the second extensions 6222a-b are located on the inner side of the second clamp member 622, and the second extensions 6222a-b may include a pair of connecting shaft through-holes 6224a-b arranged oppositely. In some embodiments, the first clamp member 621 may include a clamp head slot 6213 extending inwardly along the axial direction, and the second clamp member 622 may include a clamp head slot 6223 extending inwardly along the axial direction, and the clamp head slot 6213 and the clamp head slot 6223 are arranged oppositely to form a clamp head slot pair. As shown Figure 35 and Figure 38 As shown, a pair of drive unit connecting pins 650a-b can be respectively disposed in the connecting shaft through-holes 6214a-b of the first clamp member 621 and the connecting shaft through-holes 6224a-b of the second clamp member 622. The connecting shaft through-holes 6214a-b and 6224a-b can be respectively used to connect to the drive unit 630, as described in detail below.

[0151] In some embodiments, the first clamp member 621 and the second clamp member 622 are fixedly arranged at the distal end of the support portion 610, and the connection between the first clamp member 621 and / or the second clamp member 622 and the distal end of the support members 612a-b is flexible, or the first clamp member 621 and the second clamp member 622 themselves are flexible. In some embodiments, the first clamp member 621 and the second clamp member 622 can be integrally formed with the support members 612a-b, such as Figure 35 In some embodiments, first and second jaws 621 and 622 can be movably disposed at the distal ends of support members 612a-b. Driven by a drive wire 631, first and second jaws 621 and 622 can open and close, thereby reducing the size of surgical actuator 600 to meet the requirements of surgeries on smaller tissue sites and addressing the operational inconvenience caused by the oversized size of existing surgical actuators.

[0152] In some embodiments, the driving portion 630 includes a driving wire 631, such as Figure 35 and Figure 38 shown.

[0153] In some embodiments, the drive unit connecting pins 650a-b can be connected to the drive wire 631 through a first connecting rod 635 and a second connecting rod 636, respectively. The inner ends of the first connecting rod 635 and the second connecting rod 636 are hinged to each other, and the distal end of the drive wire 631 is connected to the hinge of the first connecting rod 635 and the second connecting rod 636. The outer ends of the first connecting rod 635 and the second connecting rod 636 are respectively connected to the drive unit connecting pins 650a-b, so that the first clamp member 621 and the second clamp member 622 can move closer to or away from each other under the drive of the drive wire 631.

[0154] In some embodiments, the drive unit connecting pin 650a can be fixedly inserted into the connecting shaft through-holes 6214a-b of the first jaw member 621, and the drive unit connecting pin 650b can be fixedly inserted into the connecting shaft through-holes 6214a-b of the second jaw member 622. The inner ends of the first connecting rod 635 and the second connecting rod 636 can be hingedly connected by rotating the connecting pin 651. The outer end of the first connecting rod 635 can be hingedly connected to the drive unit connecting pin 650a, and the outer end of the second connecting rod 636 can be hingedly connected to the drive unit connecting pin 650b. The rotating connecting pin 651 can be fixedly connected to the distal end of the drive wire 631. In some embodiments, the inner ends of the first connecting rod 635 and the second connecting rod 636 can be directly hingedly connected to the distal end of the drive wire 631. When the drive wire 631 is pulled toward the proximal end, the outer ends of the first connecting rod 635 and the second connecting rod 636 approach each other, thereby driving the first jaw member 621 and the second jaw member 622 toward each other. When the driving wire 631 moves toward the distal end, the outer ends of the first connecting rod 635 and the second connecting rod 636 move away from each other, thereby driving the first clamp member 621 and the second clamp member 622 to move away from each other. The second clamp member 622 can move in the direction indicated by the motion trajectory C, and the first clamp member 621 can move in the direction away from the motion trajectory C. Figure 35 shown.

[0155] In some embodiments, as Figure 39 As shown, the jaw grooves 6213 and 6223 are used for the outer ends of the first connecting rod 635 and the second connecting rod 636 to extend therein. When the first connecting rod 635 and the second connecting rod 636 reciprocate with the drive wire 631, the outer ends of the first connecting rod 635 and the second connecting rod 636 can move in the jaw grooves 6213 and 6223 respectively. The jaw grooves 6213 and 6223 can further reduce the lateral size of the jaw head 620.

[0156] In some embodiments, as Figure 36As shown, the driving portion 630 may further include a sliding body 632. The inner ends of the first connecting rod 635 and the second connecting rod 636 may be hinged to the distal end of the sliding body 632 by rotating a connecting pin 651. The distal end of the driving wire 631 is connected to the proximal end of the sliding body 632. The sliding body 632 is slidably disposed in the internal cavity of the support portion 610, and the driving wire 631 is used to drive the sliding body 632 to reciprocate within the support portion 610.

[0157] In some embodiments, the sliding body 632 may include a sliding body connecting portion 6321 and a sliding rod 6322 extending axially from the sliding body connecting portion 6321 toward the proximal side. The sliding rod 6322 and the sliding body connecting portion 6321 may be formed integrally, or they may be independent of each other and fixedly connected, such as by welding, bonding, or integral molding. The rotating connecting pin 651 may be fixedly disposed on the sliding body connecting portion 6321. In some embodiments, as Figure 37 As shown, a sliding sleeve 634 is provided around the outer periphery of the sliding rod 6322 and the drive wire 631. The sliding sleeve 634 and the sliding rod 6322 or the sliding body connecting portion 6321 may be integrally formed. It should be understood that the sliding sleeve 634 and the sliding rod 6322 or the sliding body connecting portion 6321 may also be independent and fixedly connected, for example, by welding, gluing, or integrally formed. In some embodiments, the sliding body 632 may be made of an insulator such as rubber, plastic, or ceramic. A seal 640 may be provided at a first end to seal around the outer periphery of the sliding sleeve 634. At a second end, the seal 640 may be sealingly attached to the inner periphery of the proximal end of the support portion 610 or to the proximal end of the support portion 610, thereby sealing the distal end of the driving portion 630 and the pliers head 620 relative to the inner side of the proximal end of the support portion 610. Although in the above embodiment, the driving portion 630 includes the sliding body 632, the drive wire 631, and the sliding sleeve 634, it should be understood that the driving portion 630 may be entirely or at least partially integrally formed. In some embodiments, the sliding body 632 may be cylindrical, cubic, polyhedral, or have a special-shaped structure.

[0158] In some embodiments, as Figure 37 As shown, the proximal end of the drive wire 631 located at the sliding sleeve 634 and the outer periphery of the portion of the sliding sleeve 634 beyond the proximal end can be covered with an insulating protective sheath 633. The distal end of the drive wire 631 can be passed through the insulating protective sheath 633 and fastened to the proximal end of the sliding body 632, for example, by welding, gluing, integral molding, or snap fastening. The insulating protective sheath 633 ensures that even if the surgical actuator comes into contact with a live device during surgery, the current will not be conducted to the surgical tool arm, thereby preventing burns to the patient and user, thereby avoiding safety hazards and damage to the equipment.

[0159] In some embodiments, as Figure 36 and Figure 37As shown, a protective sleeve 670 may be provided at the proximal end of the support portion 610. The protective sleeve 670 may include a proximal section 671 and a distal section 672, wherein the radial dimension of the distal section 672 is smaller than the radial dimension of the proximal section 671. Figure 36 As shown, the proximal end of the support portion 610 is tightly sleeved on the outer periphery of the proximal section 671 of the protective sleeve 670. In some embodiments, the support portion 610 and the protective sleeve 670 can be fixedly connected or integrally formed. It should be understood by those skilled in the art that the proximal section 671 and the proximal end of the support portion 610 can be threaded, interference-fitted, welded, bonded, or integrally formed. In some embodiments, as Figure 36 and Figure 37 As shown, the proximal section 671 and distal section 672 can be cylindrical, with a cross-section that can be circular, elliptical, rectangular, or polygonal, etc., and a hollow slideway 6123 arranged axially therein is formed therein. In some embodiments, the outer wall of the protective sleeve 670 closely fits the inner wall of the supporting connector 611. The proximal end of the protective sleeve 670 can be provided with a through hole for the drive wire 631 to pass through. The distal end of the protective sleeve 670 is formed with a hollow slideway arranged axially for sliding the sliding body 632 and the drive wire 631. The seal 640 can be sealingly mounted on the outer circumference of the sliding sleeve 634 at a first end and tightly mounted on the distal outer circumference of the protective sleeve 670 at a second end to achieve a proximal seal on the support portion 610, thereby sealing the distal end of the drive portion 630 and the caliper head 620 relative to the hollow slideway 6123 of the protective sleeve 670.

[0160] In some embodiments, the protective cover 670 can be made of ceramic material, which can achieve both insulation and reduce friction, making it easier for the sliding body 632 to slide in the hollow slideway 6123. It should be understood that the protective cover 670 can also be made of an insulator such as rubber or plastic. Figure 36 As shown, the proximal end of the protective sleeve 670 is provided with a fixing member 673, and the fixing member 673 and the proximal end of the protective sleeve 670 can be directly fixedly connected. Figure 36 As shown, the fixing member 673 and the protective sleeve 670 can be fixedly connected via a transition piece 674. The fixing member 673 can be provided with a through hole for the drive wire 631 to pass through. The fixing member 673 can be sealed with the proximal end of the drive unit 630 to prevent tissue fluid from penetrating into the interior of the drive unit 630 and causing cleaning difficulties. It should be understood that the fixing member 673 can be integrally formed with the protective sleeve 670.

[0161] In some embodiments, the seal 640 can be cylindrical, and its cross-section can be circular, elliptical, rectangular, polygonal, etc. The distal end of the seal 640 forms a first end, and the proximal end of the seal 640 forms a second end. The seal 640 can be sealingly covered on the outer circumference of the sliding body 632 at the first end, and can be sealingly covered on the outer circumference of the distal section 672 of the protective cover 670 at the second end. The seal 640 can seal the distal end of the sliding body 632, the forceps head 620, and the drive wire 631 relative to the hollow slide 6123 of the protective cover 670, thereby isolating the drive wire 631 from the surgical interface.

[0162] In some embodiments, as Figure 36 As shown, a cuff 680a can be mounted on the distal end of the seal 640 to seal and securely connect the seal 640 to the sliding body 632. In some embodiments, a cuff 680b can also be mounted on the proximal end of the seal 640 to seal and securely connect the seal 640 to the distal portion 672 of the protective sleeve 670. The provision of cuffs 680a-b can ensure tight sealing between the seal 640 and the drive wire 631, and between the seal 640 and the protective sleeve 670, respectively, thereby reducing the risk of the seal 640 slipping during telescopic movement.

[0163] In some embodiments, as Figure 36 As shown, the proximal end of the support portion 610 may be provided with a mask 675. The mask 675 may be a cylindrical member with a cross-section that may be circular, elliptical, rectangular, or polygonal, among others. The distal end of the mask 675 is fastened to the proximal periphery of the protective sleeve 670 and the outer periphery of the fixing member 673. The inner wall of the mask 675 is fixedly connected to the outer wall of the fixing member 673. The proximal end of the mask 675 is provided with a through hole for the drive wire 631 to pass through. In some embodiments, the mask 675 may be fixedly connected to the support portion 610 or integrally formed. The mask 675 further prevents bodily fluids from entering the interior of the surgical actuator.

[0164] Figure 40 FIG2 shows a perspective view of a surgical tool 10 according to some embodiments of the present disclosure. The surgical tool 10 may include a transmission portion 11, a surgical tool arm 12, and a surgical implement 100 (or any one of the surgical implements 200-600). Figure 40 As shown, the surgical actuator 100 is disposed at the distal end of a surgical tool arm 12, and the transmission unit 11 is disposed at the proximal end of the surgical tool arm 12. The transmission unit 11 can drive a drive wire 131 in the surgical actuator 100 to move, and the drive wire 131 can drive the movement of the forceps head 120. In some embodiments, the transmission unit 11 can also drive the movement of the surgical tool arm 12, thereby adjusting the position of the surgical actuator 100 through the surgical tool arm 12.

[0165] In some embodiments, the transmission portion 11 may include a transmission unit for connecting to an external motor drive unit to drive the drive wire. In some embodiments, the transmission portion 11 may further include a motor drive unit, which may drive the transmission unit, and the drive wire may be driven by the transmission unit.

[0166] In some embodiments, the surgical tool arm 12 may be a rigid arm. In some embodiments, at least a portion of the surgical tool arm 12 may be flexible and may bend under the drive of the transmission portion 11, thereby adjusting the position of the distal surgical actuator.

[0167] Figure 41 A stereoscopic view of a surgical robot 1 according to some embodiments of the present disclosure is shown.

[0168] like Figure 41 As shown, the surgical robot 1 may include a control device (not shown), an operating trolley 101, at least one robotic arm 102, at least one surgical tool or endoscope 10, and at least one surgical actuator 100 (or any one of the surgical actuators 200-600).

[0169] like Figure 41 As shown, at least one robotic arm 102 is disposed on a surgical trolley 101, which can be used to support the robotic arm 102. At least one surgical tool 10 is disposed at the distal end of each of the at least one robotic arm 102, and at least one surgical actuator 100 is disposed at the distal end of each of the at least one surgical tool 10. A control device can be used to remotely control the movement of the robotic arm 102, the at least one surgical tool 10, and / or the at least one surgical actuator 100. The robotic arm 102 can include at least one movable joint 1021, through which the position of the surgical tool 10 can be adjusted. Those skilled in the art will appreciate that the at least one robotic arm 102 can also be disposed on multiple surgical trolleys 101.

[0170] This disclosure also discloses the following:

[0171] Item 1: A surgical actuator comprising:

[0172] a support portion, the support portion including an internal cavity;

[0173] a pliers head portion, the pliers head portion being at least partially movably disposed at a distal end of the support portion;

[0174] a driving portion slidably disposed in the inner cavity of the supporting portion and connected to the proximal end of the pliers head;

[0175] A seal is sealingly connected to the driving portion at a first end and sealingly connected to the supporting portion at a second end, at least a portion of the seal being deformable.

[0176] Item 2: The surgical implement as described in Item 1, wherein the clamp head includes a first clamp member and a second clamp member capable of cooperating with the first clamp member.

[0177] Item 3: In the surgical actuator described in Item 2, the driving portion includes a driving wire.

[0178] Item 4: In the surgical actuator as described in Item 3, the drive wire is connected to the second clamp head member via at least one first drive portion connecting pin, and the first drive portion connecting pin is used to transmit the driving force of the drive wire to the second clamp head member.

[0179] Item 5: In the surgical actuator as described in Item 4, the drive wire is connected to the first clamp head member via at least one second drive part connecting pin, and the second drive part connecting pin is used to transmit the driving force of the drive wire to the first clamp head member.

[0180] Item 6: The surgical actuator according to Item 5, wherein the driving portion includes a first connecting rod and a second connecting rod;

[0181] The inner ends of the first link and the second link are hinged to each other;

[0182] The distal end of the drive wire is connected to the hinge of the first connecting rod and the second connecting rod;

[0183] The outer ends of the first connecting rod and the second connecting rod are respectively connected to the corresponding first drive part connecting pin and the second drive part connecting pin, and the second drive part connecting pin and the first drive part connecting pin are respectively connected to the first clamp head member and the second clamp head member, so that the first clamp head member and the second clamp head member move closer to or away from each other under the drive of the drive wire.

[0184] Item 7: The surgical actuator according to Item 4 or 5, wherein the driving portion further comprises: a sliding body;

[0185] The sliding body is slidably disposed in the inner cavity of the supporting portion, and the distal end of the sliding body is connected to the connecting pin of the driving portion;

[0186] The distal end of the driving wire is connected to the proximal end of the sliding body, and is used to drive the sliding body to reciprocate in the supporting portion.

[0187] Item 8: As the surgical actuator described in Item 4, the first clamp head is fixedly provided at the distal end of the support portion, and the second clamp head is movably provided at the distal end of the support portion.

[0188] Item 9: In the surgical actuator as described in Item 4, the support portion includes at least one pair of support portion slide grooves, and at least one of the first drive portion connecting pins can be slidably inserted into the at least one pair of support portion slide grooves.

[0189] Item 10: The surgical implement according to Item 9, wherein the second forceps head member includes a forceps head and a forceps head support member connected to and supporting the forceps head, the forceps head support members are symmetrically arranged on both sides of the proximal end of the second forceps head member, and the forceps head support members are pivotally connected to the support portion by rotating a connecting pin;

[0190] The clamp head support member includes a clamp head sliding groove, and at least one of the first driving part connecting pins is slidably arranged in the at least one pair of support part sliding grooves and the clamp head sliding groove.

[0191] Item 11: In the surgical actuator as described in Item 10, the support portion slide groove is at least a pair of axial slide grooves symmetrically arranged on the support portion, and the forceps head slide groove is an arc-shaped slide groove symmetrically arranged on the forceps head support.

[0192] Item 12: In the surgical actuator described in Item 5, the first clamp member and the second clamp member are pivotally connected to the distal end of the support portion by rotating a connecting pin.

[0193] Item 13: As for the surgical actuator described in Item 12, the support part includes at least two pairs of support part slide grooves, and at least one of the first drive part connecting pin and the second drive part connecting pin are respectively slidably disposed in the at least two pairs of support part slide grooves.

[0194] Item 14: The surgical implement according to Item 13, wherein the first clamp member includes a first clamp and a first clamp support member connected to and supporting the first clamp, the first clamp support members are symmetrically arranged on both sides of the proximal end of the first clamp, and the first clamp support member is pivotally connected to the support portion by a rotating connecting pin;

[0195] The first clamp head support member includes a first clamp head sliding groove, and at least one second driving portion connecting pin is slidably provided in a pair of the support portion sliding grooves and the first clamp head sliding groove;

[0196] The second pliers head member includes a second pliers head and a second pliers head support member connected to and supporting the second pliers head, the second pliers head support members are symmetrically arranged on both sides of the proximal end of the second pliers head, and the second pliers head support member is pivotally connected to the support portion by a rotating connecting pin;

[0197] The second clamp head support member includes a second clamp head sliding groove, and at least one of the first driving part connecting pins is slidably provided in another pair of the support part sliding groove and the clamp head sliding groove.

[0198] Item 15: In the surgical actuator as described in Item 6, the first forceps member and the second forceps member are fixedly arranged at the distal end of the support portion, the connection between the first forceps member and / or the second forceps member and the distal end of the support portion is flexible, or the first forceps member and the second forceps member themselves are flexible.

[0199] Item 16: In the surgical actuator according to any one of Items 2 to 14, the proximal end of the drive wire is connected to a power supply device to form a conductive path between the second forceps head and the drive wire.

[0200] Item 17: The surgical actuator according to Item 16, wherein the first forceps head is connected to another power supply device to form another conductive path between the first forceps head and the another power supply device;

[0201] The conductive path and the another conductive path are insulated from each other.

[0202] Item 18: In the surgical actuator according to Item 17, an insulating portion is provided between at least one of the first and second forceps members and the support portion to insulate the first and second forceps members from each other.

[0203] Item 19: The surgical actuator according to Item 18, wherein the insulating portion comprises a first insulating member provided at a connection between the first clamp head and the support portion; or

[0204] The insulating portion includes an insulating lining of a support frame tightly attached to an inner wall of the support portion and a second insulating member arranged at a position where the second clamp head contacts the support portion.

[0205] Item 20: A surgical actuator as described in any one of Items 7 to 19, wherein the seal is sealedly wrapped around the proximal periphery of the sliding body at the first end; or the seal is sealedly wrapped around the proximal end of the support portion at the second end; or the seal is sealedly joined to the inner wall of the support portion at the second end.

[0206] Item 21. The surgical actuator of Item 14, further comprising: a ferrule fastened to an outer periphery at the first end and / or the second end of the seal.

[0207] Item 22. The surgical actuator according to Item 14, wherein the sliding body further comprises: a slide rod and a pin connecting portion;

[0208] The seal seals at a first end and covers at least a portion of the outer circumference of the slide rod.

[0209] Item 23: The surgical actuator as described in any one of Items 1 to 20, wherein the sealing member includes an inner cylinder portion, an outer cylinder portion, and a transition portion connecting the inner cylinder portion and the outer cylinder portion, the distal end of the inner cylinder portion forms the first end, and the distal end of the outer cylinder portion forms the second end.

[0210] Item 24: The surgical actuator according to any one of Items 1 to 20, wherein the seal is cylindrical, the distal end of the seal forms the first end, and the proximal end of the seal forms the second end.

[0211] Item 25: The surgical implement according to any one of Items 1-22, further comprising: a protective cover;

[0212] The protective sleeve includes a receiving groove at the distal end, and the receiving groove is tightly fitted on the proximal periphery of the support portion;

[0213] The proximal end of the protective sleeve is provided with a through hole for the driving part to pass through.

[0214] Item 26: The surgical actuator according to any one of Items 2 to 23, wherein the distal end of the support portion is provided with at least one support member spaced circumferentially and extending axially, and the first clamp member and the second clamp member are arranged at the distal end of the support member.

[0215] Item 27: The surgical actuator according to any one of Items 1-24, wherein at least a portion of the seal comprises an elastic material or a flexible material.

[0216] Item 28: The surgical implement as described in any one of Items 1-25, wherein the forceps head includes one of the following: a separation forceps, a grasping forceps, a needle holder, and a curved scissors.

[0217] Item 29: A surgical tool comprising a transmission part, a surgical tool arm, and the surgical implement according to any one of items 1 to 26;

[0218] The surgical actuator is arranged at the distal end of the surgical tool arm, and the transmission part is arranged at the proximal end of the surgical tool arm. The transmission part is used to drive the movement of the surgical tool arm and / or the surgical actuator.

[0219] Item 30: A surgical robot comprising at least one control device, at least one surgical trolley, at least one robotic arm, at least one surgical tool, and at least one surgical actuator according to any one of Items 1 to 26;

[0220] At least one of the robotic arms is disposed on at least one of the operating trolleys, at least one of the surgical tools is disposed at the distal end of at least one of the robotic arms, at least one of the surgical actuators is disposed at the distal end of at least one of the surgical tools, and at least one of the control devices is used to control the movement of at least one of the surgical tools and / or at least one of the surgical actuators.

[0221] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical actuator, comprising: a support portion, the support portion including an internal cavity; a pliers head portion, the pliers head portion being at least partially movably disposed at a distal end of the support portion; a driving portion slidably disposed in the inner cavity of the supporting portion and connected to the proximal end of the pliers head; a seal sealingly connected to the drive portion at a first end and sealingly connected to the support portion at a second end, at least a portion of the seal being deformable; The sealing member includes an inner cylindrical portion, an outer cylindrical portion, and a transition portion connecting the inner cylindrical portion and the outer cylindrical portion. The distal end of the inner cylindrical portion forms the first end, and the distal end of the outer cylindrical portion forms the second end.

2. The surgical implement according to claim 1, wherein: The clamp head comprises a first clamp member and a second clamp member capable of cooperating with the first clamp member; The driving portion includes a driving wire.

3. The surgical implement according to claim 2, wherein: The driving wire is connected to the second clamp head member via at least one first driving portion connecting pin, and the first driving portion connecting pin is used to transmit the driving force of the driving wire to the second clamp head member.

4. The surgical implement according to claim 3, wherein: The driving wire is connected to the first clamp head member via at least one second driving portion connecting pin, and the second driving portion connecting pin is used to transmit the driving force of the driving wire to the first clamp head member.

5. The surgical implement according to claim 4, characterized in that: The driving portion includes a first connecting rod and a second connecting rod; The inner ends of the first link and the second link are hinged to each other; The distal end of the drive wire is connected to the hinge of the first connecting rod and the second connecting rod; The outer ends of the first connecting rod and the second connecting rod are respectively connected to the corresponding first drive part connecting pin and the second drive part connecting pin, and the second drive part connecting pin and the first drive part connecting pin are respectively connected to the first clamp head member and the second clamp head member, so that the first clamp head member and the second clamp head member move closer to or away from each other under the drive of the drive wire.

6. The surgical implement according to claim 3, characterized in that: The driving portion further includes: a sliding body; The sliding body is slidably disposed in the inner cavity of the supporting portion, and the distal end of the sliding body is connected to the connecting pin of the first driving portion; The distal end of the driving wire is connected to the proximal end of the sliding body, and is used to drive the sliding body to reciprocate in the supporting portion.

7. The surgical implement according to claim 3, characterized in that: The first clamp head is fixedly arranged at the distal end of the support portion, and the second clamp head is movably arranged at the distal end of the support portion.

8. The surgical implement according to claim 3, wherein: The support portion includes at least one pair of support portion sliding grooves, and at least one first driving portion connecting pin is slidably disposed in the at least one pair of support portion sliding grooves.

9. The surgical implement according to claim 8, characterized in that: The second pliers head member includes a pliers head and a pliers head support member connected to and supporting the pliers head, wherein the pliers head support members are symmetrically arranged on both sides of the proximal end of the second pliers head member, and the pliers head support members are pivotally connected to the support portion by rotating a connecting pin; The clamp head support member includes a clamp head sliding groove, and at least one of the first driving part connecting pins is slidably arranged in the at least one pair of support part sliding grooves and the clamp head sliding groove.

10. The surgical implement according to claim 4, characterized in that: The first clamp head member and the second clamp head member are pivotally connected to the distal end of the support portion via a rotating connecting pin.

11. The surgical implement according to claim 2, wherein: The proximal end of the driving wire is connected to a power supply device to form a conductive path between the second clamp head and the driving wire.

12. The surgical implement according to claim 11, characterized in that: The first clamp head is connected to another power supply device to form another conductive path between the first clamp head and the other power supply device; The conductive path and the another conductive path are insulated from each other.

13. The surgical implement according to claim 12, wherein: An insulating portion is provided between at least one of the first clamp member and the second clamp member and the support portion, so as to insulate the first clamp member and the second clamp member from each other.

14. The surgical implement according to claim 6, wherein: The seal is sealingly covered on the proximal end periphery of the sliding body at the first end; or the seal is sealingly covered on the proximal end of the support portion at the second end; or the seal is sealingly joined to the inner wall of the support portion at the second end.

15. The surgical implement according to claim 14, characterized in that: Also includes: A ferrule is tightened on the outer periphery at the first end and / or the second end of the seal.

16. The surgical implement according to claim 14, wherein: The sliding body further comprises: a sliding rod and a pin connecting portion; The seal seals around at least a portion of the outer circumference of the slide bar at a first end.

17. The surgical implement according to any one of claims 1 to 16, characterized in that: At least a portion of the seal comprises an elastic or flexible material.

18. A surgical tool, characterized in that: It comprises a transmission part, a surgical tool arm and a surgical implement according to any one of claims 1 to 17; The surgical actuator is arranged at the distal end of the surgical tool arm, and the transmission part is arranged at the proximal end of the surgical tool arm. The transmission part is used to drive the movement of the surgical tool arm and / or the surgical actuator.

19. A surgical robot, characterized in that: comprising at least one control device, at least one surgical trolley, at least one robotic arm, at least one surgical tool, and at least one surgical implement according to any one of claims 1 to 17; At least one of the robotic arms is disposed on at least one of the operating trolleys, at least one of the surgical tools is disposed at the distal end of at least one of the robotic arms, at least one of the surgical actuators is disposed at the distal end of at least one of the surgical tools, and at least one of the control devices is used to control the movement of at least one of the surgical tools and / or at least one of the surgical actuators.

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