A surgical electrocoagulation scissors mechanism, equipment and surgical robot

Abstract

The present invention discloses an electrocoagulation shear mechanism for surgery, comprising: two electrocoagulation shear blades, the electrocoagulation shear blades comprising a support seat, the support seat being arranged in an insulating connection seat, the two connection seats being relatively coaxially rotatable to respectively drive the two electrocoagulation shear blades to rotate to achieve shearing; wherein the connection seat is injection molded or assembled on the periphery of the support seat so that the two form an integrated structure, and the support seats of the two electrocoagulation shear blades are insulated from each other. The present invention forms an integrated structure by injection molding the connection seat on the support seat of the electrocoagulation shear blades. Due to the insulating properties of the connection seat, the insulating protective cover of the prior art is not required during the use of the electrocoagulation shear blades, which not only facilitates the operation of medical staff and shortens the operation time, but also saves costs, and indirectly reduces the burden on patients.

Description

[0001] This application is a divisional application of Chinese patent application 202210001894.0, filed on January 4, 2022, entitled “A surgical electrocoagulation scissors mechanism, equipment and surgical robot”. Technical Field

[0002] The present invention relates to the technical field of medical devices, and in particular to an electrocoagulation shears mechanism, equipment and a minimally invasive surgical robot for surgery. Background Art

[0003] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the size of the incision, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be magnified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0004] During robot-assisted minimally invasive surgery, a dedicated channel is usually established through a cannula. The doctor uses a slender minimally invasive surgical instrument to enter the dedicated channel and perform surgical operations in the human abdominal cavity. Among minimally invasive surgical instruments, electrosurgical instruments, such as electrocoagulation scissors, are indispensable and frequently used surgical instruments. Electrocoagulation scissors are generally used to cut and peel human tissues, and can also play a role in electrocoagulation and hemostasis when encountering capillaries.

[0005] In the prior art, such as the Chinese invention patent with the authorization announcement number CN109009414B, an electrocoagulation shear structure for a minimally invasive surgical robot is disclosed, which includes a first execution module and a second execution module, and the first insulator and the second insulator are both rotatably connected to the distal end of the base, and can make the first actuator and the second actuator rotate around the first rotation axis. The first actuator is clamped in the positioning groove of the first insulator, so that the first actuator and the first insulator are relatively fixed. When the wire is set in the wire installation hole, the current can be conducted to the first actuator through the wire.

[0006] The above-mentioned electrocoagulation scissors structure has the following technical defects: the positioning groove for accommodating the first actuator has a complex structure and is a semi-closed structure, which is easy to harbor dirt; since the surgical instruments of the surgical robot can generally be used about ten times, the electrocoagulation scissors need to be sterilized after each use, and this structure will result in unsatisfactory disinfection effect or too high cost, especially for some tiny solid substances buried in the closed structure, which cannot be removed by commonly used disinfection methods such as disinfectant immersion / rinsing, high-temperature steam, etc.

[0007] Since electrocoagulation scissors are generally used for cutting human tissue and electrocoagulation hemostasis on incision surfaces, they need to be carefully disinfected before use to prevent the risk of cross infection. In the above-mentioned electrocoagulation scissors structure, the positioning groove structure of the first actuator is complex and semi-closed, that is, the actuator end of the electrocoagulation scissors is not designed to be tight enough, which makes it easy for dirt to accumulate and is not easy to disinfect and clean. Summary of the invention

[0008] The purpose of the present invention is to solve the disadvantage of the prior art that it is inconvenient to clean and disinfect tiny debris in the electrocoagulation shears structure, and to propose an electrocoagulation shears mechanism, equipment and minimally invasive surgical robot for surgery.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] In one aspect, the present invention provides a surgical electrocoagulation shears mechanism, comprising:

[0011] Two groups of execution components, the execution components are used to perform shear electrocoagulation function;

[0012] Wherein, the execution component includes:

[0013] A connecting seat, wherein the two connecting seats are arranged to rotate relative to each other and the two connecting seats are coaxial;

[0014] An electrocoagulation shearing blade, wherein the electrocoagulation shearing blade is arranged on the connecting seat, and two of the electrocoagulation shearing blades are arranged opposite to each other;

[0015] Wherein, the electrocoagulation shears and the connecting seat are an integrally formed structure.

[0016] Optionally, the electrocoagulation shears include:

[0017] Blade;

[0018] A shearing surface, the shearing surface is arranged on one side of the blade body, and the shearing surfaces of the two electrocoagulation shears are arranged opposite to each other;

[0019] A support seat, the support seat is arranged at one end of the blade body, and the support seat is connected to the connecting seat;

[0020] A conductor is electrically connected to the electrocoagulation shear.

[0021] Optionally, the connecting seat is injection molded around the supporting seat, wherein a reinforcement groove is provided on the supporting seat, and the supporting seat and the reinforcement groove are wrapped inside the connecting seat.

[0022] Optionally, a connecting portion is provided between the two connecting seats, and the connecting portion is distributed along the coaxial hole annular array of the two connecting seats; the connecting portion includes:

[0023] A connecting column, the connecting column is arranged on the connecting seat, and the connecting column is eccentrically arranged along the coaxial hole;

[0024] A connecting groove, wherein the connecting groove is arranged on the connecting seat, the connecting groove is eccentrically arranged along the coaxial hole, and the connecting groove and the connecting column move in the same circumferential direction;

[0025] The two connecting parts are centrally symmetrically arranged, that is, the connecting column of one connecting part extends into the connecting groove on the other connecting part, and the connecting column is slidably connected to the connecting groove.

[0026] Optionally, the connecting groove is an annular groove, the connecting column is cylindrical, and the connecting column and the annular groove are adapted to slide relative to each other.

[0027] On the other hand, a surgical electrocoagulation shears device is provided, which adopts the surgical electrocoagulation shears mechanism described above, and further comprises:

[0028] A wrist support, wherein the wrist support is arranged at one end of a support column;

[0029] A palm support, one end of which is rotatably connected to the wrist support, and two groups of the actuators are rotatably arranged on the palm support;

[0030] A control component, the control component includes an execution operation part and a palm operation part;

[0031] Wherein, the execution operation part is connected to the execution component, so that the execution operation part drives the execution component to realize shear electrocoagulation;

[0032] The palm operating part is connected to the palm support, so that the palm support and the actuator can be driven to move as a whole through the palm operating part.

[0033] Optionally, a first accommodating hole is provided on the connecting seat, and the first accommodating holes on two connecting seats are arranged opposite to each other;

[0034] Wherein, the first receiving hole is arranged along the circumference of the connecting seat, and the execution operation part is fixedly connected to the first receiving hole;

[0035] Wherein, the execution operation part includes a first operation rope and a second operation rope, and the middle ends of the first operation rope and the second operation rope are both provided with a jacket, and the jacket is interference-fitted with the first receiving hole.

[0036] Optionally, two second wire holes are provided through the palm support, and wire grooves are provided on the two connecting seats respectively. The wires pass through the second wire holes in sequence and are electrically connected to the electrocoagulation shears along the wire grooves.

[0037] Optionally, two sets of guide wheel assemblies are further included, and the two sets of guide wheel assemblies are centrally symmetrically arranged on both sides of the palm support;

[0038] Among them, the guide wheel assembly includes a first guide wheel group and a second guide wheel group, the first guide wheel group and the hinge point of the palm support and the wrist support are coaxially arranged, the second guide wheel group is circumferentially arranged around the first guide wheel group, and the execution operation part is sequentially wound around the first guide wheel group and the second guide wheel group.

[0039] Finally, a minimally invasive surgical robot is provided, which adopts the surgical electrocoagulation shears device described above.

[0040] The present invention has at least the following beneficial effects:

[0041] The present invention sets the electrocoagulation shear blade and the connection seat as an integrally formed structure, thereby preventing tiny dirt from entering the connection between the electrocoagulation shear blade and the connection seat during the use of the electrocoagulation shear blade. This solves the problem of the prior art that it is inconvenient to clean and sterilize tiny debris in the electrocoagulation shear structure. At the same time, the overall structure of the electrocoagulation shear structure is compact and the reliability of executing movement is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the overall structure of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention (side view);

[0043] Figure 2 This is a schematic diagram of the overall structure of an electrocoagulation shears device for surgery provided in Embodiment 1 of the present invention (viewed from the front);

[0044] Figure 3 An exploded view of the overall structure of an electrocoagulation shears device for surgery provided in Embodiment 1 of the present invention;

[0045] Figure 4 This is a schematic diagram of the structural connection of an actuator assembly of an electrocoagulation shears device for surgery provided in the first embodiment of the present invention;

[0046] Figure 5 for Figure 4 A magnified schematic diagram of part A in FIG.

[0047] Figure 6 This is a schematic structural diagram of a palm support of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention;

[0048] Figure 7 This is a schematic structural plan view (viewed from above) of a palm support of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention;

[0049] Figure 8 This is a schematic structural plan view (side view) of a palm support of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention;

[0050] Fig. 9 This is a schematic structural plan view (front view) of a palm support of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention;

[0051] Fig.10 This is a schematic structural diagram of two guide wheels of a second guide wheel assembly of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention;

[0052] Fig.11 This is a schematic diagram of the connection structure of a connecting base and an electrocoagulation shear blade of a surgical electrocoagulation shear device provided in the first embodiment of the present invention;

[0053] Fig.12 This is a schematic diagram of the structure of an electrocoagulation shear blade of an electrocoagulation shear device for surgery provided in Embodiment 1 of the present invention;

[0054] Fig.13 This is a schematic diagram of the structure of a connecting seat of a surgical electrocoagulation shears device provided in Embodiment 1 of the present invention.

[0055] The markings in the figure are as follows:

[0056] 1. Support column;

[0057] 2. Wrist support; 21. First rotating shaft;

[0058] 3. Guide wheel assembly;

[0059] 31. first guide wheel group; 32. second guide wheel group; 321. first guide wheel; 3211. first guide shaft; 3212. first connecting hole; 322. second guide wheel; 3221. second guide shaft; 3222. second connecting hole;

[0060] 4. Execution components;

[0061] 41. Connecting seat; 411. Wire groove; 412. First traction groove; 413. Connecting groove; 414. Connecting column; 415. Coaxial hole; 416. First receiving hole;

[0062] 42. electrocoagulation shears; 421. blade; 422. reinforcement groove; 423. support seat; 424. first wire hole; 425. shearing surface; 43. wire;

[0063] 5. Palm support; 51. Second rotating shaft; 52. Second receiving hole; 521. Second traction groove; 53. Supporting ear piece; 54. Second wire hole;

[0064] 6. Control assembly; 61. Execution operation unit; 611. First operation rope; 612. Second operation rope; 62. Palm operation unit; 63. Jacket. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0067] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0069] Embodiment 1

[0070] Reference Figure 1-Figure 8 , a surgical electrocoagulation shear mechanism, the electrocoagulation shear mechanism comprising: two groups of actuators 4. The two groups of actuators 4 are relatively rotatable. Described as one group of the actuators 4. Specifically, the actuator 4 comprises: a connecting seat 41 and an electrocoagulation shear blade 42. In this embodiment, the two connecting seats 41 are relatively rotatable, and the two connecting seats 41 are mutually rotatable. The two electrocoagulation shear blades 42 are respectively arranged on the two connecting seats 41, and the two electrocoagulation shear blades 42 are relatively arranged to realize shearing and electrocoagulation. In this embodiment, in order to prevent tiny debris from entering the connection point between the electrocoagulation shear blade 42 and the connecting seat 41 when they are working. The electrocoagulation shear blade 42 and the connecting seat 41 are an integrally molded structure. Preferably, it is easy to process and meet the practical application of the electrocoagulation shear blade mechanism. The electrocoagulation shear blade 42 and the connecting seat 41 are injection molded materials. In order to ensure the electrocoagulation function of the electrocoagulation shear blade 42, the connecting seat 41 is surrounded by injection molding around the electrocoagulation shear blade 42.

[0071] Reference Figure 1-Figure 8, a surgical electrocoagulation shears device, adopting one of the above-mentioned surgical electrocoagulation shears mechanisms, the surgical electrocoagulation shears device also includes: a support column 1, a wrist support 2, a palm support 5, and a control component 6. The wrist support 2 is arranged at one end of the support column 1, and a first rotating shaft 21 is arranged on the wrist support 2. One end of the palm support 5 is sleeved on the first rotating shaft 21, and the palm support 5 is rotatably connected to the wrist support 2 through the first support. Two supporting ears 53 are arranged on the other end of the palm support 5, and a second rotating shaft 51 is arranged between the two supporting ears 53. The actuator 4 is sleeved on the second rotating shaft 51, and the actuator 4 is arranged between the two supporting ears 53. The actuator 4 is rotatably connected to the two supporting ears 53 through the second rotating shaft 51, and the actuator 4 is used to perform shearing work. The control component 6 includes: an execution operation part 61 and a palm operation part 62. The execution operation part 61 is connected to the execution component 4, and the execution operation part 61 is used to manipulate the execution component 4 to perform shearing work; the palm operation part 62 is connected to the palm support 5, and the palm operation part 62 is used to drive the hinge position between the palm support 5 and the wrist support 2 to achieve overall adjustment of the working position of the execution component 4 on the palm support 5. In order to ensure the reliability of the execution operation part 61 manipulating the execution component 4, two groups of guide wheel assemblies 3 are relatively arranged on the palm support 5; a group of the guide wheel assemblies 3 is taken as an example for description. The guide wheel assembly 3 includes a first guide wheel group 31 and a second guide wheel group 32, the first guide wheel group 31 is coaxially arranged with the first rotating shaft 21, and the second guide wheel group 32 moves along the circumference of the first guide wheel group 31. The execution operation part 61 is wound around the first guide wheel group 31 and the second guide wheel group 32 in sequence, and then the execution operation part 61 is connected to the execution component 4. The first guide wheel group 31 and the second guide wheel group 32 are used to support the operation of the execution operation part 61, which can effectively prevent mutual interference between the components. In this embodiment, the first guide wheel group 31 is two identical guide wheels that are parallelly sleeved on the first rotating shaft 21; the second guide wheel group 32 is arranged on one side of the palm support 5, and the second guide wheel group 32 is arranged in parallel with the first guide wheel group 31. The second guide wheel group 32 moves along the circumferential direction of the first guide wheel group 31 to ensure that when the palm support 5 rotates, the second guide wheel group 32 can also follow the palm support 5 to rotate around the first rotating shaft 21. At the same time, it can be ensured that after the palm support 5 rotates, the second guide wheel group 32 also moves along the circumferential direction of the first guide wheel group 31, so as to support the execution operation part 61 at any time.

[0072] Reference Figure 1 and Figure 2, the two connecting seats 41 are both sleeved on the second rotating shaft 51, and the two connecting seats 41 are arranged opposite to each other. The two electrocoagulation shears 42 are respectively arranged on the two connecting seats 41, and the two electrocoagulation shears 42 are arranged opposite to each other to realize shearing. Specifically, taking an electrocoagulation shear 42 as an example, the electrocoagulation shear 42 includes: a blade 421, a shearing surface 425, a support seat 423 and a wire 43. The shearing surface 425 is located on one side of the blade 421, and the shearing surfaces 425 on the two electrocoagulation shears 42 are arranged opposite to each other to facilitate shearing. The support seat 423 is arranged at one end of the blade 421, and the support seat 423 moves along the circumferential direction of the second rotating shaft 51, that is, the support seat 423 is coaxial with the connecting seat 41, and the blade 421 is connected to the connecting seat 41 through the support seat 423, so that the connecting seat 41 moves along the circumferential direction of the second rotating shaft 51, and indirectly drives the blade 421 and the shearing surface 425 to perform shearing work through the support seat 423. The wire 43 is electrically connected to the blade 421 to realize that the blade 421 and the shearing surface 425 have an electrocoagulation function. In this embodiment, the shearing surface 425 is polished into a warped surface on the side where the two blades 421 are close to each other, and the two warped surfaces are arranged opposite to each other to realize the shearing work. In addition, in this embodiment, a reinforcing groove 422 is also arranged on the support seat 423, and the support seat 423 and the connecting seat 41 are an integrally formed structure. The blade 421 is made of conductive material and the support seat 423 is made of insulating material, so as to avoid interference of the current and affect the electrocoagulation effect of the blade 421. Therefore, preferably, the support seat 423 and the blade 421 are injection molded, that is, the support seat 423 is injection molded with the blade 421 as the injection starting point, wherein the reinforcing groove 422 on the support seat 423 can enhance the injection material on the connecting seat 41 to enter the reinforcing groove 422, so as to strengthen the connection strength between the support seat 423 and the connecting seat 41, and ensure the overall strength of the blade 421. At the same time, since the support seat 423 and the connecting seat 41 are injection molded, that is, the support seat 423 and the connecting seat 41 are tightly fitted, the possibility of tiny debris entering is effectively avoided, thereby greatly reducing the cleaning work of the blade 421. In order to strengthen the connection strength between the connecting seat 41 and the support seat 423, the connecting seat 41 is injection molded on the periphery of the support seat 423. At this time, the connection seat 41 wraps the support seat 423 and the reinforcement groove 422 inside thereof at the same time, that is, the connection relationship between the connection seat 41 and the support seat 423 is strengthened by the reinforcement groove 422 .

[0073] In this embodiment, in order to ensure the reliability of the execution of the two electrocoagulation shears 42, a connecting portion is relatively arranged between the two support seats 423 to enhance the connectivity between the two connecting seats 41. The holes connecting the two connecting seats 41 and the second rotating shaft 51 are coaxial holes 415, and the connecting portion is eccentrically arranged on the connecting seat 41 with the coaxial hole 415 as the center. Here, a connecting portion on a connecting seat 41 is described as an example. The connecting portion includes: a connecting column 414 and a connecting groove 413. The connecting column 414 is arranged on a surface where the two connecting seats 41 are close to each other, and the connecting column 414 is eccentrically arranged around the central axis of the coaxial hole 415. The connecting groove 413 is arranged on the connecting seat 41, and the connecting groove 413 is coaxially arranged with the connecting column 414, and the circumferential direction of the connecting groove 413 is the same as that of the connecting column 414. That is, the connecting groove 413 and the connecting column 414 move along the same circumference. In this embodiment, the two connecting parts are arranged opposite to each other, that is, the connecting column 414 on one connecting seat 41 is connected to the connecting groove 413 on the other connecting seat 41, and the connecting column 414 is slidably connected to the connecting groove 413. In this embodiment, the connecting column 414 is cylindrical, the connecting groove 413 is an annular groove, and the connecting column 414 slides along the inner wall of the annular groove to enhance the hinge force between the electrocoagulation shears 42 on the two connecting seats 41, so as to better allow the electrocoagulation shears 42 to complete the shearing work.

[0074] In this embodiment, the connection seat 41 is provided with a first wire hole 424, and the palm support 5 is further provided with two second wire holes 54, and the two second wire holes 54 correspond to the two connection seats 41. The connection seat 41 is provided with a wire groove 411, and the wire 43 passes through the second wire hole 54 and the wire groove 411 in sequence, and is electrically connected to the blade body 421, so as to realize the power supply to the blade body 421 and its shearing surface 425, so as to enable the blade body 421 to have an electrocoagulation function. In this embodiment, when the palm support 5 is vertically rotated and set on the wrist support 2, the second wire hole 54 on the palm support 5 passes through the second wire hole 54 from the lower end of the palm support 5, and then passes through the second wire hole 54 and is set along the wire groove 411, so that the wire 43 is pulled into the connecting seat 41 through the wire groove 411, and connected to the first wire hole 424 on the support seat 423, so that the wire 43 is electrically connected to the blade 421, so that the blade 421 has an electrocoagulation function.

[0075] In this embodiment, the control assembly 6 includes two groups of execution operating parts 61 and a group of palm operation parts 62. The two execution operating parts 61 are respectively fixedly connected to the two connecting seats 41, and the execution operating parts 61 move along the circumferential direction of the connecting seat 41, so as to realize the shearing work of the execution assembly 4 driven by the execution operating parts 61. Specifically, take a group of execution operating parts 61 as an example. A first accommodating hole 416 is provided on the connecting seat 41, and the first accommodating hole 416 is coaxial with the second rotating shaft 51, that is, the first accommodating hole 416 is arranged along the circumference of the connecting seat 41. The execution operating part 61 is arranged in the first accommodating hole 416, and the execution operating part 61 is fixedly connected to the connecting seat 41 through the first accommodating hole 416, so as to realize the rotation of the connecting seat 41 around the second rotating shaft 51 through the first accommodating hole 416 by the execution operating part 61, so as to facilitate the two electrocoagulation shears 42 to complete the shearing work. Specifically, one group of the execution operation parts 61 includes: a first operation rope 611 and a jacket 63. The jacket 63 is arranged in the middle of the first operation rope 611, and the jacket 63 and the first operation rope 611 are interference-fitted, so that the jacket 63 and the first operation rope 611 are fixed. The jacket 63 is arranged on the first receiving hole 416 of the one connecting seat 41, and the outer wall of the jacket 63 is interference-fitted with the first receiving hole 416, so that the jacket 63 and the first receiving hole 416 are fixedly connected. The other group of the execution operation parts 61 is similarly arranged in the first receiving hole 416 on the other connecting seat 41. In this embodiment, the two first accommodating holes 416 are arranged opposite to each other, and the first accommodating holes 416 are arranged along the circumference of the connecting seat 41, and the executing operation part 61 is fixedly connected to the first accommodating hole 416, so that the executing part drives the connecting seat 41 to rotate around the coaxial hole 415 through the first accommodating hole 416, that is, the first operating rope 611 and the second operating rope 612 respectively drive the two connecting seats 41 to rotate around the second rotating shaft 51, and cooperate with the connecting part and the electrocoagulation shears 42 to complete the shearing work. In this embodiment, the first clamping part and the second clamping part are respectively controlled to rotate by the two ends of the first operating rope 611 and the second operating rope 612, so that the two clamping angles are driven to open and close the clamping by the first operating rope 611 and the second operating rope 612. In this embodiment, the connection relationship between the jacket 63 and the first operating rope 611 and the second operating rope 612 is described by taking the first operating rope 611 as an example. The jacket 63 is a thick-walled metal tube, and a central hole is provided in the middle of the jacket 63, and the hole diameter is slightly larger than the outer diameter of the first operating rope 611. The jacket 63 is located in the middle of the wire rope, and the jacket 63 is crimped with a tool, and the jacket 63 and the first operating rope 611 are firmly connected through the deformation of the jacket 63.The size of the first receiving hole 416 is slightly smaller than the length of the jacket 63. After the jacket 63 and the first operating rope 611 are fixed, the jacket 63 is knocked into the first receiving hole 416 to achieve a firm connection between the jacket 63 and the first receiving hole 416. In actual operation, in order to ensure the working strength of the finger operating part, the first operating rope 611 and the second operating rope 612 are made of steel. Further, in order to ensure the connection stability and guidance between the first operating rope 611 and the second operating rope 612 and the two connecting seats 41, the connecting seat 41 is also provided with a first traction groove 412, which is distributed around the circumference of the second rotating shaft 51. The first operating rope 611 and the second operating rope 612 are respectively adapted to the first traction groove 412, and the first operating rope 611 and the second operating rope 612 can be guided through the first traction groove 412. When the connecting seat 41 is adjusted, the low reliability of operation caused by the first operating rope 611 and the second operating rope 612 not being positioned is avoided.

[0076] In one embodiment, the first receiving hole 416 is a rectangular through hole. The first receiving hole 416 is set as a rectangular through hole, which is convenient for molding the first receiving hole 416. On the other hand, it is convenient for the jacket 63 to be installed in the first receiving hole 416. By setting the first receiving hole 416 as a through hole, that is, forming the first receiving hole 416 into an open structure, it is convenient for subsequent sterilization of the instrument.

[0077] The palm operating part 62 is connected to the palm support 5, and the palm operating part 62 is coaxial with the rotation point of the palm support 5 and the wrist support 2, that is, the palm operating part 62 moves circumferentially along the first rotating shaft 21, so that the palm operating part 62 drives the palm support 5 to rotate along the rotation point of the palm support 5 and the wrist support 2. The palm support 5 is provided with a second accommodating hole 52, and the second accommodating hole 52 is coaxial with the hinge point of the palm support 5 and the wrist support 2, that is, the second accommodating hole 52 moves circumferentially around the first rotating shaft 21, and the second accommodating hole 52 is connected to the palm operating part 62, so that the palm operating part 62 drives the wrist support 2 to rotate as a whole through the second accommodating hole 52. Specifically, the palm operating part 62 includes: an operating rope and a jacket 63. In this embodiment, the palm support 5 is provided with two second receiving holes 52, and the two second receiving holes 52 are symmetrically arranged, and the two second receiving holes 52 are coaxial with the hinge point of the palm support 5 and the wrist support 2, that is, they move circumferentially along the first rotating shaft 21. The palm operating part 62 is two operating ropes (not marked in the figure), and the ends of the two operating ropes close to each other are sleeved with a jacket 63, and the two jackets 63 are respectively located in the two second receiving holes 52, and the jackets 63 are interference fit with the second receiving holes 52, and the movement directions of the two operating ropes are opposite. The palm support 5 is driven to rotate around the first rotating shaft 21 through the two operating ropes through the jackets 63, and the two operating ropes move in opposite directions to drive the palm support 5 to rotate forward and reverse around the first rotating shaft 21, so as to realize that the palm operating part 62 drives the palm support 5 to rotate as a whole, and indirectly drives the working position of the two electrocoagulation shears 42 on the actuator 4 to be adjusted as a whole. In this embodiment, the palm operating part 62 can also be an operating rope, and a jacket 63 is sleeved in the middle of the operating rope, and the jacket 63 is interference-fitted with the second receiving hole 52. The two ends of the operating rope move along the circumference of the first rotating shaft 21, and the operating rope drives the palm support 5 to rotate around the first rotating shaft 21 through the jacket 63, so as to realize that the palm operating part 62 drives the palm support 5 to rotate as a whole, and indirectly drives the working position of the electrocoagulation shears 42 on the actuator 4 to adjust the overall orientation. The connection method of the operating rope and the jacket 63 on the palm operating part 62 is consistent with the connection method of the first operating rope 611 and the jacket 63 in the above-mentioned actuator 61. Furthermore, in order to ensure the connection stability and guidance between the operating rope and the palm bracket 5, a second traction groove 521 is also provided on the palm bracket 5. The second traction groove 521 is distributed circumferentially around the first rotating shaft 21. The operating rope is adapted to the second traction groove 521. The operating rope can be guided through the second traction groove 521. When the palm bracket 5 is adjusted, the low operating reliability caused by the operating rope not being positioned can be avoided.

[0078] In this embodiment, in order to ensure that the movements of the first operating rope 611 and the second operating rope 612 do not interfere with each other, the two groups of the control components 6 are symmetrically arranged with the central axis of the palm support 5 as the center. The two groups of the guide wheel components 3 are symmetrically arranged on both sides of the palm support 5. Among them, the guide wheel component 3 on one side of the palm support 5 is described. The first guide wheel group 31 and the hinge point of the palm support 5 and the wrist support 2 are coaxially arranged, that is, coaxially arranged with the first rotating shaft 21, so that the first guide wheel group 31 is sleeved on the first rotating shaft 21. The second guide wheel group 32 is arranged on one side of the palm support 5, and the second guide wheel group 32 is arranged around the circumference of the first guide wheel group 31, and the execution operation part 61 is sequentially wound around the first guide wheel group 31 and the second guide wheel group 32, so that the guide wheel assembly 3 can support the movement of the execution operation part 61. In this embodiment, the first guide wheel set 31 is two guide wheels of the same size, that is, the two guide wheels are sleeved on one side of the guide wheel, and the two guide wheels are respectively matched with the second guide wheel set 32. That is, the second guide wheel set 32 ​​respectively moves around the circumference of the two guide wheels.

[0079] In this embodiment, the second guide wheel group 32 includes: a first guide wheel 321 and a second guide wheel 322. The first guide wheel 321 is arranged on one side of the palm support 5 through a first guide shaft 3211, and one end of the first operating rope 611 is wound around one guide wheel of the first guide wheel group 31 through the first guide wheel 321; the second guide wheel 322 is arranged on one side of the palm support 5 through a second guide shaft 3221, and one end of the second operating rope 612 is wound around another guide wheel of the first guide wheel group 31 through the second guide shaft 322. The second guide shaft 3221 is eccentrically arranged on the first guide shaft 3211, that is, the second guide wheel 322 and the first guide wheel 321 are arranged with their axes staggered on the same straight line. Specifically, the first connecting hole 3212 on the first guide wheel 321 and the second connecting hole 3222 on the second guide wheel 322 have different aperture sizes. That is, the axes of the first guide shaft 3211 and the second guide shaft 3221 are horizontally offset at the same height, so that the first guide wheel 321 and the second guide wheel 322 are staggered by a certain distance in the horizontal direction, but are at the same height. The lower edges of the first guide wheel 321 and the second guide wheel 322 are flush, so that the first operating rope 611 and the second operating rope 612 can enter the first guide wheel 321 and the second guide wheel 322 from almost the same height after coming out of the second guide wheel group 32. At the same time, the side edges of the first guide wheel 321 and the second guide wheel 322 are staggered, so that the first operating rope 611 and the second operating rope 612 can enter the two connecting seats 41 without interfering with each other. The same outer diameter can ensure that the wrap angles of the two finger operating ropes passing thereon are roughly the same, so as to achieve non-interference between the first operating rope 611 and the second operating rope 612. To achieve non-interference between the first operating rope 611 and the second operating rope 612. In this embodiment, because the two groups of guide wheel assemblies 3 are centrally symmetrically arranged on both sides of the palm support 5. That is, the two groups of first guide wheel groups 31 are respectively sleeved on the first rotating shaft 21 , that is, sleeved on the first rotating shaft 21 are one group of first guide wheel groups 31 , the palm support 5 and another group of guide wheel groups in sequence.

[0080] In this embodiment, two second guide wheel groups 32 are relatively arranged on both sides of the palm support 5. At the same time, the first guide wheel 321 and the second guide wheel 322 in the second guide wheel group 32 are eccentrically arranged. That is, the second guide shaft 3221 is distributed in a circular array around the axis of the first guide shaft 3211, that is, the first guide wheel 321 is eccentrically arranged on the second guide wheel 322. At the same time, the first guide wheel 321 and the second guide wheel 322 are the same, and the first connecting hole 3212 on the first guide wheel 321 and the second connecting hole 3222 on the second guide wheel 322 have different aperture sizes. That is, the axes of the second guide shaft 3221 and the first guide shaft 3211 are horizontally offset at the same height, so that the first guide wheel 321 and the second guide wheel 322 are staggered by a certain distance in the horizontal direction, but are at the same height. The lower edges of the first guide wheel 321 and the second guide wheel 322 are flush, so that the first operating rope 611 and the second operating rope 612 can enter the first guide wheel 321 and the second guide wheel 322 from almost the same height after coming out of the second guide wheel group 32. At the same time, the side edges of the first guide wheel 321 and the second guide wheel 322 are staggered, so that the first operating rope 611 and the second operating rope 612 can enter the two connecting seats 41 on the actuator 4 without interfering with each other, so that the two connecting seats 41 are fixedly connected. The same outer diameter can ensure that the wrap angles of the first operating rope 611 and the second operating rope 612 passing therethrough are substantially the same, so that the first operating rope 611 and the second operating rope 612 do not interfere with each other. In this embodiment, the first guide wheel 321 and the second guide wheel 322 move along the circumference of the two guide wheels respectively, that is, when the wrist support 2 is adjusted, the first guide wheel 321 and the second guide wheel 322 on the two guide wheel groups rotate along the outer periphery of the first guide wheel group 31, and at the same time drive the execution operation part 61 to move circumferentially around the outer periphery of the first guide wheel group 31, so as to adjust the working position of the execution assembly 4 on the palm support 5 as a whole through the wrist support 2. At the same time, after adjustment through the wrist support 2, the movement range of the execution operation parts 61 arranged on the two second guide wheel groups 32 is consistent. The outer circumferences of the first guide wheel group 31 and the second guide wheel group 32 are roughly tangent. At the same time, because the first guide wheel 321 and the second guide wheel 322 are staggered in the horizontal direction by a certain distance and are at the same height, it can effectively ensure that the first operating rope 611 and the second operating rope 612 on the execution operation part 61 do not interfere with each other. At the same time, the two guide wheels in the first guide wheel group 31 guide the first operating rope 611 and the second operating rope 612 respectively, which effectively avoids the first rotating shaft 21 from affecting the first operating rope 611 and the second operating rope 612, and further ensures the movement reliability of the first operating rope 611 and the second operating rope 612.

[0081] It should also be noted that there is a lateral spacing between the first guide wheel group 31 and the second guide wheel group 32, that is, the two are not in a straight line in the longitudinal direction (the slender shaft axis direction of the surgical instrument is the longitudinal direction). In combination with the structure of the present embodiment in which the execution operation part 61 is opened in the middle position of the execution component 4, when the execution operation part 61 applies a pulling force to the execution component 4, it needs to be transmitted through the first guide wheel group 31 and the second guide wheel group 32. Since the end effector of the surgical robot in this embodiment is used in minimally invasive surgery, the accuracy and sensitivity of the instrument operation are relatively high. In combination with this embodiment, the transmission coefficient between the driving force of the execution operation part 61 and the force generated on the execution component 4 will directly affect the final instrument use sensitivity and accuracy. Therefore, it is necessary to reduce the friction resistance between the execution operation part 61 and the first guide wheel group 31 and the second guide wheel group 32. In this regard, the present embodiment has made the following design: The main purpose is to reduce the friction between the execution operation part 61 and the second guide wheel group 32, that is, for the second guide wheel group 32 arranged on the palm support 5, it is offset to one side of the axis, and the inner edge of the second guide wheel group 32 roughly corresponds to the middle position of the first guide wheel group 31. It is verified by actual trials that such a structure can not only make the execution operation part 61 act on the middle position of the execution component 4, so that the overall end execution structure is balanced, but also can make the execution operation part 61 When passing through the second guide wheel group 32, the force transmission effect can reach a more ideal state, so that the accuracy and sensitivity of the instrument end of this structure can reach a more ideal state during use, meeting the requirements for use in a minimally invasive surgical environment.

[0082] In an optional embodiment, the surgical electrocoagulation shears device further includes an instrument box (not shown in the figure), and three groups of rotating shafts are arranged inside the instrument box, and the three groups of rotating shafts are symmetrically arranged in pairs. The first group of rotating shafts are respectively connected to the two ends of the palm operating part 62, so as to control the feeding amount of the operating ropes on the two ends of the palm operating part 62 through the first group of rotating shafts, so as to indirectly control the rotation position of the palm support 5 and the wrist support 2 through the palm operating part 62 through the first group of rotating shafts. The second group of rotating shafts are respectively connected to the two ends of the first operating rope 611, and similarly control the feeding amount length of the two ends of the first operating rope 611 and the second operating rope 612 to realize the shearing work of the actuator 4. In this embodiment, the connecting column 414 is hollow, so that the first operating rope 611, the second operating rope 612, and the palm operating part 62 can extend out. In addition, the wire 43 can also extend out through the inside of the connecting column 414 for power distribution.

[0083] During the actual installation of this embodiment, one end of the first operating rope 611 and the second operating rope 612 respectively pass through the two guide wheels on the first guide wheel group 31, that is, the first operating rope 611 and the second operating rope 612 pass through the first guide wheel group 31 and the second guide wheel group 32 respectively. The first operating rope 611 and the second operating rope 612 pass through the first guide wheel 321 and the second guide wheel 322 respectively, and are respectively connected to the two connecting seats 41 in the actuator 4, that is, they are fixedly connected through the connecting jacket 63. Since the two groups of guide wheel assemblies 3 are symmetrically arranged on the palm support 5, the first operating rope 611 and the second operating rope 612 pass through the first guide wheel group 31 and the second guide wheel group 32 in the opposite direction. In this case, it is ensured that no matter how the first operating rope 611 moves, the working length distance of the two ends of the first operating rope 611 is equal. The same is true for the second operating rope 612. Thereby, it is ensured that no matter how the connecting seat 41 rotates, the first operating rope 611 and the second operating rope 612 can drive the electrocoagulation shears 42 on the two connecting seats 41 to shear each other. At the same time, the connecting parts on the two connecting seats 41 slide inside the connecting groove 413 through the connecting column 414, so as to enhance the connectivity between the two electrocoagulation shears 42, prevent the two electrocoagulation shears 42 from rotating too much, and effectively ensure the reliability of the shearing movement between the two electrocoagulation shears 42.

[0084] The working principle of the technical solution provided in this embodiment is as follows:

[0085] By pulling the two connection seats 41 on the actuator 4 forward and backward through the first operating rope 611 and the second operating rope 612, the two connection seats 41 rotate forward and backward around the second rotating shaft 51. At this time, the electrocoagulation shears 42 on the two connection seats 41 are close to each other and cooperate with the connection part. At this time, the shearing surfaces 425 of the two electrocoagulation shears 42 perform shearing work. At the same time, the wire 43 is selected to energize the electrocoagulation shears 42 so that the electrocoagulation shears 42 have an electrocoagulation function. In this actual operation, it is only necessary to control the amount of wire entering at both ends of the first operating rope 611 and the second operating rope 612, that is, to control the length of both ends of the first operating rope 611 and the second operating rope 612, so that the two electrocoagulation shears 42 on the actuator 4 can perform shearing work. In this operation, the first operating rope 611 and the second operating rope 612 can simultaneously control the amount of wire entering at both ends, so that the shearing surface 425 of the electrocoagulation wire can perform shearing work. The shearing operation can also be completed by controlling the wire feed amount at both ends of the first operating rope 611 or the second operating rope 612 so that the feed amount of the second operating rope 612 or the first operating rope 611 remains unchanged.

[0086] When the working position of the actuator 4 needs to be adjusted as a whole at the same time, the first operating rope 611 and the second operating rope 612 simultaneously control the amount of wire entering toward the same end, and at this time, the two connecting seats 41 simultaneously move toward one end, and at this time, the two electrocoagulation shears 42 are tilted at the same end. When the shearing work needs to be completed, only one electrocoagulation shear 42 can be controlled to move toward the other end away from the tilt, and after the shearing surfaces 425 on the two electrocoagulation shears 42 form a shearing angle, the electrocoagulation shear 42 that has just moved is reset, and at this time, the two shearing surfaces 425 are in contact, and the shearing work is completed.

[0087] In this embodiment, the palm support 5 can be adjusted as a whole through the palm operating part 62, that is, the shearing direction of the actuator 4 can be indirectly adjusted. Specifically, by controlling the two ends of the operating rope on the palm operating part 62, the operating rope drives the palm support 5 to rotate around the first rotating shaft 21 through the wire feeding amount at the two ends, and the shearing assembly on the palm support 5 can adjust the shearing direction as a whole.

[0088] Embodiment 2

[0089] A minimally invasive surgical robot adopts the surgical electrocoagulation shears device described in Example 1, and also includes a main console (not shown in the figure) and a slave operating device (not shown in the figure), wherein the main console is electrically connected to the slave operating device, and the slave operating device is connected to the surgical electrocoagulation shears device. The operator sends instructions through the main console to let the slave operating device operate the surgical instrument to perform the surgical operation. The main console and the slave operating device belong to the prior art and will not be described in detail here.

[0090] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A surgical electrocoagulation shears mechanism, characterized in that: include: Two electrocoagulation shears, each of which comprises a support seat, wherein the support seat is arranged in an insulating connection seat, and the two connection seats are arranged to rotate coaxially relative to each other to respectively drive the two electrocoagulation shears to rotate so as to achieve shearing; Wherein, the connecting seat is injection molded on the periphery of the supporting seat so that the two form an integrated structure, and the supporting seats of the two electrocoagulation shears are insulated from each other; The electrocoagulation shears also include: Blade; A shearing surface, the shearing surface is arranged on one side of the blade body, and the shearing surfaces of the two electrocoagulation shears are arranged opposite to each other; A wire is electrically connected to the support seat, and the support seat is arranged at one end of the blade body; a reinforcement groove is arranged on the support seat, and the reinforcement groove is wrapped inside the connecting seat, and the reinforcement groove is used to accommodate injection molding raw materials to improve the overall structural strength after injection molding.

2. The electrocoagulation shears mechanism for surgery according to claim 1, characterized in that: A connecting portion is provided between the two connecting seats, and the connecting portion is distributed along the coaxial hole annular array of the two connecting seats; the connecting portion includes: A connecting column, the connecting column is arranged on the connecting seat, and the connecting column is eccentrically arranged along the coaxial hole; A connecting groove, the connecting groove is arranged on the connecting seat, the connecting groove is eccentrically arranged along the coaxial hole, and the connecting groove and the connecting column move in the same circumferential direction; The two connecting parts are centrally symmetrically arranged, wherein the connecting column of one of the connecting parts extends into the connecting groove on the other connecting part, and the connecting column is slidably connected to the connecting groove.

3. The electrocoagulation shears mechanism for surgery according to claim 2, characterized in that: The connecting groove is an annular groove, the connecting column is cylindrical, and the connecting column and the annular groove are adapted to slide relative to each other.

4. A surgical electrocoagulation shears device, using a surgical electrocoagulation shears mechanism as claimed in any one of claims 1 to 3, characterized in that: Also includes: A wrist support, the wrist support being arranged at one end of a support column; A palm support, one end of which is rotatably connected to the wrist support, and two sets of actuators are rotatably arranged on the palm support; A control component, the control component includes an execution operation part and a palm operation part; Wherein, the execution operation part is connected to the execution component, so that the execution operation part drives the execution component to realize shear electrocoagulation; The palm operating part is connected to the palm support, so that the palm support and the actuator can be driven to move as a whole through the palm operating part.

5. The surgical electrocoagulation shears device according to claim 4, characterized in that: The connecting seat is provided with a first accommodating hole, and the first accommodating holes on the two connecting seats are arranged opposite to each other; Wherein, the first receiving hole is arranged along the circumference of the connecting seat, and the execution operation part is fixedly connected to the first receiving hole; Wherein, the execution operation part includes a first operation rope and a second operation rope, and the middle ends of the first operation rope and the second operation rope are both provided with a jacket, and the jacket is interference-fitted with the first receiving hole.

6. The surgical electrocoagulation shears device according to claim 4, characterized in that: The palm support is provided with two second wire holes, and the two connecting seats are respectively provided with wire grooves. The wires pass through the second wire holes in sequence and are electrically connected to the electrocoagulation shears along the wire grooves.

7. A surgical electrocoagulation shears device according to claim 5 or 6, characterized in that: It also includes two sets of guide wheel assemblies, which are centrally symmetrically arranged on both sides of the palm support; Among them, the guide wheel assembly includes a first guide wheel group and a second guide wheel group, the first guide wheel group and the hinge point of the palm support and the wrist support are coaxially arranged, the second guide wheel group is circumferentially arranged around the first guide wheel group, and the execution operation part is sequentially wound around the first guide wheel group and the second guide wheel group.

8. A minimally invasive surgical robot, characterized in that: A surgical electrocoagulation shears device as described in any one of claims 4 to 7 is used.

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