Long tube and manufacturing method thereof, electrosurgical instrument, and surgical robot

Abstract

The present invention provides a long tube for surgical instruments, a method for manufacturing the same, an electrosurgical instrument, and a surgical robot. The long tube includes an inner wall layer, an intermediate interlayer, and an outer layer, arranged radially from the inside out. The inner wall layer and the outer layer are insulating layers. The intermediate interlayer includes a main body and an insulating end portion spliced ​​to at least one end of the main body along the length of the long tube. The main body has a greater bending strength than the inner wall layer and the outer layer. The end portion, the inner wall layer, and the outer layer surround the corresponding ends of the main body. The long tube for surgical instruments, the method for manufacturing the same, and the surgical instrument provided by the present invention ensure both the bending strength and the insulation performance of the long tube by splicing the insulating end portion to at least one end of the main body and sandwiching it between the insulating inner wall layer and the outer layer of the long tube, thereby effectively meeting the requirements of surgical instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a long tube for a surgical instrument and a manufacturing method thereof, an electrosurgical instrument, and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] Current surgical instruments consist of a drive unit and an end-use instrument used to perform the procedure. Multiple cables are threaded through fiberglass tubes at each end, connecting the drive unit and the end-use instrument. The cables in finished surgical instruments are always in a tensioned state. During use, the operator manipulates the multiple cables within the fiberglass tubes to pull them back and forth to achieve the desired movements of the end-use instrument. The fiberglass tubes play a crucial supporting and guiding role in this process. If the fiberglass tubes lack sufficient bending strength, they will bend when subjected to force, causing the cables within them to become loose, preventing end-use instruments such as forceps and scissors from accurately performing their intended movements.

[0004] There are many types of fiberglass tubes on the market. According to different processes, there are mainly fiberglass braided tubes, fiberglass wound tubes, fiberglass braided and wound tubes, fiberglass cloth rolled tubes, etc. However, the bending strength of these fiberglass tubes cannot meet the requirements of surgical instruments. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a long tube for a surgical instrument and a manufacturing method thereof, an electrosurgical surgical instrument, and a surgical robot. The bending strength of the long tube can well meet the requirements of the surgical instrument.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0007] A long tube for a surgical instrument, the long tube being used to support the end instrument of the surgical instrument, the long tube comprising an inner wall layer, an intermediate interlayer and an outer layer arranged in sequence from the inside to the outside in its radial direction, the inner wall layer and the outer layer being insulating layers, the intermediate interlayer comprising a main body portion and an insulating end portion spliced ​​to at least one end of the main body portion in the length direction of the long tube, the main body portion having a greater bending strength than the inner wall layer and the outer layer, the end portion, the inner wall layer and the outer layer enclosing the corresponding ends of the main body portion.

[0008] As an optional embodiment, at least one of the inner wall layer of the tube, the outer layer of the tube, and the end portion is made of glass fiber cloth, and / or the main body portion is made of carbon fiber cloth.

[0009] As one of the optional embodiments, the first end of the long tube is provided with the end head portion, and the inner wall of the first end of the long tube is thinned to form a first step surface, and the first step surface is closer to the first end face of the long tube relative to the splicing line between the end head portion and the main body portion of the first end of the long tube.

[0010] As one of the optional embodiments, the second end of the long tube is provided with the end head portion, and the outer wall of the second end of the long tube is thinned to form a second step surface, and the second step surface is closer to the second end face of the long tube relative to the splicing line between the end head portion and the main body portion of the second end of the long tube.

[0011] As an optional embodiment, the long tube for surgical instruments further includes a high-temperature resistant epoxy resin layer, and the high-temperature resistant epoxy resin layer covers the outer surface of the outermost layer of the tube.

[0012] As an optional embodiment, the long tube for surgical instruments further includes a bonding layer, and a layer of the bonding layer is filled between every two adjacent layers of the tube inner wall layer, the middle interlayer and the tube outer layer.

[0013] As an optional embodiment, the bonding layer is thermosetting epoxy resin.

[0014] As one optional embodiment, the inner wall layer of the tube is made of the same material as the outer layer of the tube, and one end of the inner wall layer of the tube extends to be integrated with the outer layer of the tube, wrapping one end of the intermediate layer therein.

[0015] As an optional embodiment, there are multiple layers of intermediate interlayers between the inner wall layer of the tube and the outer layer of the tube.

[0016] As an optional embodiment, the long tube for surgical instruments further includes a base, and a layer of the base is sandwiched between every two layers of the intermediate layers.

[0017] As an optional embodiment, the substrate is made of the same material as the inner wall layer of the tube and / or the outer layer of the tube.

[0018] As an optional embodiment, the splicing line between the main body portion and the end portion is not located on the same radial cross section of the long tube.

[0019] As an optional embodiment, the splicing line between the main body portion and the end portion is arranged to be inclined relative to the end face of the long tube.

[0020] As an optional embodiment, the splicing line between the main body portion and the end portion is wavy or zigzag.

[0021] Based on the above objectives, the present invention further provides a method for manufacturing a long tube for a surgical instrument, wherein the long tube is used to support the end instrument of the surgical instrument, and the manufacturing method comprises:

[0022] Providing two insulating layers and at least one main body portion having a bending strength greater than that of the insulating layers, and splicing insulating end portions at at least one end in the width direction of the main body portion;

[0023] Immersing the two insulating layers and the main body with the end portions spliced ​​together in epoxy resin respectively;

[0024] Wrap the first insulating layer, the main body with the end portion spliced, and the second insulating layer layer layer by layer on the surface of a cylindrical rod, and then place them together with the rod in an oven for baking and curing. The splicing line between the end portion and the main body is covered by the two insulating layers.

[0025] Demould and remove the tube from the rod.

[0026] As one optional embodiment, after demoulding, the method for manufacturing the long tube for surgical instruments further includes: polishing the outer surface of the long tube to be smooth, and cutting off excess material at both ends.

[0027] As an optional embodiment, during baking and curing, the baking temperature is gradually increased from 90° C. to 145° C. for 3 hours.

[0028] As one optional embodiment, the method for manufacturing the long tube for surgical instruments includes: after demoulding, coating a high-temperature resistant epoxy resin layer on the outer surface of the second insulating layer.

[0029] As an optional embodiment, there are multiple layers of the main body between the two insulating layers;

[0030] The process of winding the three layers layer by layer on the surface of the cylindrical rod in the order of the first insulating layer, the main body with the end parts spliced ​​together, and the second insulating layer, after winding the first insulating layer on the surface of the rod and before winding the second insulating layer on the surface of the rod, includes: winding the main body with multiple layers of end parts spliced ​​together on the rod layer by layer.

[0031] As an optional embodiment, at least one of the two insulating layers and the end portion is made of glass fiber cloth, and / or the main body portion is made of carbon fiber cloth.

[0032] As an optional embodiment, the splicing line between the main body portion and the end portion is wavy or zigzag.

[0033] As an optional embodiment, the splicing line between the main body portion and the end portion is inclined relative to the length direction of the main body portion.

[0034] Based on the above-mentioned purpose, the present invention also provides an electrosurgical instrument, comprising an end instrument, the above-mentioned long tube for surgical instruments and a drive box, wherein the drive cable in the drive box passes through the long tube for surgical instruments and is connected to the end instrument to drive the end instrument to move; the end instrument comprises a conductive end actuator and a conductive head electrically connected thereto, the distal end of the long tube is provided with the end head portion, the inner wall of the distal end of the long tube is thinned to form a first step surface, the first step surface is closer to the distal end surface of the long tube relative to the splicing line between the end head portion and the main body portion at the distal end of the long tube, the conductive head is inserted into the distal inner wall of the long tube and the end portion abuts the first step surface.

[0035] As one of the optional embodiments, the proximal end of the long tube is provided with the end portion, the outer wall of the proximal end of the long tube is thinned to form a second step surface, and a connector made of conductive material is provided in the drive box. The second step surface is closer to the proximal end surface of the long tube relative to the splicing line between the end portion and the main body of the proximal end of the long tube. The connector is sleeved on the proximal outer wall of the long tube and the end thereof abuts the second step surface.

[0036] Based on the above purpose, the present invention also provides a surgical robot, including a master operating device and a slave operating device controlled by the master operating device, wherein the slave operating device includes the above-mentioned electrosurgical instrument.

[0037] The long tube for surgical instruments, its manufacturing method, and electrosurgical surgical instrument provided by the present invention can ensure the bending strength and insulation performance of the long tube for surgical instruments by splicing an insulating end portion at at least one end of the main body portion and clamping it between the insulating inner wall layer and outer layer of the long tube, thereby well meeting the requirements of surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 This is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

[0040] Figure 2This is a schematic structural diagram of a surgical instrument according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the end structure of a long tube for a surgical instrument according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic structural diagram of a long tube for a surgical instrument according to an embodiment of the present invention;

[0043] Figure 5 for Figure 4 Partial cross-sectional view at point A;

[0044] Figure 6A This is a diagram showing the expanded state of the main layers in the first long tube for a surgical instrument according to an embodiment of the present invention;

[0045] Figure 6B This is a diagram showing the expanded state of the main layers in the second long tube for a surgical instrument according to an embodiment of the present invention;

[0046] Figure 6C This is a diagram showing the expanded state of the main layers in the third long tube for a surgical instrument according to an embodiment of the present invention;

[0047] Figure 6D 1. This is a diagram showing the expanded state of the main layers in the fourth long tube for a surgical instrument according to an embodiment of the present invention;

[0048] Figure 6E FIG2 is a diagram showing the expanded state of the main layers in the fifth long tube for a surgical instrument according to an embodiment of the present invention;

[0049] Figure 6F 1 is a diagram showing the expanded state of the main layers in the sixth long tube for a surgical instrument according to an embodiment of the present invention;

[0050] Figure 6G FIG2 is a diagram showing the expanded state of the main layers in the seventh long tube for a surgical instrument according to an embodiment of the present invention;

[0051] Figure 6H FIG2 is a diagram showing the expanded state of the main layers in the eighth long tube for a surgical instrument according to an embodiment of the present invention;

[0052] Figure 7A This is a schematic diagram of a connection method between the distal end of a long tube and an end instrument of an electrosurgical instrument according to an embodiment of the present invention;

[0053] Figure 7B Schematic diagram of another connection method between the distal end of the long tube and the end instrument of the electrosurgical instrument according to an embodiment of the present invention;

[0054] Figure 8A This is a schematic diagram of a connection method between the proximal end of the long tube and the drive box according to an embodiment of the present invention;

[0055] Figure 8B Schematic diagram of another connection method between the proximal end of the long tube and the drive box according to an embodiment of the present invention;

[0056] Figure 9 This is a main flow chart of a method for manufacturing a long tube for a surgical instrument according to an embodiment of the present invention.

[0057] Component Symbol Description:

[0058] 1-end instrument; 2-connecting rod; 3-drive box; 11-inner wall layer of the tube; 12-middle interlayer; 13-outer layer of the tube; 14-base; 20-plug-in part; 21-end effector; 31-connector; 31a-convex part; 100-main operating table; 121-main body; 122-end part; 200-surgical instrument; 210-conductive head; 211-joint; 300-slave operating device; 310-robotic arm; 320-power mechanism. DETAILED DESCRIPTION

[0059] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0060] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be an element centered thereon. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0061] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0064] The following is a detailed description with reference to the accompanying drawings.

[0065] like Figure 1 As shown, the surgical robot includes a master console 100 and a slave operating device 300. The master console 100 is used to send control commands to the slave operating device 300 based on the doctor's operations to control the slave operating device 300. In some embodiments, the master console 100 can also be used to display images acquired by the slave operating device 300. The slave operating device 300 is used to respond to the control commands sent by the master console 100 and perform corresponding operations. The slave operating device 300 is also used to acquire images inside the body.

[0066] The operating device 300 includes a robotic arm 310, a power mechanism 320 arranged on the robotic arm 310, and a surgical instrument 200 arranged on the power mechanism 320. The robotic arm 310 is used to adjust the position of the surgical instrument 200 and manipulate the movement of the surgical instrument. The power mechanism 320 is used to drive the surgical instrument 200 to perform corresponding operations. The end effector of the surgical instrument 200 is used to extend into the body and perform surgical operations and / or obtain in-vivo images through its end instrument located at the distal end.

[0067] like Figure 2 As shown, the surgical instrument 200 includes an end instrument 1, a connecting rod 2, and a drive box 3. The end instrument 1 includes an end effector 21. The drive cable in the drive box 3 is connected to the end instrument 1 by passing through the interior of the connecting rod 2, which is used to control the movement of the end instrument 1. The end effector 21 is used to be inserted into the patient's body to perform surgical operations. Depending on the requirements of the surgical operation, the end effector 21 can be surgical forceps, scissors, electric cautery, anastomosis equipment, imaging equipment, etc. Figure 2 An end effector 21 for electrocautery is shown.

[0068] The connecting rod 2 is used to support the end instrument 1 and provide a guide for the cable, and needs to have a high bending strength. This embodiment provides a long tube for a surgical instrument, which can be used as the connecting rod 2, such as Figures 3-5 As shown, the long tube for surgical instruments includes an inner wall layer 11, an intermediate layer 12 and an outer layer 13 arranged in sequence from the inside to the outside in the radial direction, wherein the inner wall layer 11 and the outer layer 13 are insulating layers, and the intermediate layer 12 is a splicing structure. Figures 6A-6H The intermediate layer 12 comprises a central main portion 121 and insulated end portions 122 spliced ​​to both ends of the main portion 121 along the length of the long tube (i.e., the left-right direction in the figure). The main portion 121 is a main portion, and the main portion has a greater bending strength than the inner wall layer 11 and the outer layer 13. In this embodiment, the inner wall layer 11 and the outer layer 13 are both made of fiberglass cloth, which is specifically woven from high-strength fiberglass filaments and a high-temperature epoxy resin resistant to 180°C or above. The main portion 121 is made of carbon fiber cloth, which is specifically woven from high-strength carbon fibers and a high-temperature epoxy resin resistant to 180°C or above. This ensures that the long tube does not deform or bend after sterilizing surgical instruments at temperatures as high as 150°C for 30 minutes, achieving both high strength and high-temperature resistance. Even when multiple cables are tensioned, the long tube can still maintain good operating performance.

[0069] The main body is made of carbon fiber cloth, which can further enhance the bending strength of the long tube, but it can also conduct electricity, and it is also necessary to avoid conduction. Considering that the surgical instrument will be passed through high voltage during use, the long tube of this embodiment has a tube inner wall layer 11, which can prevent the metal cables or wires in the tube from conducting and breaking through the long tube in various unexpected situations (such as the wires in the tube breaking and leaking electricity). The tube outer layer 13 can prevent the voltage outside the tube from entering the tube. This embodiment also uses the end portion 122, the inner tube inner wall layer 11, and the outer tube outer layer 13 to surround the corresponding end of the main body 121, thereby preventing the end or surface of the main body from being exposed.

[0070] As a preferred embodiment, the end portion 122 also uses an insulating layer made of the same material as the inner wall layer 11 and the outer layer 13 of the pipe, and is spliced ​​to both ends of the main body portion 121 made of the main body portion material through epoxy resin.

[0071] In this embodiment, the long tube further comprises a bonding layer. A bonding layer is placed between each adjacent layer of the inner wall layer 11, the intermediate interlayer 12, and the outer layer 13. This bonding layer adheres the layers together to form a compact structure. This bonding layer can be a thermosetting epoxy resin. During the manufacturing process, the inner wall layer 11, the intermediate interlayer 12, and the outer layer 13 are each immersed in the thermosetting epoxy resin, so that the front and back surfaces of each layer are fully covered with the thermosetting epoxy resin. The inner wall layer 11, the intermediate interlayer 12, and the outer layer 13 are then rolled layer by layer from the inside out onto a cylindrical rod mold (e.g., a steel rod). The thermosetting epoxy resin is then used to adhere the layers together. The thermosetting epoxy resin is then cured by baking, thereby curing the long tube into shape.

[0072] In order to further improve the high temperature resistance of the long tube, the long tube can also have a layer of high temperature resistant epoxy resin, which covers the outer surface of the outermost tube outer layer 13, and also improves the surface smoothness of the long tube. The high temperature resistant epoxy resin layer can also withstand high temperatures above 180°C, and can also meet the requirements of high temperature sterilization without deformation or bending.

[0073] Since the inner wall layer 11 and the outer layer 13 are made of the same material, in other embodiments, one end of the inner wall layer 11 can be extended to form an integral part with the outer layer 13, and one end of the intermediate layer 12 can be wrapped therein, thereby omitting the end portion 122. It is understood that in some embodiments, the inner wall layer 11 and the outer layer 13 can be made of different materials and have different bending strengths, but the bending strength of both is less than that of the main portion 121 of the intermediate layer 12.

[0074] like Figure 6A , shows a situation in which the splicing line between the main portion 121 and the end portion 122 at each end of the intermediate interlayer 12 is perpendicular to the length direction of the long tube, that is, in the unfolded state, the splicing line is arranged parallel to the short side contour line of the intermediate interlayer 12. In the finished long tube after winding, the splicing lines at both ends respectively form a circle of annular surfaces perpendicular to the axial direction of the long tube, that is, they are respectively located on the same radial cross-section of the long tube.

[0075] like Figures 6B to 6H , showing several different Figure 6A In the long tube, in the middle interlayer 12, the splicing lines at both ends after winding are not located on the same radial cross-section of the long tube, so that the force at the joint of the end part 122 and the main body part 121 can be dispersed in a larger area, avoiding stress concentration at the splicing line during cable pulling and causing deformation or breakage, thereby improving the working reliability and service life of the surgical instrument.

[0076] Specifically, if Figure 6B, it is shown that in the expanded state, the splicing line between the main body part 121 and the end part 122 at each end is inclined relative to the end face of the long tube, wherein the angle between the splicing line and the length direction of the long tube is θ. The figure shows the case where θ is 45°. It can be understood that the value of θ is not limited to this and can be 30° to 60°. Figure 6B In the figure, the splicing lines at both ends are shown to be parallel to each other. In other embodiments, the splicing lines at both ends may also be in a state where the extension lines intersect. If the angle θ is too large or too small, it is difficult to achieve the purpose of improving the bending strength of the present invention. If the angle is too large, the stress at the splicing point between the main part 121 and the end part 122 is likely to be concentrated on the same ring surface of the long tube, and the splicing point is likely to crack after long-term use; if the angle is too small, the bonding force between the main part 121 and the end part 122 at the splicing point is insufficient, resulting in insufficient axial tensile strength of the long tube, and the splicing point is also likely to crack after long-term use. In this way, when the middle interlayer 12 is wound, the splicing line is spirally wrapped around the outer peripheral surface of the inner wall layer 11 of the tube, thereby dispersing the stress to a wider area.

[0077] like Figure 6C , showing a situation where multiple interlayers 12 are provided between the inner wall layer 11 and the outer layer 13. The multiple interlayers 12 are spliced ​​together and then wound around the outer circumference of the inner wall layer 11 layer by layer from the inside out. Every two interlayers 12 are bonded together, further enhancing the bending strength of the long tube.

[0078] like Figure 6D , showing the long tube in Figure 6C The embodiment further includes a substrate 14. A substrate 14 is sandwiched between every two intermediate interlayers 12. The substrate 14 can be made of the same material as the inner wall layer 11 and / or the outer layer 13. It is understood that the number of substrates 14 is not limited and varies with the number of intermediate interlayers 12. As a barrier between two adjacent intermediate interlayers 12, the substrate 14 can further disperse stress at the splicing line of the intermediate interlayers 12.

[0079] like Figure 6E 、 6F , respectively showing the cases where the splicing line between the main body 121 and the end portion 122 at each end is wavy and zigzag. The wavy splicing line is a structure of multiple continuous arcs, and the zigzag splicing line is a structure of multiple continuous broken lines. Figure 6E 、 6F The figure shows a situation where the splicing line extends perpendicular to the length direction of the intermediate layer 12. Figure 6G 、 6H The splicing line can also be extended in a direction inclined relative to the length direction of the middle interlayer 12. Figure 6G 、 6HThey are Figure 6E 、 6F Compared with the case where the splicing line is tilted Figure 6A The illustrated embodiment also allows for the stress to be distributed over a wider area.

[0080] It should be noted that the appendix of this embodiment Figure 1-6F The figure shows a case where both ends of the main body 121 of the intermediate layer 12 are spliced ​​with the end portion 122. In some embodiments, the end portion 122 may be spliced ​​only at one end of the main body 121, where electrical insulation is required to be higher. For example, when the end effector 21 is a surgical forceps, since the surgical forceps themselves are electrically isolated from the long tube and cable by insulating material, the main body 121 at the distal end of the long tube generally does not need to be spliced ​​with the end portion 122.

[0081] like Figure 7A and 7B As shown, in some electrosurgical instruments (such as conductive forceps), the end instrument 1 includes a conductive end effector 21 and a conductive head 210 electrically connected thereto. The end effector 21 is directly electrically connected to the conductive head 210, and a wire transmits current to the end effector 21 through the conductive head 210. The conductive head 210 can be made of metal or other conductive materials and is connected to the end effector 21 via one or more joints 211. Through the joints 211, the end effector 21 can be deflected relative to the conductive head 210 in a corresponding direction according to surgical needs under the drive of the cable. In such cases, the conductive head 210 must be insulated from the connecting rod 2. To this end, the intermediate layer 12 of this embodiment adopts a spliced ​​structure at the distal end of the long tube. The distal end of the long tube is provided with a terminal portion 122, which protects the end of the main body portion 121. Specifically, the inner wall of the distal end (also called the first end) of the long tube is thinned to form a first stepped surface 201 that is indented relative to the distal end face of the long tube. This first stepped surface 201 is closer to the distal end face of the long tube than the splicing line between the distal end portion 122 and the main body portion 121 of the long tube. When the conductive contact 210 is inserted into the distal inner wall of the long tube, the end of the conductive contact 210 abuts the first stepped surface 201, thereby limiting the length of the conductive contact 210 embedded in the long tube. The conductive contact 210 can be fixed in the long tube by means of interference fit or bonding.

[0082] like Figure 7A, showing a situation where the end faces of the inner wall layer 11, the middle interlayer 12, and the outer layer 13 are flush at the distal end of the long tube. In this embodiment, the inner wall layer 11 is thinned near the distal end, and a first step surface 201 is formed on the surface of the inner wall layer 11. The inner wall layer 11 is thinned to the first step surface 201, but not further to the splicing line. This results in the first step surface 201 being closer to the distal end face of the long tube relative to the splicing line between the tip portion 122 and the main body 121 at the distal end of the long tube. When the conductive tip 210 is inserted into the distal inner wall of the long tube, its outer circumference is wrapped by the thinned portion of the inner wall layer 11, and its end is restrained by the first step surface 201 of the inner wall layer 11. The end of the conductive tip 210 is spaced a certain distance from the inner splicing line in the axial direction of the long tube and does not contact the conductive main body 121.

[0083] like Figure 7B , shows a situation where the end faces of the inner wall layer 11, the middle interlayer 12, and the outer layer 13 are not completely flush at the distal end of the long tube. The inner wall at the distal end of the long tube is thinned to penetrate the inner wall layer 11 and the middle interlayer 12, resulting in the outer layer 13 being the longest. The end of the inner wall layer 11 and the end portion 122 of the middle interlayer 12 are both retracted into the long tube, making the end faces of the inner wall layer 11 and the end portion 122 of the middle interlayer 12 flush. The first step surface 201 is the surface where the end faces of the inner wall layer 11 and the end face of the middle interlayer 12 lie. When the conductive contact 210 is inserted and secured within the outer layer 13 at the distal end of the long tube, its outer circumference is encased by the outer layer 13, and its end is restrained by the end of the inner wall layer 11 and the end portion 122 of the middle interlayer 12.

[0084] It is understandable that, in other embodiments, the end faces of the inner wall layer 11, the middle interlayer 12, and the outer layer 13 are not completely flush at the distal end of the long tube. There are other situations. For example, the outer layer 13 is still the longest, the end face of the end head portion 122 of the middle interlayer 12 is also flush with the end face of the outer layer 13, and the inner wall layer 11 is the shortest. Then, the first step surface 201 is the end face of the inner wall layer 11. When the conductive head 210 is inserted into the distal end of the long tube, the outer peripheral surface of the conductive head 210 is wrapped by the end head portion 122, and the end of the conductive head 210 is limited by the end of the inner wall layer 11; or The outer layer 13 of the tube is still the longest, the end face of the end part 122 of the middle interlayer 12 is also flush with the end face of the outer layer 13 of the tube, and the inner wall layer 11 of the tube is the shortest. At the same time, the section between the end face of the end part 122 and the end face of the inner wall layer 11 of the tube is thinned, so that the end face of the inner wall layer 11 of the tube and the end face of the unthinned section of the end part 122 form a first step surface 201. When the conductive head 210 is inserted into the far end of the long tube, the outer peripheral surface of the conductive head 210 is wrapped by the thinned section of the end part 122, and the end of the conductive head 210 is limited by the end of the inner wall layer 11 of the tube and the unthinned section of the end part 122.

[0085] In order to facilitate the connection between the conductive head 210 and the far end of the long tube, the outer peripheral surface of the end of the conductive head 210 can be formed with a section with a thinned outer wall, which forms a step portion with the adjacent section of the conductive head 210. After the conductive head 210 is inserted into the long tube, the long tube wraps the outer peripheral surface of the conductive head 210, and the end face of the long tube abuts against the step portion, thereby making the conductive head 210 and the long tube more tightly combined.

[0086] like Figure 8A and 8B The proximal end (also called the second end) of the long tube is connected to the drive box 3. Specifically, a tubular connector 31 for inserting the long tube can be provided in the drive box 3. In order to cooperate with the connector 31, the proximal end of the long tube has a section with a thinned outer wall, forming a second step surface 202 that is retracted relative to the proximal end face of the long tube. The connector 31 is sleeved on this section of the long tube, and the end portion abuts against the second step surface 202, thereby limiting the length of the long tube inserted into the connector 31.

[0087] When the connector 31 does not need to be conductive or does not need to use conductive materials, the middle interlayer 12 at the proximal end of the long tube can be spliced ​​without the end part 122. However, when the connector 31 needs to be conductive or uses conductive materials (such as metal), the middle interlayer 12 at the proximal end of the long tube also needs to be spliced ​​with the end part 122, otherwise the current will be transmitted from the conductive main part 121 to the drive box, causing damage to components.

[0088] like Figure 8A, showing a situation where the end faces of the inner wall layer 11, the interlayer 12, and the outer layer 13 are flush at the proximal end of the long tube. In this embodiment, the outer layer 13 is thinned near the proximal end, and a second stepped surface 202 is formed on the surface of the outer layer 13. The outer layer 13 is thinned to this second stepped surface 202, but not further to the splicing line. This results in the second stepped surface 202 being closer to the proximal end face of the long tube relative to the splicing line between the end portion 122 and the main body 121 at the proximal end of the long tube. When the proximal end of the long tube is inserted into the distal inner wall of the connector 31, the outer circumference of the connector 31 wraps around the thinned portion of the outer layer 13. The distal end of the connector 31 is restrained by the second stepped surface 202 of the outer layer 13. The distal end of the connector 31 is spaced a certain distance from the adjacent splicing line in the axial direction of the long tube and does not contact the conductive main body 121.

[0089] like Figure 8B , illustrates a scenario in which the end faces of the inner wall layer 11, the intermediate interlayer 12, and the outer layer 13 are not completely flush at the proximal end of the long tube. In this embodiment, the outer wall of the proximal end of the long tube is thinned to comprise only the inner wall layer 11, without the intermediate interlayer 12 or outer layer 13. The end portion 122 of the intermediate interlayer 12 and the end face of the outer layer 13 abut against the distal end of the connector 31 in the axial direction of the long tube. The end faces of the intermediate interlayer 12 and outer layer 13 are flush, forming a second stepped surface 202. This second stepped surface 202 is closer to the proximal end face of the long tube than to the splice line between the end portion 122 and the main body 121 at the proximal end of the long tube. This allows the insulating end portion 122 to separate the main body 121 from the connector 31. The connector 31 is then sleeved onto the proximal outer wall of the long tube, with its distal end abutting against the second stepped surface 202, thereby being axially restrained.

[0090] In order to control the rotation of the end effector 21 as needed during surgery, the connector 31 is configured to be rotatably connected to the housing of the drive box 3. The proximal end of the long tube is also provided with a notch-shaped plug-in portion 20 that extends through the end. Correspondingly, the inner wall of the connector 31 is provided with a columnar protrusion 31a. When the proximal end of the long tube is inserted into the connector 31, the plug-in portion 20 needs to be aligned with the protrusion 31a. During the rotation of the long tube, the cooperation between the protrusion 31a and the plug-in portion 20 can effectively ensure the synchronization of the rotation of the long tube and the connector 31. Preferably, the plug-in portion 20 has at least two spaced-apart portions, preferably evenly spaced, arranged circumferentially of the long tube. Correspondingly, at least two protrusions 31a are spaced-apart portions along the circumference of the connector 31, and the number and position of the protrusions 31a are consistent with those of the plug-in portion 20.

[0091] As shown in FIG8 , the long tube for surgical instruments of the present invention is manufactured by the following manufacturing method, which mainly includes:

[0092] S01, provide two insulating layers and at least one main body portion 121 with a bending strength greater than that of the insulating layer, and in the width direction of the main body portion 121 (such as Figures 6A-6H At least one end (in the left and right directions) of the spliced ​​insulating end portion 122.

[0093] Here, the insulation layer is made of fiberglass cloth, woven from high-strength fiberglass filaments and epoxy resin with a temperature resistance of 180°C or higher. The main body 121 is made of carbon fiber cloth, woven from high-strength carbon fibers and epoxy resin with a temperature resistance of 180°C or higher. This ensures that the long tube of the surgical instrument remains intact and unbends even after sterilization at temperatures up to 150°C for 30 minutes. This balance of high strength and high-temperature resistance ensures that the long tube maintains good operating performance even when multiple cables are tensioned. The end portion 122 can also be made of the same fiberglass cloth as the insulation layer and is spliced ​​to the end of the main body 121 using epoxy resin.

[0094] There are many ways to splice the end of the main part 121 with the end part 122. Preferably, the splicing line of the main part 121 and the end part 122 is not located on the same radial cross section of the long tube after winding, so that the force at the joint of the end part 122 and the main part 121 can be dispersed over a larger area. Figures 6B to 6H That is, the splicing line is arranged obliquely relative to the length direction of the main body 121, or the splicing line is wavy or zigzag, or the splicing line extends along a direction oblique to the length direction of the main body 121.

[0095] In order to facilitate the subsequent winding and alignment, the two layers of insulation layers and the main body portion 121 with the spliced ​​end portion 122 can be cut in advance to be basically the same size.

[0096] S02. Immerse the two insulating layers and the main body 121 with the spliced ​​end portion 122 in epoxy resin respectively.

[0097] After being immersed in the epoxy resin, the two insulating layers and the front and back surfaces of the main body portion 121 with the spliced ​​end portion 122 are all covered with thermosetting epoxy resin to form a sticky surface.

[0098] S03. Wrap the first insulating layer, the main body 121 with the end part 122 spliced ​​together, and the second insulating layer layer layer by layer on the surface of the cylindrical rod, and put them into an oven together with the rod to bake and solidify. The splicing line between the end part and the main body is covered by two layers of insulating layers.

[0099] First, wind the first layer of insulation on a cylindrical rod mold (such as a steel rod). Then, based on the coverage of the first layer of insulation, continue to wind the spliced ​​main part on the surface of the first layer of insulation, so that the boundary of the end part is basically parallel to the boundary of the first layer of insulation. Finally, wind the second layer of insulation on the surface of the main part, and the three-layer structure is bonded together.

[0100] It is understood that in other embodiments, such as Figure 6C In the situation shown, when there are multiple layers of intermediate interlayers 12 between the inner wall layer 11 and the outer layer 13 of the long tube, it is necessary to wind a multi-layer main body portion 121 between the two insulating layers. After the first insulating layer is wound on the surface of the rod, the main body portion 121 with the multi-layer spliced ​​end portion 122 is first wound on the rod layer by layer, and then the second insulating layer is wound on the surface of the wound main body portion 121.

[0101] When a base 14 is sandwiched between every two intermediate layers 12 , it is necessary to wind the intermediate layer 12 on the bottom layer and then wind the base 14 on its surface, and then wind the intermediate layer 12 on the surface of the base 14 .

[0102] During baking and curing, the baking temperature needs to be gradually increased from 90°C to 145°C for 3 hours to cure the thermosetting epoxy resin on the surface of each layer of material, and the tube body is cured and formed.

[0103] S04. Demould and remove the tube from the rod.

[0104] The solidified tube body is demoulded on corresponding equipment to separate the rod body and the tube body.

[0105] After demoulding, considering that the end faces of the tube body may not be smooth, the outer surface of the tube body can be polished smooth and the excess material at both ends can be cut off to obtain a long tube with smooth and flat surfaces at both ends.

[0106] After cutting off the excess material at both ends, a layer of high-temperature resistant epoxy resin can be further coated on the outer surface of the second insulating layer and baked dry to further improve the smoothness of the surface of the long tube.

[0107] After the long tube is prepared, the inner wall of the first end and / or the outer wall of the second end can be thinned by grinding or other methods according to the needs of the usage scenario to form corresponding first step surfaces 201 and second step surfaces 202. When thinning, it should be noted that when the long tube is used to support the end instrument of the surgical instrument in the electrosurgical instrument, the first step surface 201 for abutting the end face of the conductive head 210 should be closer to the first end face of the long tube relative to the splicing line between the end part 122 and the main part 121 of the first end of the long tube, and the second step surface 202 for abutting the end face of the conductive connector 31 should be closer to the second end face of the long tube relative to the splicing line between the end part 122 and the main part 121 of the second end of the long tube, so that the end face and the inner and outer circumferential surfaces of the main part 121 are not exposed, thereby avoiding the risk of conduction of the main part 121.

[0108] The long tube produced by the above method effectively solves the problem of loose internal cables and surgical instrument failure caused by the tube's lack of bending resistance, thereby extending the service life of surgical instruments. Its bending strength not only meets the requirements of multi-hole instruments, but is also suitable for single-hole instruments with more cables and higher bending strength requirements. Tests have shown that a long tube with an outer diameter of 9.0mm, an inner diameter of 7.0mm, and a length of 600.0mm, with only one intermediate layer 12 between the inner wall layer 11 and the outer layer 13, has a bending strength at room temperature (15-35°C) that exceeds that of a 304 stainless steel tube with the same outer diameter of 9.0mm, a wall thickness of 0.3mm, and a length of 600.mm.

[0109] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0110] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A long tube for surgical instruments, characterized in that: The long tube is used to support the end instrument of the surgical instrument. The long tube includes an inner wall layer (11), an intermediate layer (12) and an outer layer (13) arranged in sequence from the inside to the outside in the radial direction. The inner wall layer (11) and the outer layer (13) are insulating layers. The intermediate layer (12) includes a main body (121) and an insulating end portion (122) spliced ​​to at least one end of the main body (121) in the length direction of the long tube. The bending strength of the main body (121) is greater than that of the inner wall layer (11) and the outer layer (13). The end portion (122), the inner wall layer (11) and the outer layer (13) surround the corresponding ends of the main body (121). The splicing line between the main body (121) and the end portion (122) is not located on the same radial cross section of the long tube.

2. The long tube for surgical instruments according to claim 1, characterized in that: At least one of the tube inner wall layer (11), the tube outer layer (13), and the end portion (122) is made of glass fiber cloth, and / or the main body portion (121) is made of carbon fiber cloth.

3. The long tube for surgical instruments according to claim 1, characterized in that: The first end of the long tube is provided with the end portion (122), and the inner wall of the first end of the long tube is thinned to form a first step surface (201), and the first step surface (201) is closer to the end surface of the first end of the long tube relative to the splicing line between the end portion (122) and the main body portion (121) of the first end of the long tube.

4. The long tube for surgical instruments according to claim 1, characterized in that: The second end of the long tube is provided with the end portion (122), and the outer wall of the second end of the long tube is thinned to form a second step surface (202), and the second step surface (202) is closer to the second end surface of the long tube relative to the splicing line between the end portion (122) and the main body portion (121) of the second end of the long tube.

5. The long tube for surgical instruments according to claim 1, characterized in that: It also includes a high-temperature resistant epoxy resin layer, which covers the outer surface of the outermost tube outer layer (13).

6. The long tube for surgical instruments according to claim 1, characterized in that: It also includes a bonding layer, wherein a layer of the bonding layer is filled between every two adjacent layers of the tube inner wall layer (11), the intermediate interlayer (12) and the tube outer layer (13).

7. The long tube for surgical instruments according to claim 6, characterized in that: The bonding layer is thermosetting epoxy resin.

8. The long tube for surgical instruments according to claim 1, characterized in that: The tube inner wall layer (11) and the tube outer layer (13) are made of the same material, and one end of the tube inner wall layer (11) extends to be integrally provided with the tube outer layer (13), wrapping one end of the intermediate interlayer (12) therein.

9. The long tube for surgical instruments according to claim 1, characterized in that: There are multiple layers of intermediate interlayers (12) between the tube inner wall layer (11) and the tube outer layer (13).

10. The long tube for surgical instruments according to claim 9, characterized in that: It also includes a base (14), with a layer of the base (14) sandwiched between every two layers of the intermediate interlayers (12).

11. The long tube for surgical instruments according to claim 10, characterized in that: The substrate (14) is made of the same material as the tube inner wall layer (11) and / or the tube outer layer (13).

12. The long tube for surgical instruments according to claim 1, characterized in that: The splicing line between the main body portion (121) and the end portion (122) is arranged obliquely relative to the end surface of the long tube.

13. The long tube for surgical instruments according to claim 1, characterized in that: The splicing line between the main body portion (121) and the end portion (122) is wavy or zigzag.

14. A method for manufacturing a long tube as claimed in claim 1, characterized in that: The production method comprises: Providing two insulating layers and at least one main body portion having a bending strength greater than that of the insulating layers, and splicing an insulating end portion at at least one end in the width direction of the main body portion; Immersing the two insulating layers and the main body with the end portions spliced ​​together in epoxy resin respectively; Wrap the first insulating layer, the main body with the end portion spliced, and the second insulating layer layer layer by layer on the surface of a cylindrical rod, and then place them together with the rod in an oven for baking and curing. The splicing line between the end portion and the main body is covered by the two insulating layers. Demould and remove the tube from the rod.

15. The method for manufacturing a long tube according to claim 14, characterized in that: After demoulding, the process also includes: polishing the outer surface of the tube body to make it smooth, and cutting off the excess material at both ends.

16. The method for manufacturing a long tube according to claim 14, characterized in that: During baking and curing, the baking temperature was gradually increased from 90°C to 145°C for 3 hours.

17. The method for manufacturing a long tube according to claim 14, characterized in that: include: After demoulding, a high-temperature resistant epoxy resin layer is coated on the outer surface of the second insulating layer.

18. The method for manufacturing a long tube according to claim 14, characterized in that: There are multiple layers of the main body between the two insulating layers; The process of winding the three layers layer by layer on the surface of the cylindrical rod in the order of the first insulating layer, the main body with the end parts spliced ​​together, and the second insulating layer, after winding the first insulating layer on the surface of the rod and before winding the second insulating layer on the surface of the rod, includes: winding the main body with multiple layers of end parts spliced ​​together on the rod layer by layer.

19. An electrosurgical instrument, characterized in that: The invention comprises an end instrument (1), a long tube for a surgical instrument according to any one of claims 1 to 13, and a drive box (3), wherein a drive cable in the drive box (3) passes through the long tube and is connected to the end instrument to drive the end instrument to move; the end instrument (1) comprises a conductive end actuator (21) and a conductive head (210) electrically connected thereto, the distal end of the long tube is provided with the end portion (122), the inner wall of the distal end of the long tube is thinned to form a first step surface (201), the first step surface (201) is closer to the distal end surface of the long tube relative to the splicing line between the end portion (122) and the main body (121) at the distal end of the long tube, the conductive head (210) is inserted into the distal inner wall of the long tube and the end thereof abuts against the first step surface (201).

20. The electrosurgical instrument according to claim 19, wherein The proximal end of the long tube is provided with the end portion (122), the outer wall of the proximal end of the long tube is thinned to form a second step surface (202), a connector (31) made of a conductive material is provided in the drive box (3), the second step surface (202) is closer to the proximal end surface of the long tube relative to the splicing line between the end portion (122) and the main body (121) at the proximal end of the long tube, and the connector (31) is sleeved on the proximal outer wall of the long tube and the end thereof abuts against the second step surface (202).

21. A surgical robot, characterized in that: The invention comprises a master operating device and a slave operating device controlled by the master operating device, wherein the slave operating device comprises the electrosurgical instrument according to claim 19 or 20.

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