Energy device tip and surgical device

Abstract

This application relates to an energy device distal end and a surgical instrument. A pitch base has a first contact boss protruding from its distal end face. The pitch base also has a first traction channel, the distal ends of which are all located on the distal end face of the pitch base. A swing base has a second contact boss protruding from its proximal end face. The swing base is assembled to reciprocate relative to the pitch base along a predetermined direction, causing the first and second contact bosses to roll into contact. The swing base also has a transition guide channel, the proximal ends of which are all located on the proximal end face of the swing base. An energy release body is assembled on the swing base, and an energy delivery cable passes through the first traction channel and the transition guide channel and connects to the energy release body. The energy delivery cable, passing through the transition guide channel, bends at the proximal end face of the swing base, which improves the bending radius of the energy delivery cable.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to power device terminals and surgical instruments. Background Technology

[0002] With the application and development of robotics technologies, especially computing technology, the role of surgical robots in clinical practice is receiving increasing attention. Minimally invasive surgical robot systems can reduce the physical labor of surgeons during procedures through interventional treatment. Furthermore, these systems can achieve precise surgery, resulting in less trauma, less blood loss, fewer postoperative infections, and faster recovery for patients. The design quality of the surgical instruments used in a minimally invasive surgical robot system directly determines the success or failure of the surgery. Well-designed instruments better assist surgeons in performing procedures; therefore, the performance of the surgical instruments is a key factor affecting the performance level of a minimally invasive surgical robot system.

[0003] Multi-degree-of-freedom energy instruments such as electric hooks, electric shovels, and bipolar electrocautery pliers are prone to cable breakage during various movements, leading to accidents such as cable sheath damage, weld or connection detachment, resulting in insufficient insulation reliability and a short lifespan. Summary of the Invention

[0004] Therefore, it is necessary to provide an energy device terminal and a surgical instrument to address the aforementioned technical problems.

[0005] This application provides an energy device terminal, the energy device terminal comprising:

[0006] The pitch base has a first contact boss protruding from the far end face of the pitch base, and the pitch base has a first traction channel, the far end of the first traction channel is located on the far end face of the pitch base.

[0007] A swing base body is provided with a second contact boss protruding from the proximal end face of the swing base body. The swing base body is reciprocated relative to the pitch base body along a preset direction, so that the first contact boss and the second contact boss roll contact. The swing base body is provided with a transition guide channel, and the proximal end ports of the transition guide channel are all located on the proximal end face of the swing base body.

[0008] An energy component, comprising an energy release body and an energy delivery cable, wherein the energy release body is mounted on the swing base and the energy delivery cable passes through the first traction channel and the transition guide channel and is connected to the energy release body.

[0009] In one embodiment, the energy device terminal includes:

[0010] The traction assembly includes a first traction body, and at least two first traction channels and two transition guide channels. The energy release body is rotatably connected to the swing base. The first traction body passes through the first traction channel and the transition guide channel and is connected to the energy release body, and is used to control the energy release body to reciprocate relative to the swing base along a preset direction.

[0011] In one embodiment, at least one of the pitch base and the swing base is provided with a motion constraint mechanism, which is used to constrain the first contact boss to always remain in rolling tangency with the second contact boss.

[0012] In one embodiment, the traction assembly includes at least two second traction bodies, the pitch base body has at least two second traction channels, each second traction body passes through one of the second traction channels and is connected to the swing base body for driving the swing base body to rotate relative to the pitch base body, wherein the side protrusion on the motion constraint mechanism has a clearance groove for clearance of the second traction body.

[0013] In one embodiment, the distal ports of all the second traction channels are located on the distal end face of the pitch base, and the distal ports of all the second traction channels are arranged along a straight line trajectory perpendicular to the rotation direction of the swing base.

[0014] And / or,

[0015] The swing base is provided with at least two traction connection parts, each of the traction connection parts is matched with a second traction channel, and each second traction body is connected to a traction connection part on the swing base.

[0016] In one embodiment, the pitch base body has two or three first traction channels, and the swing base body has two or three corresponding transition guide channels. Each first traction channel is matched with one transition guide channel. The first traction body is wound around the energy release body to control the fixed-axis rotation of the energy release body. The first and last ends of the first traction body are respectively inserted into different first traction channels and transition guide channels. The energy transmission cable passes through one of the first traction channels and one of the transition guide channels.

[0017] or,

[0018] The first and last sections of the first traction body are respectively inserted into two of the first traction channels and the transition guide channel, and the energy transmission cable passes through another first traction channel and the transition guide channel.

[0019] In one embodiment, the first traction channel through which the energy transmission cable passes has a cable transition arc surface; and / or,

[0020] A cable separator is provided between the two first traction channels through which the energy transmission cable and the first traction body pass, the cable separator being used to separate adjacent energy transmission cables and first traction bodies.

[0021] In one embodiment, at least one of the pitch base and the swing base is provided with a motion guide mechanism, the motion guide mechanism including a plurality of rolling guide components, the plurality of rolling guide components being located on at least one side of at least one of the first traction channel and the transition guide channel, the rolling guide components being in rolling guide contact with the first traction body for guiding the first traction body to wrap around the energy release body.

[0022] In one embodiment, the number of rolling guide components is even, and multiple rolling guide components are arranged symmetrically in pairs on opposite sides of at least one of the first traction channel and the transition guide channel; or...

[0023] The guiding mechanism includes sliding guide components, the number of which is even, and multiple sliding guide components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the transition guide channel; or...

[0024] The guiding mechanism includes multiple rolling guide components and multiple sliding guide components. The total number of rolling guide components and sliding guide components is even. The rolling guide components and sliding guide components are arranged symmetrically in pairs on opposite sides of at least one of the first traction channel and the transition guide channel.

[0025] In one embodiment, the energy release body has an annular winding groove, the first traction body is wound and connected to the annular winding groove, the winding diameter of the annular winding groove is D, the wire diameter of the first traction body is d, and the straight-line distance between the two far-end ports of the two first traction channels is greater than or equal to (D-3d) and less than or equal to (D+3d).

[0026] In one embodiment, the energy release body is provided with a cable connection mechanism, and the energy transmission cable is connected to the cable connection mechanism.

[0027] In one embodiment, the cable connection mechanism includes a transition boss located on the energy release body, to which the energy delivery cable is wound and connected; and / or,

[0028] The cable connection mechanism includes an elastic adapter and a conductive adapter, which are respectively located on the energy release body and the swing base. The rotational assembly between the energy release body and the swing base enables elastic conductive contact between the elastic adapter and the conductive adapter. The distal end of the energy transmission cable is connected to one of the elastic adapter and the conductive adapter.

[0029] In one embodiment, the distal end of the energy transmission cable is connected to a flexible conductive cable located between the distal port of the first traction channel and the proximal port of the transition guide channel, and the distal end of the energy transmission cable is indirectly electrically connected to the transition conductive element through the flexible conductive cable.

[0030] In one embodiment, the energy release body includes a first energy clamp and a second energy clamp, which are rotatably mounted on the swing base. The mutual rotation of the first energy clamp and the second energy clamp is used to close or open with each other. The energy transmission cable includes a first energy cable and a second energy cable, with the first energy cable connected to the first energy clamp and the second energy cable connected to the second energy clamp. The swing base includes a first base and a second base, both of which are rotatably connected to the pitch base. The second contact boss is located on the second base. The distal end face of the first base has two lateral holes, and the proximal end face of the second base has a central channel. The central channel and the two lateral holes communicate with each other, allowing the first energy cable and the second energy cable to pass through the two lateral holes and then be led out through the central channel.

[0031] This application provides a surgical instrument, which includes the power device end.

[0032] When the aforementioned energy device end and surgical instrument, the swing base and pitch base rotate relative to each other, the rolling contact position between the first contact boss and the second contact boss is always higher than the distal end face of the pitch base in the distal direction and always higher than the proximal end face of the swing base in the proximal direction. The energy transmission cable passing through the first traction channel bends at the distal end face of the pitch base, and simultaneously the energy transmission cable passing through the transition guide channel bends at the proximal end face of the swing base. If the rotation angle of the swing base and the pitch base relative to each other is angle α, the energy transmission cable bends twice due to reversal, resulting in a reversal angle of β for the energy transmission cable. Therefore, the reversal angle β is less than the rotation angle α, which can improve the bending radius of the energy transmission cable, reduce the wrap angle at the bend of the energy transmission cable, reduce the wear of the energy transmission cable, and improve the service life of the instrument. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the end of an energy device provided in one embodiment of this application.

[0034] Figure 2 This is a schematic diagram of the bent structure of the end of an energy device provided in one embodiment of this application.

[0035] Figure 3 This is a schematic diagram of the exploded structure of the end of an energy device provided in one embodiment of this application.

[0036] Figure 4 This is a cross-sectional view of the end of an energy device provided in one embodiment of this application.

[0037] Figure 5 This is a left-bent cross-sectional view of the end of an energy device provided in one embodiment of this application.

[0038] Figure 6 This is a right-bent cross-sectional view of the end of an energy device provided in one embodiment of this application.

[0039] Figure 7 This is a cross-sectional view of the end of an energy device provided in one embodiment of this application from another direction.

[0040] Figure 8 This is a schematic diagram of the structure of a swing base provided in one embodiment of this application.

[0041] Figure 9 This is a schematic diagram of another angle of the swing base body provided in one embodiment of this application.

[0042] Figure 10 This is a schematic diagram of the pitch base provided in one embodiment of this application.

[0043] Figure 11 This is a schematic diagram of the pitch base provided in one embodiment of this application from another angle.

[0044] Figure 12 This is a schematic diagram of the structure of the end of the energy device provided in the second embodiment of this application.

[0045] Figure 13 This is a cross-sectional view of the end of the energy device provided in the second embodiment of this application.

[0046] Figure 14 This is a left-bent cross-sectional view of the end of the energy device provided in the second embodiment of this application.

[0047] Figure 15 This is a right-bent cross-sectional view of the end of the energy device provided in the second embodiment of this application.

[0048] Figure 16 This is an exploded view of the end of the energy device provided in the second embodiment of this application.

[0049] Figure 17 This is a cross-sectional view of the end of the energy device provided in the second embodiment of this application from another direction.

[0050] Figure 18 This is a schematic diagram of the structure of the swing base provided in the second embodiment of this application.

[0051] Figure 19 This is a schematic diagram of another direction of the swing base body provided in the second embodiment of this application.

[0052] Figure 20 This is another schematic diagram of the swing base body provided in the second embodiment of this application.

[0053] Figure 21 This is a schematic diagram of the structure of the end of the energy device provided in the third embodiment of this application.

[0054] Figure 22 This is a schematic diagram of an explosion at the end of an energy device provided in the third embodiment of this application.

[0055] Figure 23 This is a cross-sectional view of the end of the energy device provided in the third embodiment of this application.

[0056] Figure 24 This is a left-bent cross-sectional view of the end of the energy device provided in the third embodiment of this application.

[0057] Figure 25 This is a right-bent cross-sectional view of the end of the energy device provided in the third embodiment of this application.

[0058] Figure 26 This is a schematic diagram of the structure of the swing base provided in the third embodiment of this application.

[0059] Figure 27 This is a schematic diagram of the pitch base provided in the third embodiment of this application.

[0060] Figure 28 This is a schematic diagram of the structure of the end of the energy device provided in the fourth embodiment of this application.

[0061] Figure 29 This is a schematic diagram of an explosion at the end of an energy device provided in the fourth embodiment of this application.

[0062] Figure 30 This is a cross-sectional view of the end of the energy device provided in the fourth embodiment of this application.

[0063] Figure 31 This is a schematic diagram of the structure of the elastic adapter provided in the fourth embodiment of this application.

[0064] Figure 32 This is a schematic diagram of the structure of the adapter conductive element provided in the fourth embodiment of this application.

[0065] Figure 33 This is an exploded view of the adapter conductor and pitch base provided in the fourth embodiment of this application.

[0066] Figure 34 This is a schematic diagram of the structure of the end of the energy device provided in the fifth embodiment of this application.

[0067] Figure 35 This is a schematic diagram of an explosion at the end of an energy device provided in the fifth embodiment of this application.

[0068] Figure 36 This is a cross-sectional view of the end of the energy device provided in the fifth embodiment of this application.

[0069] Figure 37 This is a curved cross-sectional view of the end of the energy device provided in the fifth embodiment of this application.

[0070] Figure 38 This is another exploded view of the end of the energy device provided in the fifth embodiment of this application.

[0071] Figure 39 This is an assembly diagram of the adapter conductive component provided in the fifth embodiment of this application.

[0072] Figure 40 This is a schematic diagram of the structure of the end of the energy device provided in the sixth embodiment of this application.

[0073] Figure 41 This is a schematic diagram of an explosion at the end of an energy device provided in the sixth embodiment of this application.

[0074] Figures 42a to 42c This is a structural diagram of the pitch base, the first base, and the second base provided in the sixth embodiment of this application.

[0075] Figure 43 This is a schematic diagram of the connection of the second energy clamp provided in the sixth embodiment of this application.

[0076] Figure 44 This is a cross-sectional view of the end of the energy device provided in the sixth embodiment of this application.

[0077] Figure 45 This is a curved cross-sectional view of the end of the energy device provided in the sixth embodiment of this application.

[0078] Figure 46 This is another exploded view of the end of the energy device provided in the sixth embodiment of this application.

[0079] Figure 47 This is yet another exploded view of the end of the energy device provided in the sixth embodiment of this application.

[0080] Figure 48 This is a schematic diagram of the first and second energy cables provided in the sixth embodiment of this application.

[0081] Figure 49 This is an assembly diagram of the first and second energy cables provided in the sixth embodiment of this application. Detailed Implementation

[0082] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0083] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0084] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0085] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0086] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0087] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0088] To more clearly describe the structure of the clamping instrument tip and the surgical instrument, the term "distal" is defined herein as the end furthest from the operator during surgical procedures; for example, the distal end face of the pitch base 1000 is the end face furthest from the operator. "Proximal" is defined as the end closest to the operator during surgical procedures; for example, the proximal end face of the swing base 2000 is the end face closest to the operator. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0089] See Figures 1 to 11 As shown in one embodiment of this application, an energy device end effector includes a pitch base 1000, a swing base 2000, and an energy component 3000. The distal end face of the pitch base 1000 is provided with a first contact boss 1100 protruding from the distal end face. The pitch base 1000 has a first traction channel 1200, the distal ends of which are all located on the distal end face of the pitch base 1000. The proximal end face of the swing base 2000 is provided with a second contact boss 2100 protruding from the proximal end face. The swing base 2000 is reciprocated relative to the pitch base 1000 along a preset direction, for example, towards the preset direction. The direction of rotation is forward or reverse, causing the first contact boss 1100 and the second contact boss 2100 to roll into contact. The swing base body 2000 is provided with a transition guide channel 2200. The proximal end of the transition guide channel 2200 is located on the proximal end face of the swing base body 2000. The energy component 3000 includes an energy release body 3100 and an energy transmission cable 3200. The energy release body 3100 is mounted on the swing base. The energy transmission cable 3200 passes through the first traction channel 1200 and the transition guide channel 2200 and is connected to the energy release body 3100. The energy release body 3100 is, for example, an electric hook, an electric shovel, a bipolar electrocautery pliers, or other energy components, and is not limited thereto.

[0090] The distal end face of the pitch base 1000 is provided with a first contact boss 1100 protruding from the distal end face. Therefore, except for the part where the first contact boss 1100 is combined with the distal end face of the pitch base 1000, the other parts protrude from the distal end face of the pitch base 1000, that is, it is higher than the distal end face of the pitch base 1000. Specifically, it is higher than the distal end face of the pitch base 1000 in the direction of the distal end.

[0091] The pitch base 1000 has a first traction channel 1200. The far end of the first traction channel 1200 is located on the far end face of the pitch base 1000. Therefore, the far end of the first traction channel 1200 is not as high as the far end face of the pitch base 1000. Specifically, it is lower than the far end face of the pitch base 1000 in the direction of the far end. When the energy transmission cable 3200 passing through the first traction channel 1200 bends, the bending position is located at the far end of the first traction channel 1200. This ensures that the energy transmission cable 3200 is located on the far end face of the pitch base 1000 at the bending position.

[0092] The proximal end face of the swing base 2000 is provided with a second contact boss 2100 protruding from the proximal end face. Therefore, except for the junction with the distal end face of the pitch base 1000, the second contact boss 2100 protrudes from the proximal end face of the swing base 2000 at all other locations, meaning it is higher than the proximal end face of the swing base 2000, specifically higher in the proximal direction. The swing base 2000 has a transition guide channel 2200, the proximal port of which is located on the proximal end face of the swing base 2000. Therefore, when the energy transmission cable 3200, which passes through the transition guide channel 2200, bends, the bending point is located at the proximal port of the transition guide channel 2200, ensuring that the energy transmission cable 3200 is positioned on the proximal end face of the swing base 2000 at the bending point.

[0093] The oscillating base 2000 and the pitch base 1000 are rotatably assembled. For example, a linkage and multi-axis mechanism can be used to achieve the rotatable assembly between the oscillating base 2000 and the pitch base 1000. The rotation between the oscillating base 2000 and the pitch base 1000 allows the first contact boss 1100 and the second contact boss 2100 to roll into contact. (See reference...) Figures 4 to 6As shown, when the swing base 2000 and the pitch base 1000 rotate relative to each other, the position of the first contact boss 1100 and the second contact boss 2100 in rolling contact is always higher than the far end face of the pitch base 1000 in the direction of the far end, and is always higher than the near end face of the swing base 2000 in the direction of the near end. The energy transmission cable 3200 passing through the first traction channel 1200 bends at the far end face of the pitch base 1000, and at the same time, the energy transmission cable 3200 passing through the transition guide channel 2200 bends at the near end face of the swing base 2000.

[0094] Assuming the relative rotation angle between the swing base 2000 and the pitch base 1000 is angle α, and the energy transmission cable 3200 bends twice due to reversal, resulting in a reversal angle β for the energy transmission cable 3200, the reversal angle β is less than the rotation angle α. The specific difference between the reversal angle β and the rotation angle α depends on the height of the first contact boss 1100 and the second contact boss 2100, and is not limited thereto. For example, β ≈ α / 2 can be made so that the bending radius of the energy transmission cable 3200 can be improved, the wrap angle at the bend of the energy transmission cable 3200 can be reduced, the wear of the energy transmission cable 3200 can be reduced, and the service life of the device can be increased.

[0095] The first contact boss 1100 and the second contact boss 2100 can adopt spherical surfaces, arc surfaces, etc. to achieve relative rolling contact between them and form a stable rolling contact mode. For example, in one embodiment, the boss surface of the first contact boss 1100 has a first arc contact trajectory, and the boss surface of the second contact boss 2100 has a second arc contact trajectory. Therefore, when the swing base body 2000 and the pitch base body 1000 are rotated and assembled, the first arc contact trajectory and the second arc contact trajectory can be rolled tangent. Always keeping the first arc contact trajectory and the second arc contact trajectory rolled tangent can ensure that the relative rotation of the swing base body 2000 and the pitch base body 1000 is kept in a stable and predictable state.

[0096] In one embodiment, the end of the energy device includes a traction assembly 4000, which includes a first traction body 4100, which can be selected as a traction wire or a traction belt. There are at least two first traction channels 1200 and two transition guide channels 2200, for example, two first traction channels 1200 and two transition guide channels 2200. An energy delivery cable 3200 passes through one of the first traction channels 1200 and one of the transition guide channels 2200. The energy release body 3100 is rotatably connected to the swing base. The first and last ends of the first traction body 4100 pass through two different first traction channels 1200 and transition guide channels 2200 respectively and are wound around and connected to the energy release body 3100. The energy release body 3100 is controlled to reciprocate relative to the swing base in a preset direction by pulling the first traction body 4100 towards its two ends, for example, forward rotation or reverse rotation towards the preset direction.

[0097] The pitch base 1000 has a first contact boss 1100 protruding from its distal end face. When the first traction body 4100, which passes through the first traction channel 1200, bends, the bending position is located at the distal end of the first traction channel 1200. This ensures that the first traction body 4100 is positioned at the distal end face of the pitch base 1000 at the bending position. The swing base 2000 has a second contact boss 2100 protruding from its proximal end face. When the first traction body 4100, which passes through the transition guide channel 2200, bends, the bending position is located at the proximal end of the transition guide channel 2200. This ensures that the first traction body 4100 is positioned at the proximal end face of the swing base 2000 at the bending position.

[0098] Based on the same principle as the 3200 energy transmission cable, see [link / reference] Figures 4 to 6 As shown, when the swing base 2000 and the pitch base 1000 rotate relative to each other, the position of the first contact boss 1100 and the second contact boss 2100 in rolling contact is always higher than the far end face of the pitch base 1000 in the direction of the far end, and always higher than the near end face of the swing base 2000 in the direction of the near end. The bending position of the first traction body 4100 passing through the first traction channel 1200 is at the far end face of the pitch base 1000, and at the same time, the bending position of the first traction body 4100 passing through the transition guide channel 2200 is at the near end face of the swing base 2000.

[0099] Assuming the relative rotation angle between the swing base 2000 and the pitch base 1000 is angle α, and the first traction body 4100 bends twice due to reversal, the reversal angle of the energy transmission cable 3200 is β. Therefore, the reversal angle β is less than the rotation angle α. The specific difference between the reversal angle β and the rotation angle α depends on the height of the first contact boss 1100 and the second contact boss 2100, and is not limited thereto. For example, β≈α / 2 can be made so that the bending radius of the first traction body 4100 can be improved, the wrap angle at the bend of the first traction body 4100 can be reduced, the wear of the first traction body 4100 can be reduced, and the service life of the device can be increased.

[0100] In one embodiment, at least one of the pitch base 1000 and the swing base 2000 is provided with a motion constraint mechanism 5000. The motion constraint mechanism 5000 is used to constrain the first contact boss 1100 to always maintain a rolling tangential relationship with the second contact boss 2100. The swing base 2000 may also include a first base 2400 and a second base 2500, both of which are rotatably connected to the pitch base 1000. The motion constraint mechanism 5000 is located on the first base 2400, and the second contact boss 2100 is located on the second base 2500. Those skilled in the art can choose a suitable form according to their needs, and there is no limitation thereto. The motion restraint mechanism 5000 can take various forms. For example, as shown in the figure, the motion restraint mechanism 5000 may include a first side stop 5100 and a second side stop 5200. The first side stop 5100 is located on the pitch base 1000, and the second side stop 5200 is located on the swing base 2000. The first side stop 5100 and the second side stop 5200 are in mutual limiting contact. The mutual limiting contact between the first side stop 5100 and the second side stop 5200 can at least prevent the swing base 2000 from shifting.

[0101] The number and arrangement of the first side stop component 5100 and the second side stop component 5200 can be selected according to requirements. For example, the first side stop component 5100 and the second side stop component 5200 can be arranged on the sides of the pitch base 1000 and the swing base 2000 to prevent the rotation between the pitch base 1000 and the swing base 2000 from shifting towards the side where the first side stop component 5100 and the second side stop component 5200 are arranged. Alternatively, both the first side stop component 5100 and the second side stop component 5200 can be two separate components. Two first side-stop components 5100 and two second side-stop components 5200 are respectively disposed on the two sides of the pitch base 1000 and the swing base 2000 to prevent the rotation between the pitch base 1000 and the swing base 2000 from shifting to the sides where the first side-stop components 5100 and the second side-stop components 5200 are disposed, thereby limiting the rotation between the pitch base 1000 and the swing base 2000 to strictly ensure that the first arc contact trajectory always remains rolling tangent to the second arc contact trajectory.

[0102] See Figures 8 to 11 as well as Figure 18 As shown, in one embodiment, the motion constraint mechanism 5000 includes a constraint tooth 5300 and a constraint tooth groove 5400. The constraint tooth 5300 and the constraint tooth groove 5400 are respectively located on the pitch base 1000 and the swing base 2000. The constraint tooth 5300 and the constraint tooth groove 5400 mesh with each other. The meshing process of the constraint tooth 5300 and the constraint tooth groove 5400 can be used to constrain the first arc contact trajectory of the first contact boss 1100 to always maintain rolling tangency with the second arc contact trajectory of the second contact boss 2100. The constraint tooth groove 5400 can be an involute tooth shape, a cycloidal tooth shape, or other tooth shapes, and is not limited thereto.

[0103] In one embodiment, the constraint tooth groove 5400 is located on the pitch base 1000, and the pitch base 1000 is provided with two side-stop protrusions 5500. The two side-stop protrusions 5500 are located on both sides of the groove opening of the constraint tooth groove 5400. When the constraint tooth 5300 and the constraint tooth groove 5400 mesh with each other, the side-stop protrusions 5500 can increase the height of both sides of the groove opening of the constraint tooth groove 5400, which is equivalent to deepening the depth of the constraint tooth groove 5400. This allows for side-limiting contact with the constraint tooth 5300, ensuring stable meshing between the constraint tooth 5300 and the constraint tooth groove 5400. The constraint tooth 5300 can be a pointed tooth or a round tooth.

[0104] In one embodiment, the traction assembly 4000 includes at least two second traction bodies 4200, and the first traction body 4100 can be selected as a traction wire or a traction belt. The pitch base 1000 has at least two second traction channels 1300, for example, the pitch base 1000 has two second traction channels 1300. Each second traction body 4200 passes through a second traction channel 1300 and is connected to the swing base 2000 to drive the swing base 2000 to rotate relative to the pitch base 1000. One end of the two symmetrically arranged second traction bodies 4200 is fixed to two symmetrical points on the swing base, and the other end of the two symmetrically arranged second traction bodies 4200 passes through the two second traction channels 1300 on the pitch base 1000. The side stop protrusion 5500 has a clearance groove 5600, which is used to avoid the second traction bodies 4200.

[0105] In one embodiment, the distal ports of all second traction channels 1300 are located on the distal end face of the pitch base 1000, and the distal ports of all second traction channels 1300 are arranged along a straight line trajectory perpendicular to the rotation direction of the swing base 2000. The swing base 2000 is provided with at least two traction connection portions 2300, each traction connection portion 2300 being matched with one second traction channel 1300. Each second traction body 4200 is connected to one traction connection portion 2300 on the swing base 2000. The traction connection portion 2300 can be a through-hole structure, a hook structure, or a snap-fit ​​structure, etc., and is not limited thereto.

[0106] See Figures 8 to 11 As shown, the pitch base 1000 has two first traction channels 1200, and the swing base 2000 has two transition guide channels 2200. Each first traction channel 1200 is matched with a transition guide channel 2200. The first traction body 4100 is wound around the energy release body 3100 to control the fixed-axis rotation of the energy release body 3100. The first and last ends of the first traction body 4100 are respectively inserted into different first traction channels 1200 and transition guide channels 2200. The energy transmission cable 3200 passes through one of the first traction channels 1200 and the transition guide channel 2200. At this time, the energy transmission cable 3200 and one of the first and last ends of the first traction body 4100 will be inserted into the same first traction channel 1200 and the same transition guide channel 2200.

[0107] Or refer to Figure 19 and Figure 20As shown, the pitch base 1000 has three first traction channels 1200, and the swing base 2000 has three transition guide channels 2200. Each first traction channel 1200 is matched with one transition guide channel 2200. The first traction body 4100 is wound around the energy release body 3100 to control the fixed-axis rotation of the energy release body 3100. The first and last ends of the first traction body 4100 are respectively threaded into two of the first traction channels 1200 and the transition guide channels 2200. The energy transmission cable 3200 passes through the other first traction channel 1200 and the transition guide channel 2200. At this time, the energy transmission cable 3200 and any one of the first and last ends of the first traction body 4100 are respectively threaded into different first traction channels 1200 and transition guide channels 2200, thus reducing wear between the energy transmission cable 3200 and the first traction body 4100. (Continue reading...) Figure 19 and Figure 20 As shown, in one embodiment, the first traction channel 1200 through which the energy transmission cable 3200 passes has a cable transition arc surface 1400, which can reduce the friction of the energy transmission cable 3200. A cable separator 1500 is provided between the two first traction channels 1200 through which the energy transmission cable 3200 and the first traction body 4100 pass. The cable separator 1500 is used to separate adjacent energy transmission cables 3200 and the first traction body 4100. The cable separator 1500 can further separate the energy transmission cable 3200 from the first traction body 4100.

[0108] In one embodiment, at least one of the pitch base 1000 and the swing base 2000 is provided with a motion guide mechanism 6000. The guide mechanism can employ a slip-enhancing coating, a rolling guide component 6100, a sliding guide component, etc. The slip-enhancing coating can be obtained through a plating process, such as a nylon coating, a PTFE coating, or a paraffin coating. Furthermore, the swing base 2000 and the pitch base 1000 can also be made of materials with a low coefficient of friction. This can improve the lifespan of the first traction body 4100 and the energy transmission cable 3200, reduce the wear of the first traction body 4100 and the energy transmission cable 3200, and extend the service life of the device. Moreover, using only a slip-enhancing coating can reduce the number of structural parts, lower the cost, and facilitate manufacturing.

[0109] In one embodiment, the motion guiding mechanism 6000 includes a plurality of rolling guide members 6100, which are located on at least one side of at least one of the first traction channel 1200 and the transition guide channel. The rolling guide members 6100 make rolling guide contact with the first traction body 4100 to guide the first traction body 4100 to wrap around the energy release body 3100. Rolling friction can improve transmission efficiency, wherein, see reference Figures 21 to 27 As shown, the rolling guide component 6100 can be a guide wheel, and the number of guide wheels can be matched according to the number of the first traction body 4100 to satisfy the guidance of the first traction body 4100. The rolling guide component 6100 can also be a guide post, and the number of guide posts can be matched according to the number of the first traction body 4100 to satisfy the guidance of the first traction body 4100. There is no limitation on this.

[0110] Continue reading Figures 21 to 27 As shown, the number of rolling guide components 6100 is even, and multiple rolling guide components 6100 are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel 1200 and the transition guide channel 2200, for example... Figures 23 to 25 As shown, two symmetrically arranged rolling guide components 6100 are provided on both sides of the first traction channel 1200 and the transition guide channel 2200. Correspondingly, a total of four rolling guide components 6100 are provided in the first traction channel 1200 and the transition guide channel 2200. This allows the rolling guide components 6100 to smoothly guide both sides of the bending of the first traction body 4100, ensuring the stability of the rotation of the first traction body 4100 and improving the service life of the first traction body 4100.

[0111] The number of rolling guide components 6100 is eight, and each rolling guide component 6100 is a rolling wheel. Each rolling wheel has two symmetrical circumferential rolling grooves, and four of the rolling wheels are symmetrically mounted on the distal end face of the pitch base 1000. (See reference...) Figures 23 to 25 As shown, this symmetrical assembly represents symmetry not only along the rotation direction of the swing base 2000, but also symmetry perpendicular to the rotation direction of the swing base 2000. This symmetry in both the lateral and longitudinal directions ensures precise guidance of the first traction body 4100. Similarly, the four rolling wheels are symmetrically assembled on the proximal end face of the swing base 2000. This symmetrical assembly also represents symmetry not only along the rotation direction of the swing base 2000, but also symmetry perpendicular to the rotation direction of the swing base 2000. This symmetry in both the lateral and longitudinal directions ensures precise guidance of the first traction body 4100. Multiple first traction bodies 4100 can slide along the circumferential rolling grooves on the corresponding rolling wheels, thereby guiding the multiple first traction bodies 4100 to move in the expected direction and improving the overall drive stability.

[0112] Assuming the relative rotation angle between the swing base 2000 and the pitch base 1000 is angle α, and the energy transmission cable 3200 bends twice due to reversal, resulting in a reversal angle β, the reversal angle β is less than the rotation angle α. The specific difference between the reversal angle β and the rotation angle α depends on the heights of the first contact boss 1100 and the second contact boss 2100, and is not limited thereto. For example, β ≈ α / 2 can be used to improve the bending radius of the energy transmission cable 3200, reduce the wrap angle at the bend, reduce wear on the energy transmission cable 3200, and extend the service life of the device. When the energy transmission cable 3200 bends, it may occur on the pitch base 1000, the swing base 2000, or the first base 2400 of the swing base 2000. (See reference...) Figure 45 As shown, the sliding guide 6200 can be a constrained circular arc structure, see reference. Figure 32 The sliding guide 6200 can also be configured as a rolling guide 6100 as needed, which can improve the reliability and lifespan of the energy transmission cable 3200.

[0113] The first traction body 4100 forms a wrap-around arc segment along the circumferential rolling groove on the rolling wheel. When the first traction body 4100 is attached to the two circumferential rolling grooves on the two rolling wheels located on the pitch base 1000 and the swing base 2000 respectively, two corresponding wrap-around arc segments will be formed in a section of the first traction body 4100. The section between these two wrap-around arc segments of the first traction body 4100, i.e., the intermediate straight section, will not exceed 5mm in total length change during the rotation of the swing base 2000, as the two wrap-around arc segments and the intermediate straight section between them are not exceeded. This greatly improves the stability and accuracy of rotation through the rolling guide component 6100. Based on the same principle, the energy transmission cable 3200 can also maintain a stable total length change, which will not be elaborated further.

[0114] In one embodiment, the energy release body 3100 has an annular winding groove. After the first and last ends of the first traction body 4100 pass through the first traction channel 1200 and the transition guide channel 2200, they can be wound and connected with the annular winding groove. Assuming that the winding diameter of the annular winding groove is D, the wire diameter of the first traction body 4100 is d, and the straight-line distance between the two far ends of the two first traction channels 1200 is greater than or equal to (D-3d) and less than or equal to (D+3d).

[0115] See Figures 28 to 33As shown, in one embodiment, the energy releasing body 3100 is provided with a cable connection mechanism 7000, and the energy transmission cable 3200 is connected to the cable connection mechanism 7000. The cable connection mechanism 7000 can adopt various structures. For example, in one embodiment, the cable connection mechanism 7000 includes a transition boss 7100 located on the energy releasing body 3100, and the energy transmission cable 3200 is wound and connected to the transition boss 7100. Alternatively, the cable connection mechanism 7000 includes an elastic transition member 7200 and a transition conductive member 7300, which are respectively located on the energy releasing body 3100 and the swing base body 2000. The distal end of the energy transmission cable 3200 is connected to one of the elastic transition member 7200 and the transition conductive member 7300.

[0116] For example, the elastic adapter 7200 is located on the energy release body 3100, and the conductive adapter 7300 is located on the swing base 2000. The distal end of the energy transmission cable 3200 is connected to the conductive adapter 7300, and the conductive adapter 7300 is connected to the elastic adapter 7200. The elastic adapter 7200 can elastically expand and contract, for example, by using a spring or similar structure. During the rotational assembly between the energy release body 3100 and the swing base 2000, the elastic expansion and contraction of the elastic adapter 7200 can always maintain elastic contact with the conductive adapter 7300, achieving elastic conductive contact between the elastic adapter 7200 and the conductive adapter 7300. A sealing element can also be provided on the swing base 2000. The sealing element can prevent tissue fluid from flowing in during surgery, avoid the risk of leakage, and serve as an electrical insulation seal.

[0117] See Figures 34 to 39As shown, in one embodiment, the distal end of the energy transmission cable 3200 is connected to a flexible conductive cable 3300. The flexible conductive cable 3300 is located between the distal port of the first traction channel 1200 and the proximal port of the transition guide channel 2200. Therefore, the distal end of the energy transmission cable 3200 can be indirectly electrically connected to the transition conductive member 7300 through the flexible conductive cable 3300, without needing to pass the energy transmission cable 3200 itself through the first traction channel 1200 and the transition guide channel 2200. Therefore, when the pitch base 1000 and the swing base 2000 rotate relative to each other, the energy transmission cable 320... The energy transmission cable 3200 is never located between the far end of the first traction channel 1200 and the near end of the transition guide channel 2200, i.e., it is never located in the section where the pitch base 1000 and the swing base 2000 rotate relative to each other. Therefore, the energy transmission cable 3200 will no longer bend, thus avoiding the reduction in lifespan caused by bending. Instead, the bending state is transferred to the elastic conductor cable 3300. Based on its own elastic deformation function, the elastic conductor cable 3300 can extend and retract arbitrarily between the far end of the first traction channel 1200 and the near end of the transition guide channel 2200 and form a good conductivity function.

[0118] See Figures 40 to 49 As shown, in one embodiment, the energy release body 3100 includes a first energy clamp 3100a and a second energy clamp 3100b, which are rotatably mounted on the swing base body 2000. The mutual rotation of the first energy clamp 3100a and the second energy clamp 3100b is used to close or open with each other. The energy transmission cable 3200 includes a first energy cable 3200a and a second energy cable 3200b. The first energy cable 3200a is connected to the first energy clamp, and the second energy cable 3200b is connected to the second energy clamp 3100b. In addition, the energy release body 3100 may also include two or more energy clamps to realize the mutual linkage of multiple energy clamps. This is not limited.

[0119] In one embodiment, the pitch base 1000 has four first traction channels 1200, and the swing base 2000 has two transition guide channels 2200. Each pair of first traction channels 1200 is matched with one transition guide channel 2200. The traction assembly 4000 includes two first traction bodies 4100, which are respectively wound around the first energy clamp 3100a and the second energy clamp to control the fixed-axis rotation of the first energy clamp 3100a or the second energy clamp. The first and last ends of different first traction bodies 4100 are respectively inserted into two different first traction channels 1200. At this time, the pitch base 1000 has four first traction channels 1200, and the first and last ends of the two first traction channels 1200, that is, a total of four segments, can be respectively inserted into different first traction channels 1200. The first traction body 4100 can refer to two segments separated in different directions from the position where the first traction body 4100 is fixed on the first energy clamp 3100a or the second energy clamp, or it can be a complete first traction body 4100 composed of two separate segments. In this case, the ends of the two separate segments of the first traction body 4100 are simultaneously connected to the first energy clamp 3100a or the second energy clamp, together forming the first traction body 4100 connected to the first energy clamp 3100a or the second energy clamp.

[0120] In another embodiment, the pitch base 1000 has two first traction channels 1200, and the swing base 2000 has two transition guide channels 2200. Each first traction channel 1200 is matched with a transition guide channel 2200. The traction assembly 4000 includes two first traction bodies 4100, which are respectively wound around the first energy clamp 3100a and the second energy clamp to control the rotation of the first energy clamp 3100a or the second energy clamp on a fixed axis. The first and last two segments of each first traction body 4100 are respectively inserted into the two first traction channels 1200. At this time, the pitch base 1000 has only two first traction channels 1200, and the first and last two segments of the two first traction channels 1200 can be inserted into the same first traction channel 1200 at the same time.

[0121] When the swing base 2000 is configured as a first base 2400 and a second base 2500, both the first base 2400 and the second base 2500 are rotatably connected to the pitch base 1000. The distal end face of the first base 2400 can have two lateral holes 2400a, which are respectively used for the passage of a first energy cable 3200a and a second energy cable 3200b. The proximal end face of the second base 2500 has a central channel 2500a. After the first base 2400 and the second base 2500 are assembled, the central channel 2500a and the two lateral holes 2400a are connected. The hole 2400a can form a connection, so that the first energy cable 3200a and the second energy cable 3200b can pass through the two lateral holes 2400a in the direction from the far end to the near end, and then be led out into a central channel 2500a. The central channel 2500a can bundle the first energy cable 3200a and the second energy cable 3200b, for example, to form a similar parallel structure. The parallel direction refers to the direction parallel to the pitch direction. In this way, the cables can be effectively protected to avoid the length fluctuation of the first energy cable 3200a and the second energy cable 3200b in the joint area, thereby improving the cable life.

[0122] This application provides a surgical instrument, which includes the power device end.

[0123] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An energy apparatus tip, comprising: The energy device terminal includes: The pitch base has a first contact boss protruding from the far end face of the pitch base, and the pitch base has a first traction channel, the far end of the first traction channel is located on the far end face of the pitch base. A swing base body is provided with a second contact boss protruding from the proximal end face of the swing base body. The swing base body is reciprocated relative to the pitch base body along a preset direction, so that the first contact boss and the second contact boss roll contact. The swing base body is provided with a transition guide channel, and the proximal end ports of the transition guide channel are all located on the proximal end face of the swing base body. An energy component, comprising an energy release body and an energy transmission cable, wherein the energy release body is mounted on the swing base, and the energy transmission cable passes through the first traction channel and the transition guide channel and is connected to the energy release body; the relative rotation angle between the swing base and the pitch base is angle α, and the reversing angle of the energy transmission cable is β, wherein the reversing angle β is less than the rotation angle α; At least one of the pitch base and the swing base is provided with a motion guiding mechanism, the motion guiding mechanism including a plurality of rolling guiding components; wherein, the number of the rolling guiding components is even, and the plurality of rolling guiding components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the transition guiding channel; or, the guiding mechanism includes sliding guiding components, the number of the sliding guiding components is even, and the plurality of sliding guiding components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the transition guiding channel; or, the guiding mechanism includes a plurality of rolling guiding components and a plurality of sliding guiding components, the total number of the rolling guiding components and the sliding guiding components is even, and the rolling guiding components and the sliding guiding components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the transition guiding channel.

2. The energy device terminal according to claim 1, characterized in that, The energy device terminal includes: The traction assembly includes a first traction body, and at least two first traction channels and two transition guide channels. The energy release body is rotatably connected to the swing base. The first traction body passes through the first traction channel and the transition guide channel and is connected to the energy release body, and is used to control the energy release body to reciprocate relative to the swing base along a preset direction.

3. The energy device terminal according to claim 2, characterized in that, At least one of the pitch base and the swing base is provided with a motion constraint mechanism, which is used to constrain the first contact boss to always maintain a rolling tangent with the second contact boss.

4. The energy device terminal according to claim 3, characterized in that, The traction assembly includes at least two second traction bodies. The pitch base body has at least two second traction channels. Each second traction body passes through one of the second traction channels and is connected to the swing base body to drive the swing base body to rotate relative to the pitch base body. The side protrusion of the motion constraint mechanism is provided with a clearance groove, which is used to avoid the second traction body.

5. The energy device terminal according to claim 4, characterized in that, The distal ports of all the second traction channels are located on the distal end face of the pitch base, and the distal ports of all the second traction channels are arranged along a straight line trajectory perpendicular to the rotation direction of the swing base. And / or, The swing base is provided with at least two traction connection parts, each of the traction connection parts is matched with a second traction channel, and each second traction body is connected to a traction connection part on the swing base.

6. The energy device terminal according to claim 2, characterized in that, The pitch base body has two or three first traction channels, and the swing base body has two or three corresponding transition guide channels. Each first traction channel is matched with one transition guide channel. The first traction body is wound around the energy release body to control the fixed-axis rotation of the energy release body. The first and last ends of the first traction body are respectively inserted into different first traction channels and transition guide channels. The energy transmission cable passes through one of the first traction channels and one of the transition guide channels. or, The first and last sections of the first traction body are respectively inserted into two of the first traction channels and the transition guide channel, and the energy transmission cable passes through another first traction channel and the transition guide channel.

7. The energy device terminal according to claim 6, characterized in that, The first traction channel through which the energy transmission cable passes has a cable transition arc surface; and / or, A cable separator is provided between the two first traction channels through which the energy transmission cable and the first traction body pass, the cable separator being used to separate adjacent energy transmission cables and first traction bodies.

8. The energy device terminal according to claim 7, characterized in that, The plurality of rolling guide components are located on at least one side of at least one of the first traction channel and the transition guide channel. The rolling guide components are in rolling guide contact with the first traction body to guide the first traction body to wrap around the energy release body.

9. The energy device terminal according to claim 8, characterized in that, The energy release body has a circular winding groove, and the first traction body is wound and connected to the circular winding groove. The winding diameter of the circular winding groove is D, the wire diameter of the first traction body is d, and the straight-line distance between the two far-end ports of the two first traction channels is greater than or equal to (D-3d) and less than or equal to (D+3d).

10. The energy device terminal according to claim 1, characterized in that, The energy release body is provided with a cable connection mechanism, and the energy transmission cable is connected to the cable connection mechanism.

11. The energy device terminal according to claim 10, characterized in that, The cable connection mechanism includes a transition boss located on the energy release body, and the energy transmission cable is wound and connected to the transition boss; and / or, The cable connection mechanism includes an elastic adapter and a conductive adapter, which are respectively located on the energy release body and the swing base. The rotational assembly between the energy release body and the swing base enables elastic conductive contact between the elastic adapter and the conductive adapter. The distal end of the energy transmission cable is connected to one of the elastic adapter and the conductive adapter.

12. The energy device terminal according to claim 11, characterized in that, The distal end of the energy transmission cable is connected to a flexible conductive cable, which is located between the distal port of the first traction channel and the proximal port of the transition guide channel. The distal end of the energy transmission cable is indirectly electrically connected to the transition conductive component through the flexible conductive cable.

13. The energy device terminal according to claim 1, characterized in that, The energy release body includes a first energy clamp and a second energy clamp, which are rotatably mounted on the swing base. The mutual rotation of the first energy clamp and the second energy clamp is used to close or open with each other. The energy transmission cable includes a first energy cable and a second energy cable, with the first energy cable connected to the first energy clamp and the second energy cable connected to the second energy clamp. The swing base includes a first base and a second base, both of which are rotatably connected to the pitch base. The second contact boss is located on the second base. Two lateral holes are formed on the distal end face of the first base, and a central channel is formed on the proximal end face of the second base. The central channel and the two lateral holes are connected to allow the first energy cable and the second energy cable to pass through the two lateral holes and then be led out through the central channel.

14. A surgical instrument, characterized in that, The surgical instrument includes the energy device end of any one of claims 1-13.

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