Instrument tip and surgical robot

Abstract

The application relates to an instrument tip and a surgical robot. The instrument tip comprises a mounting base, a pitching structure capable of pitching relative to the mounting base, two transmission structures, each of which is provided with an electrically connected conductive slip ring and a first conductive part, two spring electrodes, each of which is kept abutting against a conductive slip ring, the conductive slip ring being capable of rotating relative to the spring electrode, a clamping structure comprising two clamping parts, the proximal end of each clamping part being connected to a first conductive part, the two transmission structures being capable of driving the two clamping parts to move close to or away from each other, two cables, the distal end of each cable being connected to a spring electrode, and a traction structure comprising at least two opening and closing traction members, the opening and closing traction members driving the transmission structure to drive the clamping part to move. In this way, the spring electrode can electrically connect the proximal end of the cable and the conductive slip ring, so as to effectively transmit electric energy, and meanwhile, the winding of the cable can be avoided, and the use performance of the cable is ensured.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an instrument end effector and surgical robot. Background Technology

[0002] In recent years, with the application and development of robotics-related technologies, especially computing technology, the role of medical surgical robots in clinical practice has received increasing attention. Among them, minimally invasive surgical robot systems can reduce the physical labor of doctors during surgery through interventional treatment, while achieving precise surgery, resulting in less trauma, less blood loss, less postoperative infection, and faster postoperative recovery for patients.

[0003] The design quality of surgical instruments used in surgical robots directly determines the success or failure of a minimally invasive surgical robot system. They can better assist doctors in performing surgical procedures, and the performance of surgical instruments is a key factor affecting the performance level of a minimally invasive surgical robot system.

[0004] Currently, energy transfer to the device's end effector is ensured by using guide rollers for cable routing and internal clamping. However, when using guide rollers to transport cables, the cables may become entangled and twisted in multiple places, making them prone to breakage, sheath damage, detachment of welded or connected areas, and insufficient insulation reliability, thus affecting the performance of the device's end effector. Summary of the Invention

[0005] Therefore, it is necessary to address the problems of cable entanglement leading to cable damage when transmitting energy through guide wheels in current energy devices, and to provide an instrument end effector and surgical robot that will not entangle the cable when outputting power, thereby reducing the cable length, avoiding damage caused by cable entanglement, ensuring cable performance, and achieving stable output of power and electrical energy while ensuring insulation performance, thus guaranteeing the performance of the instrument end effector.

[0006] An instrument tip, comprising:

[0007] Mounting base, located at the end of the instrument rod;

[0008] A pitch structure is provided on the mounting base and can pitch relative to the mounting base;

[0009] Two transmission structures are coaxially and rotatably mounted on the pitch structure. The two transmission structures are insulated from each other. Each transmission structure has an electrically connected conductive slip ring and a first conductive part, the first conductive part being located on the side of the conductive slip ring.

[0010] Two spring electrodes are disposed in the pitch structure, each spring electrode being held in contact with a conductive slip ring, the conductive slip ring being rotatable relative to the spring electrode;

[0011] The clamping structure includes two rotatably connected clamping parts, the proximal end of each clamping part being connected to a first conductive part. When the two transmission structures move, they can drive the two clamping parts to move closer to each other or further away from each other to achieve closure or opening.

[0012] Two cables, the proximal ends of which are connected to an energy source, and the distal end of each cable is connected to a spring electrode to power the clamping part; and

[0013] The traction structure includes at least two opening and closing traction members, each of the transmission structures is connected to at least one of the opening and closing traction members, and the opening and closing traction members drive the transmission structure to move the clamping part.

[0014] In one embodiment of this application, the clamping structure further includes a first rotating part, which is rotatably connected to the two clamping parts;

[0015] Each of the clamping portions has a second conductive portion, and each of the clamping portions is electrically connected to the first conductive portion through the second conductive portion. One of the first conductive portion and the second conductive portion is a protrusion and the other is a groove.

[0016] The distance between the first conductive part and the conductive slip ring is L1, and the distance between the second conductive part and the first rotating part is L2, where L2 / L1 > 1. This produces a force-enhancing clamping effect.

[0017] In one embodiment of this application, the first rotating part has an insulating part and an anti-detachment part. The insulating part is located in the middle of the first rotating part and is used to insulatingly separate the two clamping parts. The anti-detachment part is disposed at both ends of the first rotating part and is used to prevent the clamping parts from detaching from the first rotating part.

[0018] The first rotating part includes a first insulating shaft and a first supporting shaft. The first supporting shaft is disposed in the first insulating shaft, and the first insulating shaft insulates and connects the two clamping parts.

[0019] In one embodiment of this application, the clamping part includes an insulating sleeve and a conductive clamping piece. The insulating sleeve is disposed at the proximal end of the conductive clamping piece, and the insulating sleeve provides an insulating connection between the two clamping parts. The proximal end of the conductive clamping piece is also electrically connected to the first conductive part.

[0020] In one embodiment of this application, the transmission structure includes a wire hanging disc, an insulating disc, and a conductive disc. The conductive disc and the wire hanging disc are fixed to both sides of the insulating disc and are rotatably disposed on the pitching structure. The first conductive part and the conductive slip ring are disposed on the surface of the conductive disc away from the insulating disc and are electrically connected through the conductive disc.

[0021] In one embodiment of this application, the surface of the wire hanging disc facing the insulating disc has a first mating portion and a second mating portion, and the surface of the insulating disc facing the wire hanging disc has a first limiting portion and a second limiting portion. The first mating portion is mated to the first limiting portion, and the second mating portion is mated to the second limiting portion, so as to fix the wire hanging disc to the insulating disc.

[0022] The conductive disk has a third mating portion on its surface facing the insulating disk, and the insulating disk has a third limiting portion on its surface facing the conductive disk. The third mating portion and the third limiting portion are connected to each other to fix the conductive disk to the insulating disk.

[0023] In one embodiment of this application, the first mating part and the second mating part are located in the same circumferential direction of the wire hanging disc, and the first mating part and the second mating part are staggered along the circumferential direction;

[0024] In the axial projection direction of the transmission structure, the circumference where the first mating part is located is located outside or inside the circumference where the third mating part is located.

[0025] In one embodiment of this application, each of the wire-hanging reels is connected to at least one of the opening and closing traction members. The opening and closing traction members are wound around the wire-hanging reels to drive the transmission structure to rotate, so that the two clamping parts move away from each other or move closer to each other, thereby realizing the opening and closing control of the clamping parts.

[0026] The wire-hanging reel has a fixing part, the insulating reel has a wire groove, the wire groove is recessed in the circumference of the insulating reel, and is used to wind and install the opening and closing traction member. The fixing part is used to fix the wire end of the opening and closing traction member.

[0027] In one embodiment of this application, the pitch structure further includes a pitch link, a second rotating part, and a third rotating part. The pitch link is rotatably mounted on the mounting base via the third rotating part. The pitch link has an installation space. The second rotating part is disposed in the installation space. The two transmission structures are rotatably disposed on the second rotating part and located in the installation space.

[0028] The second rotating part includes a second insulating shaft and a second supporting shaft. The second supporting shaft is disposed in the second insulating shaft, and the second insulating shaft insulates and connects the two transmission structures.

[0029] In one embodiment of this application, the pitch linkage includes a mounting part and a support part. The mounting part is rotatably mounted on the mounting base via the third rotating part. The support part is disposed at the distal end of the mounting part and has the mounting space.

[0030] The support portion has a fixing hole extending along the length of the cable, the distal end of the cable is fixed to the fixing hole, and the spring electrode is located in the mounting space and connected to the distal end of the cable.

[0031] In one embodiment of this application, the spring electrode is clamped between the transmission structure and the inner wall of the support portion, so that the spring electrode remains in contact with the conductive slip ring;

[0032] The spring electrode is held in place of the conductive slip ring, or the spring electrode abuts against the conductive slip ring axially.

[0033] In one embodiment of this application, the pitch linkage includes a metal base and an insulating base. The insulating base is at least partially sleeved on the distal end of the metal base, and the proximal end of the metal base is rotatably connected to the mounting base. The insulating base has the mounting space and a fixing hole for fixing the distal end of the cable.

[0034] A surgical robot includes a robotic arm carriage and surgical instruments. The robotic arm carriage holds the surgical instruments, which include a drive box, an instrument rod, and an instrument end effector as described in any of the above technical features. The instrument end effector is located at the distal end of the instrument rod, and the proximal end of the instrument rod is connected to the drive box.

[0035] By adopting the above technical solution, this application has at least the following technical effects:

[0036] The instrument end effector and surgical robot of this application include an instrument end effector with a mounting base at the end of the instrument rod. A pitching structure is mounted on the mounting base, and two transmission structures are rotatably mounted within the pitching structure. These two transmission structures are coaxial and insulated. Each transmission structure has a conductive slip ring and a first conductive part. Each transmission structure is connected to a clamping part in a clamping structure via the first conductive part. The two clamping parts are insulated at the connection point and rotatably connected. The proximal ends of two cables are connected to an energy source, and the distal ends of the two cables are respectively connected to spring electrodes. The spring electrodes are connected to the conductive slip ring, and the conductive slip ring is electrically connected to the first conductive part. In other words, the distal ends of the cables are electrically connected to the conductive slip ring via the spring electrodes, and the conductive slip ring is electrically connected to the clamping part via the first conductive part, thus supplying power to the corresponding clamping part. The opening and closing traction component of the traction structure is connected to the transmission structure. When the opening and closing traction component is pulled, it can drive the transmission structure to rotate, thereby driving the clamping part to rotate. This causes the two clamping parts to move away from or closer to each other at the far end, realizing the opening and closing control of the clamping structure, so that the two clamping parts can release or clamp the target tissue.

[0037] At the distal end of the instrument, a conductive slip ring is electrically connected to the proximal end of a cable via a spring-loaded electrode. When the transmission structure rotates, the conductive slip ring remains in contact with the spring-loaded electrode and can also rotate relative to it to effectively transmit electrical energy. The distal end of the cable does not rotate synchronously, thus preventing tangling. This reduces cable length, avoids damage caused by tangling, and ensures cable performance, thereby guaranteeing the performance of the instrument's distal end. Simultaneously, the transmission structure drives the clamping part to rotate via a first conductive part, and the conductive slip ring is electrically connected to the clamping part through the first conductive part. This allows for the transmission of electrical energy while simultaneously transmitting power, providing good insulation to ensure reliable clamping of the target tissue by both clamping parts, facilitating subsequent surgical procedures. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of a surgical instrument according to an embodiment of this application.

[0039] Figure 2 for Figure 3 The diagram shows an exploded view of the end of the device.

[0040] Figure 3 for Figure 1 A schematic diagram of the end of the surgical instrument shown.

[0041] Figure 4 for Figure 3 A schematic diagram of the clamping structure at the end of the instrument is shown.

[0042] Figure 5 for Figure 4 A schematic diagram of one clamping part in the clamping structure shown.

[0043] Figure 6 for Figure 5 An exploded view of the clamping part shown.

[0044] Figure 7 for Figure 4 A schematic diagram of the first rotating part in the clamping structure shown.

[0045] Figure 8 for Figure 7 An exploded view of the first rotating part is shown.

[0046] Figure 9 for Figure 4 The diagram shows a clamping structure cut in half.

[0047] Figure 10 for Figure 2 The diagram shown is a schematic representation of the transmission structure at the end of the device, viewed from one angle.

[0048] Figure 11 for Figure 10The diagram shows a transmission structure viewed from another angle.

[0049] Figure 12 for Figure 10 The diagram shown is an exploded view of the transmission structure from one angle.

[0050] Figure 13 for Figure 11 The diagram shown is an exploded view of the transmission structure from another angle.

[0051] Figure 14 for Figure 3 The diagram shows the connection between the transmission structure and the clamping structure at the end of the instrument.

[0052] Figure 15 for Figure 14 The diagram shows an exploded view of one embodiment of the transmission and clamping structures.

[0053] Figure 16 for Figure 3 The diagram shows the end of the instrument cut in half.

[0054] Figure 17 for Figure 16 An exploded view of the device's end at the second rotating part.

[0055] Figure 18 for Figure 2 The diagram shows a schematic representation of an embodiment of the pitch structure connecting the cable and the spring electrode at the end of the device.

[0056] Figure 19 for Figure 18 The diagram shown is an exploded view of the pitch structure from one angle.

[0057] Figure 20 for Figure 18 The diagram shown is an exploded view of the pitch structure from another angle.

[0058] Figure 21 for Figure 2 A schematic diagram of another embodiment of the pitch structure connecting the cable and the spring electrode at the end of the device shown.

[0059] Figure 22 for Figure 3 An exploded view of another embodiment of the transmission and clamping structure shown. Detailed Implementation

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] See Figure 1 and Figure 3 This application provides a device end effector 10. Figure 1 This is a schematic diagram of a surgical instrument according to an embodiment of this application. Figure 2 for Figure 1 An exploded view of the distal end 10 of the surgical instrument shown. Figure 3 for Figure 1 The diagram shows a schematic of the instrument tip 10 in a surgical instrument. This instrument tip 10 is used in the surgical instruments of a surgical robot. The instrument tip 10 is mounted at the end of the instrument shaft 20 of the surgical instrument. The surgical instrument performs surgical operations on the target tissue by manipulating the instrument tip 10 to achieve the therapeutic purpose. It is understood that the surgical operations here include, but are not limited to, forceful clamping, electrocoagulation, cutting, etc., and the target tissue is the tissue requiring surgical manipulation. Optionally, the surgical robot used with the instrument tip 10 is a laparoscopic surgical robot or other types of surgical robots.

[0067] Understandably, current energy instrument cables are routed via guide wheels and internal clamps to ensure energy transfer at the instrument tip. However, when using guide wheels to transport the cable, the cable may become entangled and twisted in multiple places, leading to breakage, sheath damage, detachment of welded or connected areas, and insufficient insulation reliability, thus affecting the performance of the instrument tip. Therefore, this application provides a novel instrument tip 10 that does not entangle the cable 600 when outputting power, reducing the cable 600's length and preventing damage caused by entanglement, thus ensuring the cable 600's performance. Simultaneously, it achieves stable power and electrical energy output while maintaining insulation performance, thereby ensuring the performance of the instrument tip 10. The specific structure of the instrument tip 10 in one embodiment is described below. Furthermore, L2 / L1>1 can produce a force-enhancing clamping effect, enabling reliable clamping of the target tissue while effectively performing surgical operations such as electrocoagulation. This reduces the number of instruments used during surgery (i.e., avoiding the simultaneous use of two instruments, a powerful gripper and a bipolar electrocoagulation forceps), improving surgical efficiency and reducing patient surgical costs, as explained later.

[0068] See Figures 1 to 3 In one embodiment, the instrument end effector 10 includes a mounting base 100, a pitch structure 200, two transmission structures 300, two spring electrodes 400, a clamping structure 500, two cables 600, and a traction structure 700. The mounting base 100 is disposed at the end of the instrument rod 20. The pitch structure 200 is disposed on the mounting base 100 and can pitch relative to the mounting base 100. The two transmission structures 300 are coaxially and rotatably disposed on the pitch structure 200, and are insulated from each other. Each transmission structure 300 has an electrically connected conductive slip ring 311 and a first conductive part 312, the first conductive part 312 being located on the side of the conductive slip ring 311. The two spring electrodes 400 are disposed in the pitch structure 200, each spring electrode 400 abutting against a conductive slip ring 311, and the conductive slip ring 311 is rotatable relative to the spring electrode 400. The clamping structure 500 includes two rotatably connected clamping portions 510. The proximal end of each clamping portion 510 is connected to a first conductive portion 312. When the two transmission structures 300 move, they can drive the two clamping portions 510 to move closer or further apart, thereby achieving closure or opening. The proximal ends of two cables 600 are connected to an energy source, and the distal end of each cable 600 is connected to a spring electrode 400 to supply power to the clamping portion 510. The traction structure 700 includes at least two opening and closing traction members 710. Each transmission structure 300 is connected to at least one opening and closing traction member 710. The opening and closing traction member 710 drives the transmission structure 300 to move the clamping portion 510.

[0069] The instrument tip 10 is the component of the surgical instrument that performs surgical operations. The surgical instrument contacts the target tissue through the instrument tip 10 and performs surgical operations such as clamping, electrocoagulation, and cutting on the target tissue. It is understood that the instrument rod 20 has a proximal end and a distal end. The proximal end is the end of the instrument rod 20 closer to the surgeon, and the distal end is the end of the instrument rod 20 farther from the surgeon. This proximal and distal end also applies to the instrument tip 10. The mounting base 100 is the base of the entire instrument tip 10, and the instrument tip 10 is mounted to the end of the instrument rod 20 of the surgical instrument through the mounting base 100. Optionally, the mounting base 100 has a wiring through-hole for the traction structure 700 and the cable 600 to run, facilitating the pitch and opening / closing control of the instrument tip 10 to meet the operational needs of the instrument tip 10. Of course, the mounting base 100 is hollow, and the hollow space of the mounting base 100 provides space for the traction structure 700 and the cable 600 to run. Optionally, the mounting base 100 is cylindrical. This reduces the sharp edges on the outer surface of the mounting base 100, preventing scratches.

[0070] The distal end of the mounting base 100 is rotatably connected to the proximal end of the pitch structure 200. Two transmission structures 300 are rotatably mounted in the pitch structure 200, coaxially arranged and insulated from each other. Each transmission structure 300 is electrically connected to a clamping part 510 in a clamping structure 500. The pitch structure 200 can pitch relative to the mounting base 100, thereby driving the entire clamping structure 500 to pitch via the transmission structures 300, adjusting the pitch position of the entire clamping structure 500 in space. Simultaneously, the instrument lever 20 can also drive the entire instrument end 10 to rotate around the central axis of the instrument lever 20, adjusting the circumferential position of the clamping structure 500 in space. Thus, the operator can adjust the position of the clamping structure 500 in space by rotating the instrument lever 20 and / or pitching the pitch structure 200, ensuring the clamping structure 500 is aligned with the target tissue.

[0071] The two clamping portions 510 in the clamping structure 500 are rotatably connected, and the two clamping portions 510 are insulated at the rotatable connection. The proximal ends of the two clamping portions 510 are also electrically connected to the transmission structure 300. When the transmission structure 300 rotates relative to the pitch structure 200, the transmission structure 300 can drive the clamping portions 510 to rotate through the electrical connection. The two transmission structures 300 rotate in opposite directions. When the two transmission structures 300 drive the corresponding clamping portions 510 to rotate, the two clamping portions 510 can move closer to each other or further away from each other during the rotation, so as to realize the closing or opening of the clamping structure 500, thereby realizing the clamping or release of the target tissue. The rotation of the transmission structure 300 is realized by the traction structure 700, which includes at least two opening and closing traction members 710. Each transmission structure 300 corresponds to at least one opening and closing traction member 710. The proximal end of the opening and closing traction member 710 passes through the mounting base 100 and the instrument rod 20 and is connected to the drive box 30. The operator can control the rotation of the two transmission structures 300 through the corresponding opening and closing traction component 710, thereby controlling the opening and closing operation of the two clamping parts 510.

[0072] Each transmission structure 300 has a conductive slip ring 311 and a first conductive part 312. The conductive slip ring 311 and the first conductive part 312 are disposed on the surface of the transmission structure 300 away from the other transmission structure 300. The conductive slip ring 311 is located on the side of the first conductive part 312 and is electrically connected to the first conductive part 312. Spring electrodes 400 are disposed in the pitch structure 200 and correspond to one transmission structure 300 respectively. The instrument end 10 supplies power to the two clamping parts 510 through the transmission structure 300 via two cables 600 and two spring electrodes 400. The proximal end of each cable 600 is connected to an energy source, and the distal end of each cable 600 is connected to the spring electrode 400. The spring electrode 400 and the conductive slip ring 311 are kept in contact. When the transmission structure 300 rotates relative to the pitch structure 200, the transmission structure 300 can rotate relative to the spring electrode 400 via the conductive slip ring 311.

[0073] Thus, the spring electrode 400 and the conductive slip ring 311 are always in a conductive state. When the transmission structure 300 rotates, the conductive slip ring 311 rotates, and the spring electrode 400 remains in contact with and electrically connected to the conductive slip ring 311. At this time, the electrical energy transmitted by the cable 600 is transmitted to the conductive slip ring 311 through the spring electrode 400, and then the conductive slip ring 311 transmits the electrical energy to the first conductive part 312, and then to the clamping part 510 through the first conductive part 312. In other words, the electrical energy transmission path is: energy source - cable 600 - spring electrode 400 - conductive slip ring 311 - first conductive part 312 - clamping part 510. Meanwhile, when the transmission structure 300 rotates, it can rotate relative to the spring electrode 400 through the conductive slip ring 311. In this way, the spring electrode 400 and the cable 600 will not rotate synchronously with the transmission structure 300, which can effectively reduce the entanglement of the cable 600 due to the rotation of the transmission structure 300, avoid the cable 600 from breaking or being damaged, ensure the performance of the cable 600, improve the life of the cable 600, and thus ensure the performance of the instrument end 10.

[0074] When in use, the instrument tip 10 is moved to the desired position and inserted into the patient's body. The instrument lever 20 rotates the instrument tip 10 and / or controls the pitch mechanism 200 to perform pitch movements, thus adjusting the position of the instrument tip 10 within the patient's body to align it with the target tissue. The opening and closing traction member 710 is operated, causing the transmission structure 300 to rotate relative to the pitch mechanism 200. This, in turn, causes the transmission structure 300 to move the clamping part 510 via the first conductive part 312, causing the two clamping parts 510 to move away from each other and open. At this point, the target component is located between the two clamping parts 510. Subsequently, the two clamping parts 510 are operated to close and clamp the target tissue. During this process, the cable 600 transmits electrical energy from the power source to the first conductive part 312 via the spring electrode 400. The first conductive part 312 then transmits the energy to the corresponding clamping part 510. When the clamping part 510 clamps the target tissue, the two clamping parts 510 can perform surgical operations such as strong clamping, electrocoagulation, and cutting of the target tissue. After the surgical operation is completed, the opening and closing traction member 710 controls the two clamping parts 510 to move away from each other to release the target tissue. After the operation is completed, the instrument end 10 is removed from the patient's body.

[0075] In the above embodiment, the instrument end 10 is electrically connected to the proximal end of the cable 600 and the conductive slip ring 311 via the spring electrode 400. When the transmission structure 300 rotates, the conductive slip ring 311 remains in contact with the spring electrode 400 and can also rotate relative to the spring electrode 400 to effectively transmit electrical energy. The distal end of the cable 600 does not rotate synchronously, thus preventing tangling. This reduces the length of the cable 600, avoids damage caused by tangling, ensures the performance of the cable 600, and consequently ensures the performance of the instrument end 10. Simultaneously, the transmission structure 300 drives the clamping part 510 to rotate via the first conductive part 312, and the conductive slip ring 311 is electrically connected to the clamping part 510 via the first conductive part 312. This enables the transmission of electrical energy while simultaneously transmitting power, providing good insulation performance so that the two clamping parts 510 can reliably clamp the target tissue, facilitating subsequent surgical operations.

[0076] Optionally, the conductive slip ring 311 is located in the central region of the transmission structure 300, and the transmission structure 300 rotates around the central axis of the conductive slip ring 311. That is, the transmission structure 300 is arranged in a disc shape, with the conductive slip ring 311 located at the center of the disc, and the first conductive part 312 eccentrically positioned. When the transmission structure 300 rotates, the position of the conductive slip ring 311 does not change, while the first conductive part 312 rotates around the conductive slip ring 311, thereby driving the clamping part 510 to move. Optionally, the traction structure 700 also includes a traction pitch member, the pitch traction member 720 is connected to the pitch structure 200, the proximal end of the pitch traction member 720 passes through the mounting base 100 and the instrument rod 20 and connects to the drive box 30, and the distal end of the pitch traction member 720 is connected to the pitch structure 200. The drive box 30 controls the pitch traction member 720 to drive the pitch structure 200 to move, so that the pitch structure 200 performs pitch motion relative to the mounting base 100. Optionally, the pitch traction component 720 can be a traction wire, traction rope, or other component capable of achieving pitch traction.

[0077] It is worth noting that the two cables 600 transmit electrical energy to the two transmission structures 300 through the two spring electrodes 400, and the two transmission structures 300 drive the corresponding clamping parts 510 to rotate in the same way. Each transmission path includes an opening and closing traction member 710, a cable 600, a spring electrode 400, a transmission structure 300, and a clamping part 510. The instrument end 10 has two transmission paths, which can transmit electrical energy and power. The cable 600, spring electrode 400, transmission structure 300, and clamping part 510 can realize the transmission of electrical energy, while the opening and closing traction member 710, transmission structure 300, and clamping part 510 can realize the transmission of power. The following text will only use one transmission path as an example to illustrate the specific structure of the instrument end 10. When explaining the working principle of the instrument end 10, both structures will be described simultaneously.

[0078] See Figures 2 to 3 In one embodiment, the clamping structure 500 further includes a first rotating part 520, which is rotatably connected to two clamping parts 510. Each clamping part 510 has a second conductive part 511, and each clamping part 510 is electrically connected to the first conductive part 312 through the second conductive part 511. Figure 4 for Figure 3 The diagram shows a clamping structure 500 in the end of the device 10. A second conductive part 511 is provided at the proximal end of the clamping part 510. When the clamping part 510 is connected to the transmission structure 300, the second conductive part 511 is electrically connected to and mechanically connected to the first conductive part 312.

[0079] The first rotating part 520 connects two clamping parts 510 near the proximal end of the clamping part 510, and there is a preset distance between the first rotating part 520 and the second conductive part 511. When the transmission structure 300 rotates, the transmission structure 300 drives the second conductive part 511 to move through the first conductive part 312, and then the second conductive part 511 drives the clamping part 510 to rotate around the first rotating part 520, thereby realizing the control of the rotation of the clamping part 510 and thus realizing the opening and closing control of the two clamping parts 510. At the same time, the conductive slip ring 311 can also supply power to the second conductive part 511 through the first conductive part 312 to supply power to the corresponding clamping part 510. When the two clamping parts 510 clamp the target tissue, the two clamping parts 510 after being energized can realize surgical operations such as strong clamping, electrocoagulation, and cutting.

[0080] Optionally, one of the first conductive portion 312 and the second conductive portion 511 is a protrusion and the other is a groove. For example... Figure 2 , Figure 4 and Figure 10 As shown, the first conductive part 312 is a protrusion, and the second conductive part 511 is a groove. Figure 10 for Figure 2 The diagram shows a schematic view of the transmission structure 300 in the end-effector 10 of the device from one angle. When the transmission structure 300 is connected to the clamping part 510, the first conductive part 312, which is a protrusion, is installed in the second conductive part 511, which is a groove. The first conductive part 312 and the second conductive part 511 can be electrically and mechanically connected. In this way, the first conductive part 312 can transmit energy to the clamping part 510 through the second conductive part 511. At the same time, the first conductive part 312 can also drive the clamping part 510 to rotate around the first rotating part 520.

[0081] See Figure 4 , Figure 5 and Figure 10 In one embodiment, the distance between the first conductive part 312 and the conductive slip ring 311 is L1, and the distance between the second conductive part 511 and the first rotating part 520 is L2, wherein L2 / L1 > 1. Figure 5 for Figure 4 The diagram shows a clamping part 510 in the clamping structure 500. It can be understood that the clamping part 510 has a mounting hole 512, and a first rotating part 520 is mounted in the mounting hole 512. A preset distance L2 exists between the mounting hole 512 where the first rotating part 520 is mounted and the second conductive part 511. A preset distance L1 exists between the first conductive part 312 and the conductive slip ring 311. A certain ratio exists between L1 and L2. When L2 / L1 > 1, the transmission structure 300 and the clamping structure 500 form a force-enhancing structure through the connection between the conductive slip ring 311, the first conductive part 312, the second conductive part 511, and the second rotating part 210, thereby increasing the clamping force and ensuring that the clamping structure 500 can stably clamp the target tissue.

[0082] It is worth noting that the aforementioned distances refer to center-to-center distances, specifically L1 between the center of the first conductive part 312 and the center of the conductive slip ring 311, and L2 between the center of the second conductive part 511 and the center of the first rotating part 520. Of course, these distances can also be other distances that ensure strong clamping, such as distances between corresponding edges or other corresponding positions.

[0083] Because there is a preset gap between the first conductive part 312 and the conductive slip ring 311, and a preset gap between the second conductive part 511 and the mounting hole 512 on the first rotating part 520, the transmission structure 300 outputs a relatively small power. When the first conductive part 312 drives the second conductive part 511 to rotate, it increases the force exerted by the second conductive part 511 in conjunction with the clamping part 510 to rotate around the first rotating part 520, thus achieving the purpose of force amplification. By adopting the above-mentioned L2 / L1>1, the force amplification between the transmission structure 300 and the clamping structure 500 can be achieved, so that the two clamping parts 510 can increase the clamping force when clamping, which is convenient for performing surgical operations such as strong clamping, electrocoagulation, and cutting. Optionally, the increase factor of the clamping force is L2 / L1. It is worth noting that the outer diameter of the instrument rod 20 limits the size of the opening and closing traction member 710, thereby limiting the force that the opening and closing traction member 710 can transmit. Through the force amplification design, the clamping force of the instrument end 10 can be efficiently increased without changing the size of the opening and closing traction member 710.

[0084] See Figure 5 and Figure 6 In one embodiment, the clamping part 510 includes an insulating sleeve 513 and a conductive clamping piece 514. The insulating sleeve 513 is disposed at the proximal end of the conductive clamping piece 514, and the insulating sleeve 513 provides an insulating connection between the two clamping parts 510. The proximal end of the conductive clamping piece 514 is also electrically connected to the first conductive part 312. Figure 6 for Figure 5The diagram shows an exploded view of the clamping portion 510. The clamping portion 510 is formed by two parts, forming a clamping portion 510 with insulating and conductive properties.

[0085] An insulating sleeve 513 is fitted over the proximal portion of the conductive clamping piece 514, with the distal end of the clamping piece 514 exposed by the insulating sleeve 513, enabling it to clamp or release the target tissue. A first rotating part 520 is rotatably connected to two clamping parts 510 at its proximal position. Thus, the two clamping parts 510 contact each other at the connection point via the insulating sleeve 513, preventing conductive connection at the rotating connection point and avoiding short circuits. This ensures reliable insulation between the two conductive clamping pieces 514, guaranteeing the effectiveness of surgical manipulation of the target tissue by the two clamping parts 510. The proximal end of the conductive clamping piece 514 has a second conductive part 511, which is electrically connected to the first conductive part 312. After the two conductive clamping pieces 514 clamp the target tissue, they receive electrical energy and can perform surgical manipulation on the target tissue. In other words, the insulating sleeve 513 at the proximal end of the conductive clamping piece 514 ensures the transmission of electrical energy and effective insulation between the conductive clamping pieces 514.

[0086] Optionally, the clamping part 510 has a mounting hole 512, through which the clamping part 510 is rotatably mounted to the first rotating part 520. Optionally, the conductive clamping piece 514 is made of metal. This increases the structural strength of the conductive clamping piece 514, allowing the two conductive clamping pieces 514 to clamp under a larger clamping force, ensuring the structural strength of the clamping part 510 and preventing deformation, thus ensuring the clamping effect on the target tissue. Optionally, the insulating sleeve 513 is obtained through processes such as coating, spraying, or encapsulation. This ensures reliable insulation between the two conductive clamping pieces 514. Optionally, the conductive clamping piece 514 is a continuous metal body, that is, the conductive clamping piece 514 is made of conductive metal material from the proximal end to the distal end to ensure conductivity. Optionally, the conductive clamping piece 514 includes a connecting part and teeth, the distal end of the connecting part is connected to the proximal end of the teeth, the insulating sleeve 513 is sleeved on the connecting part, and the teeth protrude from the insulating sleeve 513 and are used to clamp the target tissue. The connecting part and the toothed part are an integral structure.

[0087] See Figure 4 , Figures 7 to 9 In one embodiment, the first rotating part 520 includes a first insulating shaft 521 and a first supporting shaft 522. The first supporting shaft 522 is disposed in the first insulating shaft 521, and the first insulating shaft 521 is insulatedly connected to the two clamping parts 510. Figure 7 for Figure 4 A schematic diagram of the first rotating part 520 in the clamping structure 500 shown. Figure 8 for Figure 7 An exploded view of the first rotating part 520 shown. Figure 9 for Figure 4 The diagram shows a clamping structure 500 cut in half. It is understood that when the first rotating part 520 rotatably connects to the two clamping parts 510, it also abuts against the two metal clamping plates. The first insulating shaft 521 connects the two clamping parts 510, preventing the two metal clamping plates from electrically connecting at the rotating joint. The first support shaft 522 supports the first insulating shaft 521, ensuring that the first insulating shaft 521 has a certain structural strength.

[0088] Optionally, the first support shaft 522 is made of metal to give it a certain structural strength, ensuring its support effect on the first insulating shaft 521, thereby ensuring that the first rotating part 520 can stably connect the two clamping parts 510. Of course, in other embodiments of this application, both the first support shaft 522 and the first insulating shaft 521 can be made of insulating material, as long as the first rotating part 520 has a certain structural strength to stably connect the two support parts 233.

[0089] See Figures 7 to 9 In one embodiment, the first rotating part 520 has an insulating part 523 and an anti-detachment part 524. The insulating part 523 is located in the middle of the first rotating part 520 and is used to insulatingly separate the two clamping parts 510. The anti-detachment part 524 is disposed at both ends of the first rotating part 520 and is used to prevent the clamping parts 510 from detaching from the first rotating part 520. The insulating part 523 is located in the middle region of the first rotating part 520. After the first rotating part 520 is rotatably connected to the two clamping parts 510, the insulating part 523 is located between the two clamping parts 510. The insulating part 523 separates the two clamping parts 510 to increase the insulation distance between the two clamping parts 510, thereby making the insulation between the two clamping parts 510 more reliable.

[0090] Furthermore, an anti-detachment part 524 is disposed at the end of the first rotating part 520. After the first rotating part 520 is rotatably connected to the two clamping parts 510, the anti-detachment part 524 is located outside the clamping parts 510, and the outer diameter of the anti-detachment part 524 is larger than the outer diameter of the mounting hole 512. The anti-detachment part 524 prevents the clamping parts 510 from axially disengaging from the first rotating part 520, ensuring the reliability of the rotatable connection between the first rotating part 520 and the two clamping parts 510. Optionally, the side of the anti-detachment part 524 away from the transmission structure 300 has a guide slope, which is used to guide the clamping parts 510 to be installed in the first rotating part 520 for easy assembly. Optionally, the anti-detachment part 524 has an opening 5241. When the clamping parts 510 are installed, the mounting hole 512 of the clamping parts 510 presses against the anti-detachment part 524, thereby deforming the anti-detachment part 524 through the opening 5241, facilitating the installation of the clamping parts 510 in the first rotating part 520. Optionally, the anti-detachment part 524 and the insulating part 523 are disposed on the first insulating shaft 521 of the first rotating part 520.

[0091] See Figures 10 to 13 In one embodiment, the transmission structure 300 includes a wire hanging disc 330, an insulating disc 320, and a conductive disc 310. The conductive disc 310 and the wire hanging disc 330 are fixed on both sides of the insulating disc 320 and are rotatably disposed on the pitch structure 200. The first conductive part 312 and the conductive slip ring 311 are disposed on the surface of the conductive disc 310 away from the insulating disc 320 and are electrically connected through the conductive disc 310. Figure 11 for Figure 10 The schematic diagram of the transmission structure 300 shown is viewed from another angle. Figure 12 for Figure 10 The diagram shown is an exploded view of the transmission structure 300 from one angle. Figure 13 for Figure 11 The transmission structure 300 shown is an exploded view from another angle.

[0092] Two transmission structures 300 are rotatably fixed to the pitch structure 200 via a second rotating part 210 (mentioned later). An insulating disk 320 serves as an insulating connection. A conductive disk 310 and a wire-hanging disk 330 are disposed on both sides of the insulating disk 320, with the conductive disk 310 located on the surface of the transmission structure 300 away from the other transmission structure 300. The conductive disk 310, insulating disk 320, and wire-hanging disk 330 are coaxially arranged to form the transmission structure 300, with the second rotating part 210 passing through the conductive disk 310, insulating disk 320, and wire-hanging disk 330. A conductive slip ring 311 and a first conductive part 312 are disposed on the surface of the conductive disk 310 away from the insulating disk 320 and protrude therefrom. The conductive disk 310 electrically connects the first conductive part 312 and the conductive slip ring 311. The conductive slip ring 311 is sleeved on the outside of the second rotating part 210. When the transmission structure 300 rotates around the second rotating part 210, the conductive slip ring 311 rotates around the second rotating part 210.

[0093] The opening and closing traction component 710 is fixed to the edge of the wire-hanging reel 330. The proximal end of the opening and closing traction component 710 passes through the pitch linkage 230 of the pitch structure 200 (mentioned later), the mounting base 100, and the instrument rod 20, and is connected to the drive box 30. The drive box 30 controls the movement of the opening and closing traction component 710. When the opening and closing traction component 710 is pulled, it drives the wire-hanging reel 330 to rotate. In turn, the wire-hanging reel 330 drives the conductive reel 310 to rotate synchronously through the insulating reel 320. When the conductive reel 310 rotates, it drives the clamping part 510 to rotate through the first conductive part 312, thereby controlling the two clamping parts 510 to achieve the opening and closing action. Meanwhile, the cable 600 is electrically connected to the conductive slip ring 311 via the spring electrode 400, and the conductive slip ring 311 is electrically connected to the first conductive part 312 via the conductive disk 310. The first conductive part 312 then transmits electrical energy to the clamping part 510. Thus, the two clamping parts 510 with electrical energy can perform surgical operations on the target tissue.

[0094] In one embodiment, the insulating disk 320 is made of insulating material, and the conductive disk 310 is made of metal material to meet conductivity requirements and also to support the insulating disk 320, ensuring the structural strength of the transmission structure 300. Optionally, the wire-hanging disk 330 is made of metal material to ensure the structural strength of the transmission structure 300. Of course, in other embodiments of this application, the wire-hanging disk 330 can also be made of insulating material, as long as the structural strength of the transmission structure 300 can be guaranteed. During manufacturing, the transmission structure 300 can be manufactured separately first, and then assembled. Alternatively, it can be manufactured by co-injection molding, where the conductive disk 310 and the wire-hanging disk 330 are manufactured first, and then the conductive disk 310 and the wire-hanging disk 330 are connected as one piece by integral injection molding, with the co-injected gel portion being the insulating disk 320. Alternatively, the insulating disk 320 and the wire-hanging disk 330 can be fused into an insulating part and then fixedly connected to the conductive disk 310.

[0095] See Figure 3 , Figure 2 , Figure 14 and Figure 15 In one embodiment, each wire-hanging reel 330 is connected to at least one opening and closing traction member 710. The opening and closing traction member 710 is wound around the wire-hanging reel 330 to drive the transmission structure 300 to rotate, so that the two clamping parts 510 move away from each other or move closer to each other, thereby realizing the opening and closing control of the clamping parts 510. Figure 14 for Figure 3 The diagram shows the connection between the transmission structure 300 and the clamping structure 500 in the end of the device 10. Figure 15 for Figure 14 The exploded view of the transmission structure 300 and the clamping structure 500 shown is presented below. Figure 14 and Figure 15The diagram shows the opening and closing traction component 710 and the cable 600.

[0096] In this embodiment, the rotation of the wire-hanging reel 330 is controlled by an opening and closing traction member 710. Both ends of the opening and closing traction member 710 are connected to the drive box 30, and the wire-hanging reel 330 is wound around and fixed to the middle region of the opening and closing traction member 710. Figure 15 As shown. When one end of the opening / closing traction member 710 is pulled, the opening / closing traction member 710 can drive the wire hanging disc 330 to rotate in one direction, and then the wire hanging disc 330, through the insulating disc 320 and the conductive disc 310, drives the clamping part 510 to move closer to the other clamping part 510. When the other end of the opening / closing traction member 710 is pulled, the opening / closing traction member 710 can drive the wire hanging disc 330 to rotate in another direction, and then the wire hanging disc 330, through the insulating disc 320 and the conductive disc 310, drives the clamping part 510 away from the other clamping part 510.

[0097] In other words, the rotation of the wire-hanging disc 330 in both directions is controlled by a single traction wire. After the wire-hanging discs 330 of both transmission structures 300 are arranged in this manner, the ends of the two opening / closing traction members 710 are respectively positioned opposite each other, and the wiring layout of the two opening / closing traction members 710 is identical. Simultaneously pulling the two ends of the two opening / closing traction members 710 located on different sides controls the rotation of the two wire-hanging discs 330 in opposite directions, thereby causing the conductive discs 310 in the two transmission structures 300 to rotate in opposite directions. This controls the two clamping parts 510 to move closer or further apart, achieving the opening and closing control of the two clamping structures 500.

[0098] Of course, in other embodiments of this application, two opening and closing traction members 710 can also be used to control the rotation of the wire hanging reel 330. The proximal ends of the two opening and closing traction members 710 are connected to the drive box 30, and the distal ends of the two opening and closing traction members 710 are connected to the wire hanging reel 330. The two opening and closing traction members 710 are used to drive the wire hanging reel 330 to rotate in different directions. Optionally, the opening and closing traction member 710 is a traction wire or traction rope, etc. Optionally, the cable 600 is fixed to the corresponding pitch traction member 720 by a fixing ring 730.

[0099] See Figure 11 and Figure 12In one embodiment, the wire-hanging reel 330 has a fixing part 331, and the insulating reel 320 has a wire groove 321. The wire groove 321 is recessed in the circumference of the insulating reel 320 for winding and installing the opening and closing traction member 710. The fixing part 331 is used to fix the wire end 711 of the opening and closing traction member 710. The opening and closing traction member has a wire end 711, which is installed in the fixing part 331 to fix the opening and closing traction member 710 to the wire-hanging reel 330. Thus, the opening and closing traction member 710 can drive the wire-hanging reel 330 to rotate through the cooperation of the wire end 711 and the fixing part 331. Optionally, the fixing part 331 can be a fixing groove, a fixing ring 730, a fixing buckle, etc. The wire groove 321 is arranged circumferentially on the outer circumferential surface of the insulating reel 320 and close to the wire-hanging reel 330. The opening and closing traction member 710 is wound and installed in the wire groove 321. Optionally, the insulating disc 320 is recessed at the position corresponding to the fixing part 331 to accommodate the fixing part 331, avoid interference, and facilitate the installation of the wire hanging disc 330 on the insulating disc 320.

[0100] See Figures 10 to 13 In one embodiment, the surface of the wire-hanging reel 330 facing the insulating disc 320 has a first mating portion 332 and a second mating portion 333, and the surface of the insulating disc 320 facing the wire-hanging reel 330 has a first limiting portion 322 and a second limiting portion 323. The first mating portion 332 and the first limiting portion 322 are engaged, and the second mating portion 333 and the second limiting portion 323 are engaged, so as to fix the wire-hanging reel 330 to the insulating disc 320. The surface of the conductive disc 310 facing the insulating disc 320 has a third mating portion 313, and the surface of the insulating disc 320 facing the conductive disc 310 has a third limiting portion 324. The third mating portion 313 and the third limiting portion 324 are engaged, so as to fix the conductive disc 310 to the insulating disc 320.

[0101] The wire-hanging reel 330 is mounted to the insulating disc 320 through the engagement of the first mating part 332 and the first limiting part 322, and the engagement of the second mating part 333 and the second limiting part 323. The conductive disc 310 is mounted to the insulating disc 320 through the engagement of the third mating part 313 and the third limiting part 324. Simultaneously, the first wire-hanging reel 330 drives the insulating disc 320 to rotate through the engagement of the first mating part 332 and the first limiting part 322, and the engagement of the second mating part 333 and the second limiting part 323. Furthermore, the insulating disc 320 drives the conductive disc 310 to rotate through the engagement of the third insulating part 523 and the third mating part 313, thereby driving the clamping part 510 to rotate.

[0102] Optionally, the first mating part 332 and the first limiting part 322, the second mating part 333 and the second limiting part 323, and the third mating part 313 and the third limiting part 324 are a protrusion and groove mating structure, which facilitates installation and enables power transmission. The above-mentioned concave-convex mating design ensures that the minimum insulation wall thickness is greater than 0.1mm, and that the torque transmission surface between the two components is as large as possible, ensuring reliable transmission of high torque and preventing structural strength failure, so as to ensure that a strong clamping action can be completed, while also completing the electrocoagulation function. Of course, in other embodiments of this application, the connection between the two components can also be achieved by interference fit, bonding or welding, which will not be elaborated here.

[0103] For example, the first mating part 332, the second limiting part 323, and the third mating part 313 are protrusions, while the second limiting part 323, the first mating part 332, and the third limiting part 324 are grooves. The wire-hanging disc 330 engages with the protrusions and grooves, and the grooves of the insulating disc 320 engage with the protrusions. The conductive disc 310 engages with the protrusions and grooves of the insulating disc 320. In this way, a large torque can be transmitted through the engagement of the protrusions and grooves, thereby driving the rotation of the conductive disc 310. Optionally, the diameter of the second mating part 333 is larger than the diameter of the first limiting part 322 to achieve the transmission of a large torque. Of course, in other embodiments of this application, the protrusions and grooves can also be configured in other forms, which will not be described in detail here. Optionally, the surface of the insulating disc 320 facing the guide disc also has a mounting groove, in which the conductive disc 310 is mounted.

[0104] See Figure 12 and Figure 13 In one embodiment, the first mating portion 332 and the second mating portion 333 are located in the same circumferential direction of the wire-hanging disc 330, and the first mating portion 332 and the second mating portion 333 are staggered in the circumferential direction. In the axial projection direction of the transmission structure 300, the circumference where the first mating portion 332 is located is located outside or inside the circumference where the third mating portion 313 is located. That is, there is a second mating portion 333 between two first mating portions 332, and a first mating portion 332 between two second mating portions 333. The first mating portions 332 and the second mating portions 333 are arranged in the same circumferential direction, and are staggered from the third mating portion 313 in the axial projection direction.

[0105] The first limiting portion 322 and the second limiting portion 323 on one surface of the insulating disk 320 are on one circumference, while the third limiting portion 324 on the other surface of the insulating disk 320 is on another circumference. This avoids the first limiting portion 322 and the second limiting portion 323 being directly opposite each other, allowing the insulating disk 320 to effectively provide conductive isolation between the conductive disk 310 and the wire hanging disk 330. Optionally, the minimum wall thickness of the insulating disk 320 is not less than 0.1 mm to ensure that the insulating disk 320 has sufficient insulation strength, and the minimum air creepage distance between the wire hanging disk 330 and the conductive disk 310 is not less than 0.8 mm, giving it good insulation strength.

[0106] In this application, the opening and closing traction member 710 is connected via the wire-hanging reel 330. The conductive disc 310 and the wire-hanging reel 330 are disposed on the insulating disc 320. The conductive ring abuts against and is electrically connected to the spring electrode 400. The first conductive part 312 cooperates with the second conductive part 511 of the clamping part 510. At this time, the cable 600, the spring electrode 400, the conductive slip ring 311, the conductive disc 310, the first conductive part 312, and the second conductive part 511 form an electrical energy transmission path, ensuring the effectiveness of electrical energy transmission. Thus, the instrument end 10 has two sets of electrical energy transmission paths, which respectively transmit electrical energy to the conductive clamps 514 of the corresponding clamping part 510, facilitating the clamping structure 500 to perform surgical operations on the target tissue. Simultaneously, the opening / closing traction member 710 is connected to the second conductive part 511 of the clamping part 510 via the wire-hanging disc 330 and the first conductive part 312 of the transmission structure 300. At this time, the opening / closing traction member 710, the wire-hanging disc 330, the insulating disc 320, the power disc, the first conductive part 312, and the second conductive part 511 form a power transmission path. Thus, the instrument end 10 has two sets of power transmission paths, which respectively transmit power to the two clamping parts 510, thereby realizing the opening and closing control of the two clamping parts 510.

[0107] See Figure 3 , Figure 2 , Figure 16 and Figure 17 In one embodiment, the pitch structure 200 includes a second rotating part 210 and a third rotating part 220. Two transmission structures 300 are rotatably disposed on the second rotating part 210, and the third rotating part 220 is disposed on the mounting base 100. The pitch structure 200 pitches relative to the mounting base 100 through the third rotating part 220. Figure 16 for Figure 3 The diagram shows the instrument end 10 cut in half. Figure 17 for Figure 16The diagram shows an exploded view of the device end 10 at the second rotating part 210. The second rotating part 210 and the third rotating part 220 are perpendicular in space, such that the direction of rotation of the transmission structure 300 about the second rotating part 210 is perpendicular to the pitch direction of the pitch structure 200. The pitch structure 200 has a mounting space 231, in which the second rotating part 210 is fixedly disposed. The two transmission structures 300 are rotatably disposed on the second rotating part 210 along the axial direction of the second rotating part 210 and are located in the mounting space 231, rotating relative to the second rotating part 210 within the mounting space 231.

[0108] The third rotating part 220 is rotatably connected to the distal end of the mounting base 100 and the proximal end of the pitch structure 200, so that the pitch structure 200 can drive the clamping structure 500 to pitch relative to the mounting base 100. Optionally, the third rotating part 220 is a rotating shaft, which is rotatably connected to the mounting base 100 and the pitch structure 200. Optionally, the second rotating part 210 includes a second insulating shaft 211 and a second support shaft 212, with the second support shaft 212 disposed within the second insulating shaft 211. The second insulating shaft 211 insulates the two transmission structures 300. It is understood that when the second rotating part 210 is rotatably connected to the two transmission structures 300, it will also contact the conductive disk 310 of the transmission structure 300. Connecting the two transmission structures 300 through the second insulating shaft 211 can prevent the two conductive disks 310 from being electrically connected at the rotating connection point. The second support shaft 212 can support the second insulating shaft 211, ensuring that the second insulating shaft 211 has a certain structural strength.

[0109] Optionally, the second support shaft 212 is made of metal to give it a certain structural strength, ensuring its support effect on the second insulating shaft 211, thereby ensuring that the second rotating part 210 can stably connect the two transmission structures 300. Of course, in other embodiments of this application, both the second support shaft 212 and the second insulating shaft 211 are made of insulating material, as long as the second rotating part 210 has a certain structural strength to stably connect the two support parts 233. Optionally, the end of the second support shaft 212 has a limiting end, and the second support shaft 212 is fixed to the pitch structure 200 through the limiting end.

[0110] See Figure 3 , Figure 2 , Figures 18 to 20 In one embodiment, the pitch structure 200 further includes a pitch link 230, which is rotatably mounted on the mounting base 100 via a third rotating part 220. The pitch link 230 has a mounting space 231, and two transmission structures 300 are rotatably disposed in the mounting space 231. Figure 18 for Figure 2The diagram shows an embodiment of the device end effector 10, where the pitch structure 200 connects the cable 600 to the spring electrode 400. Figure 19 for Figure 18 The diagram shown is an exploded view of the pitch structure 200 from one angle. Figure 20 for Figure 18 The diagram shown is an exploded view of the pitch structure 200 from another angle.

[0111] The pitch link 230 is the main component of the pitch structure 200. The proximal end of the pitch link 230 is pitch-configurable at the distal end of the mounting base 100 via a third rotating part 220. The distal end of the pitch link 230 has a mounting space 231, in which a second rotating part 210 is disposed. Two transmission structures 300 are rotatably disposed on the second rotating part 210. It is understood that the structural form of the pitch link 230 is not limited in principle, as long as it allows for a rotatable connection to the mounting base 100 and the installation of the transmission structures 300. Exemplarily, the distal end of the mounting base 100 has a recessed space in which the proximal end of the pitch link 230 is rotatably mounted. Of course, in other embodiments of this application, the distal end of the mounting base 100 can be a protrusion that engages with the recessed area at the proximal end of the pitch link 230.

[0112] Optionally, the pitch structure 200 further includes first guide wheels 240, which are respectively disposed on the pitch link 230. Optionally, there are multiple first guide wheels 240, which are symmetrically disposed on both sides of the pitch link 230. Optionally, the pitch structure 200 includes multiple second guide wheels 250, which are disposed on the third rotating part 220 and located on both sides of the pitch link 230.

[0113] See Figure 19 and Figure 20 In one embodiment, the pitch linkage 230 includes a mounting portion 232 and a support portion 233. The mounting portion 232 is rotatably mounted on the mounting base 100 via a third rotating portion 220. The support portion 233 is disposed at the distal end of the mounting portion 232 and has a mounting space 231. The mounting portion 232 is located at the proximal end, and the third rotating portion 220 allows the mounting portion 232 to be pitchably mounted on the mounting base 100. The support portion 233 is disposed at the distal end of the mounting portion 232 and is used to rotatably mount the transmission structure 300. The support portion 233 has a recessed mounting space 231 on its distal side, and a second rotating portion 210 is disposed in the mounting space 231 to rotatably mount the transmission structure 300 within the mounting space 231.

[0114] It is worth noting that the shapes of the mounting part 232 and the support part 233 are not limited in principle, as long as they can achieve the corresponding functions. For example, the near end of the mounting part 232 is circular to allow it to be tilted and mounted on the mounting base 100, and the near end of the mounting part 232 is rectangular to mount the support part 233. Of course, the mounting part 232 can also be square or other shapes, as long as it does not interfere with the mounting base 100 during tilting and rotation. It is also worth noting that both the mounting part 232 and the support part 233 can be made of insulating material to ensure insulation performance and a certain structural strength. Alternatively, the parts of the mounting part 232 and the support part 233 that come into contact with the cable 600, the spring electrode 400, and the transmission structure 300 can be made of insulating material, while the remaining parts can be made of metal, thus ensuring both insulation performance and structural strength.

[0115] For example, the support portion 233 is a support arm disposed opposite to each other, and the two ends of the second rotating portion 210 are connected to the two support arms, with the space between the two support arms being the mounting space 231. Optionally, the support portion 233 may also be a closed structure, with its distal end recessed to form the mounting space 231, or the support portion 233 may be other structural forms capable of rotatably mounting the transmission structure 300. Optionally, the mounting portion 232 has a groove in the circumferential direction for mounting the pitch traction member 720.

[0116] Optionally, the support portion 233 has a fixing hole 236 extending along the length of the cable 600. The distal end of the cable 600 is fixed to the fixing hole 236, and the spring electrode 400 is located in the mounting space 231 and connected to the distal end of the cable 600. When the distal end of the cable 600 is fixed to the pitch linkage 230, the distal end of the cable 600 can bypass the mounting portion 232 and be fixed to the fixing hole 236 of the support portion 233, thus achieving the installation and fixation of the cable 600. Furthermore, the distal end of the cable 600 is also connected to the spring electrode 400, which abuts against the conductive slip ring 311 in the mounting space 231. Optionally, the mounting portion 232 and the support portion 233 are an integral structure or fixed by welding, threaded connection, or other methods.

[0117] See Figure 19 and Figure 20In one embodiment, the pitch link 230 includes a metal base 235 and an insulating base 234. The insulating base 234 is at least partially fitted onto the distal end of the metal base 235. The proximal end of the metal base 235 is rotatably connected to the mounting base 100. The insulating base 234 has an installation space 231 and a fixing hole 236 for fixing the distal end of the cable 600. The pitch link 230 is composed of the metal base 235 and the insulating base 234. The insulating base 234 is disposed at the distal end of the pitch link 230 so that the pitch link 230 is insulated from the transmission structure 300. Meanwhile, the metal base 235 is made of metal, which enhances the structural strength of the pitch link 230 to stably support the second rotating part 210, the third rotating part 220, and the first guide wheel 240, preventing deformation. Of course, in other embodiments of this application, the pitch link 230 may also be entirely made of insulating material, as long as the pitch link 230 has sufficient structural strength. It is worth noting that the metal base 235 and the insulating base 234 can be manufactured independently and then assembled to form the pitch linkage 230, or the insulating base 234 can be integrally molded by injection molding on the metal base 235.

[0118] Optionally, the side of the metal base 235 has a mounting platform 237 for rotatably mounting the first guide wheel 240. Optionally, the metal base 235 has a shaft hole for rotatably mounting the third rotating part 220. It is worth noting that describing the pitch link 230 as including the mounting part 232 and the support part 233, and including the metal base 235 and the insulating base 234, are different perspectives on the structure of the pitch link 230. "Including the mounting part 232 and the support part 233" refers to the specific structure of the pitch link 230, while "including the metal base 235 and the insulating base 234" describes it from a material perspective. These two descriptions can be combined or used individually, and will not be elaborated further here. Furthermore, the structures on the metal base 235 and the mounting part 232 can be interchanged, and the structures on the insulating base 234 and the support part 233 can be interchanged; for example, the insulating base 234 may have a fixing hole 236, etc.

[0119] See Figure 18 and Figure 21 In one embodiment, the spring electrode 400 is clamped between the transmission structure 300 and the inner wall of the support portion 233, so that the spring electrode 400 is kept in contact with the conductive slip ring 311. Figure 21 for Figure 2The diagram shows another embodiment of the connection between the pitch structure 200 of the device end effector 10 and the cable 600 and the spring electrode 400. After the distal end of the spring electrode 400 is connected to the cable 600, it is located in the mounting space 231. The spring electrode 400 is clamped between the support portion 233 and the transmission structure 300, thereby ensuring that the spring electrode 400 always remains in contact with the conductive slip ring 311. When the transmission structure 300 rotates, the conductive slip ring 311 can rotate relative to the spring electrode 400 and remain in contact, ensuring stable electrical energy transmission and preventing the cable 600 from becoming tangled.

[0120] like Figures 18 to 20 As shown, the spring electrode 400 is clamped in the conductive slip ring 311. Exemplarily, the spring electrode 400 is arranged in a Z-shaped configuration, such as... Figure 18 As shown, the proximal end of the spring electrode 400 is connected to the cable 600, and the U-shaped cavity of the spring electrode 400 holds the conductive slip ring 311. The conductive slip ring 311 can rotate within the cavity of the spring electrode 400 and remain in contact. Thus, the cooperation between the spring electrode 400 and the conductive slip ring 311 enables efficient transmission of electrical energy. Simultaneously, the structure is simple, preventing the cable 600 from becoming tangled, effectively ensuring the lifespan of the cable 600, and consequently, effectively ensuring the lifespan of the instrument tip 10. Of course, in other embodiments of this application, the spring electrode 400 can also hold the conductive slip ring 311 using grippers or other means.

[0121] See Figure 21 and Figure 22 The spring electrode 400 abuts against the conductive slip ring 311 along the axial direction. Figure 22 for Figure 3 An exploded view of another embodiment of the transmission structure 300 and clamping structure 500 shown. Figure 22 and Figure 15 The difference lies in the structure of the spring electrode 400. Optionally, the spring electrode 400 is an axial spring, arranged in a ring. This spring electrode 400 is axially mounted between the support portion 233 and the conductive slip ring 311, and abuts against the end of the conductive slip ring 311. The spring electrode 400 is compressible and elastically deformable axially, ensuring that the elastic electrode always abuts against the conductive slip ring 311, achieving effective electrical connection. Its structure is simpler and easier to install and manufacture. Optionally, the support portion 233 has a groove for mounting the spring electrode 400. Optionally, the support portion 233 is made of insulating material, which can prevent the two spring electrodes 400 or the transmission structure 300 from being connected through the metal seat 235 or the second support shaft 212.

[0122] In the instrument end 10 of this application, the ratio of the distance L2 between the mounting hole 512 where the first rotating part 520 is located and the second conductive part 511 to the distance L1 between the first conductive part 312 and the conductive slip ring 311 is greater than 1, so as to form a force-enhancing structure, increase the clamping force when the two clamping parts 510 clamp, ensure accurate clamping of the target tissue, and, together with the conductive clamping plates 514, enable the clamping structure 500 to have good structural strength and avoid deformation during clamping. At the same time, insulating sleeves 513 are provided at the proximal ends of the two conductive clamping plates 514 to insulate the two clamping parts 510 at the rotation point. In the transmission structure 300, the conductive disk 310 and the wire-hanging disk 330 are disposed on both sides of the insulating disk 320. The wire-hanging disk 330 is the driving turntable of the transmission structure 300, which drives the insulating disk 320 to drive the conductive disk 310, thereby driving the clamping part 510 to rotate. The cable 600 is electrically connected to the conductive slip ring 311 through the spring electrode 400, and then electrically connected to the conductive clamping piece 514 of the clamping part 510 through the first conductive part 312. This effectively realizes power transmission and electrical energy transmission, while ensuring effective insulation.

[0123] Furthermore, the insulating seat 234 of the pitch linkage 230 in the pitch structure 200 is sleeved on the metal seat 235 to ensure the structural strength of the pitch linkage 230. Simultaneously, the spring electrode 400 is disposed in the insulating seat 234 and electrically connected to the conductive slip ring 311, ensuring the transmission of electrical energy and lower right insulation between the conductive clamps 514. The first rotating part 520 is rotatably adjacent to the two clamping parts 510. The first rotating part 520 is formed on the outer side of the first insulating shaft 521 of the first support shaft 522 to achieve reliable opening and closing insulation. The end 10 of this device simplifies the cable 600 and provides reliable insulation, preventing cable 600 tangling, ensuring the cable 600's lifespan and performance, and providing reliable insulation throughout the entire structure.

[0124] See Figure 1 This application also provides a surgical instrument comprising a drive housing 30, an instrument rod 20, and an instrument end piece 10 as described in any of the above embodiments. The proximal end of the instrument rod 20 is connected to the drive housing 30, and the distal end of the instrument rod 20 is connected to the instrument end piece 10. The instrument rod 20 is rotatable relative to the drive housing 30, and the drive housing 30 controls the movement of the instrument end piece 10 to perform corresponding surgical operations. By employing the instrument end piece 10 of the above embodiments, the surgical instrument of this application can avoid cable 600 tangling, ensuring the performance of the cable 600, and also increasing the clamping force, facilitating the clamping of target tissue.

[0125] This application also provides a surgical robot, including a robotic arm carriage and surgical instruments. The robotic arm carriage holds the surgical instruments, which include a drive box 30, an instrument rod 20, and an instrument end cap 10 as described in any of the above embodiments. The instrument end cap 10 is located at the distal end of the instrument rod 20, and the proximal end of the instrument rod 20 is connected to the drive box 30. By using the instrument end cap 10 of the above embodiments, the surgical instruments in the surgical robot of this application can avoid cable 600 tangling, ensuring the performance of the cable 600, and also increasing the clamping force, making it easier to clamp the target tissue.

[0126] 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.

[0127] 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. A device tip, characterized in that, include: Mounting base, located at the end of the instrument rod; A pitch structure is provided on the mounting base and can pitch relative to the mounting base; A transmission structure is coaxially and rotatably mounted on the pitch structure. The two transmission structures are insulated from each other. Each transmission structure has an electrically connected conductive slip ring and a first conductive part, the first conductive part being located on the side of the conductive slip ring. A spring electrode is disposed in the pitch structure, each spring electrode being held in contact with a conductive slip ring, the conductive slip ring being rotatable relative to the spring electrode; The clamping structure includes two rotatably connected clamping parts, the proximal end of each clamping part being connected to a first conductive part. When the two transmission structures move, they can drive the two clamping parts to move closer to each other or further away from each other to achieve closure or opening. A cable, the near end of which is connected to an energy source, and the far end of each cable is connected to a spring electrode to supply power to the clamping part; as well as The traction structure includes at least two opening and closing traction members, each of the transmission structures is connected to at least one of the opening and closing traction members, and the opening and closing traction members drive the transmission structure to move the clamping part.

2. The instrument tip according to claim 1, characterized in that, The clamping structure further includes a first rotating part, which is rotatably connected to the two clamping parts. Each of the clamping portions has a second conductive portion, and each of the clamping portions is electrically connected to the first conductive portion through the second conductive portion. One of the first conductive portion and the second conductive portion is a protrusion and the other is a groove. The distance between the first conductive part and the conductive slip ring is L1, and the distance between the second conductive part and the first rotating part is L2, where L2 / L1 > 1.

3. The instrument tip according to claim 2, characterized in that, The first rotating part has an insulating part and an anti-detachment part. The insulating part is located in the middle of the first rotating part and is used to insulatingly separate the two clamping parts. The anti-detachment part is disposed at both ends of the first rotating part and is used to prevent the clamping parts from detaching from the first rotating part. The first rotating part includes a first insulating shaft and a first supporting shaft. The first supporting shaft is disposed in the first insulating shaft, and the first insulating shaft insulates and connects the two clamping parts.

4. The instrument tip according to claim 1, characterized in that, The clamping part includes an insulating sleeve and a conductive clamping piece. The insulating sleeve is disposed at the proximal end of the conductive clamping piece, and the insulating sleeve provides an insulating connection between the two clamping parts. The proximal end of the conductive clamping piece is also electrically connected to the first conductive part.

5. The instrument tip according to claim 1, characterized in that, The transmission structure includes a wire hanging disc, an insulating disc, and a conductive disc. The conductive disc and the wire hanging disc are fixed to both sides of the insulating disc and are rotatably mounted on the pitching structure. The first conductive part and the conductive slip ring are disposed on the surface of the conductive disc away from the insulating disc and are electrically connected through the conductive disc.

6. The instrument tip according to claim 5, characterized in that, The surface of the wire hanging disc facing the insulating disc has a first mating part and a second mating part, and the surface of the insulating disc facing the wire hanging disc has a first limiting part and a second limiting part. The first mating part is connected to the first limiting part, and the second mating part is connected to the second limiting part to fix the wire hanging disc to the insulating disc. The conductive disk has a third mating portion on its surface facing the insulating disk, and the insulating disk has a third limiting portion on its surface facing the conductive disk. The third mating portion and the third limiting portion are connected to each other to fix the conductive disk to the insulating disk.

7. The instrument tip according to claim 6, characterized in that, The first mating part and the second mating part are located in the same circumferential direction of the wire hanging disc, and the first mating part and the second mating part are staggered in the circumferential direction; In the axial projection direction of the transmission structure, the circumference where the first mating part is located is located outside or inside the circumference where the third mating part is located.

8. The instrument tip according to claim 5, characterized in that, Each of the wire hanging reels is connected to at least one of the opening and closing traction members. The opening and closing traction members are wound around the wire hanging reels to drive the transmission structure to rotate, so that the two clamping parts move away from each other or move closer to each other, thereby realizing the opening and closing control of the clamping parts. The wire-hanging reel has a fixing part, the insulating reel has a wire groove, the wire groove is recessed in the circumference of the insulating reel, and is used to wind and install the opening and closing traction member. The fixing part is used to fix the wire end of the opening and closing traction member.

9. The instrument tip according to any one of claims 1 to 7, characterized in that, The pitch structure further includes a pitch link, a second rotating part, and a third rotating part. The pitch link is rotatably mounted on the mounting base via the third rotating part. The pitch link has an installation space. The second rotating part is disposed in the installation space. The two transmission structures are rotatably disposed on the second rotating part and located in the installation space. The second rotating part includes a second insulating shaft and a second supporting shaft. The second supporting shaft is disposed in the second insulating shaft, and the second insulating shaft insulates and connects the two transmission structures.

10. The instrument tip according to claim 9, characterized in that, The pitch linkage includes a mounting part and a support part. The mounting part is rotatably mounted on the mounting base via the third rotating part. The support part is located at the far end of the mounting part and has the mounting space. The support portion has a fixing hole extending along the length of the cable, the distal end of the cable is fixed to the fixing hole, and the spring electrode is located in the mounting space and connected to the distal end of the cable.

11. The instrument tip according to claim 10, characterized in that, The spring electrode is clamped between the transmission structure and the inner wall of the support, so that the spring electrode remains in contact with the conductive slip ring; The spring electrode is held in place of the conductive slip ring, or the spring electrode abuts against the conductive slip ring axially.

12. The instrument tip according to claim 9, characterized in that, The pitch linkage includes a metal base and an insulating base. The insulating base is at least partially fitted onto the distal end of the metal base. The proximal end of the metal base is rotatably connected to the mounting base. The insulating base has the mounting space and a fixing hole for fixing the distal end of the cable.

13. A surgical robot, characterized in that, The device includes a robotic arm trolley and surgical instruments, wherein the robotic arm trolley holds the surgical instruments, and the surgical instruments include a drive box, an instrument rod, and an instrument end as described in any one of claims 1 to 12, wherein the instrument end is disposed at the distal end of the instrument rod, and the proximal end of the instrument rod is connected to the drive box.

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