End effector and electrosurgical instrument

Abstract

The present invention relates to the technical field of surgical robots, and discloses an end effector and an electrosurgical instrument. The end effector includes a wrist mechanism, an execution component, and a wire. The wrist mechanism includes an execution shaft; the execution component is electrically insulated from the wrist mechanism, and the execution component includes an insulating member and a conductive execution member. One end of the conductive execution member is embedded in the insulating member, the insulating member rotates and is coaxially sleeved on the execution shaft, and a wire passing hole is formed on a first end surface on one axial side of the insulating member; a first end of the wire passes through the wire passing hole and is electrically connected to the conductive execution member, and a second end of the wire bends towards a first side of the wire passing hole after passing through the wire passing hole and fits on the first end surface. At least the hole side wall on the first side of the wire passing hole is inclined with respect to the first end surface, so that the connection angle between the two parts of the wire inside and outside the wire passing hole is an obtuse angle. The present invention can reduce the bending angle of the wire after it extends out of the wire passing hole, improve the durability of the end effector and the reliability during surgery, and also improve the safety of surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular, to an end effector and an electrosurgical instrument. Background Art

[0002] Electrosurgical instruments can perform operations such as cutting, coagulating, drying, or electrocauterizing patient tissues during surgery. Due to characteristics such as less bleeding during operation and high surgical operation efficiency, they are widely used in surgeries in various fields.

[0003] An electro-hook device, a surgical instrument, and a minimally invasive surgical robot disclosed in Chinese Patent CN219042778U. One end of the electro-hook device is embedded in an insulating base, and one end of a wire extends into the insulating base through a wire threading hole opened on the side surface of the insulating base and is electrically connected to the electro-hook device. After the other end of the wire extends out of the insulating base, it is wound around a winding post.

[0004] In the prior art, for the convenience of production and processing, the wire threading holes on the insulating base are usually opened perpendicular to the side surface of the insulating base, resulting in a right-angle bending angle for the wire after it passes through the wire threading hole. A relatively large bending angle of the wire is likely to cause damage or even breakage of the wire, affecting the service life of the surgical instrument, reducing the durability of the surgical instrument and its reliability during surgery, and also increasing the possibility of damage to the wire skin, increasing the possibility of the wire conducting electricity to the wrist mechanism and causing accidental electric shock to the patient's tissue, which is likely to cause secondary harm to the patient and affect the safety of the surgery.

[0005] Based on this, there is an urgent need for an end effector and an electrosurgical instrument to solve the above-mentioned problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an end effector and an electrosurgical instrument to reduce the bending angle of the wire after it extends out of the wire threading hole, improve the durability of the end effector and its reliability during surgery, and also improve the safety of the surgery.

[0007] To achieve this purpose, the present invention adopts the following technical solutions:

[0008] An end effector for performing electrosurgery, comprising:

[0009] A wrist mechanism including an execution shaft;

[0010] An execution component, electrically insulated from the wrist mechanism, the execution component including an insulating member and a conductive execution member, one end of the conductive execution member being embedded in the insulating member, the insulating member rotating and coaxially sleeved on the execution shaft, and a wire threading hole being opened on a first end surface on one side of the insulating member along the axial direction;

[0011] A wire, the first end of which passes through the wire passing hole and is electrically connected to the conductive actuator. The second end of the wire bends toward the first side of the wire passing hole after passing through the wire passing hole and adheres to the first end face. The second end of the wire is wound around the actuator shaft. The second end of the wire is used to be electrically connected to an external power source. At least the hole side wall on the first side of the wire passing hole is inclined with respect to the first end face, so that the connection angle between the part of the wire located inside the wire passing hole and the part of the wire after the second end of the wire passes through the wire passing hole is an obtuse angle.

[0012] As an alternative technical solution of the end effector, an outer outlet groove is formed on the first end face. The outer outlet groove is located on the first side of the wire passing hole. One end of the outer outlet groove communicates with the wire passing hole. The depth of the outer outlet groove increases in the direction close to the wire passing hole. The wire adheres to the groove bottom surface of the outer outlet groove after passing through the wire passing hole. In the axial direction of the wire passing hole, the maximum depth of the outer outlet groove is less than the length of the wire passing hole.

[0013] As an alternative technical solution of the end effector, the width of the outer outlet groove decreases in the direction close to the wire passing hole.

[0014] As an alternative technical solution of the end effector, the actuator shaft is perpendicular to the first end face. It is assumed that the axis of the actuator shaft intersects the plane where the first end face is located at a first reference point, and the axis of the wire passing hole intersects the plane at a second reference point. The second reference point is arranged on a reference circle. The reference circle is located on the plane and the center of the circle is the first reference point. The tangent line located on the plane passes through the second reference point and is tangent to the reference circle;

[0015] The edge line of the outer outlet groove includes a first straight line, a second straight line and an arc segment. The two ends of the arc segment are respectively tangentially connected to one end of the first straight line and one end of the second straight line. The other end of the second straight line is tangentially connected to the edge line of the wire passing hole. The other end of the first straight line is tangentially connected to the edge line of the wire passing hole;

[0016] The first straight line and the second straight line are respectively located on both sides of the tangent line. The first straight line is located on the side of the tangent line close to the actuator shaft. The first straight line is parallel to the tangent line, or the end of the first straight line far from the edge line of the wire passing hole is inclined toward the direction close to the actuator shaft;

[0017] The end of the second straight line far from the edge line of the wire passing hole is inclined toward the direction far from the actuator shaft. A first included angle is formed between the first straight line and the tangent line, and a second included angle is formed between the second straight line and the tangent line. The second included angle is greater than the first included angle.

[0018] As an alternative technical solution for the end effector, the outer outlet groove includes a first half groove and a second half groove that communicate with each other. The first half groove and the second half groove are respectively located on both sides of the tangent line. The first half groove is located on the side of the second half groove closer to the execution axis. The edge line of the first half groove includes a first arc and the first straight line. The edge line of the second half groove includes a second arc and the second straight line. One end of the first arc is connected to one end of the second arc to form the arc segment;

[0019] The bottom surface of the first half groove is smoothly connected to the bottom surface of the second half groove. The depth of the second half groove increases in the direction closer to the first half groove. The depth of the first half groove increases or first increases and then decreases in the direction closer to the second half groove; and / or, the bottom surface of the first half groove is smoothly connected to the first end face through a chamfer, and the bottom surface of the second half groove is smoothly connected to the first end face through a chamfer.

[0020] As an alternative technical solution for the end effector, a receiving groove and a wire placement groove are formed in the insulating member. One end of the conductive actuator is placed in the receiving groove. The wire placement groove communicates with the receiving groove and the wire passing hole respectively. The length direction of the wire placement groove extends along a first direction. The groove wall of the wire placement groove facing the wire passing hole is arranged parallel to the first end face;

[0021] The first end of the wire passes through the wire passing hole, bends towards the second side of the wire passing hole and extends into the wire placement groove. The part of the wire in the wire placement groove extends along the first direction. The hole side wall on the second side of the wire passing hole is inclined to the groove wall of the wire placement groove facing the wire passing hole, so that the connection angle between the part of the wire in the wire passing hole and the part of the wire after the first end of the wire passes out of the wire passing hole is an obtuse angle.

[0022] As an alternative technical solution for the end effector, the part of the wire placed in the wire placement groove is fixedly connected to the insulating member.

[0023] As an alternative technical solution for the end effector, an inner outlet groove is formed on the groove wall of the wire placement groove facing the wire passing hole. The inner outlet groove is located on the second side of the wire passing hole. One end of the inner outlet groove communicates with the wire passing hole. The depth of the inner outlet groove increases in the direction closer to the wire passing hole. After the wire passes out of the wire passing hole, it fits on the bottom surface of the inner outlet groove. In the axial direction of the wire passing hole, the maximum depth of the inner outlet groove is less than the length of the wire passing hole.

[0024] As an alternative technical solution of the end effector, the accommodation groove and the wire threading hole are respectively located on both sides of the wire placement groove along the axial direction of the execution axis. A wire winding annular groove is coaxially and circumferentially formed on the side wall of the insulating member. The wire placement groove is an arc-shaped groove. The first direction is the circumferential direction with the center of the circle located on the axis of the execution axis. The wire placement groove and the wire winding annular groove are arranged at a radial interval.

[0025] As an alternative technical solution of the end effector, the wire placement groove is an arc-shaped groove. The first direction is the circumferential direction with the center of the circle located on the axis of the execution axis. The bending directions of the two ends of the wire after passing through the wire threading hole are opposite;

[0026] The axis of the wire threading hole is inclined to the first end face. The execution axis is perpendicular to the first end face. It is assumed that the axis of the execution axis intersects the plane where the first end face is located at a first reference point, and the axis of the wire threading hole intersects the plane where the first end face is located at a second reference point. The second reference point is arranged on a reference circle. The reference circle is coaxially arranged with the execution axis and is located on the plane where the first end face is located. A reference line on the plane where the first end face is located passes through the first reference point and the second reference point. The axis of the wire threading hole is perpendicular to the reference line.

[0027] As an alternative technical solution of the end effector, the end effector further includes a protective cover. The protective cover is sleeved on the execution axis. The protective cover is located on one side of the first end face of the insulating member. A groove is formed on the side of the protective cover facing the insulating member. The grooving surface of the groove is attached to the first end face, so that the groove wall of the groove and the first end face enclose a containing space. The wire threading hole is communicated with the containing space. After passing through the wire threading hole, the wire extends into the containing space. An opening is formed through the side wall of the groove. The wire is passed through the opening.

[0028] As an alternative technical solution of the end effector, the wrist mechanism includes a connecting ear and a seat body. The execution axis is arranged at one end of the connecting ear. The other end of the connecting ear is connected to the seat body. A wire threading channel is formed through the seat body. After passing through the opening, the wire extends into the wire threading channel;

[0029] The protective cover can rotate relative to the insulating member around the axis of the execution axis, and / or the protective cover is movably sleeved on the execution axis.

[0030] An electrosurgical instrument includes the end effector as described above.

[0031] Advantages of the present invention:

[0032] The end effector provided by the present invention includes a wrist mechanism, an execution component, and a wire. By setting the hole side wall on at least the first side of the wire threading hole to be inclined with respect to the first end face, it is possible to make the bending angle of the second end of the wire after passing through the wire threading hole an acute angle, realizing an obtuse connection angle between the part of the wire located inside the wire threading hole and the part of the wire after the second end passes through the wire threading hole, avoiding a right-angle bend of the wire after passing through the wire threading hole, reducing the bending angle of the wire, reducing the possibility of wire damage or even breakage, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of wire skin breakage, reducing the possibility of the wire conducting electricity to the wrist mechanism and causing accidental electric shock to the patient's tissue, avoiding secondary injury to the patient, and improving the safety of the surgery.

[0033] The electrosurgical instrument provided by the present invention includes the above-mentioned end effector. It reduces the bending angle of the wire on the end effector, extends the service life of the electrosurgical instrument, improves the durability of the electrosurgical instrument and the reliability during surgery, and also reduces the possibility of accidental electric shock to the patient's tissue, avoids secondary injury to the patient, and improves the safety of the surgery. Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of the end effector provided in the first embodiment of the present invention;

[0035] Figure 2 is a cross-sectional view of the end effector provided in the first embodiment of the present invention;

[0036] Figure 3 is an exploded structural diagram of the end effector provided in the first embodiment of the present invention;

[0037] Figure 4 is a schematic structural diagram of the execution component and the wire provided in the first embodiment of the present invention;

[0038] Figure 5 is a schematic structural diagram of the wire provided in the first embodiment of the present invention;

[0039] Figure 6 is a cross-sectional view of the insulating member in the first direction provided in the first embodiment of the present invention;

[0040] Figure 7 is a schematic structural diagram of the wire routing inside the insulating member provided in the first embodiment of the present invention;

[0041] Figure 8 is a schematic structural diagram of the first connection segment in an unfolded state on the insulating member provided in the first embodiment of the present invention;

[0042] Figure 9It is a schematic structural diagram of the first perspective of the insulating part provided in the first embodiment of the present invention;

[0043] Figure 10 It is a cross-sectional view of the insulating part provided in the first embodiment of the present invention in the second direction;

[0044] Figure 11 It is an exploded structural diagram of the insulating part and the conductive actuator provided in the first embodiment of the present invention;

[0045] Figure 12 It is a schematic structural diagram of the second perspective of the insulating part provided in the first embodiment of the present invention;

[0046] Figure 13 It is a schematic structural diagram of the actuator assembly corresponding to the first elastic part structure provided in the second embodiment of the present invention;

[0047] Figure 14 Figure 13 Cross-sectional view of the insulating part in;

[0048] Figure 15 It is a schematic structural diagram of the insulating part corresponding to the second elastic part structure provided in the second embodiment of the present invention.

[0049] In the figure:

[0050] 10. Actuator assembly; 20. Wrist mechanism; 201. Actuating shaft; 202. Connecting ear; 203. Base body; 2031. Threading channel; 30. Conductive wire; 301. First connecting section; 3011. First branch section; 3012. Second branch section; 302. Second connecting section; 303. Third connecting section; 3031. Third branch section; 3032. Fourth branch section;

[0051] 1. Insulating part; 11. Threading hole; 12. Accommodating groove; 13. Wire placement groove; 14. Wire winding ring groove; 15. Outer outlet groove; 151. First half groove; 1511. First arc; 1512. First straight line; 152. Second half groove; 1521. Second arc; 1522. Second straight line; 16. Inner outlet groove; 161. Curved section; 17. Through hole; 18. Insulating part main body; 181. Mounting hole; 19. Elastic part;

[0052] 2. Conductive actuator; 21. Rotating wheel; 22. Actuating part;

[0053] 3. Protective cover; 31. Groove; 32. Opening; 4. Insulating sheet. Detailed implementation manners

[0054] To make the technical problems solved by the present invention, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0055] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0056] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature.

[0057] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific implementation manners.

[0058] Embodiment 1

[0059] This embodiment provides an electrosurgical instrument. The electrosurgical instrument includes an end effector, and the end effector is used to perform electrosurgical operations such as cutting, coagulation, drying, or electrocautery that require power supply.

[0060] The electrosurgical instrument in this embodiment is installed on a surgical robot. In other embodiments, the electrosurgical instrument can also be used alone or installed on other medical devices, which is not limited herein.

[0061] The electrosurgical instrument further includes an instrument shaft, and the end effector is provided at one end of the instrument shaft. Other structures of the electrosurgical instrument can refer to the prior art and will not be elaborated herein.

[0062] Specifically, as Figures 1 - 12As shown in the figure, the end effector includes a wrist mechanism 20, an execution component 10, and a wire 30. The wrist mechanism 20 includes an execution shaft 201. There is electrical insulation between the execution component 10 and the wrist mechanism 20. The execution component 10 includes an insulating member 1 and a conductive execution member 2. One end of the conductive execution member 2 is embedded in the insulating member 1. The insulating member 1 rotates and is coaxially sleeved on the execution shaft 201. A wire passing hole 11 is provided on the first end face on one side of the insulating member 1 along the axial direction, and the wire passing hole 11 is located on one side of the execution shaft 201 in the radial direction. The first end of the wire 30 passes through the wire passing hole 11 and is electrically connected to the conductive execution member 2. After the second end of the wire 30 passes out of the wire passing hole 11, it bends toward the first side of the wire passing hole 11 and fits on the first end face. The second end of the wire 30 is wound around the execution shaft 201. The second end of the wire 30 is used to be electrically connected to an external power source. The hole side wall on at least the first side of the wire passing hole 11 is inclined with respect to the first end face, so that the connection angle between the part of the wire 30 located in the wire passing hole 11 and the part of the wire 30 after the second end of the wire 30 passes out of the wire passing hole 11 is an obtuse angle. It can be understood that the wire passing hole 11 extends to the conductive execution member 2. Among them, the wrist mechanism 20 is used to connect to the instrument rod. The second end of the wire 30 passes through the wrist mechanism 20 and extends into the instrument rod, and the end of the wire 30 passes out of the instrument rod and is electrically connected to an external power source.

[0063] Specifically, a through hole 17 is formed through the insulating member 1, and the execution shaft 201 rotates coaxially through the through hole 17. In this embodiment, the wire passing hole 11 and the through hole 17 are arranged at intervals. In other embodiments, the wire passing hole 11 may also communicate with the through hole 17, which is not limited here.

[0064] In this embodiment, the specific structure of the wrist mechanism 20 can refer to the prior art, which is not the focus of protection in this embodiment and will not be elaborated here.

[0065] The end effector provided in this embodiment includes a wrist mechanism 20, an execution component 10, and a wire 30. By setting the hole side wall on at least the first side of the wire passing hole 11 to be inclined with respect to the first end face, the bending angle of the second end of the wire 30 after passing out of the wire passing hole 11 can be made an acute angle, realizing that the connection angle between the part of the wire 30 located in the wire passing hole 11 and the part of the wire 30 after the second end of the wire 30 passes out of the wire passing hole 11 is an obtuse angle, avoiding the wire 30 being bent at a right angle after passing out of the wire passing hole 11, reducing the bending angle of the wire 30, reducing the possibility of damage or even breakage of the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of the skin of the wire 30 being damaged, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, avoiding secondary harm to the patient, and improving the safety of the surgery.

[0066] The electrosurgical instrument provided in this embodiment includes the above-mentioned end effector. The bending angle of the wire 30 on the end effector is reduced, the service life of the electrosurgical instrument is extended, the durability of the electrosurgical instrument and the reliability during surgery are improved, and the possibility of accidental electric shock to the patient's tissue is also reduced, avoiding secondary injury to the patient and improving the safety of the surgery.

[0067] In this embodiment, the insulating member 1 is made of an insulating material, such as engineering plastics like PEI (polyetherimide), PAI (polyamideimide), PEEK (polyetheretherketone), PPSU (polyphenylene sulfone resin), etc. The conductive actuator 2 is made of a metal material, such as stainless steel, titanium alloy, etc. Further, in order to ensure the structural strength, the actuator shaft 201 is made of a metal material. An insulating protective layer is sleeved on the actuator shaft 201 to isolate the actuator assembly 10 from the actuator shaft 201 and ensure the electrical insulation between the actuator assembly 10 and the wrist mechanism 20.

[0068] In this embodiment, the actuator shaft 201 is perpendicularly arranged with respect to the first end face of the insulating member 1. The portion of the wire 30 wound around the actuator shaft 201 is attached to the first end face.

[0069] As Figure 5 and Figure 7 shown, the wire 30 includes a first connection segment 301 and an actuator connection segment. The first connection segment 301 is located on one side of the first end face of the insulating member 1. The first connection segment 301 is wound around the actuator shaft 201, and a part of the first connection segment 301 is attached to the first end face. The first connection segment 301 is used for electrically connecting to an external power source. The actuator connection segment passes through the wire passing hole 11, and the actuator connection segment is electrically connected to the conductive actuator 2. The first end of the wire 30 is the end of the actuator connection segment away from the first connection segment 301, and the second end of the wire 30 is the end of the first connection segment 301 away from the actuator connection segment. The "connection angle between the part of the wire 30 located in the wire passing hole 11 and the part of the wire 30 after the second end of the wire 30 passes out of the wire passing hole 11 is an obtuse angle" described above means that the connection angle between the first connection segment 301 and the actuator connection segment is an obtuse angle. The end of the first connection segment 301 used for connecting to the actuator connection segment is located on the first side of the wire passing hole 11.

[0070] As Figure 7 shown, if it is desired to achieve that "the portion of the wire 30 wound around the actuator shaft 201 is attached to the first end face", then the angle by which the second end of the wire 30 needs to deflect after passing out of the wire passing hole 11 is α, that is, the angle by which the second end of the wire 30 needs to bend after passing out of the wire passing hole 11 is α, and α is less than 90°. It can be understood that the angle size of the "connection angle between the first connection segment 301 and the actuator connection segment" described above is 180° - α.

[0071] As a preferred solution, as Figures 6 - 9As shown in the figure, an outer outlet groove 15 is formed on the first end surface. The outer outlet groove 15 is located on the first side of the wire passing hole 11. One end of the outer outlet groove 15 is communicated with the wire passing hole 11. The depth of the outer outlet groove 15 increases in the direction close to the wire passing hole 11. After the wire 30 passes through the wire passing hole 11, it fits on the bottom surface of the outer outlet groove 15, that is, the end of part of the first connection section 301 is placed in the outer outlet groove 15. In the axial direction of the wire passing hole 11, the maximum depth of the outer outlet groove 15 is less than the length of the wire passing hole 11. By providing the outer outlet groove 15, the wire 30 can be bent twice after passing through the wire passing hole 11 before it can fit on the first end surface, reducing the bending angle of the wire 30 each time, reducing the possibility of damage or even breakage of the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of skin breakage of the wire 30, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, avoiding secondary injury to the patient, and improving the safety of the surgery.

[0072] In this embodiment, as Figure 7 shown, the first connection section 301 includes a first branch section 3011 and a second branch section 3012. The second branch section 3012 is connected between the first branch section 3011 and the execution connection section. The first branch section 3011 is used for electrically connecting with an external power source. The first branch section 3011 is wound around the execution shaft 201, and part of the first branch section 3011 fits on the first end surface of the insulating part 1. The second branch section 3012 fits on the bottom surface of the outer outlet groove 15.

[0073] It can be understood that, as Figure 7 shown, if the outer outlet groove 15 is not provided, the angle that the second end of the wire 30 needs to be bent after passing through the wire passing hole 11 is α. After the outer outlet groove 15 is provided in this embodiment, the wire 30 needs to be bent twice, that is, the wire 30 needs to be bent at the connection position between the second branch section 3012 and the first branch section 3011 and at the connection position between the second branch section 3012 and the execution connection section respectively. The angles that need to be bent during the two bends are β and γ respectively, where β + γ ≈ α, β < α, and γ < α.

[0074] It should be noted that in Figure 7 , in order to clearly show the structure and positional relationship between the wire 30, the wire passing hole 11, and the outer outlet groove 15, the wire 30 does not fit on the bottom surface of the outer outlet groove 15.

[0075] In this embodiment, as Figure 2 and Figure 3As shown, the wrist mechanism 20 includes a connecting ear 202 and a base body 203. The actuating shaft 201 is provided at one end of the connecting ear 202, and the other end of the connecting ear 202 is connected to the base body 203. A wire threading channel 2031 is provided through the base body 203, and the second end of the wire 30 extends into the wire threading channel 2031. After passing through the wire threading channel 2031, the wire 30 extends into the instrument rod and is electrically connected to the conductive circuit on the surgical robot to achieve electrical connection with an external power source. Since the wire 30 usually has an insulating outer sheath, there is a certain frictional force between the wire 30 and the channel wall of the wire threading channel 2031. Therefore, as Figure 8 shown, during the rotation of the actuating assembly 10 in a certain direction, the actuating shaft 201 releases a certain length of the wire 30. Due to the frictional force, the length of the wire 30 penetrating into the wire threading channel 2031 may be less than the released length, resulting in the wire 30 not being able to closely wind around the actuating shaft 201, and the first connecting section 301 of the wire 30 being in an unfolded state. As Figure 8 shown, that is, the part of the first connecting section 301 close to the wire threading hole 11 deflects in a direction away from the actuating shaft 201, which means that the end of the second branch section 3012 away from the actuating connecting section deflects in a direction away from the actuating shaft 201.

[0076] Preferably, as Figure 9 shown, the width of the outer outlet groove 15 decreases in the direction close to the wire threading hole 11, that is, the outer outlet groove 15 is in the shape of a flared groove. The above setting allows the wire 30 to have a certain movement space when extending out of the outer outlet groove 15. During the rotation of the actuating assembly 10, it reduces the possibility that the connecting edge between the outer outlet groove 15 and the first end face hinders the swinging of the wire 30, reduces the possibility of stress concentration on the wire 30 caused by the extrusion between the edge and the wire 30, and improves the durability of the wire 30. At the same time, during the swinging of the wire 30, the flared outer outlet groove 15 also ensures that the end of the first connecting section 301 can be placed within the outer outlet groove 15 within a large swinging range. Within the above swinging range, the outer outlet groove 15 has the effect of reducing the bending angle required for each bending of the wire 30, further reducing the possibility of damage to the wire 30, extending the service life of the end effector, improving the durability of the end effector and its reliability during surgery, reducing the possibility of the wire 30 skin breakage, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, avoiding secondary harm to the patient, and improving the safety of the surgery.

[0077] Within the above swinging range, the outer outlet groove 15 has the effect of reducing the bending angle required for each bending of the wire 30. That is to say, within the above swinging range, it can ensure that the bending angles of the wire 30 twice are β and γ respectively, and β < α, γ < α.

[0078] Due to the structural limitations of the wrist mechanism 20, the insulating member 1 has two limit positions of rotation. In this embodiment, during the rotation of the insulating member 1 between the two limit positions, the wrap angle of the wire 30 on the actuating shaft 201 is always greater than 90°. It is set that when the insulating member 1 is in the first limit position, the wrap angle of the wire 30 on the actuating shaft 201 is the largest; when the insulating member 1 is in the second limit position, the wrap angle of the wire 30 on the actuating shaft 201 is the smallest. When the insulating member 1 is in the second limit position, the wire threading hole 11 is located on the side of the actuating shaft 201 away from the seat body 203.

[0079] Specifically, as Figure 9 shown, it is set that the axis of the actuating shaft 201 intersects the plane where the first end face is located at the first reference point O, the axis of the wire threading hole 11 intersects the above-mentioned plane at the second reference point P, the second reference point P is arranged on the reference circle, the reference circle is located on the above-mentioned plane, the reference circle is coaxially arranged with the actuating shaft 201, the center of the reference circle is the first reference point O, the tangent line L passes through the second reference point P and is tangent to the reference circle, and the tangent line L is located on the above-mentioned plane. It can be understood that the edge line of the outer outlet groove 15 is located on the above-mentioned plane. The edge line of the outer outlet groove 15 includes a first straight line 1512, a second straight line 1522 and an arc segment. The two ends of the arc segment are respectively tangentally connected to one end of the first straight line 1512 and one end of the second straight line 1522. The other end of the second straight line 1522 is tangentally connected to the edge line of the wire threading hole 11, and the other end of the first straight line 1512 is tangentally connected to the edge line of the wire threading hole 11. The first straight line 1512 and the second straight line 1522 are respectively located on both sides of the tangent line L, and the first straight line 1512 is located on the side of the tangent line L close to the actuating shaft 201. As described in the foregoing, "the width of the outer outlet groove 15 decreases in the direction close to the wire threading hole 11, that is, the outer outlet groove 15 is in the shape of a flared groove", that is to say, one end of the first straight line 1512 away from the edge line of the wire threading hole 11 and one end of the second straight line 1522 away from the edge line of the wire threading hole 11 are inclined in the direction away from each other.

[0080] Since the first branch segment 3011 is wound around the actuating shaft 201, therefore, when the wire 30 is tightly wound around the actuating shaft 201, the second branch segment 3012 of the first connecting segment 301 for connecting with the actuating connecting segment extends substantially along the above-mentioned tangent line L direction, or the second branch segment 3012 is inclined to the tangent line L, and the end of the second branch segment 3012 away from the actuating connecting segment is inclined towards the actuating shaft 201. The first straight line 1512 is parallel to the tangent line L, or one end of the first straight line 1512 away from the edge line of the wire threading hole 11 is inclined towards the direction close to the actuating shaft 201, and the outer outlet groove 15 can guide the wire 30 to be wound around the actuating shaft 201.

[0081] Further, one end of the second straight line 1522 away from the edge line of the wire threading hole 11 is inclined in a direction away from the actuating shaft 201. A first included angle θ1 is formed between the first straight line 1512 and the tangent line L, and a second included angle θ2 is formed between the second straight line 1522 and the tangent line L. The second included angle θ2 is greater than the first included angle θ1.

[0082] When the length of the wire 30 inserted into the wire threading channel 2031 is less than the length of the wire 30 released by the actuating shaft 201, as Figure 8 shown, the first connecting section 301 is in an unfolded state, and the second branch section 3012 of the first connecting section 301 may yaw in a direction away from the actuating shaft 201. Through the above settings of the first included angle θ1 and the second included angle θ2, the range of the outer exit slot 15 on the side of the tangent line L away from the actuating shaft 201 is relatively large, further reducing the possibility that the connecting edge between the outer exit slot 15 and the first end face hinders the swinging of the wire 30, reducing the possibility of stress concentration on the wire 30 due to the extrusion between the edge and the wire 30, improving the durability of the wire 30, further reducing the possibility of damage to the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of damage to the skin of the wire 30, reducing the possibility that the wire 30 conducts electricity to the wrist mechanism 20 and causes accidental electric shock to the patient's tissue, avoiding secondary injury to the patient, and improving the safety of the surgery; at the same time, it also avoids the first straight line 1512 being too close to the through hole 17, that is, avoids the distance between the first straight line 1512 and the hole wall of the through hole 17 being small, ensuring the structural strength of the insulating member 1 between the first straight line 1512 and the hole wall of the through hole 17, improving the durability of the insulating member 1, and being beneficial to extending the service life of the end effector; in addition, since the possibility of damage to the insulating member 1 between the first straight line 1512 and the hole wall of the through hole 17 is reduced, it also avoids the insulating outer skin of the wire 30 being scratched by the damaged insulating member 1, further improving the safety of the surgery.

[0083] It can be understood that the description in the foregoing "the first straight line 1512 is parallel to the tangent line L, or one end of the first straight line 1512 away from the edge line of the wire threading hole 11 is inclined in a direction close to the actuating shaft 201" means that the first included angle θ1 is greater than or equal to 0.

[0084] In some other embodiments, the second included angle θ2 may also be the same as the first included angle θ1, both being 0, that is, the first straight line 1512 and the second straight line 1522 may be arranged in parallel. At this time, the width of the outer exit slot 15 is substantially the same along the direction close to the wire threading hole 11, and the outer exit slot 15 can guide the wire 30 to be wound around the actuating shaft 201.

[0085] Specifically, as Figures 8 - 10As shown, the outer exit groove 15 includes a first half groove 151 and a second half groove 152 that communicate with each other. The first half groove 151 and the second half groove 152 are respectively located on both sides of the tangent line. The first half groove 151 is located on the side of the second half groove 152 closer to the execution axis 201. The edge line of the first half groove 151 includes a first arc 1511 and a first straight line 1512. The edge line of the second half groove 152 includes a second arc 1521 and a second straight line 1522. One end of the first arc 1511 is tangentially connected to one end of the second arc 1521 to form an arc segment; that is, both ends of the first arc 1511 are tangent to the first straight line 1512 and the second arc 1521 respectively. Both ends of the second straight line 1522 are tangent to the second arc 1521 and the edge line of the wire passing hole 11 respectively. Both ends of the first straight line 1512 are tangent to the first arc 1511 and the edge line of the wire passing hole 11 respectively.

[0086] In Figure 9 it, the connection point between the first straight line 1512 and the first arc 1511 is point A, the connection point between the first arc 1511 and the second arc 1521 is point B, and the connection point between the second straight line 1522 and the second arc 1521 is point C.

[0087] In this embodiment, both the first arc 1511 and the second arc 1521 are circular arcs, and the centers of the first arc 1511 and the second arc 1521 are both located on the tangent line L. In other embodiments, the arc segment can also be a curve with multiple curvature changes that arches away from the wire passing hole 11, as long as both ends of the arc segment are tangent to the first straight line 1512 and the second straight line 1522, and no further limitation is made here.

[0088] As a preferred solution, the bottom surface of the first half groove 151 is smoothly connected to the bottom surface of the second half groove 152. The depth of the second half groove 152 increases in the direction close to the first half groove 151. The depth of the first half groove 151 first increases and then decreases in the direction close to the second half groove 152, that is, the deepest part of the outer exit groove 15 is located in the first half groove 151. The above setting of the depth change can guide the wire 30 to the maximum depth dimension of the first half groove 151, so that the wire 30 is located on the side of the outer exit groove 15 closer to the execution axis 201, ensuring that the wire 30 can be reliably wound around the execution axis 201, reducing the possibility of the wire 30 colliding with other structures or accidentally touching the patient's tissue, ensuring the safety of the operation, extending the service life of the end effector, improving the durability of the end effector and the reliability during the operation.

[0089] In order to clearly distinguish the first half groove 151 from the second half groove 152, in Figure 10 it, the demarcation line between the first half groove 151 and the second half groove 152 is drawn and represented by a dotted line.

[0090] In other embodiments, the depth of the first half groove 151 may also increase in the direction close to the second half groove 152, that is, in the width direction, the position with the largest depth dimension of the outer outlet groove 15 is located at the boundary between the first half groove 151 and the second half groove 152, which is not limited herein.

[0091] Furthermore, the bottom surface of the first half groove 151 is smoothly connected to the first end surface through a chamfer, and the bottom surface of the second half groove 152 is smoothly connected to the first section surface through a chamfer, which can further prevent the edge of the outer outlet groove 15 from wearing the wire 30, reduce the possibility of damage to the wire 30, and ensure the durability of the wire 30 and the end effector.

[0092] Similarly, the bottom surface of the first half groove 151 is smoothly connected to the hole side wall of the wire passing hole 11 through a chamfer, and the bottom surface of the second half groove 152 is smoothly connected to the hole side wall of the wire passing hole 11 through a chamfer.

[0093] Specifically, as Figure 11 and Figure 12 shown, a receiving groove 12 is formed on the second end surface of the insulating member 1. The first end surface and the second end surface of the insulating member 1 are respectively located on opposite sides of the insulating member 1. The conductive actuator 2 includes a rotating wheel 21 and an actuator portion 22. The rotating wheel 21 is placed in the receiving groove 12, and one end of the actuator portion 22 is connected to the side wall of the rotating wheel 21, and the other end passes through the insulating member 1 radially along the rotating wheel 21. The actuator portion 22 is used to contact the tissue of the patient. The receiving groove 12 is coaxially arranged with the through hole 17.

[0094] Furthermore, a wire placement groove 13 is formed on the insulating member 1. The wire placement groove 13 is respectively communicated with the receiving groove 12 and the wire passing hole 11. The length direction of the wire placement groove 13 extends along the first direction. The groove wall of the wire placement groove 13 facing the wire passing hole 11 is parallel to the first end surface. The first end of the wire 30 passes through the wire passing hole 11 and then bends toward the second side of the wire passing hole 11 and extends into the wire placement groove 13, and the portion of the wire 30 in the wire placement groove 13 is attached to the hole wall of the wire placement groove 13 facing the wire passing hole 11 and extends along the first direction. The portion of the wire 30 placed in the wire placement groove 13 is used to connect with the wire actuator 2. The above setting extends the length of the wire 30 located in the insulating member 1, facilitating the connection between the wire 30 and the conductive actuator 1. In this embodiment, the receiving groove 12 and the wire passing hole 11 are respectively located on both sides of the wire placement groove 13 along the axial direction of the actuator shaft 201

[0095] As described in the foregoing, "in the axial direction of the wire passing hole 11, the maximum depth of the outer outlet groove 15 is less than the length of the wire passing hole 11", that is, the outer outlet groove 15 and the groove wall of the wire placement groove 13 facing the wire passing hole 11 are spaced apart.

[0096] As a preferred solution, the hole side wall on the second side of the wire threading hole 11 is inclined with respect to the groove wall on the side of the wire placement groove 13 facing the wire threading hole 11, so that the connection angle between the part of the wire 30 located in the wire threading hole 11 and the part of the wire 30 after the first end of the wire 30 passes through the wire threading hole 11 is an obtuse angle. With the above setting, it further avoids the wire 30 being bent at a right angle after passing through the wire threading hole 11, reduces the bending angle of the wire 30, reduces the possibility of damage or even breakage of the wire 30, prolongs the service life of the end effector, improves the durability of the end effector and the reliability during the operation, and also reduces the possibility of the skin of the wire 30 being damaged, reduces the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, avoids causing secondary harm to the patient, and improves the safety of the operation. It can be understood that the principle of the inclination of the hole side wall on the second side of the wire threading hole 11 to reduce the bending angle of the wire 30 is the same as the principle of the inclination of the hole side wall on the first side of the wire threading hole 11 to reduce the bending angle of the wire 30 described above, and will not be elaborated here.

[0097] Specifically, the execution connection section includes a second connection section 302 and a third connection section 303. The second connection section 302 is passed through the wire threading hole 11, and the second connection section 302 is electrically connected between the first connection section 301 and the third connection section 303. The third connection section 303 is placed in the wire placement groove 13 and extends along the first direction, and the third connection section 303 is electrically connected to the conductive execution member 2. The first end of the wire 30 is the end of the third connection section 303 away from the second connection section 302, and the second end of the wire 30 is the end of the first connection section 301 away from the second connection section 302. The "connection angle between the part of the wire 30 located in the wire threading hole 11 and the part of the wire 30 after the first end of the wire 30 passes through the wire threading hole 11 is an obtuse angle" described above means that the connection angle between the second connection section 302 and the third connection section 303 is an obtuse angle. The "connection angle between the part of the wire 30 located in the wire threading hole 11 and the part of the wire 30 after the second end of the wire 30 passes through the wire threading hole 11 is an obtuse angle" described above means that the connection angle between the first connection section 301 and the second connection section 302 is an obtuse angle. The end of the third connection section 303 for connecting to the second connection section 302 is located on the second side of the wire threading hole 11.

[0098] Further, the portion of the wire 30 disposed within the wire slot 13 is fixedly connected to the insulating member 1. During the rotation of the actuating assembly 10 about the actuating axis 201, the above arrangement enables the portion of the wire 30 located within the insulating member 1 to rotate synchronously with the insulating member 1, avoiding pulling on the first end of the wire 30, reducing the likelihood of the wire 30 detaching from the conductive actuating member 2, increasing the connection reliability between the wire 30 and the conductive actuating member 2, further extending the service life of the electrosurgical instrument, improving the durability of the electrosurgical instrument and its reliability during surgery, and at the same time ensuring that the wire 30 can reliably transmit electrical energy to the wire actuating member 2, thus ensuring the functionality of the end effector.

[0099] In this embodiment, the width of the wire slot 13 is greater than the diameter of the wire 30, such that there is a gap between the wire slot 13 and the wire 30. The gap is filled with an adhesive, achieving a fixed connection between the portion of the wire 30 disposed within the wire slot 13 and the insulating member 1. At the same time, since the wire slot 13 communicates with the receiving slot 12, the adhesive can also contact the rotating wheel 21, ensuring a reliable connection between the insulating member 1 and the conductive actuating member 2, and improving the durability of the end effector and its reliability during surgery.

[0100] In this embodiment, the third connecting section 303 is welded to the rotating wheel 21. To increase the connection reliability between the wire 30 and the wire actuating member 2, the weld seam between the third connecting section 303 and the rotating wheel 21 extends in the first direction.

[0101] In this embodiment, the wire slot 13 and the through hole 17 are spaced apart.

[0102] As a preferred solution, an inner outlet slot 16 is formed in the groove wall of the wire slot 13 facing the wire passing hole 11. The inner outlet slot 16 is located on the second side of the wire passing hole 11, that is, the inner outlet slot 16 is located on the side of the wire passing hole 11 facing the third connecting section 303. One end of the inner outlet slot 16 communicates with the wire passing hole 11, and the depth of the inner outlet slot 16 increases in the direction approaching the wire passing hole 11. After the wire 30 passes through the wire passing hole 11, it adheres to the bottom surface of the inner outlet slot 16, that is, the end of the third connecting section 303 is disposed within the inner outlet slot 16. In the axial direction of the wire passing hole 11, the maximum depth of the inner outlet slot 16 is less than the length of the wire passing hole 11, that is, the inner outlet slot 16 is spaced apart from the first end face of the insulating member 1.

[0103] By providing the inner outlet groove 16, the wire 30 needs to be bent twice before it can be attached to the groove wall of the wire placement groove 13 on the side facing the wire threading hole 11. This reduces the angle of each bend of the wire 30, further reducing the possibility of damage or even breakage of the wire 30, extending the service life of the end effector, improving the durability of the end effector and its reliability during surgery, and also reducing the possibility of the wire 30's skin being damaged and the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, thus avoiding secondary harm to the patient and improving the safety of the surgery. It can be understood that the principle of providing the inner outlet groove 16 to reduce the angle of each bend of the wire 30 is the same as that of providing the outer outlet groove 15 to reduce the angle of each bend of the wire 30 in the previous text, and will not be elaborated here.

[0104] In this embodiment, as Figure 7 shown, the third connecting section 303 includes a third branch section 3031 and a fourth branch section 3032. The fourth branch section 3032 is connected between the third branch section 3031 and the second connecting section 302. The third branch section 3031 is placed in the wire placement groove 13 and extends along the first direction. The third branch section 3031 is used for electrically connecting with the rotating wheel 21. The fourth branch section 3032 is attached to the bottom surface of the inner outlet groove 16.

[0105] It should be noted that in Figure 7 , in order to clearly show the structure and positional relationship between the wire 30, the wire threading hole 11, and the inner outlet groove 16, the wire 30 is not attached to the inner outlet groove 16.

[0106] It can be understood that, as Figure 7 shown, the wire 30 needs to be bent four times when passing through the wire threading hole 11. The bending angle required for each bend of the wire 30 should be approximately the same, ensuring that the stress at each bend of the wire 30 is approximately the same and making the force on the wire 30 more evenly distributed.

[0107] Specifically, as Figure 12 shown, the edge of the inner outlet groove 16 includes a curved section 161. The curved section 161 is located on the groove wall of the wire placement groove 13 on the side facing the wire threading hole 11. The curved section 161 arches away from the wire threading hole 11, and both ends of the curved section 161 are tangent to the edge line of the wire threading hole 11. In other embodiments, a straight section may also be connected between the curved section 161 and the edge line of the wire threading hole 11, which is not limited here.

[0108] Furthermore, the bottom surface of the inner outlet groove 16 and the groove wall of the wire placement groove 13 on the side facing the wire threading hole 11 are smoothly connected by a chamfer, and the bottom surface of the inner outlet groove 16 and the hole side wall of the wire threading hole 11 are smoothly connected by a chamfer.

[0109] In this embodiment, the bending directions of the two ends of the wire 30 after passing through the wire threading holes 11 are opposite, and the first connecting section 301 and the third connecting section 303 extend towards opposite sides of the second connecting section 302 respectively. That is to say, the first side and the second side are opposite sides of the wire threading hole 11. In Figure 7 it, the first side of the wire threading hole 11 is the left side, and the second side is the right side. The first connecting section 301 extends towards the left side, and the third connecting section 303 extends towards the right side.

[0110] Preferably, the wire placement groove 13 is an arc-shaped groove, and the first direction is the circumferential direction with the center of the circle located on the axis of the execution axis 201. The axis of the wire threading hole 11 is inclined to the first end face. A reference line N is set on the plane where the first end face is located, and the reference line N passes through the first reference point O and the second reference point P. The axis of the wire threading hole 11 is perpendicular to the reference line N. The above settings avoid separately machining the hole side walls on the first side and the second side of the wire threading hole 11. By machining the wire threading hole 11 once, it is possible to make the bending angles of both the first end and the second end of the wire 30 after passing through the wire threading hole 11 be acute angles, simplifying the machining difficulty of the wire threading hole 11 and reducing the machining cost. In Figure 7 it, the axis of the wire threading hole 11 is a straight line M. The straight line M and the tangent line L are in the same plane.

[0111] In this embodiment, the cross-sectional contour of the wire threading hole 11 perpendicular to the axis is circular, and the diameters of all cross-sectional contours are the same. In other embodiments, the cross-sectional contour of the wire threading hole 11 perpendicular to the axis can also be other shapes, and all cross-sectional contours are the same.

[0112] In this embodiment, the radius of the arc corresponding to the center line of the wire placement groove 13 is the same as the radius of the reference circle.

[0113] In other embodiments, the axis of the wire threading hole 11 can also be perpendicular to the first end face. In this case, it is necessary to separately machine the hole side walls on the first side and the second side of the wire threading hole 11, which is not limited here.

[0114] Furthermore, as Figure 4 shown, a wire winding ring groove 14 is coaxially provided along the circumferential direction on the side wall of the insulating member 1. The driving wire is wound in the wire winding ring groove 14. By pulling the end of the driving wire, the rotation of the insulating member 1 can be realized. The wire placement groove 13 and the wire winding ring groove 14 are arranged at a radial interval, making the layout of the wire placement groove 13, the wire winding ring groove 14, the accommodating groove 12 and the wire threading hole 11 reasonable, reducing the volume of the insulating member 1 and improving the flexibility of the end effector.

[0115] As a preferred solution, the end effector further includes a protective cover 3. The protective cover 3 is sleeved on the actuator shaft 201, and the protective cover 3 is located on one side of the first end face of the insulating member 1. A groove 31 is provided on the side of the protective cover 3 facing the insulating member 1, and the groove surface of the groove 31 is in contact with the first end face, so that the groove wall of the groove 31 and the first end face enclose a receiving space, the threading hole 11 is connected with the receiving space, and the wire 30 extends into the receiving space after passing through the threading hole 11. An opening 32 is provided through the groove side wall of the groove 31, and the wire 30 is passed through the opening 32. The protective cover 3 protects the wire 30, which can further reduce the possibility of other structures contacting the wire 30, and improve the durability of the wire 30. At the same time, the groove side wall of the groove 31 can also limit the movement range of the wire 30, reduce the possibility of accidentally touching the patient's tissue, improve the safety of the operation, and prevent the wire 30 from detaching from the actuator shaft 201, ensuring that the wire 30 is reliably wound on the actuator shaft 201.

[0116] It can be understood that the depth of the first half groove 151 first increases and then decreases in the direction approaching the second half groove 152, so that the wire 30 can be guided to the maximum depth of the first half groove 151, reducing the possibility of the first connecting section 301 being in an unfolded state, so that the wire 30 can be reliably wound on the actuator shaft 201, thereby reducing the possibility of friction between the wire 30 and the side wall of the groove 31, further reducing the possibility of damage to the wire 30, ensuring the durability of the end effector, and helping to extend the life of the end effector.

[0117] In this embodiment, the depth of the groove 31 is slightly greater than the diameter of the wire 30 , so that the portion of the first connection section 301 in the groove 31 fits against the first end surface of the insulating member 1 and provides a movable space for the first connection section 301 .

[0118] Furthermore, the protective cover 3 is movably sleeved on the execution shaft 201, and the protective cover 3 can rotate relative to the insulating member 1 around the axis of the execution shaft 201. During the rotation of the insulating member 1, the protective cover 3 is prevented from rotating therewith, ensuring that the opening 32 is always directly opposite to the end of the threading channel 2031, avoiding the squeezing and pulling of the wire 30 by the wall of the opening 32, further increasing the durability of the wire 30, and also reducing the size of the opening 32 that needs to be opened, further improving the protective effect of the protective cover 3; at the same time, during the rotation of the insulating member 1, part of the wire 30 may swing between the protective cover 3 and the seat body 203. The above-mentioned arrangement can ensure that the protective cover 3 rotates relative to the execution shaft 201 as the wire 30 swings, further avoiding the squeezing and pulling of the wire 30 by the wall of the opening 32, and further increasing the durability of the wire 30.

[0119] In other embodiments, the protective cover 3 may also be fixedly connected to the actuator shaft 201 or the insulating member 1 , which is not limited here.

[0120] In this embodiment, two actuating assemblies 10 are provided. The first end faces of the two insulating members 1 are respectively arranged on opposite sides of each other, that is, the two protective covers 3 are respectively arranged on the opposite sides of the two insulating members 1. Two connecting lugs 202 are connected to the seat body 203, and both ends of the actuating shaft 201 are respectively connected to the two connecting lugs 202. The two actuating assemblies 10 and the two protective covers 3 are both located between the two connecting lugs 202.

[0121] It can be understood that two wires 30 are provided, and the two wires 30 respectively conduct currents with opposite polarities to the two conductive actuators 2. In order to achieve insulation between the two actuating assemblies 10, the end effector further includes an insulating sheet 4. The insulating sheet 4 is sleeved on the actuating shaft 201, and the insulating sheet 4 is located between the two actuating assemblies 10.

[0122] Embodiment Two

[0123] This embodiment provides an end effector and an electrosurgical instrument, and the structure of this embodiment is basically the same as that of Embodiment One, only some structures of the insulating member 1 are different. The same structures as those in Embodiment One will not be described again in this embodiment.

[0124] Preferably, as Figures 13 - 15 shown, the second connecting section 302 of the wire 30 is elastically connected to the insulating member 1. During the rotation of the actuating assembly 10, when the first connecting section 301 yaws, since the second connecting section 302 and the insulating member 1 are elastically connected, the second connecting section 302 can move accordingly, avoiding unnecessary resistance on the wire 30 caused by the insulating member 1 hindering the swing of the wire 30, further reducing the possibility of damage to the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of the wire 30's skin breaking, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, avoiding secondary injury to the patient, and improving the safety of the surgery.

[0125] In this embodiment, the elastic connection between the second connecting section 302 and the insulating member 1 is achieved by providing an elastic member 19. Two structures of the elastic member 19 are exemplified in this embodiment to achieve the elastic connection between the second connecting section 302 and the insulating member 1.

[0126] The first structure: As Figure 13 and Figure 14As shown, the insulating member 1 includes an insulating member body 18 and an elastic member 19. An installation hole 181 is formed in the insulating member body 18, and the axis of the installation hole 181 is parallel to the axis of the through hole 17. The elastic member 19 is arranged in the installation hole 181. The elastic member 19 is columnar, and one end face of the elastic member 19 is flush with one end face of the insulating member body 18 to form the first end face of the insulating member 1. The other end face of the elastic member 19 is flush with the end face of the wire placement groove 13 where the wire passing hole 11 is formed. The wire passing hole 11, the outer outlet groove 15 and the inner outlet groove 16 are all formed in the elastic member 19.

[0127] The elastic member 19 is made of rubber or silica gel, and is not limited herein. The elastic member 19 and the insulating member body 18 may be adhesively connected.

[0128] The second structure: As Figure 15 shown, the elastic member 19 is fixedly arranged on the hole wall of the wire passing hole 11. Further, the elastic member 19 is fixedly arranged on the hole walls of at least the first side and the second side of the wire passing hole 11. The elastic member 19 is a rubber block or a silica gel block and is adhesively connected to the hole wall of the wire passing hole 11.

[0129] In other embodiments, the elastic member 19 may also be a rubber layer or a silica gel layer, and the elastic member 19 is fixedly covered on the hole wall of the wire passing hole 11, the bottom surface of the outer outlet groove 15 and the bottom surface of the inner outlet groove 16. The elastic member 19 covers the hole wall of the wire passing hole 11 along the circumferential direction of the wire passing hole 11; or, the elastic member 19 may also be a structure such as a spring or other elastic structures, which is not limited herein.

[0130] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An end effector for performing electrosurgical operations, characterized in that, Comprising: A wrist mechanism including an execution axis; An execution component, electrically insulated from the wrist mechanism, the execution component including an insulating member and a conductive execution member, one end of the conductive execution member being embedded in the insulating member, the insulating member rotating and coaxially sleeved on the execution axis, and a wire passing hole being provided on a first end face on one axial side of the insulating member; A wire, the first end of which passes through the wire passing hole and is electrically connected to the conductive execution member, the second end of the wire being bent toward the first side of the wire passing hole and attached to the first end face after passing through the wire passing hole, the second end of the wire being wound around the execution axis, the second end of the wire being used for electrically connecting to an external power supply, and at least the hole side wall on the first side of the wire passing hole being inclined to the first end face so that the connection angle between the part of the wire located in the wire passing hole and the part of the wire after the second end of the wire passes through the wire passing hole is an obtuse angle; An outer outlet groove is provided on the first end face, the outer outlet groove is located on the first side of the wire passing hole, one end of the outer outlet groove is communicated with the wire passing hole, the depth of the outer outlet groove increases in the direction close to the wire passing hole, the wire passes through the wire passing hole and is attached to the groove bottom surface of the outer outlet groove, and in the axial direction of the wire passing hole, the maximum depth of the outer outlet groove is less than the length of the wire passing hole.

2. The end effector according to claim 1, characterized in that, The width of the outer outlet groove decreases in the direction close to the wire passing hole.

3. The end effector according to claim 2, wherein, The execution axis is perpendicularly arranged to the first end face. Assuming that the axis of the execution axis intersects the plane where the first end face is located at a first reference point, the axis of the wire passing hole intersects the plane where the first end face is located at a second reference point, the second reference point is arranged on a reference circle, the reference circle is located on the plane where the first end face is located and the center of the circle is the first reference point, and the tangent line located on the plane where the first end face is located passes through the second reference point and is tangent to the reference circle; The edge line of the outer outlet groove includes a first straight line, a second straight line and an arc segment, the two ends of the arc segment are respectively tangentially connected to one end of the first straight line and one end of the second straight line, the other end of the second straight line is tangentially connected to the edge line of the wire passing hole, and the other end of the first straight line is tangentially connected to the edge line of the wire passing hole; The first straight line and the second straight line are respectively located on both sides of the tangent line, the first straight line is located on the side of the tangent line close to the execution axis, the first straight line is parallel to the tangent line, or one end of the first straight line far from the edge line of the wire passing hole is inclined toward the direction close to the execution axis; One end of the second straight line far from the edge line of the wire passing hole is inclined toward the direction far from the execution axis, a first included angle is formed between the first straight line and the tangent line, a second included angle is formed between the second straight line and the tangent line, and the second included angle is greater than the first included angle.

4. The end effector according to claim 3, wherein, The outer outlet groove includes a first half groove and a second half groove that are in communication with each other. The first half groove and the second half groove are respectively located on both sides of the tangent line. The first half groove is located on the side of the second half groove close to the execution axis. The edge line of the first half groove includes a first arc and the first straight line. The edge line of the second half groove includes a second arc and the second straight line. One end of the first arc is connected to one end of the second arc to form the arc segment; The bottom surface of the first half groove is smoothly connected to the bottom surface of the second half groove. The depth of the second half groove increases in the direction close to the first half groove. The depth of the first half groove increases in the direction close to the second half groove or first increases and then decreases; and / or, the bottom surface of the first half groove is smoothly connected to the first end surface through a chamfer, and the bottom surface of the second half groove is smoothly connected to the first end surface through a chamfer.

5. The end effector according to any one of claims 1-4, characterized in that, The insulating member is provided with a receiving groove and a wire placing groove. One end of the conductive execution member is placed in the receiving groove. The wire placing groove is respectively in communication with the receiving groove and the wire passing hole. The length direction of the wire placing groove extends along a first direction. The groove wall on the side of the wire placing groove facing the wire passing hole is arranged parallel to the first end surface; The first end of the wire passes through the wire passing hole and then bends towards the second side of the wire passing hole and extends into the wire placing groove. And the part of the wire in the wire placing groove extends along the first direction. The hole side wall on the second side of the wire passing hole is inclined to the groove wall on the side of the wire placing groove facing the wire passing hole, so that the connection angle between the part of the wire in the wire passing hole and the part of the first end of the wire after passing through the wire passing hole is an obtuse angle.

6. The end effector according to claim 5, wherein, The part of the wire placed in the wire placing groove is fixedly connected to the insulating member.

7. The end effector according to claim 5, wherein, An inner outlet groove is formed on the groove wall on the side of the wire placing groove facing the wire passing hole. The inner outlet groove is located on the second side of the wire passing hole. One end of the inner outlet groove is in communication with the wire passing hole. The depth of the inner outlet groove increases in the direction close to the wire passing hole. After passing through the wire passing hole, the wire fits on the bottom surface of the inner outlet groove. In the axial direction of the wire passing hole, the maximum depth of the inner outlet groove is less than the length of the wire passing hole.

8. The end effector according to claim 5, wherein, The receiving groove and the wire passing hole are respectively located on both sides of the wire placing groove along the axial direction of the execution axis. A winding ring groove is coaxially formed on the side wall of the insulating member in the circumferential direction. The wire placing groove is an arc-shaped groove. The first direction is the circumferential direction with the center located on the axis of the execution axis. The wire placing groove and the winding ring groove are arranged at a radial interval.

9. The end effector according to claim 5, wherein The wire placing groove is an arc-shaped groove. The first direction is the circumferential direction with the center located on the axis of the execution axis. The bending directions of the two ends of the wire after passing through the wire passing hole are opposite; The axis of the wire threading hole is inclined to the first end face, the actuating shaft is perpendicular to the first end face. It is assumed that the axis of the actuating shaft intersects the plane where the first end face is located at a first reference point, the axis of the wire threading hole intersects the plane where the first end face is located at a second reference point. The second reference point is arranged on a reference circle, the center of the reference circle is the first reference point and is located on the plane where the first end face is located. A reference line on the plane where the first end face is located passes through the first reference point and the second reference point, and the axis of the wire threading hole is perpendicular to the reference line.

10. The end effector according to any one of claims 1-4, 6-9, characterized in that, The end effector further includes a protective cover, the protective cover is sleeved on the actuating shaft, the protective cover is located on one side of the first end face of the insulating member, a groove is formed on the side of the protective cover facing the insulating member, the grooving surface of the groove is attached to the first end face, so that the groove wall and the first end face enclose a receiving space, the wire threading hole is communicated with the receiving space, the wire extends into the receiving space after passing through the wire threading hole, an opening is formed through the side wall of the groove, and the wire passes through the opening.

11. The end effector according to claim 10, characterized in that, The wrist mechanism includes a connecting ear and a seat body, the actuating shaft is arranged at one end of the connecting ear, the other end of the connecting ear is connected to the seat body, a wire threading channel is formed through the seat body, and the wire extends into the wire threading channel after passing through the opening. The protective cover is movably sleeved on the actuating shaft, and the protective cover can rotate relative to the insulating member around the axis of the actuating shaft.

12. Electrosurgical instrument, characterized in that, It includes the end effector according to any one of claims 1-11.

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