End effector, surgical instrument and surgical apparatus

Abstract

The application relates to an end effector, a surgical instrument and a surgical device. The end effector comprises an insulating base, a conductive assembly and an actuator assembly; the insulating base comprises two connecting plates oppositely arranged and connected with each other; the conductive assembly comprises two terminals arranged on the opposite sides of the two connecting plates respectively, and is used for electrically connecting with at most one of a monopolar connector and a bipolar connector; the actuator assembly is connected to the insulating base, is arranged at least partially between the two connecting plates, and is electrically connected with the two terminals; when the conductive assembly is used for electrically connecting with the monopolar connector or the bipolar connector, the actuator assembly can be electrically conducted. In the application, the actuator assembly can serve as a bipolar instrument, a monopolar instrument and a passive instrument, so that the actuator assembly can realize various application scenarios in various surgical instruments required in surgery, thereby reducing the cost and improving the adaptability of the end effector.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an end effector, a surgical device and a surgical apparatus. BACKGROUND

[0002] In the existing laparoscopic minimally invasive surgery, the operator needs to use several different types of instruments to complete the operation, such as passive needle holder for holding needle and suturing, grasping forceps for grasping and pulling tissue, and electrosurgical instruments for use with electrotome host. The instruments contact the surface of the patient's tissue and are used to separate tissue and stop bleeding. The existing electrosurgical instruments are mainly divided into two types: bipolar instruments and monopolar instruments. The bipolar instruments are generally used for electrocoagulation, that is, to close some small bleeding points. The current is only conducted between the two jaw tips, so that the tissue is affected by the heat effect of the current, and the tissue outside the jaw is not affected, such as bipolar Maryland forceps. The monopolar instrument uses high-frequency current in a loop to act on the human body to achieve the purpose of cutting and hemostasis, such as monopolar electric hook and electric scissors. Due to the large number of instruments required in general laparoscopic surgery, the cost of the operation is high. SUMMARY

[0003] Therefore, it is necessary to provide an end effector to solve the technical problem that the number of instruments required in the existing laparoscopic surgery is large, and the cost of the operation is high.

[0004] An end effector, comprising:

[0005] An insulating seat comprising two connection plates arranged opposite to each other and connected to each other;

[0006] A conductive assembly comprising two wire ends, the two wire ends are arranged on opposite sides of the two connection plates respectively, and the conductive assembly is used for electrical connection with at most one of a monopolar connector and a bipolar connector; and

[0007] An effector assembly connected to the insulating seat, the effector assembly is at least partially arranged between the two connection plates and is electrically connected with the two wire ends, and when the conductive assembly is used for electrical connection with the monopolar connector or the bipolar connector, the effector assembly can be electrically conducted.

[0008] In one embodiment, the conductive assembly further comprises:

[0009] Two conductive sheets are respectively mounted on the two connection plates, the two conductive sheets are respectively abutted and electrically connected with the effector assembly, and the portions of the two conductive sheets abutted with the effector assembly are configured as the two wire ends.

[0010] Two wires, one end of the two wires is electrically connected with the two conductive sheets respectively, the other end is respectively used for electrically connecting with the bipolar connector, or the other end of one of the two wires is used for electrically connecting with the monopolar connector.

[0011] In one of the embodiments, the opposite sides of the two connecting plates are provided with fixing grooves, and the two conductive sheets are respectively installed in the two fixing grooves; the insulating base further comprises two limiting plates, and the two limiting plates are respectively connected with the two connecting plates and cover part of the corresponding fixing grooves.

[0012] In one of the embodiments, the limiting plate is arranged at one end of the corresponding fixing groove close to the wire, and the limiting plate is provided with a through hole in communication with the corresponding fixing groove for the corresponding wire to pass through.

[0013] In one of the embodiments, the actuator assembly comprises an operating member and an insulating plate, the insulating plate is connected to the insulating base, the operating member is detachably connected with the insulating plate, and the operating member is used for electrically connecting with the terminal.

[0014] In one of the embodiments, one of the operating member and the insulating plate is provided with a positioning groove, and the other is provided with a positioning block, and the positioning block is inserted into the positioning groove.

[0015] In one of the embodiments, the positioning groove is arranged on one side of the insulating plate, the positioning groove comprises at least two intersecting mounting grooves, the positioning block is arranged on the operating member, and the positioning block comprises a mounting block corresponding to each mounting groove, each mounting block is inserted into the corresponding mounting groove to limit the movement of the operating member on the insulating plate.

[0016] In one of the embodiments, when the conductive assembly is used for electrically connecting with the bipolar connector, the number of the operating member and the insulating plate is two, the two insulating plates are arranged opposite to each other along the arrangement direction of the two connecting plates, and the two positioning grooves are arranged on the sides of the two insulating plates away from each other.

[0017] In one of the embodiments, the two positioning grooves are arranged staggered in the arrangement direction of the two connecting plates.

[0018] In one of the embodiments, the end execution instrument further comprises a driving wheel arranged on the insulating base, and the driving wheel is connected to the actuator assembly.

[0019] The cooperation between the actuator assembly and the insulating seat forms a rotation center around which the actuator assembly can rotate; and the actuator assembly and the driving wheel form a driving cooperation part, so that the driving wheel can drive the actuator assembly to rotate relative to the insulating seat through the driving cooperation part.

[0020] The application also provides a surgical instrument which can solve at least one of the above technical problems.

[0021] The application also provides a surgical instrument which can solve at least one of the above technical problems.

[0022] The application also provides a surgical instrument which can solve at least one of the above technical problems.

[0023] The application also provides a surgical instrument which can solve at least one of the above technical problems.

[0024] Beneficial effects:

[0025] The end effector provided by the embodiment of the application comprises an insulating seat, a conductive assembly and an actuator assembly; the insulating seat comprises two connection plates which are oppositely arranged and connected to each other; the conductive assembly comprises two wire ends which are arranged on opposite sides of the two connection plates respectively, and the conductive assembly is electrically connected to at most one of a monopolar connector and a bipolar connector; the actuator assembly is connected to the insulating seat, and the actuator assembly is arranged at least partially between the two connection plates and is electrically connected to the two wire ends; when the conductive assembly is electrically connected to the monopolar connector or the bipolar connector, the actuator assembly can be electrically conducted. In the application, when the conductive assembly is electrically connected to the bipolar connector, the actuator assembly can serve as a bipolar instrument; when the conductive assembly is electrically connected to the monopolar connector, the actuator assembly can serve as a monopolar instrument; and when the conductive assembly is not electrically connected to the monopolar connector or the bipolar connector, the actuator assembly can serve as a passive instrument. Therefore, in a surgical operation in which a large number of surgical instruments are required, only the conductive assembly needs to be controlled, and the actuator assembly can be applied in multiple application scenarios, thereby reducing the cost and improving the adaptability of the end effector.

[0026] The application also provides a surgical instrument which can solve at least one of the above technical problems.

[0027] The present application also provides a surgical device, comprising a negative electrode plate, a monopolar connector, a bipolar connector and the end effector as described above, the negative electrode plate is used to be installed on a target object, the bipolar connector is used to be electrically connected to two terminals, and the monopolar connector is used to be electrically connected to one terminal; the negative electrode plate is used to cooperate with the monopolar connector, so that the electrically conductive assembly is electrically connected to the monopolar connector, and the electrically conductive assembly is electrically connected. The surgical device can realize at least one of the above technical effects. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The schematic view of the end effector provided by an embodiment of the present application.

[0029] Figure 2 The front view of the end effector provided by an embodiment of the present application.

[0030] Figure 3 The schematic view of the end effector provided by an embodiment of the present application, in which the hidden part of the insulating seat is hidden.

[0031] Figure 4 The schematic view of the end effector provided by an embodiment of the present application, in which the electrically conductive assembly cooperates with the insulating seat.

[0032] Figure 5 The left view of the end effector provided by an embodiment of the present application, in which the electrically conductive assembly cooperates with the insulating seat.

[0033] Figure 6 The schematic view of the end effector provided by an embodiment of the present application, in which the electrically conductive assembly cooperates with the insulating seat.

[0034] Figure 7 The simplified view of the surgical device provided by an embodiment of the present application, in which the electrode connector and the bipolar connector are connected to the end effector.

[0035] Figure 8 The first schematic view of the end effector provided by an embodiment of the present application, in which the traction line cooperates with the driving wheel.

[0036] Figure 9 The second schematic view of the end effector provided by an embodiment of the present application, in which the traction line cooperates with the driving wheel.

[0037] Figure 10 The third schematic view of the end effector provided by an embodiment of the present application, in which the traction line cooperates with the driving wheel.

[0038] Figure 11 The schematic view of the surgical device provided by an embodiment of the present application.

[0039] Figure 12A partial view of a surgical instrument according to an embodiment of the present application.

[0040] Figure 13 A view of replacing a firing member in a surgical instrument according to an embodiment of the present application.

[0041] Figure 14 A view of a firing member in a surgical instrument according to an embodiment of the present application in a non-firing state and a firing state.

[0042] Figure 15 A flow chart of a method of disassembling an end effector according to an embodiment of the present application.

[0043] LIST OF REFERENCE NUMBERS

[0044] 10 - end effector; 100 - insulating seat; 110 - connecting plate; 111 - fixing groove; 112 - shaft hole; 113 - first recess; 120 - limiting plate; 121 - through hole; 130 - matching plate; 131 - mounting hole; 140 - rotation center; 150 - driving matching part; 160, 161 - traction wire; 162 - first wire body; 163 - second wire body; 200 - conductive assembly; 210 - wiring end; 220 - conductive sheet; 230 - wire; 300 - effector assembly; 310 - operating member; 311 - positioning block; 312 - connecting block; 320 - insulating plate; 321 - positioning groove; 322 - first protruding part; 323 - limiting groove; 324 - second recess; 400 - single-pole connector; 500 - double-pole connector; 600 - driving wheel; 610 - second protruding part; 620 - limiting protrusion; 630 - first driving wheel; 640 - second driving wheel; 650 - third recess; 700 - instrument joint; 800 - operating handle; 810 - handle shell; 820 - grip; 830 - driving gear; 840 - driven gear; 850 - first wire wheel; 860 - second wire wheel; 870 - wire winding wheel; 880 - transmission rope assembly; 890 - handle trigger; 900 - replaceable firing member; 910 - boss; 920 - main body; 930 - replacement tool; 940 - pressing part. DETAILED DESCRIPTION

[0045] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0046] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature is "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature is "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intermediate element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. The terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation.

[0048] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 7 , Figure 1 a schematic view of an end effector 10 according to an embodiment of the present application; Figure 2 a front view of the end effector 10 according to an embodiment of the present application; Figure 3 a schematic view of the end effector 10 according to an embodiment of the present application, with a hidden portion of the insulating seat; Figure 7 a simplified view of the connection of the electrode connector and the bipolar connector to the end effector 10 in a surgical device according to an embodiment of the present application. The end effector 10 according to an embodiment of the present application comprises an insulating seat 100, a conductive assembly 200 and an actuator assembly 300; the insulating seat 100 comprises two connection plates 110 arranged opposite to each other and connected to each other; the conductive assembly 200 comprises two wire terminals 210, the two wire terminals 210 are arranged on opposite sides of the two connection plates 110 respectively, the conductive assembly 200 is used for electrical connection with at most one of a monopolar connector 400 and a bipolar connector 500; the actuator assembly 300 is connected to the insulating seat 100, the actuator assembly 300 is arranged at least partially between the two connection plates 110, and is electrically connected to the two wire terminals 210, when the conductive assembly 200 is used for electrical connection with the monopolar connector 400 or the bipolar connector 500, the actuator assembly 300 can be electrically conducted.

[0049] Specifically, in the present application, when the conductive assembly 200 is electrically connected with the bipolar connector 500, the actuator assembly 300 can act as a bipolar instrument, when the conductive assembly 200 is electrically connected with the monopolar connector 400, the actuator assembly 300 can act as a monopolar instrument, and when the conductive assembly 200 is not electrically connected with the monopolar connector 400 or the bipolar connector 500, the actuator assembly 300 can act as a passive instrument. Therefore, in the operation of a variety of surgical instruments, only the conductive assembly 200 needs to be controlled, and the actuator assembly 300 can be applied in multiple application scenarios, thereby reducing the cost and improving the adaptability of the end effector instrument 10.

[0050] It should be noted that the bipolar instrument generally has two forceps, one of which is electrically connected to the positive electrode of the power supply, and the other is electrically connected to the negative electrode of the power supply. When the forceps contact the tissue and are closed, a path is formed between the instrument and the tissue, and high-frequency current passes through the tissue to complete the coagulation of blood vessels or bleeding points. The monopolar instrument can be an electric scissors, an electric forceps, an electric hook, etc. The monopolar instrument is electrically connected to the positive electrode of the power supply, and when the instrument contacts the tissue installed with a negative plate or grounded, a path is formed between the instrument and the tissue, and high-frequency current acts on the target object to achieve the purpose of cutting and hemostasis. The passive instrument is used for needle suturing, and the forceps are used for grabbing and pulling the tissue.

[0051] Referring to Figure 2 and Figure 3 In one embodiment, the conductive assembly 200 further includes two conductive sheets 220 and two wires 230. The two conductive sheets 220 are respectively installed on the two connecting plates 110, and the two conductive sheets 220 are respectively abutted and electrically connected with the actuator assembly 300. The portions of the two conductive sheets 220 abutting the actuator assembly 300 are configured as the two connection terminals 210. One end of each of the two wires 230 is electrically connected with the two conductive sheets 220, respectively, and the other end of each of the two wires 230 is respectively used for electrically connecting with the bipolar connector 500, or the other end of one of the two wires 230 is used for electrically connecting with the monopolar connector 400.

[0052] Specifically, the portions of the two conductive sheets 220 abutting against the effector assembly 300 are configured as the two terminals 210, so that the electrical connection between the effector assembly 300 and the two conductive sheets 220 is always maintained. When the two wires 230 are respectively used to be electrically connected with the bipolar connector 500, i.e. one wire 230 is electrically connected with the positive pole of the power supply and the other wire 230 is electrically connected with the negative pole of the power supply, so that the two terminals 210 carry opposite electricity, the effector assembly 300 abutting against the two terminals 210 on both sides can be electrically conducted. When one of the two wires 230 is electrically connected with the unipolar connector 400, i.e. one of the two wires 230 is in communication with the positive pole of the power supply, so that one of the terminals 210 carries electricity, the effector assembly 300 abutting against the two terminals 210 on both sides can be electrically conducted when the effector assembly 300 is in contact with the tissue on which the negative plate or the ground is installed. Preferably, the conductive sheet 220 is a conductive metal sheet.

[0053] Further, the conductive sheet 220 is a conductive elastic sheet, so that the conductive sheet 220 is always stably abutted against the two sides of the effector assembly 300 under the action of the elastic force of the conductive sheet 220, and the reliability of the end effector 10 is improved.

[0054] Further, the insulating seat 100 further comprises a matching plate 130, the two ends of the matching plate 130 are respectively connected to the two connecting plates 110, so that the two connecting plates 110 are stably connected. The matching plate 130 is provided with two mounting holes 131, the two mounting holes 131 are arranged in a spaced manner along the arrangement direction of the two connecting plates 110, and the two mounting holes 131 are used for the two wires 230 to pass through, so as to limit the two wires 230, and avoid the winding of the two wires 230 when the effector assembly 300 is working.

[0055] Referring to Figure 4 and Figure 5 , Figure 4 is a schematic view of the cooperation between the conductive assembly and the insulating seat in the end effector 10 provided by an embodiment of the present application; Figure 5 is a left view of the cooperation between the conductive assembly and the insulating seat in the end effector 10 provided by an embodiment of the present application. In one of the embodiments, the opposite sides of the two connecting plates 110 are both provided with a fixing groove 111, and the two conductive sheets 220 are respectively installed in the two fixing grooves 111; the insulating seat 100 further comprises two limiting plates 120, the two limiting plates 120 are respectively connected to the two connecting plates 110 and cover the portions of the corresponding fixing grooves 111.

[0056] Specifically, the conductive sheet 220 is installed in the fixing groove 111 and abuts against the groove wall of the fixing groove 111, the groove wall of the fixing groove 111 can limit the movement of the conductive sheet 220 on the connecting plate 110, and each limiting plate 120 covers a part of the corresponding fixing groove 111, thereby limiting the corresponding conductive sheet 220 from coming out, so that the conductive sheet 220 is stably limited in the current position, thereby enabling the conductive sheet 220 to stably abut against the actuator assembly 300.

[0057] Referring to Figure 4 In one embodiment, the limiting plate 120 is arranged at one end of the corresponding fixing groove 111 close to the wire 230, and each limiting plate 120 is provided with a through hole 121 communicating with the corresponding fixing groove 111, so as to pass through the corresponding wire 230.

[0058] Specifically, the connection between the wire 230 and the conductive sheet 220 is located in the fixing groove 111 through the through hole 121, thereby protecting the connection between the wire 230 and the conductive sheet 220, and stably connecting the wire 230 and the corresponding conductive sheet 220, thereby improving the reliability of the end effector 10.

[0059] Further, the two limiting plates 120 are installed on the side of the insulating seat 100 away from the actuator assembly 300, thereby reducing the interference of the limiting plate 120 on the actuator assembly 300.

[0060] Referring to Figure 3 and Figure 6 , Figure 6 The end effector 10 provided by one embodiment of the present application is shown in the schematic view of the actuator assembly 300. In one embodiment, the actuator assembly 300 includes an operating piece 310 and an insulating plate 320, the insulating plate 320 is connected to the insulating seat 100, and the operating piece 310 is detachably connected to the insulating plate 320. The operating piece 310 is used to be electrically connected to the terminal 210, thereby enabling the corresponding operating piece 310 to be conveniently replaced according to specific needs during surgery, thereby further reducing the cost of surgery and the adaptability of the end effector 10.

[0061] Referring to Figure 3 and Figure 6 In one embodiment, one of the operating piece 310 and the insulating plate 320 is provided with a positioning groove 321, and the other is provided with a positioning block 311, the positioning block 311 and the positioning groove 321 are inserted and matched, thereby enabling the operating piece 310 and the corresponding insulating plate 320 to be conveniently detached while being stably connected, thereby improving the stability of the end effector 10.

[0062] Referring to Figure 6In one of the embodiments, the positioning groove 321 is arranged on one side of the insulating plate 320, the positioning groove 321 comprises at least two intersecting installation grooves, the positioning block 311 is arranged on the operating member 310, and the positioning block 311 comprises installation blocks corresponding to the installation grooves, each installation block is inserted into the corresponding installation groove to limit the movement of the operating member 310 on the insulating plate 320.

[0063] Specifically, each installation block is installed in the corresponding installation groove, and the groove wall of each installation groove can limit the movement of the corresponding installation block on the insulating plate 320. Since the at least two installation grooves intersect, the groove wall of each installation groove can exert a force on the positioning block 311 in two directions of itself on the insulating plate 320, thereby stably limiting the movement of the operating member 310 on the insulating plate 320.

[0064] Further, the positioning block 311 further comprises a connecting block 312, the connecting block 312 is at least partially located outside the insulating plate 320, connected to the end of the operating member 310 away from the wire 230, and two ends of the connecting block 312 are respectively connected with two intersecting and connected installation blocks, thereby providing stable limiting force to both ends of the operating member 310 close to the insulating seat 100, so that the operating member 310 is stably connected with the corresponding insulating seat 100.

[0065] Referring to Figure 1 , Figure 2 and Figure 3 In one of the embodiments, when the conductive assembly 200 is used to be electrically connected with the bipolar connector 500, the number of the operating member 310 and the insulating plate 320 is both two, the two insulating plates 320 are oppositely arranged along the arrangement direction of the two connecting plates 110, and the two positioning grooves 321 are arranged on the sides of the two insulating plates 320 away from each other.

[0066] Specifically, when the wire 230 assembly is electrically connected with the bipolar connector 500, the operating member 310 is connected to each of the two insulating plates 320, the positioning block 311 on the two operating members 310 is inserted into the corresponding positioning groove 321, and the two positioning blocks 311 respectively abut against the two conductive sheets 220, so that each operating member 310 is stably electrically connected with the two conductive sheets 220 while being stably connected with the corresponding insulating plate 320.

[0067] When the wire 230 assembly is electrically connected with the monopolar connector 400, at least one of the two insulating plates 320 is connected with the operating member 310, and the conductive sheet 220 connected to the monopolar connector 400 through the wire 230 abuts against the operating member 310. When the operating member 310 contacts the target object on which the negative plate or the ground is installed, the current flowing through the operating member 310 can form a loop.

[0068] Further, the number of the insulation plates 320 is two, and the type and number of the operation members 310 can be changed according to specific requirements, so as to improve the adaptability of the end execution instrument 10. In other embodiments, the number of the insulation plates 320 can also be one.

[0069] Referring to Figure 1 , Figure 2 and Figure 3 , in one of the embodiments, the two positioning grooves 321 are arranged staggered in the arrangement direction of the two connecting plates 110.

[0070] Specifically, when the wire 230 assembly is electrically connected with the bipolar connector 500, both of the operation members 310 are electrified, and therefore the electrical gap and the creepage distance between the two adjacent conductors need to be considered. Since the two positioning grooves 321 are arranged staggered in the arrangement direction of the two connecting plates 110, when the two operation members 310 are installed on the corresponding insulation plates 320, the two positioning blocks 311 can also be arranged staggered in the arrangement direction of the two connecting plates 110, so as to increase the distance between the two positioning blocks 311, i.e. to increase the electrical gap and the creepage distance between the two operation members 310, to avoid the problem of current short circuit, and thus to improve the reliability of the end execution instrument 10.

[0071] In the end execution instrument 10, the overall length dimension is large, which leads to a large turning radius of the end execution instrument 10, and the flexibility is poor in the application scenario of a narrow space. Therefore, in order to reduce the overall length dimension of the end execution instrument 10, the end execution instrument 10 is improved in the embodiments of the present specification.

[0072] Referring to Figures 1-6 , in one of the embodiments, the end execution instrument 10 further comprises a driving wheel 600 arranged on the insulation seat 100, wherein the cooperation between the actuator assembly 300 and the insulation seat 100 forms a rotation center 140, and the actuator assembly 300 can rotate around the rotation center 140 through the driving cooperation part 150. The driving cooperation part 150 is formed between the actuator assembly 300 and the driving wheel 600. When the driving wheel 600 rotates, the driving wheel 600 can drive the actuator assembly 300 to switch between the first state and the second state relative to the insulation seat 100.

[0073] The first state refers to that the actuator assembly 300 is in a relatively open state, as shown in the figure. The second state refers to that the actuator assembly 300 is in a closed state, as shown in the figure.

[0074] Referring to Figures 1-6In one embodiment, a first protrusion 322 can be formed on the actuator assembly 300 at the rotation center 140. The first protrusion 322 forms the rotation axis of the actuator assembly 300. In some embodiments, a first recess 113 can be formed on the insulator base 100 to mate with the first protrusion 322.

[0075] Referring to Figures 1-6 In one embodiment, a first recess 113 can be formed on the actuator assembly 300 at the rotation center 140, and a first protrusion 322 can be formed on the insulator base 100 to mate with the first recess 113. When the first protrusion 322 is located in the first recess 113, the first protrusion 322 and the first recess 113 together form the rotation center 140, and the actuator assembly 300 can rotate around the rotation center 140.

[0076] In some alternative embodiments, a first recess 113 can be formed on the actuator assembly 300 at the rotation center 140, and a first protrusion 322 can be formed on the insulator base 100 to mate with the first recess 113.

[0077] Referring to Figures 1-6 In one embodiment, the first recess 113 can be a counterbore or a through hole 121. In some embodiments, the first recess 113 can be a circular hole. In some embodiments, the first recess 113 can be a partial circular hole with a central angle less than 360°.

[0078] Referring to Figures 1-6 In one embodiment, the drive matching portion 150 can include a second protrusion 610 formed on the drive wheel 600 and a second recess 324 formed on the actuator assembly 300.

[0079] In some alternative embodiments, the drive matching portion 150 can include a second protrusion 610 formed on the actuator assembly 300 and a second recess 324 formed on the drive wheel 600.

[0080] When the second protrusion 610 is located in the second recess 324, the second protrusion 610 and the second recess 324 together form the drive matching portion 150. When the drive wheel 600 rotates, the actuator assembly 300 can be driven to rotate around the rotation center 140 through the drive matching portion 150.

[0081] Referring to Figures 1-6In one embodiment, the second protrusion 610 can be disposed at an outer edge position of the driving wheel 600. The outer edge position refers to a position on the driving wheel 600 close to the edge, which can refer to a position outside the edge of the driving wheel 600, a position inside the edge of the driving wheel 600, or a position at the edge of the driving wheel 600. Specifically, the second protrusion 610 can be completely outside the edge of the driving wheel 600, completely inside the edge of the driving wheel 600, partially outside the edge of the driving wheel 600, or partially inside the edge of the driving wheel 600. In some embodiments, the second protrusion 610 can be disposed at any position inside the outer edge of the driving wheel 600. In some embodiments, the second recess 324 can be disposed at a position away from the rotation center 140 on the actuator assembly 300, for example, an edge position of the actuator assembly 300 away from the rotation center 140. The farther the distance between the second protrusion 610 and / or the second recess 324 and the rotation center 140, the smaller the force with which the driving wheel 600 drives the actuator assembly 300 to rotate.

[0082] Referring to Figures 1-6 In one embodiment, the actuator assembly 300 can include a limiting slot 323 configured to cooperate with the limiting protrusion 620 on the driving wheel 600. Through the cooperation between the limiting slot 323 and the limiting protrusion 620, the actuator assembly 300 can be limited to rotate around the rotation center 140. In some embodiments, the limiting slot 323 is concentric with the rotation center 140, as shown in the figure. In some embodiments, the distance between the limiting slot 323 and the first protrusion 322 is equal to the distance between the limiting protrusion 620 and the first recess 113.

[0083] In one embodiment, the limiting slot 323 can be a closed limiting slot 323, i.e., the limiting slot 323 is closed at both ends, limiting the movement of the limiting protrusion 620 in the slot.

[0084] In one embodiment, the limiting slot 323 can be an open limiting slot 323, i.e., the limiting slot 323 is open at one end and closed at the other end, and the limiting protrusion 620 can move out of the limiting slot 323 during the rotation of the actuator assembly 300 around the rotation center 140.

[0085] In some of the foregoing embodiments, the limiting slot 323 is designed as an open limiting slot 323, which can cause the first protrusion 322 of the actuator assembly 300 to exit the first recess 113 on the insulating base 100 when the limiting protrusion 620 moves out of the limiting slot 323, thereby facilitating the disassembly of the actuator assembly 300.

[0086] Referring to Figures 1-6In one embodiment, the driving wheel 600 can be connected with the insulating base 100 through a pin shaft, and the driving wheel 600 rotates around the pin shaft as the center axis. In some embodiments, the pin shaft can be used as the limiting protrusion 620. In some embodiments, the insulating base 100 is provided with a shaft hole 112, and the pin shaft is inserted into the shaft hole 112 to achieve the rotational connection between the driving wheel 600 and the insulating base 100.

[0087] When the limiting groove 323 is an arc-shaped groove, the corresponding arc should meet the opening and closing angle requirement of the actuator assembly 300, that is, when the pin shaft moves from one end to the other end in the limiting groove 323, the actuator assembly 300 can be switched between the closed state and the state of being opened to the maximum working angle.

[0088] In some alternative embodiments, the pin shaft and the limiting protrusion 620 can be two different components, and accordingly, a rotating groove corresponding to the pin shaft needs to be provided on the actuator assembly 300. In some embodiments, the rotating groove can be a closed rotating groove or an open rotating groove. The structure of the rotating groove is similar to that of the aforementioned limiting groove 323, and the aforementioned description about the limiting groove 323 can be referred to.

[0089] Referring to Figure 2 , Figure 3 , Figure 6 , Figure 8 , Figure 9 and Figure 10 , Figure 8 FIG. 1 is a first schematic view of the cooperation between the traction line and the driving wheel in the end execution device according to an embodiment of the present application. Figure 9 FIG. 2 is a second schematic view of the cooperation between the traction line and the driving wheel in the end execution device according to an embodiment of the present application. Figure 10 FIG. 3 is a third schematic view of the cooperation between the traction line and the driving wheel in the end execution device according to an embodiment of the present application. In one embodiment, the end execution device 10 can include a traction line 160. The traction line 160 is used to control the rotation of the driving wheel 600. Specifically, the traction line 160 can control the clockwise rotation or the counterclockwise rotation of the driving wheel 600.

[0090] Further, the driving wheel 600 includes a first driving wheel 630 and a second driving wheel 640 which can relatively rotate independently.

[0091] Further, the driving wheel 600 can be provided with a third recess 650. In some embodiments, the traction line 160 is connected with a traction block 161. The third recess 650 is used to accommodate the traction block 161, and the traction block 161 is used to stably and reliably transmit the rotating force of the traction line 160 to the driving wheel 600 in the third recess 650.

[0092] It is worth mentioning that the position where the traction line 160 transmits the rotating force to the driving wheel 600 includes but is not limited to the third recess 650. For example, a wire slot can also be formed on the driving wheel 600, and the traction line 160 is wound in the wire slot. When the traction line 160 is pulled, the rotating force can also be transmitted to the driving wheel 600 through the static friction between the traction line 160 and the wire slot.

[0093] Referring to Figure 3 , Figure 8 , Figure 9 , Figure 10 In one embodiment, the traction line 160 can include a first line body 162 and a second line body 163, wherein the first line body 162 is used to drive the first driving wheel 630, and the second line body 163 is used to drive the second driving wheel 640.

[0094] Further, the traction block 161 can be two, respectively arranged on the first line body 162 and the second line body 163.

[0095] Further, at least part of the first line body 162 can be wound on the first driving wheel 630 in a first direction, and at least part of the second line body 163 can be wound on the second driving wheel 640 in a second direction.

[0096] The first direction can refer to the clockwise direction, or the counterclockwise direction. The second direction can refer to the clockwise direction, or the counterclockwise direction. In some embodiments, the first direction and the second direction are opposite directions, for example, the first direction is the clockwise direction, and the second direction is the counterclockwise direction, as shown in Figure 10 The foregoing some embodiments can realize the opening and closing action of the actuator assembly 300 by driving the traction line 160 by winding the first line body 162 and the second line body 163 on the first driving wheel 630 and the second driving wheel 640 which can relatively rotate independently in different directions.

[0097] In addition, the fixation between the first line body 162 and the first driving wheel 630 can be realized by arranging the traction block 161 in the third recess 650, and the fixation between the second line body 163 and the second driving wheel 640 can be realized by arranging the traction block 161 in the third recess 650, as shown in the figure.

[0098] Referring to Figure 2 , Figure 3 , Figure 6 , Figure 8 , Figure 9 and Figure 10In one embodiment, the driving wheel 600 can be a wheel that is pulled by the traction line 160, so that one jaw of the end effector assembly 300 can be kept in a fixed position, and the other jaw of the end effector assembly 300 can be driven to rotate by the traction line 160 through the driving wheel 600.

[0099] In some of the foregoing embodiments, the driving wheel 600 can convert the traction movement of the traction line 160 into rotational movement and then directly drive the end effector assembly 300 without the need for other intermediate components, so that the transmission efficiency is high.

[0100] In one embodiment, when the end effector assembly 300 needs to be replaced, the end effector assembly 300 can be driven to open to a larger angle relative to the designed opening and closing angle so that the pin shaft is no longer in contact with the limiting groove 323, as shown in the figure, so that the end effector assembly 300 can be removed from the first recess 113 of the insulating base 100.

[0101] Referring to Figure 1 , Figure 2 , Figure 3 , Figure 7 , Figure 11 and Figure 12 , Figure 11 a schematic view of a surgical instrument according to an embodiment of the present application. Figure 12 a partial schematic view of a surgical instrument according to an embodiment of the present application. The present application also provides a surgical instrument 10, which includes an instrument joint 700 and the end effector assembly 10 described above, and the instrument joint 700 is connected to the insulating base 100, and the instrument joint 700 is used to drive the end effector assembly 300 to move.

[0102] Specifically, the instrument joint 700 can be used to drive the end effector assembly 10 to move (e.g., to perform a yawing movement or a rotating movement). As an exemplary illustration, the instrument joint 700 can be similar to a snake bone structure, and the distal end of the instrument joint 700 can be connected to the proximal end of the insulating base 100, and by bending or rotating the instrument joint 700 about its own axis, the end effector assembly 10 can be driven to perform a yawing movement or a rotating movement. Here, the distal end refers to the end that is far away from the operator when the surgical instrument is used, and the proximal end refers to the end that is close to the operator when the surgical instrument is used.

[0103] In this embodiment, the actuator assembly 300 can act as a bipolar instrument when the conductive assembly 200 is electrically connected with the bipolar connector 500, the actuator assembly 300 can act as a monopolar instrument when the conductive assembly 200 is electrically connected with the monopolar connector 400, and the actuator assembly 300 can act as a passive instrument when the conductive assembly 200 is not electrically connected with the monopolar connector 400 or the bipolar connector 500. Therefore, only the conductive assembly 200 needs to be controlled in a surgery with a variety of surgical instruments, and the actuator assembly 300 can be applied in multiple application scenarios, thereby reducing the cost and improving the adaptability of the surgical instrument.

[0104] Referring to Figure 11 and Figure 12 In one embodiment, the surgical instrument further includes an operation handle 800, which can be used to control the driving wheel 600 of the end effector 10 and switch the actuator assembly 300 between the first state and the second state, so that the actuator assembly 300 can perform the opening and closing action.

[0105] Referring to Figures 8-12 In one embodiment, the operation handle 800 can control the driving wheel 600 to rotate in the first direction or the second direction through the traction line 160, so as to switch the actuator assembly 300 between the first state and the second state. As an exemplary illustration, the operation handle 800 includes a handle housing 810, a grip 820, a driving gear 830, a driven gear 840, a first line wheel 850, a second line wheel 860, a winding wheel 870, a transmission rope assembly 880, and a handle trigger 890. The transmission rope assembly 880 includes a rope body and a rope cover covering the rope body. The handle trigger 890 is connected with the driving gear 830, the driving gear 830 is engaged with the driven gear 840, the driven gear 840 is coaxial with the first line wheel 850, and the rope body of the transmission rope assembly 880 is wound around the first line wheel 850 and the second line wheel 860. In some embodiments, the rope bodies can cross each other. In some embodiments, the rope bodies can not cross each other. The winding wheel 870 is coaxial with the second line wheel 860, the other ends of the first line body 162 and the second line body 163 in the traction line 160 are fixed on the winding wheel 870, and at least part of the first line body 162 and the second line body 163 are wound on the winding wheel 870 in opposite directions.

[0106] When the operator wants to control the actuator assembly 300 in the end effector 10 to perform opening and closing actions by operating the handle 800, the operator can grip or release the handle trigger 890 to drive the driving gear 830 to rotate, the rotation of the driving gear 830 can be transmitted to the driven gear 840 through gear engagement, so that the first wire wheel 850 rotates under the drive of the driven gear 840, the rotation of the first wire wheel 850 can be transmitted to the second wire wheel 860 through the rope body, so that the winding wheel 870 can rotate under the drive of the second wire wheel 860, thereby achieving the pulling of the first wire body 162 and / or the second wire body 163, so that the first driving wheel 630 and / or the second driving wheel 640 rotates to realize the switching of the actuator assembly 300 between the first state and the second state, achieving the purpose of controlling the actuator assembly 300 to perform opening and closing actions. In some embodiments, the operating handle 800 can also be used to control the instrument joint 700 to bend or rotate, thereby driving the end effector 10 to perform yawing motion or rotating motion.

[0107] Referring to Figures 11-14 , Figure 13 The schematic diagram of the replacement trigger provided by an embodiment of the present application in the surgical instrument. Figure 14 The schematic diagram of the replacement trigger in the untriggered state and the triggered state of the surgical instrument provided by an embodiment of the present application. In one embodiment, the operating handle 800 can include a handle housing 810, a handle trigger 890, and a replacement trigger 900 arranged on the handle housing 810.

[0108] Referring to Figures 11-14 In one embodiment, the replacement trigger 900 is located at the end of the travel range of the handle trigger 890. The replacement trigger 900 is operable between a first position and a second position. For example, when the operator presses the replacement trigger 900, the replacement trigger 900 is in the second position, and when the operator releases the pressing of the replacement trigger 900, the replacement trigger 900 can be automatically reset to the first position under the action of the reset spring.

[0109] When the replacement trigger 900 is in the first position, as shown in the left half of the figure, the handle trigger 890 can move within a specified travel range at this time. The movement travel range of the handle trigger 890 corresponds to the rotation angle of the actuator assembly 300. When the handle trigger 890 moves from the starting point to the end point of the specified travel range, the actuator assembly 300 can be driven from the fully open state to the closed state through the driving wheel 600. Similarly, when the handle trigger 890 moves from the end point to the starting point of the specified travel range, the actuator assembly 300 can be driven from the closed state to the fully open state through the driving wheel 600.

[0110] Referring to Figures 11-14In one embodiment, the handle trigger 890 can be moved from the starting point to the ending point or any position between the starting point and the ending point by the operator holding the handle trigger 890. In some embodiments, the handle trigger 890 can automatically return to the starting point under the action of a return spring arranged between the handle trigger 890 and the grip 820 after the operator releases the handle trigger 890.

[0111] In one embodiment, the handle trigger 890 can drive the actuator assembly 300 to perform the opening and closing action when the handle trigger 890 moves.

[0112] When the replacement firing member 900 is in the second position, as shown in the right half of the figure, the handle trigger 890 can be moved beyond the specified stroke. After the handle trigger 890 is moved beyond the specified stroke, the handle trigger 890 can drive the actuator assembly 300 to open an angle larger than the designed opening and closing angle, so that the pin shaft is no longer in contact with the limiting groove 323, as shown in the figure, at this time, the jaws of the actuator assembly 300 can be detached, and the operator can remove the actuator assembly 300 from the first recess 113 of the insulating seat 100.

[0113] Referring to Figures 11-14 In one embodiment, the replacement firing member 900 has a first radius when the replacement firing member 900 is in the first position, and the replacement firing member 900 has a second radius when the replacement firing member 900 is in the second position, and the second radius is smaller than the first radius. In some embodiments, the replacement firing member 900 can include a main body 920 and a boss 910 arranged on the main body 920. The main body 920 has the second radius, and the boss 910 has the first radius. The replacement firing member 900 has the first radius when the replacement firing member 900 is in the first position, that is, the boss 910 can limit the movement of the handle trigger 890. The replacement firing member 900 has the second radius when the replacement firing member 900 is in the second position, that is, the main body 920 can limit the movement of the handle trigger 890. The second radius is smaller than the first radius, so that the handle trigger 890 can drive the actuator assembly 300 to open a larger angle when the replacement firing member 900 is in the second position, thereby achieving detachable control of the actuator assembly 300.

[0114] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 7 One embodiment of the present application further provides a surgical device, which comprises a negative electrode plate, a monopolar connector 400, a bipolar connector 500, and the end effector 10 described above. The negative electrode plate is arranged on a target object. The bipolar connector 500 is electrically connected to two wire ends 210. The monopolar connector 400 is electrically connected to one wire end 210. The negative electrode plate is used in cooperation with the monopolar connector 400 to electrically connect the conductive assembly 200 and the monopolar connector 400, so as to electrically conduct the actuator assembly 300.

[0115] The embodiment can act as a bipolar instrument when the electrically conductive assembly 200 is electrically connected with the bipolar connector 500, act as a monopolar instrument when the electrically conductive assembly 200 is electrically connected with the monopolar connector 400, and act as a passive instrument when the electrically conductive assembly 200 is not electrically connected with the monopolar connector 400 or the bipolar connector 500, so that the operator only needs to control the electrically conductive assembly 200 to achieve multiple application scenarios of the effector assembly 300 in a surgery with a large number of required surgical instruments, thereby reducing the cost and improving the adaptability of the surgical equipment.

[0116] Referring to Figures 11-15 The embodiment of the present application also provides a disassembly method of the effector assembly 300 of the end effector 10, which comprises the following steps: an operator operates the replacement trigger 900 to switch the replacement trigger 900 from the first position to the second position; the operator holds the handle trigger 890 to rotate the driving wheel 600 and drive the effector assembly 300 to open, so that the limiting protrusion 620 is separated from the limiting groove 323; and the operator moves the effector assembly 300 away from the driving fitting part 150, thereby taking down the effector assembly 300.

[0117] Referring to Figures 11-15 The embodiment of the present application also provides an installation method of the effector assembly 300 of the end effector 10, which comprises the following steps: the effector assembly 300 is placed in the replacement tool 930, and the replacement tool 930 is inserted into the insulating seat 100 and aligned with the driving wheel 600; the operator presses the pressing part 940 on both sides of the replacement tool 930, so that the second protruding part 610 on the driving wheel 600 is butted into the second recessed part 324 of the effector assembly 300; the operator presses the replacement trigger 900, and the handle trigger 890 moves to a specified stroke outside under the action of the spring in the handle 820, thereby driving the driving wheel 600 to rotate, and at the same time, the operator holds the replacement tool 930, so that the effector assembly 300 is opened by an angle, and the first protruding part 322 is clamped into the first recessed part 113; the operator holds the handle trigger 890 to close the effector assembly 300; and the operator takes down the replacement tool 930.

[0118] The beneficial effects that the foregoing embodiments of the present specification can bring include but are not limited to: due to the direct driving of the actuator assembly 300 by the driving wheel 600 without intermediate transmission members, the structure is simple and compact, which can make the overall length size of the end effector 10 smaller, the turning radius smaller, and have good flexibility in narrow space application scenarios; by designing the driving matching part 150 at the edge position of the driving wheel 600, the driving force required for the driving wheel 600 to rotate when the actuator assembly 300 completes the opening and closing action can be ensured to be smaller, which is beneficial to reduce the burden of the operator; the opening and closing control of the actuator assembly 300 can be realized only by rotating the driving wheel 600, the actuator assembly 300 not only can have a larger opening and closing angle, but also can make the end effector 10 meet the demand of some surgical instruments to realize double-side opening and closing control through single-rope driving (i.e. through a traction line 160 to drive one or two driving wheels 600 to rotate); through the open limiting slot 323 on the actuator assembly 300 and the part-circular hole type first recess 113 on the insulating seat 100, the actuator assembly 300 can be conveniently disassembled and replaced.

[0119] The technical features of the above-mentioned embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0120] The above-mentioned embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. An end effector, characterized in that, The end effector includes: An insulating base (100) includes two oppositely arranged and interconnected connecting plates (110); A conductive component (200) includes two terminals (210) respectively disposed on opposite sides of the two connecting plates (110), the conductive component (200) being used for electrical connection with at most one of a unipolar connector (400) and a bipolar connector (500); and, An actuator assembly (300) is connected to the insulating base (100). The actuator assembly (300) is at least partially disposed between the two connecting plates (110) and electrically connected to both terminals (210). The actuator assembly (300) is electrically conductive when the conductive component (200) is used to electrically connect to the single-pole connector (400) or the double-pole connector (500). The conductive component (200) further includes: Two conductive plates (220) are respectively mounted on two connecting plates (110). The two conductive plates (220) abut against and are electrically connected to the actuator assembly (300). The portions of the two conductive plates (220) that abut against the actuator assembly (300) form two terminals (210). Two wires (230), one end of each wire (230) is electrically connected to one of the two conductive plates (220), and the other end is used to be electrically connected to the bipolar connector (500), or the other end of one of the two wires (230) is used to be electrically connected to the unipolar connector (400); Each of the two connecting plates (110) has a fixing groove (111) on one side opposite to the other, and the two conductive sheets (220) are respectively installed in the two fixing grooves (111); the insulating seat (100) also includes two limiting plates (120), which are respectively connected to the two connecting plates (110) and cover the corresponding fixing grooves (111).

2. The end effector according to claim 1, characterized in that, The limiting plate (120) is disposed at one end of the corresponding fixing groove (111) near the wire (230), and each limiting plate (120) is provided with a through hole (121) communicating with the corresponding fixing groove (111) so that the corresponding wire (230) can pass through.

3. The end effector according to any one of claims 1-2, characterized in that, The actuator assembly (300) includes an operating element (310) and an insulating plate (320), the insulating plate (320) being connected to the insulating base (100), the operating element (310) being detachably connected to the insulating plate (320), and the operating element (310) being used for electrical connection with the terminal (210).

4. The end effector according to claim 3, characterized in that, One of the operating component (310) and the insulating plate (320) is provided with a positioning groove (321), and the other is provided with a positioning block (311), wherein the positioning block (311) is inserted into the positioning groove (321).

5. The end effector according to claim 4, characterized in that, The positioning groove (321) is disposed on one side of the insulating plate (320). The positioning groove (321) includes at least two intersecting mounting grooves. The positioning block (311) is disposed on the operating member (310). The positioning block (311) includes mounting blocks corresponding to each mounting groove. Each mounting block is inserted into and cooperates with the corresponding mounting groove to restrict the movement of the operating member (310) on the insulating plate (320).

6. The end effector according to claim 4, characterized in that, When the conductive component (200) is used to electrically connect with the bipolar connector (500), there are two operating components (310) and two insulating plates (320). The two insulating plates (320) are arranged opposite each other along the arrangement direction of the two connecting plates (110), and the two positioning grooves (321) are respectively arranged on the opposite side of the two insulating plates (320).

7. The end effector according to claim 6, characterized in that, The two positioning slots (321) are staggered in the arrangement direction of the two connecting plates (110).

8. The end effector according to any one of claims 1-2, characterized in that, The end effector also includes a drive wheel (610) disposed on the insulating base (100), the drive wheel (610) being connected to the actuator assembly (300). The actuator assembly (300) and the insulating base (100) cooperate to form a rotation center (140), and the actuator assembly (300) can rotate around the rotation center (140); the actuator assembly (300) and the drive wheel (610) form a drive engagement part (150), and when the drive wheel (610) rotates, the drive wheel (610) can drive the actuator assembly (300) to rotate relative to the insulating base (100) through the drive engagement part (150).

9. A surgical instrument, characterized in that, Includes a device joint and an end effector (10) as described in any one of claims 1-8, wherein the device joint (700) is connected to the insulating base (100) and the device joint (700) is used to drive the actuator assembly (300) to move.

10. A surgical device comprising a negative electrode plate, a monopolar connector (400), a bipolar connector (500), and an end effector (10) according to any one of claims 1-8, wherein the negative electrode plate is for mounting on a target object, the bipolar connector (500) is for electrically connecting to two of the terminals (210), and the monopolar connector (400) is for electrically connecting to one of the terminals (210); the negative electrode plate is configured to cooperate with the monopolar connector (400) to electrically conduct the actuator assembly (300) when the conductive component (200) is electrically connected to the monopolar connector (400).

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