Surgical forceps tips and forceps

Abstract

The present invention provides a surgical forceps tip and surgical forceps, comprising: a shell component, used to connect with the surgical forceps and control the opening and closing of the surgical forceps; a detachable component, including a quick-release upper buckle component and a quick-release lower buckle component, the quick-release upper buckle component is connected to the shell component; a surgical forceps tip body, connected to the quick-release lower buckle component; wherein the position state between the quick-release upper buckle component and the quick-release lower buckle component comprises a first position state and a second position state, in the first position state, the quick-release upper buckle component is connected to the quick-release lower buckle component, and then connected to the surgical forceps tip body, and in the second position state, the quick-release upper buckle component and the quick-release lower buckle component are separated from each other, and then the surgical forceps tip body is released.

Description

Technical Field

[0001] The invention belongs to the technical field of medical equipment, and in particular relates to a surgical forceps tip and surgical forceps. Background Art

[0002] Internal limiting membrane peeling and epiretinal membrane peeling are the most difficult ophthalmic surgical procedures. This procedure requires doctors to tear off a layer of biological membrane only tens of microns thick from the extremely fragile retinal surface. Only about 7mN of misoperation force may cause irreversible eye damage. The requirements of this procedure for motion accuracy / force perception accuracy exceed the human limit, and robotic technology is needed to effectively improve the success rate of internal limiting membrane peeling / epiretinal membrane peeling. If robots are used to carry out the above ophthalmic surgical procedures, a surgical forceps end effector is required. The surgical forceps end effector needs to be equipped with 23G intraocular forceps, so as to enter the eye through the scleral incision and tear off the internal limiting membrane and epiretinal membrane. At the same time, the surgical forceps end effector should have automatic opening and closing and force sensing functions, be able to autonomously open and close the forceps according to the doctor's requirements, and accurately sense the contact force between the surgical forceps and the eye tissue with sub-millinewton accuracy to prevent excessive contact force from damaging the eye tissue. Finally, from a practical point of view, the end effector should be able to be quickly disassembled and replaced to reduce the operational burden in clinical use.

[0003] The related technology provides an ophthalmic robot end device for vitreoretinal surgery, which consists of a linear motion part, a rotation part and a micro-force sensor. A stepper motor is used to control the feeding and rotation of the surgical hook. At the same time, a fiber grating sensor (FBG) evenly distributed on the diameter of the surgical hook is used to measure the change in wavelength to achieve the measurement of radial force and axial torque.

[0004] The related technology also provides an ophthalmic surgical robot terminal structure, including a main seat, a rotating seat, a fixed seat, terminal forceps, a first linear drive device, a second linear drive device, and a rotating drive device. The rotating seat is arranged in the main seat, and the two ends of the rotating seat are rotatably connected to the two ends of the main seat. The rotating drive device is arranged on the main seat, and the output end of the rotating drive device is transmission-connected to the rotating seat to drive the rotating seat to rotate. The main seat is slidably connected to the fixed seat, and the second linear drive device is arranged on the fixed seat to drive the main seat to slide on the fixed seat.

[0005] The related technology provides an ophthalmic surgical robot end effector with enhanced tactile detection. One end of the intraocular forceps core passes through the intraocular forceps barrel and is connected to the tactile force enhancement structure, which is arranged on the tray. An FBG fiber grating sensor group is arranged on the intraocular forceps core near the intraocular forceps barrel to realize the lateral force detection of the forceps barrel; the intraocular forceps barrel is connected to the pin shaft through the forceps barrel bearing fixing ring, one end of the pin shaft is connected to the front bracket, and the other end passes through the forceps barrel bearing fixing ring and the linear bearing to be connected to the spin gear on the tray; the intraocular forceps barrel is connected to the linear drive module arranged on the tray through an arc-shaped connector to realize the axial force detection of the forceps core.

[0006] However, in the above solution, the end effector and the robot are connected by bolts, etc., and the disassembly and assembly process is cumbersome. In addition, the motor that controls the opening and closing of the tweezers must be disassembled or installed together with the actuator, and the drive and controller supporting this motor must also be disassembled or installed together, making the system too cumbersome and unreliable to operate. Summary of the invention

[0007] The present invention provides a surgical forceps end and surgical forceps, which can at least solve the technical problem that the end effector and the robot are connected by bolts and the like in the above solution, and the disassembly and assembly process is cumbersome. In addition, the motor for controlling the opening and closing of the forceps must be disassembled or installed together with the actuator, and the drive and controller matched with the motor must also be disassembled or installed together, making the system too cumbersome and the operation unreliable.

[0008] In one aspect, a surgical forceps tip is provided, comprising:

[0009] A housing component, used to connect with the surgical forceps and control the opening and closing of the surgical forceps;

[0010] A detachable assembly, comprising a quick-release upper buckle assembly and a quick-release lower buckle assembly, wherein the quick-release upper buckle assembly is connected to the housing assembly;

[0011] The end body of the surgical forceps is connected to the quick-release buckle assembly;

[0012] Among them, the position state between the quick-release upper buckle assembly and the quick-release lower buckle assembly includes a first position state and a second position state. In the first position state, the quick-release upper buckle assembly is connected to the quick-release lower buckle assembly, thereby connecting the surgical forceps terminal body. In the second position state, the quick-release upper buckle assembly is separated from the quick-release lower buckle assembly, thereby releasing the surgical forceps terminal body.

[0013] In an optional embodiment, the housing assembly includes: a transmission part and a housing body;

[0014] One end of the transmission part is connected to the end body of the surgical forceps through the detachable component, and the other end is used to connect to the surgical forceps and control the opening and closing of the surgical forceps;

[0015] The inner ring of the shell body is cooperatively connected with the transmission part.

[0016] In an optional embodiment, the transmission part includes a cylindrical cam, a bearing, a transmission shaft, a sleeve and a driven friction member;

[0017] One end of the cylindrical cam is integrally connected to the transmission shaft, and the other end is used to connect to the surgical forceps and control the opening and closing of the surgical forceps;

[0018] The bearing is cooperatively connected with the transmission shaft;

[0019] The sleeve is sleeved on the transmission shaft and is located between adjacent bearings;

[0020] The driven friction member is used to be connected to the distal end body of the surgical forceps.

[0021] In an optional embodiment, one end of the cylindrical cam for connecting with the surgical forceps has a protrusion;

[0022] When the protrusion of the cylindrical cam abuts against the switch connected to the surgical forceps, the surgical forceps is closed;

[0023] When the protrusion of the cylindrical cam moves away from the switch to which the surgical forceps is connected, the surgical forceps is opened.

[0024] In an optional embodiment, the quick-release upper buckle assembly includes: an upper buckle body,

[0025] The first end face of the upper buckle body is connected to the shell assembly, and a convex conical surface is provided on the second end face along the circumferential direction, and a quick-release pressure hole is provided on at least one side of the convex conical surface. The upper buckle body switches between the first position state and the second position state with the quick-release lower buckle assembly through the convex conical surface and the quick-release pressure hole.

[0026] In an optional embodiment, the quick-release lower buckle assembly includes: a lower buckle support, a ball plunger and a concave cone surface;

[0027] The lower buckle support is connected to the distal end body of the surgical forceps;

[0028] The concave cone surface is evenly arranged along the lower buckle support;

[0029] The ball plunger is arranged on the concave conical surface, and the concave conical surface is in contact with the convex conical surface. The quick-release pressure hole squeezes the ball plunger or moves away from the ball plunger to achieve switching between the first position state and the second position state with the quick-release lower buckle assembly.

[0030] In an optional embodiment, the ball plunger comprises a plunger, a ball head and an elastic connector;

[0031] The plunger is provided with a connecting hole, the elastic connecting piece is arranged at the bottom of the plunger, and the ball head is connected to the elastic connecting piece through the connecting hole;

[0032] When the quick-release pressure hole squeezes the ball head, the quick-release upper buckle assembly and the quick-release lower buckle assembly are located in the first position state, thereby connecting the surgical forceps end body;

[0033] When the quick-release pressure hole is away from the ball head, the quick-release upper buckle assembly and the quick-release lower buckle assembly are located in the second position state, thereby releasing the surgical forceps terminal body.

[0034] In an optional embodiment, the surgical forceps tip body includes a frameless motor and an active friction member;

[0035] The motor output shaft of the frameless motor is connected to the active friction member;

[0036] The active friction member is connected to the housing assembly.

[0037] In an optional embodiment, it further comprises a counting chip, wherein the counting chip is arranged between the housing component and the detachable component;

[0038] The counting chip is used to complete the encrypted communication between the surgical forceps tip and the surgical robot.

[0039] On the other hand, a surgical forceps is provided, comprising any one of the surgical forceps tips described above and an intraocular forceps connected to the surgical forceps tip, and a fiber Bragg grating connected to the outer side of the intraocular forceps.

[0040] The surgical forceps tip provided by the embodiment of the present invention has at least the following beneficial effects:

[0041] The surgical forceps end provided by the embodiment of the present invention is based on a detachable component including a quick-release upper buckle component and a quick-release lower buckle component, and the position state between the quick-release upper buckle component and the quick-release lower buckle component includes a first position state and a second position state. When in the first position state, the quick-release upper buckle component can be connected to the quick-release lower buckle component to connect the surgical forceps end body. When in the second position state, the quick-release upper buckle component can be separated from the quick-release lower buckle component to release the surgical forceps end body. Through the above technical features, the surgical forceps and the surgical forceps end can be quickly released (disassembled surgical forceps end) and quickly installed, which reduces the doctor's operating difficulty and improves the operating stability and reliability of the surgical forceps. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0043] Figure 1 An overall view of the end of the surgical forceps provided in an embodiment of the present invention.

[0044] Figure 2a An exploded view of the end of the surgical forceps provided in an embodiment of the present invention.

[0045] Figure 2b Another exploded view of the end of the surgical forceps provided in an embodiment of the present invention.

[0046] Figure 3 This is a structural diagram of the opening and closing module provided in an embodiment of the present invention.

[0047] Figure 4a Schematic diagram of the opening and closing process of surgical forceps provided in an embodiment of the present invention.

[0048] Figure 4b Schematic diagram of the opening and closing process of surgical forceps provided in an embodiment of the present invention.

[0049] Figure 5 A schematic diagram of an upper buckle provided in an embodiment of the present invention.

[0050] Figure 6 A schematic diagram of a lower buckle provided in an embodiment of the present invention.

[0051] Figure 7 A schematic diagram of the disassembly and assembly principles of the surgical forceps tips provided in an embodiment of the present invention.

[0052] Figure 8 A schematic diagram of the layout of the fiber Bragg grating 22 provided in an embodiment of the present invention.

[0053] Reference numerals:

[0054] 1-surgical forceps; 2-housing assembly, 3-quick-release upper buckle assembly, 4-quick-release lower buckle assembly, 41-lower buckle support, 5-frameless motor, 6-motor output shaft, 7-active friction member, 8-counting chip, 9-driven friction member, 10-transmission shaft, 11-bearing, 12-sleeve, 13-cylindrical cam, 14-bearing end cover, 15-through hole, 16-quick-release pressure hole, 17-convex cone surface, 18-ball head plunger, 19-concave cone surface, 20-ball head, 21-spring, 22-fiber Bragg grating. DETAILED DESCRIPTION

[0055] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0056] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0057] The related art provides a method of connecting the end effector and the robot by means of bolts, etc., which makes the disassembly and assembly process cumbersome. In addition, the motor that controls the opening and closing of the tweezers must be removed or installed together with the actuator, and the drive and controller that match this motor must also be removed or installed together, making the system too cumbersome and unreliable to operate. In view of this, the embodiment of the present invention provides a surgical forceps 1 and a surgical forceps end, which can at least solve the above technical problems.

[0058] See also Figure 1-Figure 8 The embodiment of the present invention provides a surgical forceps end, comprising: a shell component 2, a detachable component and a surgical forceps end body. The shell component 2 is used to connect with the surgical forceps 1 and control the opening and closing of the surgical forceps 1; the detachable component comprises a quick-release upper buckle component 3 and a quick-release lower buckle component 4, the quick-release upper buckle component 3 is connected to the shell component 2; the surgical forceps end body is connected to the quick-release lower buckle component 4;

[0059] Among them, the position state between the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4 includes a first position state and a second position state. In the first position state, the quick-release upper buckle assembly 3 is connected to the quick-release lower buckle assembly 4, and then the surgical forceps terminal body is connected. In the second position state, the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4 are separated from each other, and then the surgical forceps terminal body is released.

[0060] The surgical forceps tip provided by the embodiment of the present invention will be further explained and described below through optional embodiments.

[0061] In an optional embodiment, the shell assembly 2 includes: a transmission part and a shell body; one end of the transmission part is connected to the end body of the surgical forceps through a detachable component, and the other end is used to connect to the surgical forceps 1 and control the opening and closing of the surgical forceps 1; the inner circle of the shell body is cooperatively connected to the transmission part.

[0062] In an optional embodiment, the transmission part includes a cylindrical cam 13, a bearing 11, a transmission shaft 10, a sleeve 12 and a driven friction member 9; one end of the cylindrical cam 13 is integrally connected to the transmission shaft 10, and the other end is used to connect to the surgical forceps 1 and control the opening and closing of the surgical forceps 1; the bearing 11 is cooperatively connected to the transmission shaft 10; the sleeve 12 is sleeved on the transmission shaft 10 and is located between adjacent bearings 11; the driven friction member 9 is used to connect to the end body of the surgical forceps. In an optional embodiment, the transmission part also includes a bearing end cover 14, which is installed on the bearing 11 and close to one end of the cylindrical cam 13.

[0063] In an optional embodiment, the surgical forceps tip body includes a frameless motor 5 and an active friction member 7 ; the motor output shaft 6 of the frameless motor 5 is connected to the active friction member 7 ; and the active friction member 7 is connected to the housing assembly 2 .

[0064] In the embodiment of the present invention, when the end of the surgical forceps is connected to the intraocular forceps, the intraocular forceps and the housing body can be connected by means of a top screw and an interference fit, and the switch button of the intraocular forceps enters the interior of the housing body. The housing body and the quick-release upper buckle assembly 3 are connected by bolts, and a space is reserved between the housing body and the quick-release upper buckle assembly 3 to install a counting chip 8.

[0065] In an optional embodiment, a counting chip 8 is further included, and the counting chip 8 is arranged between the housing component 2 and the detachable component; the counting chip 8 is used to complete the encrypted communication between the end of the surgical forceps and the surgical robot.

[0066] The quick-release buckle assembly 4 is connected to the housing of the frameless motor 5 by bolts, and the housing of the frameless motor 5 is also connected to the ophthalmic surgical robot by bolts. The counting chip 8 is used to complete encrypted communication with the robot and count the number of times the end of the intraocular forceps is used. At the same time, the frameless motor 5 is connected to the motor output shaft 6 by bolts, and the motor output shaft 6 and the active friction member 7 are interference fit, and the active friction member 7 and the driven friction member 9 are kept in a compressed state, and the output torque of the frameless motor 5 is transmitted forward by friction.

[0067] The connection relationship between the driven friction member 9 and the intraocular forceps is as follows: Figure 3 As shown, Figure 3 The upper part is a cross-sectional view. Figure 3 In the embodiment, the driven friction member 9 and the transmission shaft 10 are interference fit, and the transmission shaft 10 and the cylindrical cam 13 are integrally formed. The inner ring of the bearing 11 is matched with the transmission shaft 10, and the outer ring of the bearing 11 is matched with the housing body, thereby supporting the transmission shaft 10 and transmitting torque. The sleeve 12 is used to prevent the bearing 11 from being too close. When the frameless motor 5 rotates, the active friction member 7 will rotate accordingly, and the friction force will drive the driven friction member 9 to rotate, thereby driving the transmission shaft 10 and the cylindrical cam 13 to rotate.

[0068] In an optional embodiment, the cylindrical cam 13 has a protrusion at one end connected to the surgical forceps 1; when the protrusion of the cylindrical cam 13 abuts against the switch connected to the surgical forceps 1, the surgical forceps 1 are closed; when the protrusion of the cylindrical cam 13 is away from the switch connected to the surgical forceps 1, the surgical forceps 1 are opened.

[0069] The switch of the surgical forceps 1 is set at the end connected to the cylindrical cam 13. When the frameless motor 5 rotates, the active friction part 7 will rotate accordingly, and drive the driven friction part 9 to rotate through the friction force, thereby driving the transmission shaft 10 and the cylindrical cam 13 to rotate. As the cylindrical cam 13 rotates, when the protrusion of the cylindrical cam 13 is against the switch connected to the surgical forceps 1, the surgical forceps 1 is closed; when the protrusion of the cylindrical cam 13 is away from the switch connected to the surgical forceps 1, the surgical forceps 1 is turned on.

[0070] like Figure 4a As shown, when the protrusion of the cylindrical cam 13 rotates upward, the cylindrical cam 13 is away from the switch of the surgical forceps 1, and the switch of the intraocular forceps is in a fully released state, and the surgical forceps 1 is turned on. Figure 4b ), the switch of the intraocular forceps is squeezed, and the switch of the intraocular forceps is in the state of surgical forceps 1 and is closed.

[0071] In an optional embodiment, the quick-release upper buckle assembly 3 includes: an upper buckle body, a first end face of the upper buckle body is connected to the outer shell assembly 2, a convex conical surface 17 is opened on the second end face along the circumferential direction, and a quick-release pressure hole 16 is provided on at least one side of the convex conical surface 17. The upper buckle body switches between the first position state and the second position state with the quick-release lower buckle assembly 4 through the convex conical surface 17 and the quick-release pressure hole 16.

[0072] In an optional embodiment, the quick-release lower buckle assembly 4 includes: a lower buckle support 41, a ball head plunger 18 and a concave cone surface 19; the lower buckle support 41 is connected to the end body of the surgical forceps; the concave cone surface 19 is evenly arranged along the lower buckle support 41; the ball head plunger 18 is arranged on the concave cone surface 19, and the concave cone surface 19 is in contact and connected with the convex cone surface 17, and the quick-release pressure hole 16 squeezes the ball head plunger 18 or moves away from the ball head plunger 18, so as to realize the switching between the first position state and the second position state with the quick-release lower buckle assembly 4.

[0073] In an optional embodiment, the ball head plunger 18 includes a plunger, a ball head 20 and an elastic connector; a connecting hole is opened on the plunger, the elastic connector is arranged at the bottom of the plunger, and the ball head 20 is connected to the elastic connector through the connecting hole; when the quick-release pressure hole 16 squeezes the ball head 20, the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4 are in a first position state, thereby connecting the surgical forceps terminal body; when the quick-release pressure hole 16 is away from the ball head 20, the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4 are in a second position state, thereby releasing the surgical forceps terminal body.

[0074] The quick-release function of the end of the surgical forceps is realized by the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4. The scenario during use is as follows: the user aligns the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4, and presses the quick-release upper buckle assembly 3 against the quick-release lower buckle assembly 4 until the ball head 20 is squeezed into the quick-release pressure hole 16. At this time, let go, the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4 will not be detached, and the end of the surgical forceps is completely installed on the robot. When disassembling, hold the quick-release upper buckle assembly 3, and pull the steel ball of the ball head 20 out of the quick-release pressure hole 16. At this time, the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4 are detached, and the disassembly is completed.

[0075] The detailed design of the quick-release upper buckle assembly 3 is as follows: Figure 5 As shown, a through hole 15 is provided at the center of the upper buckle body, and the through hole 15 is used for installing the motor output shaft 6. The detailed design of the quick-release buckle assembly 4 is as follows: Figure 6 As shown, there can be four ball plungers 18, and the four ball plungers 18 are evenly arranged at 90 degrees. The convex conical surface 17 contacts the concave conical surface 19, which plays the role of centering and guiding disassembly.

[0076] The working process of the ball plunger 18 is as follows Figure 7As shown, one side of the spring 21 (elastic connector) is connected to the bottom of the ball plunger 18, and the other side is connected to the ball head 20. When connected, the working process is as follows Figure 7 As shown in 7a, the quick release pressure hole 16 moves in the direction of the arrow, squeezing the ball head 20 and the spring 21. The movement direction of the ball head 20 and the spring 21 is as shown by the arrow. When the quick release pressure hole 16 is in full contact with the ball head 20 ( Figure 7 7b), the spring 21 is still in a compressed state, and the spring 21 will support the ball head 20 to prevent the quick-release pressure hole 16 from sliding out, thereby playing the role of connecting the end body of the surgical forceps.

[0077] When removing the end body of the surgical forceps, the working process is as follows: Figure 7 As shown in 7c in FIG. 1 , the quick-release pressure hole 16 moves along the arrow, squeezing the ball head 20 and the spring 21. After the quick-release pressure hole 16 is completely removed, the ball head 20 and the spring 21 are released from the compressed state and move along the arrow direction. After the ball head 20 and the spring 21 are reset, the end body of the surgical forceps has been completely removed.

[0078] On the other hand, a surgical forceps 1 is provided, comprising any of the above-mentioned surgical forceps ends and an intraocular forceps connected to the surgical forceps ends, and a fiber Bragg grating 22 connected to the outer side of the intraocular forceps.

[0079] The fiber Bragg grating 22 is distributed as follows: Figure 8 As shown. There can be three fiber Bragg gratings 22, and the three fiber Bragg gratings 22 can be evenly arranged at 120 degrees on the periphery of the intraocular forceps. The fiber Bragg grating 22 is connected to the surgical forceps 1 by gluing, and is used to measure the contact force between the surgical forceps 1 and the retina.

[0080] The embodiment of the present invention is different from the prior art that the end effector and the robot are connected by bolts and the like, and the disassembly process is cumbersome. The present invention facilitates the rapid installation and disassembly of the end body of the surgical forceps through the quick-release upper buckle assembly 3 and the quick-release lower buckle assembly 4, reducing the difficulty of the doctor's operation.

[0081] In the prior art, the motor that controls the opening and closing of the tweezers must be removed or installed together with the actuator, and the drive and controller that match this motor must also be removed or installed together, making the system too cumbersome and unreliable. The present invention uses a cylindrical cam 13 and a friction transmission to control the opening and closing of the surgical tweezers 1, and the disassembly and assembly process does not need to consider the connection problem of the electrical system. At the same time, the use of the cylindrical cam 13 in the present invention avoids the design of a precision motion module, which is simpler and more effective. Finally, the end of the surgical tweezers provided by the present invention has a counting and anti-counterfeiting function.

[0082] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A surgical forceps tip, characterized in that: include: A housing component, used to connect with the surgical forceps and control the opening and closing of the surgical forceps; A detachable assembly, comprising a quick-release upper buckle assembly and a quick-release lower buckle assembly, wherein the quick-release upper buckle assembly is connected to the housing assembly; The end body of the surgical forceps is connected to the quick-release buckle assembly; Wherein, the position state between the quick-release upper buckle assembly and the quick-release lower buckle assembly includes a first position state and a second position state, in which the quick-release upper buckle assembly is connected to the quick-release lower buckle assembly, thereby connecting the surgical forceps end body, and in the second position state, the quick-release upper buckle assembly is separated from the quick-release lower buckle assembly, thereby releasing the surgical forceps end body; The quick-release upper buckle assembly comprises: an upper buckle body, The first end surface of the upper buckle body is connected to the housing assembly, and a convex conical surface is provided on the second end surface along the circumferential direction, and at least one side surface of the convex conical surface is provided with a quick-release pressure hole, and the upper buckle body switches between the first position state and the second position state with the quick-release lower buckle assembly through the convex conical surface and the quick-release pressure hole; The quick-release lower buckle assembly comprises: a lower buckle support, a ball plunger and a concave cone surface; The lower buckle support is connected to the distal end body of the surgical forceps; The concave cone surface is evenly arranged along the lower buckle support; The ball plunger is arranged on the concave conical surface, and the concave conical surface is in contact with the convex conical surface, and the quick-release pressure hole squeezes the ball plunger or moves away from the ball plunger to achieve switching between the first position state and the second position state with the quick-release lower buckle assembly; The ball plunger comprises a plunger, a ball head and an elastic connecting piece; The plunger is provided with a connecting hole, the elastic connecting piece is arranged at the bottom of the plunger, and the ball head is connected to the elastic connecting piece through the connecting hole; When the quick-release pressure hole squeezes the ball head, the quick-release upper buckle assembly and the quick-release lower buckle assembly are located in the first position state, thereby connecting the surgical forceps end body; When the quick-release pressure hole is away from the ball head, the quick-release upper buckle assembly and the quick-release lower buckle assembly are located in the second position state, thereby releasing the surgical forceps terminal body.

2. The surgical forceps tip according to claim 1, characterized in that: The housing assembly comprises: a transmission part and a housing body; One end of the transmission part is connected to the end body of the surgical forceps through the detachable component, and the other end is used to connect to the surgical forceps and control the opening and closing of the surgical forceps; The inner ring of the shell body is cooperatively connected with the transmission part.

3. The surgical forceps tip according to claim 2, characterized in that: The transmission part includes a cylindrical cam, a bearing, a transmission shaft, a sleeve and a driven friction member; One end of the cylindrical cam is integrally connected to the transmission shaft, and the other end is used to connect to the surgical forceps and control the opening and closing of the surgical forceps; The bearing is cooperatively connected with the transmission shaft; The sleeve is sleeved on the transmission shaft and is located between adjacent bearings; The driven friction member is used to be connected to the distal end body of the surgical forceps.

4. The surgical forceps tip according to claim 3, characterized in that: One end of the cylindrical cam used for connecting with the surgical forceps has a protrusion; When the protrusion of the cylindrical cam abuts against the switch connected to the surgical forceps, the surgical forceps is closed; When the protrusion of the cylindrical cam moves away from the switch to which the surgical forceps is connected, the surgical forceps is opened.

5. The surgical forceps tip according to claim 1, characterized in that: The surgical forceps end body comprises a frameless motor and an active friction member; The motor output shaft of the frameless motor is connected to the active friction member; The active friction member is connected to the housing assembly.

6. The surgical forceps tip according to claim 1, characterized in that: It also includes a counting chip, which is arranged between the housing component and the detachable component; The counting chip is used to complete the encrypted communication between the surgical forceps tip and the surgical robot.

7. A surgical forceps, characterized in that: It comprises the surgical forceps tip as described in any one of claims 1 to 6, an intraocular forceps connected to the surgical forceps tip, and a fiber Bragg grating connected to the outer side of the intraocular forceps.

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