Actuator, electrocoagulation hook and surgical robot

Abstract

The invention relates to an actuator, an electrocoagulation hook and a surgical robotic.The actuator comprises a wrist part, an electric coagulation hook and a surgical robotic.The wrist part is used for being connected with the far end of an instrument shaft; the bracket is rotationally connected with the wrist part; the guide wheel assembly is constructed to be used for guiding the direction of the driving wire extending out of the wrist part; the edge seat is rotationally supported on the bracket; the screw head is fixed on the outer wall surface of the insulating seat, and the screw head is connected with the driving screw; the conductive hook is made of a conductive material and comprises a connecting part fixedly arranged in the insulating seat and a hook part exposed out of the insulating seat, the connecting part is electrically contacted with the electric wire extending into the insulating seat, and the connecting part is electrically isolated from the wire head through the insulating seat; wherein the connecting part is provided with a retreat space, and the retreat space is configured to be used for increasing the transverse distance between the screw head and the connecting part and is arranged facing the screw head. According to the scheme, the retreat space is formed on the connecting part of the conductive hook, so that the transverse distance between the connecting part and the wire head is increased, and leakage current is effectively prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an actuator, an electrocoagulation hook and a surgical machine. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations, making them widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities.

[0003] Currently, minimally invasive surgical robots consist of a main control console and a slave manipulator arm. The main control console collects the doctor's operating signals, which are processed by the control system and then generate control signals for the slave manipulator arm, which then performs the surgical operation. Minimally invasive surgical robots have matching surgical instruments, which generally have more degrees of freedom than minimally invasive instruments. For example, the electrocoagulation hook is a common surgical instrument. Its proximal end is an instrument box, which is connected to the distal end by a slender instrument shaft. The distal end of the instrument shaft is connected to an actuator, which has three degrees of freedom: pitch, yaw, and rotation.

[0004] A Chinese patent document with publication number CN114224476A discloses an electrocoagulation hook, the lower part of which is hollow to form a guide hole, and a first fixing pin hole that penetrates the electrode hook is provided above the wire hole along the radial direction of the electrode hook. The wire wraps around the electrode seat and enters the mounting hole thereon, and extends into the guide hole at the lower part of the electrode hook and is crimped. The fixing pin passes through the first fixing pin hole and the second fixing pin hole on the electrode seat, and the electrode sleeve is mounted on the outer wall of the connection between the electrode seat and the electrode hook.

[0005] In the technical solution of the above-mentioned electrocoagulation hook, the location where the wire is connected to the electrocoagulation hook is closest to the wire head used to fix the driving tungsten wire rope. Although the two are separated by an electrode holder made of insulating material, at this distance (the maximum diameter is only 8mm, and the distance between the two is very small), since the electrocoagulation hook uses high-frequency current, high-frequency leakage current may still occur, making it difficult to meet the safety requirements of this type of medical device. Summary of the Invention

[0006] In response to the above technical problems, the present invention provides an actuator, an electrocoagulation hook and a surgical robot that can effectively prevent high-frequency current leakage.

[0007] In the first aspect, the present application provides an actuator suitable for being installed to the distal end of an instrument shaft of an electric coagulation hook, the actuator comprising: a wrist for engaging with the distal end of the instrument shaft; a bracket rotatably connected to the wrist; at least one set of guide wheel assemblies constructed to guide the direction of a driving wire extending from the wrist; an edge seat rotatably supported on the bracket; a wire head fixed on the outer wall surface of the insulating seat, the wire head being connected to the driving wire; and a conductive hook comprising a connecting portion fixed in the insulating seat and a hook portion exposed from the insulating seat, the connecting portion being in electrical contact with an electrical conductor extending into the interior of the insulating seat, and the connecting portion being electrically isolated from the wire head via the insulating seat; wherein a retreat space is provided on the connecting portion, the retreat space being constructed to increase the lateral distance between the wire head and the connecting portion and being arranged facing the wire head.

[0008] The present application solution constructs a retreat space on the connecting portion of the conductive hook to increase the lateral distance between it and the wire head, thereby effectively preventing the occurrence of leakage current, ensuring compliance with safety regulations, and protecting the patient's life safety.

[0009] In one specific embodiment, the actuator further includes a receiving cavity located within the insulating seat, the connecting portion being disposed within the receiving cavity, and a first protrusion formed on a wall of the receiving cavity, the first protrusion being disposed within the retreat space. This embodiment enhances the insulation between the filament head and the connecting portion by providing the first protrusion within the retreat space.

[0010] In a specific embodiment, the retreat space is a concave space and is adapted to the concave-convex shape of the first protrusion.

[0011] In one specific embodiment, the insulating seat is a one-piece injection-molded component manufactured by an injection molding process, and the connecting portion is secured to the insulating seat by performing the injection molding process. In this specific embodiment, the insulating seat is manufactured by injection molding, and the components to be secured to the insulating seat are also secured together, resulting in simple manufacturing and effective securing.

[0012] In a specific embodiment, the actuator further includes: insulating ceramics; the insulating seat includes connecting pillars, and the insulating ceramics are fixed to the connecting pillars by performing the injection molding process.

[0013] In a specific embodiment, the insulating base is provided with a wire lead-out hole, which is a stepped hole. The electrical conductor is secured to the insulating base by performing the injection molding process. This specific embodiment facilitates the injection molding of the wire lead-out hole by providing the stepped hole structure.

[0014] In one specific embodiment, the bottom end of the connecting portion is provided with an electrical connection hole, the electrical wire is welded to the electrical connection hole, and the minimum longitudinal distance between the electrical connection hole and the retreat space is greater than or equal to 2 mm. This specific embodiment, by limiting the longitudinal distance between the electrical connection hole and the retreat space, ensures that the lower portion of the conductive hook is sufficiently long, effectively preventing the electrical connection hole, where the electrical wire is welded, from being too close to the notch.

[0015] In a specific embodiment, the retreat space is formed by cutting part of the connecting portion.

[0016] In a specific embodiment, the total height of the connecting portion in the longitudinal direction is greater than or equal to 10 mm. In this specific embodiment, by limiting the length of the connecting portion of the conductive hook, the stability of the structure after peripheral injection molding is improved.

[0017] In a specific embodiment, the retreat space is formed by the bending portion of the connecting part.

[0018] In one specific embodiment, the connecting portion is provided with a second protrusion on the back side of the recessed space. The recessed space is concave and has approximately the same convexity as the second protrusion. By providing a corresponding protrusion on the back side of the recessed space, the cross-sectional area of ​​this area is increased, making it as consistent as possible with the cross-sectional area of ​​other areas of the same length, thereby ensuring the performance of the conductive hook in this area.

[0019] In a specific embodiment, the retreat space has an inner bottom surface facing the wire head, and the lateral distance between the inner bottom surface and the wire head is greater than or equal to 0.5 mm. This specific embodiment prevents the charged conductive hook from leaking high-frequency current to the external wire head during operation by limiting the lateral distance between the inner bottom surface of the retreat space and the wire head. In one specific embodiment, the insulating seat includes: a receiving slot for accommodating a wire head; and a pair of mounting relief slots configured to allow the drive wire to pass through, the pair of mounting relief slots being adjacent to opposite ends of the receiving slot. This embodiment, by providing the receiving slot and the mounting relief slots on both sides of the receiving slot, facilitates insertion of the drive wires on either side of the wire head into the mounting relief slots, thereby improving assembly efficiency.

[0020] In a second aspect, the present application provides an electrocoagulation hook, comprising an instrument box, an instrument shaft having one end connected to the instrument box, and the actuator provided in the first aspect, wherein the actuator is connected to the other end of the instrument shaft.

[0021] In the third aspect, a surgical robot includes a master hand part and a slave hand part, wherein the master hand part is configured for operation by a doctor and collects the doctor's operation signal to generate a control signal transmitted to the slave hand part, and the slave hand part is configured to perform surgical operations under the control of the control signal, and the slave hand part is detachably installed with the electrocoagulation hook provided in the second aspect above.

[0022] Other advantages of the present invention will be described in detail in the following specific embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 An overall schematic diagram of an actuator provided by an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the actuator with the insulating seat hidden; Figure 3 for Figure 2 Enlarged view at point A; Figure 4 for Figure 2 Schematic diagram of the actuator after rotating 180°; Figure 5 for Figure 4 Enlarged view at point B; Figure 6 A schematic diagram of an insulating seat provided in one embodiment of the present invention; Figure 7 A longitudinal cross-sectional schematic diagram of an insulating seat provided in one embodiment of the present invention; Figure 8 A schematic diagram of a conductive hook provided in one embodiment of the present invention; Figure 9 A schematic diagram of an insulating ceramic provided by one embodiment of the present invention; Figure 10 A schematic transverse cross-sectional view of an actuator at the first and second wheel axles according to an embodiment of the present invention; Figure 11 A perspective view of a first guide wheel provided in one embodiment of the present invention; Figure 12 A perspective view of a first axle provided in one embodiment of the present invention; Figure 13 A perspective view of a cable cover provided in one embodiment of the present invention; Figure 14 A longitudinal cross-sectional diagram of a portion of an actuator provided in one embodiment of the present application; Figure 15 for Figure 13 Enlarged view at C.

[0024] Among them: 100, actuator; 1, wrist; 2. Bracket; 20. First rotating shaft; 21. First mounting portion; 211. Shaft hole; 22. Second mounting portion; 211. Shaft hole; 23. First supporting wall; 24. Second supporting wall; 3. Guide wheel assembly; 31. First guide wheel; 311. Central hole; 312. Inner surface; 313. Flange; 32. First axle; 321. Axle body; 322. First axle end; 3221. Top cover; 323. Second axle end; 4. Guide wheel assembly; 41. Second guide wheel; 42. Second wheel axle; 5. Insulating seat; 50. Second rotating shaft; 501. Protruding shaft; 502. Protruding shaft; 51. Side wall; 511. Outer wall; 52. Connecting column; 521. Joint; 53. Wire lead-out hole; 54. Receiving cavity; 541. Protrusion; 55. Accommodating groove; 56. Installation avoidance groove; 57. Installation avoidance groove; 6. Cable cover; 61. Bottom wall; 62. Circumferential rib; 63. Accommodating cavity; 621. Wire notch; 611. Central hole; 612. Limiting column; 7. Insulating ceramic; 71. Ceramic body; 711. Inner wall; 72. Reinforcement portion; 8. Conductive hook; 81. Connecting portion; 82. Hook portion; 83. Retreat space; 831. Inner bottom surface; 84. Electrical connection hole; 91. First driving wire; 92. Second driving wire; 921. Upward segment; 922. Downward segment; 923. Fixed segment; 93. Wire head; 94. Electrical conductor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] In some places in this specification, many specific technical details are described. However, it should be understood that the embodiments of the present invention can be practiced without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of the present invention is defined solely by the claims. In other places, well-known structures, circuits, and other details are not shown in detail to avoid misunderstanding the main points of the present invention.

[0027] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present invention. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be utilized, and that mechanical structures, physical components, electrical components, and process steps may be varied without departing from the spirit and scope of the present invention.

[0028] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present invention. Spatially relative terms, such as "below", "bottom", "above", "upper", etc., may be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for ease of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except for the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation above and below. The device can be oriented in other ways (e.g., rotated 90 ° or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0029] As used herein, "several," the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0030] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "component," "portion," "member," and "part" are used interchangeably.

[0031] The terms "connect", "engage" and "join" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that "connection" does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be connected using object C. In addition, the terms "detachably connect" or "detachably join" can be interpreted as meaning a non-permanent connection or joining situation between two or more objects. This means that the detachably connected objects can be unconnected and separated so that they no longer operate in conjunction.

[0032] The present invention provides an actuator, an electrocoagulation hook, and a surgical robot. A typical surgical robot includes a master hand part and a slave hand part. The master hand part is configured for operation by a doctor and collects the doctor's operation signal to generate a control signal transmitted to the slave hand part, and the slave hand part is configured to perform surgical operations under the control of the control signal. The actuator, together with the instrument box and the instrument shaft, can form a surgical instrument - an electrocoagulation hook. When the actuator is combined into the electrocoagulation hook, the instrument box and the actuator are located at the proximal end and the distal end of the instrument shaft, respectively. The electrocoagulation hook can be detachably mounted to the slave hand part of the surgical robot to perform actions in a controlled manner; and when the electrocoagulation hook is mounted to the slave hand part of the surgical robot, the instrument box will be combined with the surgical instrument manipulator at the end of the robotic arm.

[0033] The following uses the master-slave teleoperated laparoscopic surgical robot commonly used in surgical operations as an example to introduce the components of the surgical robot and the working process of each component.

[0034] A laparoscopic surgical robot typically consists of a surgeon's control platform (the master arm), a patient-mounted surgical platform (the slave arm), and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon controls the movements of a robotic arm on the patient-mounted surgical platform, as well as the attached surgical instruments (such as a coagulation hook) or laparoscope. The robotic arm simulates a human arm, while the surgical instruments simulate a human hand. Together, they provide the surgeon with a range of movements that mimic those of a human wrist while filtering out inherent hand tremors.

[0035] The patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on the surgical instrument that remains stationary relative to the patient. The center of motion is typically located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point."

[0036] The imaging platform typically includes a video image capture function (most commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optical devices that transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, the processed images are displayed on the video display for observation by the assistant through image processing.

[0037] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0038] Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

[0039] See also Figure 1 、 2 4 , which illustrates an actuator 100 suitable for mounting on the distal end of an instrument shaft of an electrocoagulation hook. Actuator 100 includes a wrist 1, a bracket 2, a first guide wheel assembly 3, a second guide wheel assembly 4, an insulating seat 5, a cable cover 6, an insulating ceramic 7, and a conductive hook 8.

[0040] The wrist 1 is used to engage with the distal end of the instrument shaft of the electrocoagulation hook, and two drive wires, namely a first drive wire 91 and a second drive wire 92, pass through the interior of the wrist 1.

[0041] The bracket 2 is rotatably connected to the wrist 1 via the first rotating shaft 20. The first driving wire 91 is fixedly connected to a wire head (not shown) fixed to the bracket 2, so that the first driving wire 91 drives the bracket 2 to rotate around the first rotating shaft 20.

[0042] The first guide wheel assembly 3 and the second guide wheel assembly 4 are configured to guide the direction of the second drive wire 92 . The first guide wheel assembly 3 and the second guide wheel assembly 4 are both rotatably supported on the bracket 2 and are located on opposite sides of the bracket 2 in a centrally symmetrical arrangement.

[0043] The insulating seat 5 is rotatably supported on the bracket 2 via a second rotating shaft 50. The axis of the second rotating shaft 50 intersects the axis of the first rotating shaft 20 in a non-planar manner. Specifically, the projections of the two axis lines on a horizontal plane are perpendicular. The insulating seat 5 is a one-piece injection-molded component.

[0044] The outside of the insulating seat 5 is fixed with a thread 93; specifically, the insulating seat 5 is provided with a receiving groove 55 (see Figure 6 ), the wire head 93 is inserted into the receiving groove 55 manually or by machine. The second driving wire 92 is fixed to the wire head 93, so that the middle part of the second driving wire 92 and the insulating seat 5 are relatively fixed. In this way, when the second driving wire 92 is pulled, the insulating seat 5 can be rotated relative to the bracket 2.

[0045] The cable cover 6 is placed outside the insulating base 5 and is used to shield and protect the electrical wires 94 electrically connected to the conductive hooks 8 .

[0046] Insulating ceramic 7 is fixed to insulating base 5 by the injection molding process used when manufacturing insulating base 5. Insulating ceramic 7 has a bowl-shaped ceramic body 71 with a conical upper portion and a cylindrical lower portion. Insulating ceramic 7 is partially enclosed around conductive hook 8.

[0047] The conductive hook 8 is made of a conductive material and includes a connecting portion 81 fixedly disposed inside the insulating base 5 and a hook portion 82 exposed from the insulating base 5. The connecting portion 81 is in electrical contact with the electrical conductor 94 extending into the insulating base 5. The connecting portion 81 is electrically isolated from the wire head 93 via the insulating base 5.

[0048] like Figure 6-7 As shown, it illustrates the appearance and internal structure of the insulating seat 5. The insulating seat 5 has a side wall 51, and the wire head 93 is fixed to the outer wall surface 511 of the side wall 51. The upper part of the insulating seat 5 is provided with a connecting column 52, and the lower part is provided with a wire lead-out hole 53. The interior of the insulating seat 5 is provided with a receiving cavity 54, and part of this receiving cavity 54 is located on the inner side of the connecting column 52. The insulating ceramic 7 is fixed to the connecting column 52 by injection molding. The connecting portion 81 of the conductive hook 8 is fixed in the receiving cavity 54. The receiving cavity 54 is a longitudinally extending blind hole, and a protrusion 541 is provided on its cavity wall. The wire lead-out hole 53 is a stepped hole. The connecting portion 81 of the conductive hook 8 and the electric wire 94 are fixed to the insulating seat 5 by means of the injection molding process performed when the insulating seat 5 is injection molded.

[0049] The insulating base 5 also includes a pair of mounting avoidance grooves 56 and 57 for more conveniently passing the second actuating wire 92. The pair of mounting avoidance grooves 56 and 57 are respectively located on opposite sides of the accommodating groove 55 and adjacent to opposite ends of the accommodating groove 55. The arrangement of the accommodating groove 55 and the pair of mounting avoidance grooves 56 and 57 facilitates the insertion of the second actuating wire 92 located on both sides of the wire head 93 into the pair of mounting avoidance grooves 56 and 57, thereby improving the assembly efficiency of the wire head 93 and the second actuating wire 52.

[0050] like Figure 8 , which illustrates the structure of the conductive hook 8. The connecting portion 81 of the conductive hook 8 is provided with a retreat space 83 and an electrical connection hole 84. The retreat space 83 is located in the lower middle portion of the connecting portion 81, and the electrical connection hole 84 is located at the bottom end of the connecting portion 81. In this example, the retreat space 83 is a concave space with an inner bottom surface 831 facing the wire head 93.

[0051] The total longitudinal height H0 of the connecting portion 81 is preferably greater than or equal to 10 mm. The minimum longitudinal distance H1 between the electrical connection hole 84 and the retreat space 83 is greater than or equal to 2 mm. This solution ensures that the lower portion of the connecting portion 81 is sufficiently long, preventing the electrical connection hole 84 for welding the electrical wire 94 from being too close to the retreat space 83.

[0052] The retreat space 83 can be formed by cutting part of the connecting portion 81 or by bending part of the connecting portion 81 . Of course, the retreat space 83 can also be manufactured by other suitable manufacturing schemes.

[0053] The retreat space 83 is configured to face the wire head 93 to increase the lateral distance between the wire head 93 and the connecting portion 81 of the conductive hook 8. By providing the retreat space 83 at a position corresponding to the wire head 93 on the connecting portion 81, that is, by partially retreating the area of ​​the connecting portion 81 facing the wire head 93, the lateral distance from the wire head 93 can be increased, thereby preventing high-frequency leakage current from the connecting portion 81 to the insulating seat 5.

[0054] One end of the electric wire 94 is welded to the electrical connection hole 84 , and the electric wire 94 is electrically connected to the conductive hook 8 , so that a high-frequency current is applied to the conductive hook 8 through the electric wire 94 to realize the function of the electrocoagulation hook.

[0055] like Figure 14-15 As shown, the transverse distance L between the inner bottom surface 831 and the wire head 93 is greater than or equal to 0.5 mm. The concave space where the retreat space is located is adapted to the concave-convex shape of the protrusion 541 of the insulating seat 5, and the protrusion 541 fills the retreat space 83.

[0056] In some embodiments, such as those where a folded connection forms a recessed space, the connection has a protrusion on the backside of the recessed space, with the concave space having roughly the same convexity as the protrusion. This rear protrusion can avoid the high resistance, heat concentration, and potential damage points that can arise in this area of ​​the connection due to the recessed space. It can also compensate for the reduced cross-sectional area of ​​the connection due to the recessed space, ensuring that the cross-sectional area is as consistent as possible with that of other areas of equal length, thereby avoiding these issues.

[0057] In this solution, after the conductive hook 8, the electric wire 94 and the insulating ceramic 7 are connected, they are placed together in a mold for injection molding; when the insulating seat 5 is molded, the insulating seat 5, the conductive hook 8, the electric wire 94 and the insulating ceramic 7 are simultaneously fixed into an integrated component by injection molding.

[0058] In the one-piece component manufactured by this solution, the connecting portion 81 below the conductive hook 8 is very long, and the structural stability with the insulating seat 5 will be high after peripheral injection molding.

[0059] like Figure 9 As shown, in order to further improve the stability of the integrated component, a plurality of reinforcement parts 72 are provided on the inner side wall 711 of the ceramic body 71. In this example, the reinforcement parts 72 are pits, and the depth of these pits is preferably 1 / 3 to 1 / 2 of the wall thickness of the ceramic body 71. For example, based on the wall thickness of the ceramic body 71 of this example of 0.6 mm, the pit depth can be selected to be greater than or equal to 0.2 mm and less than or equal to 0.3 mm; these reinforcement parts 72 are evenly distributed along the circumference; accordingly, during injection molding, the corresponding injection molding material will enter these pits and form a plurality of convex columnar joints 521 on the outer peripheral surface of the connecting column 52 by injection molding. Each joint 521 is limited by the corresponding reinforcement part 72, thereby improving the reliability of the connection between the insulating seat 5 and the insulating ceramic 7.

[0060] In some embodiments, the reinforcement portion may be one, such as an annular groove structure, and the engaging portion may be a corresponding convex ring.

[0061] In some embodiments, the plurality of reinforcement portions may also be protrusions provided on the inner wall surface of the ceramic body, and the height of the protrusions may be greater than or equal to 0.2 mm. In some embodiments, the reinforcement portion may also be an annular convex step.

[0062] The first guide wheel assembly 3 and the second guide wheel assembly 4 are used to guide the direction of the second drive wire 92. Each guide wheel assembly includes a guide wheel and an axle passing through the guide wheel. In order to assemble these guide wheel assemblies, an axial hole for the axle to pass through is provided on the bracket 2.

[0063] like Figure 3 、 5As shown in Figure 10, the second driving wire 92 includes an ascending segment 921, a descending segment 922, and a fixed segment 923 located between the ascending segment 921 and the descending segment 922; the first guide wheel assembly 3 guides the ascending segment 921 upward, the second guide wheel assembly 4 guides the descending segment 922 downward, and the fixed segment 923 is fixedly connected to the wire head 93.

[0064] The first guide wheel assembly 3 and the second guide wheel assembly 4 are rotatably supported at the first mounting portion 21 and the second mounting portion 22 on the bracket 2 respectively.

[0065] like Figure 10 As shown, the first mounting portion 21 is provided with an axial hole 211 for the first wheel axle 32 to pass through; the second mounting portion 22 is provided with an axial hole 221 for the second wheel axle 42 to pass through.

[0066] The first guide wheel assembly 3 includes a first guide wheel 31 and a first wheel axle 32 passing through the first guide wheel 31 .

[0067] like Figure 11 As shown, a central hole 311 is provided in the middle of the first guide wheel 31 .

[0068] like Figure 12 As shown, the first axle 32 includes a shaft body 321 and a first shaft end 322 and a second shaft end 323 located on either side of the shaft body 321. The shaft body 321 is inserted into both the central hole 311 and the shaft hole 211. The first shaft end 322 includes a top cover portion 3221 having an outer diameter greater than the diameter of the central hole 311. The top cover portion 3221 abuts against the outer surface of the first guide wheel 31. The second shaft end 323 is a rivet ring and is riveted to the first mounting portion 21. The first guide wheel 31 has an inner surface 312, which includes a flange portion 313 surrounding the opening of the central hole 311 and abuts against the first mounting portion 21.

[0069] Continue to see Figure 10 、 11 and 12, the diameter of the shaft hole 211 is d1, the diameter of the central hole 311 is d2, and the outer diameter of the first axle 32 is d3; wherein, d1>d3, d2≥d3; this dimensional relationship ensures that the first guide wheel 31 can rotate following the upward segment 921 of the second drive wire 92, thereby reducing the friction force on the second drive wire 92 and improving transmission accuracy. In some specific embodiments, d1 is set to be greater than d2, which can reduce the contact area between the first mounting portion 21 of the bracket 2 and the flange portion 313 of the first guide wheel 31, further reducing friction. In some specific embodiments, the difference between d1 and d3 is less than or equal to 0.05mm; in some specific embodiments, d2=d3; the setting of these dimensional relationships ensures the stability of the rotation center of the first axle 32 and improves transmission accuracy.

[0070] The second guide wheel assembly 4 includes a second guide wheel 41 and a second axle 42 that passes through the second guide wheel 41. The structures of the second guide wheel 41 and the second axle 42 are similar to those of the first guide wheel 31 and the first axle 32, and are not described in detail here.

[0071] like Figure 4 、 10 As shown, the bracket 2 further includes a first supporting wall 23 and a second supporting wall 24 arranged opposite to each other. The insulating seat 5 is rotatably supported on the bracket 2 and is located between the first supporting wall 23 and the second supporting wall 24.

[0072] like Figure 1 、 2 As shown in Figures 3 and 13, the cable cover 6 is located between the first support wall 23 and the side wall 51 of the insulating base 5. The cable cover 6 includes a bottom wall 61 and a circumferential rib 62 extending from the bottom wall 61 toward the side wall 51. The circumferential rib 62, the bottom wall 61, and the side wall 51 of the insulating base 5 define a receiving cavity 63, in which a portion of the electrical conductor 94 is received.

[0073] The circumferential rib 62 has a wire-passing notch 621 , and the electrical conductor 94 passes through the wire-passing notch 621 .

[0074] The bottom wall 61 is provided with a limit post 612. The cable cover 6 is prevented from rotating relative to the first support wall 23 by embedding the limit post 612 in the first support wall 23; thus, the cable cover 6 and the first support wall 23 are connected in a non-rotating manner. A central hole 611 is provided in the middle of the bottom wall 61. The second rotation axis 50 extending into the central hole 611 limits the other degrees of freedom, thus achieving a fixed connection between the cable cover 6 and the bracket 2.

[0075] like Figure 7 、 14 As shown, the second rotating shaft 50 is a two-part shaft and is composed of a protruding shaft 501 protruding outward from the outer wall surface 511 of the side wall 51, and a protruding shaft 502 opposite to the protruding shaft 501. The protruding shaft 501 passes through the central hole 612 and is rotatably supported on the first supporting wall 23. The protruding shaft 502 is rotatably supported on the second supporting wall 24.

[0076] Continue as Figure 3 、 7 As shown, the length of the electrical conductor 94 located in the accommodating cavity 63 is greater than the straight-line distance between the wire notch 621 and the wire lead-out hole 53; in this example, the electrical conductor 94 located in the accommodating cavity 63 is wound at least one circle in the accommodating cavity 63; for example, the electrical conductor 94 located in the accommodating cavity 63 is wound at least one circle around the protruding shaft 501.

[0077] The electric wire 94 is wound around the accommodating cavity 63 and then passes through the wire-passing notch 621 , so that the electric wire 94 has enough margin to ensure that the electric wire 94 can move with the actuator without being pulled when the actuator rotates.

[0078] The actuator 100 of this case designs a retreat space on the connection part of the conductive hook, that is, eliminates a part of the connection part of the conductive hook facing the wire head. In this way, the lateral distance between the conductive hook and the wire head can be increased, thereby avoiding the occurrence of high-frequency leakage current.

[0079] The actuator 100 mentioned above can also be combined with an instrument box and an instrument shaft to form an electrocoagulation hook for use. In the combined electrocoagulation hook, the instrument box is located at the proximal end of the instrument shaft, and the actuator is connected to the distal end of the instrument shaft.

[0080] The electrocoagulation hook equipped with the actuator 100 can also be detachably mounted on the hand portion of a surgical robot for use, specifically, mounted on the surgical instrument manipulator at the end of the robotic arm, to perform actions in a controlled manner.

[0081] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. An actuator, suitable for being mounted on the distal end of an instrument shaft of an electrocoagulation hook, characterized in that: The actuator comprises: a wrist portion for engaging with the distal end of the instrument shaft; A bracket, rotatably connected to the wrist; At least one set of guide wheel assemblies, configured to guide the direction of the drive wire extending from the wrist; An insulating seat, rotatably supported on the bracket; A wire head is fixed on the outer wall surface of the insulating seat, and the wire head is connected to the driving wire; and The conductive hook comprises a connecting portion fixedly placed in the insulating seat and a hook portion exposed from the insulating seat, wherein the connecting portion is in electrical contact with an electric wire extending into the insulating seat, and the connecting portion is electrically isolated from the wire head via the insulating seat; wherein a retreat space is provided on the connecting portion, and the retreat space is constructed to increase the lateral distance between the wire head and the connecting portion and is arranged facing the wire head.

2. The actuator according to claim 1, characterized in that: Also includes: The receiving cavity is located inside the insulating seat, the connecting portion is placed in the receiving cavity, a first protrusion is provided on the cavity wall of the receiving cavity, and the first protrusion fills the retreat space.

3. The actuator according to claim 2, characterized in that: The retreat space is a concave space and is matched with the concave-convex shape of the first protrusion.

4. The actuator according to claim 1, characterized in that: The insulating seat is an integral injection-molded component manufactured by an injection-molding process, and the connecting portion is fixed to the insulating seat by means of the injection-molding process.

5. The actuator according to claim 4, characterized in that: Also includes: Insulating ceramic; the insulating seat includes a connecting column, and the insulating ceramic is fixed to the connecting column by means of performing the injection molding process.

6. The electrocoagulation hook according to claim 4, characterized in that: The insulating seat is provided with a wire lead-out hole, the wire lead-out hole is a stepped hole, and the electric wire is fixed to the insulating seat by means of the injection molding process.

7. The actuator according to claim 1, characterized in that: The bottom end of the connecting portion is provided with an electrical connection hole, the electrical wire is welded to the electrical connection hole, and the minimum distance between the electrical connection hole and the retreat space in the longitudinal direction is greater than or equal to 2 mm.

8. The actuator according to claim 1, characterized in that: The retreat space is formed by cutting part of the connecting portion.

9. The electrocoagulation hook according to claim 1, characterized in that: The total height of the connecting portion in the longitudinal direction is greater than or equal to 10 mm.

10. The electrocoagulation hook according to claim 1, characterized in that: The retreat space is formed by bending the connecting portion.

11. The actuator according to claim 10, characterized in that: The connecting portion is provided with a second protrusion on the back side of the retreat space. The retreat space is a concave space and has substantially the same concave-convexity as the second protrusion.

12. The actuator according to claim 1 or 11, characterized in that: The retreat space has an inner bottom surface facing the wire head, and a lateral distance between the inner bottom surface and the wire head is greater than or equal to 0.5 mm.

13. The actuator according to claim 1, characterized in that: The insulating seat comprises: a receiving groove for receiving the wire head; and a pair of installation avoidance grooves, which are configured to pass the driving wire, and the pair of installation avoidance grooves are respectively adjacent to the opposite ends of the receiving groove.

14. An electrocoagulation hook, characterized in that: It comprises an instrument box, an instrument shaft having one end connected to the instrument box, and an actuator as claimed in any one of claims 1 to 13, wherein the actuator is connected to the other end of the instrument shaft.

15. A surgical robot, comprising a master hand part and a slave hand part, wherein the master hand part is configured to be operated by a doctor and collect the doctor's operation signal to generate a control signal transmitted to the slave hand part, and the slave hand part is configured to perform surgical operations under the control of the control signal, characterized in that: The hand portion is detachably mounted with the electrocoagulation hook as described in claim 14 above.

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