Actuator, electrocautery hook and surgical robot

Abstract

The present application relates to a kind of executor, electrocoagulation hook and surgical robot, wherein, executor includes: wrist, for with the far end of instrument shaft engagement;Support, rotationally connected with wrist;Guide wheel assembly, it is configured to guide the drive wire that stretches out from wrist to;Rim seat, rotationally supported on support;Wire head, fixed on the outer wall surface of insulating seat, wire head is connected with drive wire;And conductive hook, made of conductive material and including fixed in insulating seat connection part and the hook part exposed from insulating seat, connection part is electrically contacted with the electric wire that extends into the inside of insulating seat, connection part is kept electrically isolated with wire head via insulating seat;Wherein, retreat space is provided on connection part, retreat space is configured to increase the lateral distance between wire head and connection part and is set to wire head.This application constructs retreat space on the connection part of conductive hook, to increase its lateral distance with wire head, effectively prevent the occurrence of leakage current.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operation limitations such as hand tremor during filtering operation due to their high dexterity, high control accuracy and intuitive surgical images, and are widely used in abdominal, pelvic and thoracic surgical areas.

[0003] At present, a minimally invasive surgical robot includes a master control console and a slave manipulator arm. The master control console collects the operation signals of a doctor, and generates control signals of the slave manipulator arm after processing by a control system, so that the slave manipulator arm performs surgical operation. The minimally invasive surgical robot has a surgical instrument, which generally has more movement degrees of freedom than the minimally invasive instrument. For example, an electrocautery hook is a common surgical instrument, the proximal end of which is an instrument box, connected to the distal end through an elongated instrument shaft, and the distal end of the instrument shaft is connected to an effector, which has three degrees of freedom of movement, i.e. pitch, yaw and rotation.

[0004] A Chinese patent document with publication number CN114224476A discloses an electrocautery hook. A guide hole is formed in the lower part of the electrocautery hook. A first fixing pin hole is provided above the wire hole along the radial direction of the electrode hook, and a wire is inserted into the mounting hole on the electrode seat and extends into the guide hole in the lower part of the electrode hook to be crimped. A fixing pin passes through the first fixing pin hole and a second fixing pin hole on the electrode seat. An electrode sleeve is sleeved on the outer wall of the connection between the electrode seat and the electrode hook.

[0005] In the technical solution of the above-mentioned electrocautery hook, the position where the wire is connected to the electrocautery hook is closest to the wire head used to fix the tungsten wire rope. Although the two are separated by an insulating electrode seat, at this distance (both have a maximum diameter of only 8mm, and the distance between them is very small), since the electrocautery hook uses high-frequency current, high-frequency leakage current may still occur, which is difficult to meet the safety requirements of this type of medical instrument. SUMMARY

[0006] In view of the above technical problems, the present application provides an effector, an electrocautery hook and a surgical robot which can effectively prevent high-frequency current leakage.

[0007] In a first aspect, the application provides an actuator, which is suitable for being mounted to a distal end of a shaft of an instrument of an electrocoagulation hook, and comprises: a wrist portion configured to be engaged with the distal end of the shaft of the instrument; a support portion rotatably connected to the wrist portion; at least one set of guide wheel assemblies configured to guide a driving wire extending from the wrist portion; a rim seat rotatably supported on the support portion; a wire head fixed to an 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 electric wire extending into the insulating seat, the connecting portion being electrically isolated from the wire head via the insulating seat; wherein the connecting portion is provided with a retreat space, the retreat space being configured to increase a lateral distance between the wire head and the connecting portion and face the wire head.

[0008] The application scheme increases the lateral distance between the wire head and the connecting portion by configuring the retreat space on the connecting portion of the conductive hook, effectively prevents the occurrence of leakage current, ensures the compliance with the safety requirements, and protects the life safety of the patient.

[0009] In a specific embodiment, the actuator further comprises: a receiving cavity located in the interior of the insulating seat, the connecting portion being arranged in the receiving cavity, the cavity wall of the receiving cavity being provided with a first protrusion, and the first protrusion being filled in the retreat space. The specific embodiment fills the first protrusion in the retreat space, which enhances the insulation effect between the wire head and the connecting portion.

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

[0011] In a specific embodiment, the insulating seat is an integral injection molding member made by an injection molding process, and the connecting portion is fixed to the insulating seat by performing the injection molding process. In the specific embodiment, the insulating seat is made by the injection molding process, and the components fixed to the insulating seat are fixed at the same time, which is simple to manufacture and has good fixing effect.

[0012] In a specific embodiment, the actuator further comprises: an insulating ceramic; and the insulating seat comprises a connecting column, and the insulating ceramic is fixed to the connecting column by performing the injection molding process.

[0013] In a specific embodiment, the insulating seat is provided with a wire leading-out hole, the wire leading-out hole is a stepped hole, and the electric wire is fixed to the insulating seat by performing the injection molding process. The specific embodiment provides the wire leading-out hole with a stepped hole structure, which can facilitate the injection molding of the electric wire and the wire leading-out hole.

[0014] In one embodiment, the bottom end of the connecting portion is provided with an electrical connection hole, and the electrical wire is welded to the electrical connection hole. The minimum distance between the electrical connection hole and the retreat space in the longitudinal direction is greater than or equal to 2 mm. This embodiment ensures that the conductive hook is long enough below to effectively avoid the electrical connection hole of the welded electrical wire being too close to the gap.

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

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

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

[0018] In one embodiment, the connecting portion is provided with a second protrusion on the back of the retreat space. The retreat space is a concave space and has substantially the same concave-convex properties as the second protrusion. This embodiment increases the cross-sectional area of this area to be 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 one embodiment, the retreat space has an inner bottom surface facing the wire head, and the transverse distance between the inner bottom surface and the wire head is greater than or equal to 0.5 mm. This embodiment limits the transverse distance between the inner bottom surface of the retreat space and the wire head to prevent the charged conductive hook from leaking high-frequency current to the external wire head when in operation.

[0020] In one embodiment, the insulating seat comprises a receiving groove for receiving the wire head and a pair of installation avoidance grooves configured to pass through the driving wire. The pair of installation avoidance grooves are respectively adjacent to the opposite ends of the receiving groove. This embodiment facilitates the passage of the driving wires on both sides of the wire head into the installation avoidance grooves, thereby improving assembly efficiency.

[0021] In a second aspect, the application provides an electrocoagulation hook, comprising an instrument box, an instrument shaft connected to one end of the instrument box, and an actuator provided in the first aspect. The actuator is connected to the other end of the instrument shaft.

[0022] In a third aspect, a surgical robot comprises a master part configured to be operated by a doctor and to collect operation signals of the doctor to generate control signals transmitted to a slave part, and the slave part is configured to perform a surgical operation under control of the control signals, and the slave part is detachably mounted with the electric coagulation hook provided in the second aspect.

[0023] Other advantages of the present application will be described in detail in the following specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The overall schematic diagram of the actuator provided in an embodiment of the present application;

[0025] Figure 2 The schematic diagram of the actuator in the Figure 1 after the insulating seat is hidden;

[0026] Figure 3 The schematic diagram of the actuator in the Figure 2 enlarged view at A;

[0027] Figure 4 The schematic diagram of the actuator in the Figure 2 after rotating 180°;

[0028] Figure 5 The schematic diagram of the actuator in the Figure 4 enlarged view at B;

[0029] Figure 6 The schematic diagram of the insulating seat provided in an embodiment of the present application;

[0030] Figure 7 The longitudinal sectional schematic diagram of the insulating seat provided in an embodiment of the present application;

[0031] Figure 8 The schematic diagram of the conductive hook provided in an embodiment of the present application;

[0032] Figure 9 The schematic diagram of the insulating ceramic provided in an embodiment of the present application;

[0033] Figure 10 The lateral sectional schematic diagram of the actuator in the first and second wheel shafts of an embodiment of the present application;

[0034] Figure 11 The perspective view of the first guide wheel provided in an embodiment of the present application;

[0035] Figure 12 The perspective view of the first wheel shaft provided in an embodiment of the present application;

[0036] Figure 13A perspective view of a cable cover according to an embodiment of the present application;

[0037] Figure 14 A longitudinal sectional view of a partial actuator according to an embodiment of the present application;

[0038] Figure 15 According to Figure 13 An enlarged view at C.

[0039] Wherein: 100, actuator; 1, wrist;

[0040] 2, bracket; 20, first rotating shaft; 21, first mounting portion; 211, shaft hole; 22, second mounting portion; 211, shaft hole; 23, first support wall; 24, second support wall;

[0041] 3, guide wheel assembly; 31, first guide wheel; 311, central hole; 312, inner side surface; 313, flange portion; 32, first wheel shaft; 321, shaft body; 322, first shaft end; 3221, top cover portion; 323, second shaft end;

[0042] 4, guide wheel assembly; 41, second guide wheel; 42, second wheel shaft;

[0043] 5, insulating seat; 50, second rotating shaft; 501, protruding shaft; 502, protruding shaft; 51, side wall; 511, outer wall surface; 52, connecting column; 521, joint portion; 53, wire leading hole; 54, receiving cavity; 541, protrusion; 55, accommodating groove; 56, mounting avoidance groove; 57, mounting avoidance groove;

[0044] 6, cable cover; 61, bottom wall; 62, circumferential stopper; 63, accommodating cavity; 621, wire passing gap; 611, central hole; 612, limiting column;

[0045] 7, insulating ceramic; 71, ceramic body; 711, inner side wall; 72, reinforcing portion;

[0046] 8, conductive hook; 81, connecting portion; 82, hook portion; 83, avoidance space; 831, inner bottom surface; 84, electrical connection hole;

[0047] 91, first driving wire; 92, second driving wire; 921, upward segment; 922, downward segment; 923, fixed segment; 93, wire head; 94, electrical wire. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0049] In the description, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In other instances, well-known structures, circuits, and processes have not been described in detail so as not to obscure the understanding of this application. It will be appreciated, however, by one skilled in the art that the intention is not to limit the application to the particulars of the examples.

[0050] In the description, the drawings show the schematic diagrams of several embodiments of the application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and changes in mechanical structure, physical composition, electricity and steps can be made without departing from the spirit and scope of the application.

[0051] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "under", "below", "lower", "above", "upper", and the like, can be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device described herein is turned over, elements described as "under" or "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "under" can encompass both an orientation of above and below. The device can be otherwise oriented (e.g., rotated 90° or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0052] As used herein, the terms "a number of" and "one" and "the" are intended to include both singular and plural unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0053] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "component," "part," "member," and "piece" are used interchangeably.

[0054] The terms "connected," "coupled," can be understood broadly to encompass any situation in which two or more objects have a connection allowing cooperation between the objects. It should be noted that "connected" does not require direct connection (e.g., physical or electrical connection) but rather can include an indirect connection through one or more other objects or components. For example, objects A and B can be connected through the use of object C. Furthermore, the terms "removably connected" or "removably coupled" can be interpreted to mean a non-permanent connection or coupling between two or more objects. This means that the removably connected objects can be disconnected and separated so that they no longer operate in conjunction.

[0055] The present application provides an executor, an electrocautery hook and a surgical robot. A typical surgical robot includes a master part configured to be operated by a doctor and to collect operation signals of the doctor to generate control signals transmitted to a slave part, and the slave part configured to perform a surgical operation under control of the control signals. The executor, together with an instrument box and an instrument shaft, can constitute a surgical instrument, i.e., an electrocautery hook. When combined into the electrocautery hook, the instrument box and the executor are located at the proximal end and the distal end of the instrument shaft, respectively. The electrocautery hook can be detachably mounted to the slave part of the surgical robot to perform actions under control; and when the electrocautery hook is mounted to the slave part of the surgical robot, the instrument box will be combined with a surgical instrument manipulator at the end of the mechanical arm.

[0056] The following will take a master-slave teleoperation laparoscopic surgical robot commonly used in surgery as an example to introduce the components of the surgical robot and the working process of each component.

[0057] The laparoscopic surgical robot usually includes a doctor control platform (i.e., the master part), a patient surgery platform (i.e., the slave part) and an image platform. The surgeon sits at the doctor control platform, watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and controls the movement of the mechanical arm on the patient surgery platform and the surgical instrument (such as an electrocautery hook) or laparoscope attached to the mechanical arm. The mechanical arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand, both of which provide the surgeon with a series of actions simulating the human wrist, while also filtering the tremor of the human hand itself.

[0058] A patient surgical platform includes a base, a column, robotic arms coupled to the column, and one or more surgical instrument manipulators at the end of each robotic arm's support assembly. Surgical instruments and / or scopes are removably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or scopes that are operated at a surgical site within a patient's body. Various forms can allow each surgical instrument manipulator to move with one or more degrees of mechanical freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained, by mechanical or software constraints, to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the point where the surgical instrument enters the body, and is referred to as the "telecenter."

[0059] An image platform typically includes one or more video displays with video image capture functionality (commonly endoscopes) and for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the endoscope includes optics that relay images from one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope to the host of the image platform, via photoelectric conversion and the like. The processed images are then displayed on the video displays for the assistant to view, via image processing.

[0060] A physician control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system. Teleoperation master / slave operation can be accomplished with a pre-determined degree of control. In some embodiments, the physician control platform includes one or more manually operated input devices, such as control levers, exoskeletal gloves, powered and gravity compensated manipulators, and the like. These input devices pick up the surgeon's operational signals, which are processed by the control system to generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the teleoperational motors on the surgical instrument manipulators, which in turn control the motion of the surgical instruments.

[0061] Generally, the forces generated by the teleoperational motors are transmitted through a transmission system that transfers the forces from the teleoperational motors to the end effectors of the surgical instruments. In some teleoperational surgical embodiments, the input devices that control the manipulators can be located remotely from the patient, in the room where the patient is located or outside, even in a different city. The input signals from the input devices are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components.

[0062] See Figure 1 , 2, 4, which illustrates an implementer 100 suitable for mounting to the distal end of a shaft of an electrocautery hook. The implementer 100 comprises a wrist 1, a bracket 2, a first guide wheel assembly 3 and a second guide wheel assembly 4, an insulating seat 5, a cable cover 6, an insulating ceramic 7, and a conductive hook 8.

[0063] The wrist 1 is configured to engage with the distal end of the shaft of the electrocautery hook, and two driving wires, i.e. a first driving wire 91 and a second driving wire 92, are arranged to pass through the wrist 1.

[0064] The bracket 2 is pivotally connected to the wrist 1 via a first pivot 20. The first driving wire 91 is fixedly connected to a wire head (not shown in the figure) fixed to the bracket 2, so as to realize the rotation of the bracket 2 around the first pivot 20 driven by the first driving wire 91.

[0065] The first guide wheel assembly 3 and the second guide wheel assembly 4 are configured to guide the second driving wire 92, and the first guide wheel assembly 3 and the second guide wheel assembly 4 are both pivotally supported on the bracket 2 and arranged in a central symmetry on opposite sides of the bracket 2.

[0066] The insulating seat 5 is pivotally supported on the bracket 2 via a second pivot 50, and the axis of the second pivot 50 is non-planarly intersected with the axis of the first pivot 20. Specifically, the projections of the two axes on the horizontal plane are perpendicular. The insulating seat 5 is an integral injection molding member made by an injection molding process.

[0067] The insulating seat 5 is externally fixed with a wire head 93; specifically, the insulating seat 5 is provided with a receiving groove 55 (see Figure 6 ), and the wire head 93 is embedded in the receiving groove 55 by manual or machine. The second driving wire 92 is fixed to the wire head 93, so as to realize the relative fixation of the middle part of the second driving wire 92 and the insulating seat 5. When the second driving wire 92 is pulled, the insulating seat 5 is rotated relative to the bracket 2.

[0068] The cable cover 6 is arranged on the outside of the insulating seat 5, and is used to shield and protect the electric wire 94 electrically connected to the conductive hook 8.

[0069] The insulating ceramic 7 is fixed to the insulating seat 5 by means of the injection molding process used in the implementation of the insulating seat 5. The insulating ceramic 7 has a ceramic body 71 in the shape of a bowl, and the upper half is conical and the lower half is cylindrical. The insulating ceramic 7 is sleeved on the periphery of part of the conductive hook 8.

[0070] The conductive hook 8 is made of conductive material and comprises a connecting part 81 fixedly arranged on the inside of the insulating seat 5 and a hook part 82 exposed from the insulating seat 5. The connecting part 81 is in electrical contact with the electric wire 94 extending into the inside of the insulating seat 5, and the connecting part 81 is electrically isolated from the wire head 93 via the insulating seat 5.

[0071] AsFigures 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] like Figures 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] In some embodiments, the reinforcing portions can also be protrusions arranged on the inner side wall surface of the ceramic body, and the height of the protrusions is greater than or equal to 0.2 mm. In some embodiments, the reinforcing portion can also be an annular protrusion.

[0085] The first guide wheel assembly 3 and the second guide wheel assembly 4 are used to guide the running direction of the second driving wire 92, and each guide wheel assembly comprises a guide wheel and a wheel shaft penetrating the guide wheel; in order to assemble the guide wheel assemblies, the bracket 2 is provided with shaft holes for the wheel shafts to penetrate.

[0086] As shown in Figure 3 , 5 and 10, the second driving wire 92 comprises an upward segment 921, a downward segment 922, and a fixed segment 923 between the upward segment 921 and the downward segment 922; the first guide wheel assembly 3 guides the upward segment 921 upward, the second guide wheel assembly 4 guides the downward segment 922 downward, and the fixed segment 923 is fixedly connected with the wire head 93.

[0087] The first guide wheel assembly 3 and the second guide wheel assembly 4 are respectively rotatably supported at the first mounting portion 21 and the second mounting portion 22 of the bracket 2.

[0088] As shown in Figure 10 , the first mounting portion 21 is provided with a shaft hole 211 for the first wheel shaft 32 to penetrate; the second mounting portion 22 is provided with a shaft hole 221 for the second wheel shaft 42 to penetrate.

[0089] The first guide wheel assembly 3 comprises a first guide wheel 31 and a first wheel shaft 32 penetrating the first guide wheel 31.

[0090] As shown in Figure 11 , the first guide wheel 31 is provided with a central hole 311 in the middle portion.

[0091] As shown in Figure 12 , the first wheel shaft 32 comprises a shaft body 321 and first and second shaft ends 322 and 323 located on both sides of the shaft body 321. The shaft body 321 penetrates the central hole 311 and the shaft hole 211 at the same time. The first shaft end 322 comprises a top cover portion 3221 with an outer diameter greater than the hole diameter of the central hole 311, and the top cover portion 3221 abuts against the outer side surface of the first guide wheel 31; the second shaft end 323 is a riveting ring and is riveted and fixed with the first mounting portion 21. The first guide wheel 31 has an inner side surface 312, and the inner side surface 312 comprises a flange portion 313 surrounding the mouth portion of the central hole 311, and the flange portion 313 abuts against the first mounting portion 21.

[0092] Continuing to refer to Figure 10 , 11And 12, the hole diameter of the shaft hole 211 is d1, the hole diameter of the central hole 311 is d2, and the outer diameter of the first axle 32 is d3; wherein, d1>d3, d2≥d3; the size relationship ensures that the first guide wheel 31 can rotate following the upward segment 921 of the second driving wire 92, thereby reducing the friction force suffered by the second driving wire 92 and improving the transmission accuracy. In some specific embodiments, d1 is set to be greater than d2, so that the contact area of the first mounting portion 21 of the support 2 and the flange portion 313 of the first guide wheel 31 can be reduced, further reducing the friction force. 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 size relationships ensures the stability of the rotation center of the first axle 32 and improves the transmission accuracy.

[0093] The second guide wheel assembly 4 includes a second guide wheel 41 and a second axle 42 penetrating into 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 respectively, and will not be described here again.

[0094] As shown in Figure 4 , 10 , the support 2 further includes a first support wall 23 and a second support wall 24 arranged oppositely. The insulating seat 5 is rotationally supported on the support 2 and located between the first support wall 23 and the second support wall 24.

[0095] As shown in Figure 1 , 2 , 3 and 13, the cable cover 6 is located between the first support wall 23 and the side wall 51 of the insulating seat 5. The cable cover 6 includes a bottom wall 61 and a circumferential flange 62 extending from the bottom wall 61 towards the direction where the side wall 51 is located. The circumferential flange 62, the bottom wall 61 and the side wall 51 of the insulating seat 5 define a containing cavity 63, and part of the electric wire 94 is contained in the containing cavity 63.

[0096] The circumferential flange 62 has a wire passing notch 621, and the electric wire 94 passes through the wire passing notch 621.

[0097] The bottom wall 61 is provided with a limiting column 612, and the cable cover 6 is prevented from rotating relative to the first support wall 23 by embedding the limiting column 612 into the first support wall 23; in this way, the cable cover 6 and the first support wall 23 are connected in a rotation-stopping manner. The middle part of the bottom wall 61 is provided with a central hole 611, and the second rotating shaft 50 is inserted into the central hole 611 to limit other degrees of freedom, so as to realize the fixed connection between the cable cover 6 and the support 2.

[0098] As shown in Figure 7 , 14As 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.

[0099] 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.

[0100] 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 when the actuator rotates, the electric wire 94 can move with it without being pulled.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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 installation 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 of the insulating seat, and the wire head is connected to the driving wire; A conductive hook comprising a connecting portion fixedly disposed in the insulating seat and a hook portion exposed from the insulating seat, the connecting portion being in electrical contact with an electric wire extending into the insulating seat and electrically isolated from the wire head via the insulating seat; wherein a retreat space is provided on the connecting portion, the retreat space being configured to increase the lateral distance between the wire head and the connecting portion and being disposed facing the wire head, the retreat space having an inner bottom surface facing the wire head, the lateral distance between the inner bottom surface and the wire head being greater than or equal to 0.5 mm; and The receiving cavity is located inside the insulating seat, the connecting part is placed in the receiving cavity, the cavity wall of the receiving cavity has a first protrusion, the retreat space is a concave space and is adapted to the concave and convex shape of the first protrusion, and the first protrusion is filled in the retreat space.

2. 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 performing the injection molding process.

3. The actuator according to claim 2, 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.

4. The electrocoagulation hook according to claim 2, characterized in that: The insulating seat is provided with a wire lead-out hole, which is a stepped hole. The electric wire is fixed to the insulating seat by means of the injection molding process.

5. 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.

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

7. 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.

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

9. The actuator according to claim 8, 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 concavity and convexity as that of the second protrusion.

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

11. An electric coagulation hook, characterized in that: The invention comprises an instrument box, an instrument shaft having one end connected to the instrument box, and an actuator according to any one of claims 1 to 10, wherein the actuator is connected to the other end of the instrument shaft.

12. A surgical robot comprising a master hand portion and a slave hand portion, wherein the master hand portion is configured to be operated by a doctor and to collect the doctor's operation signals to generate control signals transmitted to the slave hand portion, and the slave hand portion is configured to perform surgical operations under the control of the control signals, characterized in that: The hand portion is detachably mounted with the electrocoagulation hook as claimed in claim 11.

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