Surgical instrument

Abstract

The invention relates to a surgical instrument. The double-pole closing forceps comprise a double-pole closing forceps assembly, a long shaft and a driving device, the long shaft comprises a transmission assembly arranged in the long shaft, the near end of the transmission assembly is connected with the driving device, and the far end of the transmission assembly is detachably connected with the bipolar closing clamp assembly so as to transmit push-pull force in the axial direction of the long shaft. The bipolar closing clamp assembly comprises two clamp bodies, a driving assembly, a base and two conductive wires. Each forceps body comprises a forceps head, a forceps arm and a plastic connecting piece connected between the forceps head and the forceps arm; the two clamp bodies are rotatably arranged on the base and are used for driving the assembly to drive the clamp arms to rotate so as to drive the clamp heads to execute opening and closing actions; a hollow fusiform occlusal surface is formed by the tooth tops of the plurality of teeth of the two tong heads; the tooth tops of the multiple teeth of one tong head are right opposite to the tooth grooves of the multiple teeth of the other tong head on the opposite side. And each clamp head is electrically connected with one conductive wire.

Description

Technical Field

[0001] The invention relates to the field of surgical instruments, in particular to a bipolar closing forceps. Background Art

[0002] Applicable to the structural development of surgical single-port surgical instruments and vascular closure devices. This structural design is a vascular closure clamp, which is convenient for solving the problem during surgery.

[0003] Minimally invasive surgical robots are a type of surgical method used in minimally invasive surgery, where surgical instruments are used to perform surgery inside human cavities through natural cavities or openings in the chest and abdomen. Compared with traditional surgery, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. Minimally invasive surgical robots usually include a master operating console and a slave operating device. The master operating console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device; the slave operating device is connected to a surgical instrument that is detachable from the slave operating device, and the surgical instrument includes a drive device, a long axis, and an end effector for performing the operation; the slave operating device is used to respond to the control command sent by the master operating console and drive the end effector to perform the corresponding surgical operation. The drive device receives the driving force from the slave operating device, and transmits the driving force to the end effector through the drive cable to manipulate the movement of the end effector.

[0004] The present invention relates to a bipolar vascular closure device mounted on a single-port surgical robot, which is a surgical medical electrical device for coagulating biological tissues by means of high-frequency current. It transmits high-frequency current to both ends of the clamp head in the human body through electrodes, forms a high-density current in the local tissue under the clamp head end, thereby generating high heat locally and achieving the electrosurgical effect of coagulation, such as coagulating and drying the blood vessel wall. The use of high-frequency instruments has small incisions, fast cutting speed, fast hemostasis speed and good effect, simple operation, safety and convenience, which greatly shortens the operation time. However, the existing bipolar vascular closure forceps are generally handheld and cannot cooperate with surgical robots, especially with multiple surgical instruments of single-port surgical robots inserted into the abdominal cavity through the same puncture card for coordinated operation; and the existing vascular closure device has tissue adhesion to the clamp head during the actual coagulation process, which affects the next step of using the clamp head for coagulation. The coagulation effect of thinner blood vessels is poor, which is easy to cause coagulation fracture. For coagulation of slightly thicker blood vessels, it is easy to cause excessive coagulation of the tissue coagulation edge, resulting in fracture, and the middle of the blood vessel is not completely coagulated, causing bleeding again. The above phenomena affect the progress of the operation, causing the operation time to be extended and even increasing the risk of postoperative infection. The junction of the insulating isolation component and the conductive component on the clamp head in the prior art is directly molded, and the junction will cause flash. The end effector is easy to store liquid at the flash during the operation, which will cause incomplete disinfection and cleaning. The presence of contaminated end effectors greatly increases the risk of postoperative infection. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a surgical instrument, wherein the bipolar vascular closing forceps have a special tooth shape design.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The present invention relates to a surgical instrument, comprising: a bipolar closed forceps assembly, a long shaft and a driving device; the long shaft comprises a transmission assembly arranged inside, the proximal end of the transmission assembly is connected to the driving device, and the distal end of the transmission assembly is detachably connected to the bipolar closed forceps assembly to transmit the push-pull force along the axial direction of the long shaft; the bipolar closed forceps assembly comprises: two forceps bodies, a driving assembly, a base and two conductive wires; each of the forceps bodies comprises a forceps head, a forceps arm and a plastic connector connected between the forceps head and the forceps arm; each of the forceps heads is electrically connected to one of the conductive wires; the two forceps bodies are respectively It is rotatably arranged on the base and is used to drive the pliers arm to rotate through the driving assembly to drive the pliers head to perform an opening and closing action; the tooth tops of the multiple teeth on the two pliers heads constitute an occlusal surface, and the occlusal surface includes a hollow shuttle-shaped occlusal surface; when the two pliers heads are closed, the distal and proximal ends of the hollow shuttle-shaped occlusal surface are in contact with each other, and the middle part of the hollow shuttle-shaped occlusal surface is not in contact; the tooth tops of the multiple teeth on one pliers head are arranged opposite to the multiple tooth grooves on the other pliers head on the opposite side; in the axial direction along the pliers head, the length of the tooth top is greater than the opening width of the opposite tooth groove; the tooth groove is arc-shaped.

[0008] In one embodiment, the distal end of the pliers head further comprises at least three teeth adjacent to the hollow shuttle-shaped bite surface, and when the two pliers heads are closed, the at least three teeth are in contact with each other.

[0009] In one embodiment, at least two rows of the plurality of teeth are axially arranged on one of the pliers heads, and at least two rows of the plurality of teeth on the other pliers head on the opposite side are also correspondingly arranged.

[0010] In one embodiment, the heights of the plurality of teeth of the two pliers heads are the same.

[0011] In one embodiment, the plastic connector is made of high temperature resistant non-conductive plastic, and the plastic connector extends to the first tooth at the proximal end of the hollow shuttle-shaped occlusal surface.

[0012] In one embodiment, the base is U-shaped, including a base body and brackets symmetrically arranged on both sides of the base, the pliers arms are connected to the rotating shafts screwed between the brackets, and the driving assembly is arranged in the base and can drive the two pliers arms to rotate to drive the pliers head to perform opening and closing actions.

[0013] In one embodiment, the pliers arm is rotatably connected to a rotating shaft threaded between the brackets; a cross column is provided on the proximal portion of each pliers arm facing away from the pliers head; the driving assembly includes a sliding pin and a pair of connecting rods, the pair of connecting rods are axially staggered, the two lateral ends of the sliding pins are respectively installed in the push-pull holes at the proximal ends of the pair of connecting rods, and the push-pull holes at the distal ends of the pair of connecting rods are respectively installed on the cross columns of the two pliers arms, which are used to drive the angle between the two pliers arms to change during the axial driving of the sliding pin to drive the pliers head to perform an opening and closing action.

[0014] In one embodiment, the pliers arm (153) is rotatably mounted on the two side brackets (1511) of the base (151) via a rotating shaft (1512); a bevel groove extending along its length direction is provided on the proximal end portion of each pliers arm facing away from the pliers head, and the two bevel grooves are staggered with each other; the driving assembly includes a sliding pin shaft, and a slide groove extending along the axial direction of the base is provided on the bracket, and the two lateral ends of the sliding pin shaft respectively pass through the two bevel grooves and can be slidably mounted on the corresponding slide grooves, so as to drive the angle between the two pliers arms to change during the movement along the slide groove to drive the pliers head to perform an opening and closing action.

[0015] In one embodiment, the proximal end of each clamp arm is divided into a fixed wheel structure with a mounting cavity, and the two fixed wheel structures are arranged opposite to each other; the driving assembly includes a U-shaped pitch frame, two groups of pulley blocks, two pairs of driving cables, and a pair of pitch cables; the two clamp arms are rotatably connected to the U-shaped pitch frame through a rotating shaft; the rotating shaft is screwed to the two side arms of the U-shaped pitch frame; the pulley mounting shafts screwed between the brackets of the U-shaped base include two, the pulley mounting shafts are configured to be perpendicular to the axial direction of the U-shaped base and are arranged in parallel, and the two groups of pulley blocks are rotatably mounted on the U-shaped base through the pulley mounting shafts; each pair The distal end of the driving cable is fixedly connected with a mounting piece, one of the mounting pieces is installed in a mounting piece cavity of a fixed wheel structure on the clamp arm and the corresponding driving cables are respectively wound around the two sides of the fixed wheel structure, the proximal ends of the pair of driving cables are wound around the pulleys on the same side of the pulley block, and the cables on the same side of the two pairs of driving cables form a cross between the pulleys on the same side of the pulley block, which is used to drive the clamp arm to rotate so as to drive the clamp head to perform opening and closing or yaw movement; the mounting columns at the distal ends of a pair of pitch cables are respectively installed in the mounting column cavities of the U-shaped pitch frame, which are used to drive the pitch frame to pitch so as to drive the clamp head to perform pitch movement.

[0016] In one embodiment, the plastic connector is arranged on the distal side of the rotating shaft, and the plastic connector covers the inner surface of the pliers head and is maintained in the same plane as the tooth top of the first tooth at the proximal end of the hollow shuttle-shaped occlusal surface; the pliers head and the pliers arm are spatially isolated but overlap in the axial direction, and a notch is provided on the first connecting arm at the proximal end of each pliers head, and a lateral extension portion and a vertical extension portion are provided on the second connecting arm at the distal end of each pliers arm, and the vertical extension portion of the second connecting arm passes through the above-mentioned notch without contacting the first connecting arm; the distal connecting end of each of the conductive wires is electrically connected to the corresponding first connecting arm respectively; the plastic connector wraps the first connecting arm and the second connecting arm at the same time.

[0017] In one embodiment, a transition shoulder is provided at the junction between the distal end of the outer surface of the plastic connector and the clamp head.

[0018] In one embodiment, the maximum vertical height difference between each of the plastic connectors and the clamp arm to which it is connected is 0.6 mm.

[0019] In one embodiment, the distal ends of the two pliers heads are bent toward one axial end of the rotating shaft.

[0020] The beneficial effects of the invention are:

[0021] The surgical instrument of the present invention has a bipolar vascular closure forceps with a special tooth shape design, which can quickly close blood vessels less than 7mm. When the blood vessel wall coagulates and dries to the optimal state, the energy device can automatically cut off the energy supply. The instrument flexibly combines the traditional blood vessel closure device with the laparoscopic single-port surgical robot, adopts a non-slip forceps head structure and a hollow shuttle-shaped occlusal surface formed by the forceps head tooth shape. With the help of the surgical robot, the surgeon can quickly and accurately close the patient's blood vessels less than 7mm, achieving the purpose of rapid and multiple constant coagulation to the optimal state for hemostasis.

[0022] The present invention will be described in further detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present invention.

[0024] Figure 2 It is a schematic diagram of the main operating device of the surgical robot according to an embodiment of the present invention.

[0025] Figure 3 is a stereoscopic view of a surgical instrument according to an embodiment of the present invention.

[0026] Figure 4 It is a partial stereoscopic view of the surgical instrument after the leather cover is removed according to the first embodiment of the present invention.

[0027] Figure 5 4 is a perspective view of a bipolar vascular closure device according to a first embodiment of the present invention.

[0028] Figure 6 yes Figure 5 Exploded view of the structure in area A.

[0029] Figure 7a -f is a structural diagram of the tooth shape of the bipolar vascular closure device according to the first embodiment of the present invention.

[0030] Figure 8a -b is a structural diagram of the forceps arm of the bipolar vascular closure device according to the first embodiment of the present invention.

[0031] Figure 9a -d is a structural diagram of the plastic connector of the bipolar vascular closure device according to the first embodiment of the present invention.

[0032] Fig.10a -f is a connection structure diagram of the clamp body of the bipolar vascular closure device according to the first embodiment of the present invention.

[0033] Fig.11 1 is an exploded view of the structure of a bipolar vascular closure device according to a second embodiment of the present invention.

[0034] Fig.12 4 is a perspective view of a bipolar vascular closure device according to a third embodiment of the present invention.

[0035] Fig.13 1 is an exploded view of the structure of a bipolar vascular closure device according to a third embodiment of the present invention.

[0036] Fig.14a -c is a structural diagram of a plastic connector of a bipolar vascular closure device according to a third embodiment of the present invention. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the various embodiments of the present invention and the features described in the embodiments may be combined with each other. The present invention is further described in detail below in conjunction with the drawings and specific embodiments.

[0038] Although the term first, second, third etc. can be used in the text to describe multiple elements, parts, components, assemblies, devices, mechanisms, regions, layers and / or sections, these elements, parts, components, devices, mechanisms, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, part, component, device, mechanism, region, layer or section from another element, part, component, device, mechanism, region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, part, component, device, mechanism, region, layer or section discussed below can be referred to as the second element, part, element, part, assembly, device, mechanism, region, layer or section without departing from the teaching of the example embodiments.

[0039] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "interior", "exterior", "medial", "lateral", "vertical", etc. Such 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. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "couple", "fix", "set" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. The terms "proximal end" and "distal end" are commonly used terms in the field of interventional medical devices. The "proximal end" refers to the end of the element close to the operator or the end away from the end effector of the interventional medical device, and the "distal end" refers to the end of the element away from the operator or the end close to the end effector of the interventional medical device. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. The following embodiments use a vascular closure clamp as an example to illustrate the structure of the end effector 150. By replacing the execution tool at the distal end according to the needs of the surgical operation, various embodiments of the end effector 150 and the surgical instrument 120 of the present invention can be realized.

[0042] A surgical robot generally includes a slave operating device and a master operating device. Figure 1 FIG. 1 is a slave operating device 100 according to an embodiment of the present invention. Figure 2 The figure shows a master operating device 200 according to an embodiment of the present invention. A surgeon or other operator performs relevant control operations on the slave operating device 100 on the master operating device 200, and the slave operating device 100 performs a surgical operation on a human body or other organisms according to the input instructions of the master operating device 200. The master operating device 200 and the slave operating device 100 can be placed in the same operating room or in different rooms. The master operating device 200 and the slave operating device 100 can even be far apart. For example, the master operating device 200 and the slave operating device 100 are respectively located in different cities. The master operating device 200 and the slave operating device 100 can transmit data in a wired manner or in a wireless manner. For example, the master operating device 200 and the slave operating device 100 are located in the same operating room, and data is transmitted between the two in a wired manner. For another example, the master operating device 200 and the slave operating device 100 are respectively located in different cities, and long-distance data transmission is performed between the two via wireless communication (such as 5G wireless signals).

[0043] For example, refer to Figure 1 As shown, the operating device 100 includes a robot arm 110, an actuator 130 disposed at the distal end of the robot arm 110, and a surgical instrument 120 disposed on the actuator 130. The actuator 130 is used to drive the surgical instrument 120 to move, and the surgical instrument 120 is used to perform a surgical operation. It should be understood that the surgical robot is a single-port surgical robot.

[0044] Reference Figure 3-4 As shown, the surgical instrument 120 of the first embodiment of the present invention includes a driving device 140, a long shaft 160 and a terminal instrument assembly located at the distal end of the long shaft 160; Figure 5-6The end instrument assembly 150 includes an end effector and an actuating tendon 180. The actuating tendon 180 is usually a nickel-titanium alloy wire. The distal end of the actuating tendon 180 is connected to the driving assembly inside the end effector, and the proximal end passes through the long axis to connect to the driving device 140; the distal end of the long axis 160 also includes a plurality of joint assemblies 161 that can rotate with each other, and the joint assembly 161 is used to install the distal end effector. The driving device 140 can be coupled to the actuating device 130 through a joint, and the driving unit inside the driving device 140 is connected to the joint assembly and the end effector through cables. The driving unit drives the joint assembly and / or the end effector to move by manipulating a plurality of cables; wherein the cables can be flexible, or can include flexible segments and rigid segmented strips. The driving device drives the above cables and / or actuating tendons to enable the end effector to perform opening and closing, yaw, pitch and other freedom movements.

[0045] The end effector may be exemplarily one of a stapler, a shear, a bipolar grasping forceps, a bipolar closing forceps, a bipolar separating forceps, a monopolar electric hook, a monopolar scissors, and an imaging device. The driving device 140 of the surgical instrument 120 includes a plurality of transmission discs, which may be used for posture control of the end effector or for controlling the movement of internal components of the end effector.

[0046] The end effector assembly of the surgical instrument of the present invention relates to a bipolar closed forceps assembly. The surgical instrument of the present invention comprises: a bipolar closed forceps assembly, a long shaft 160 and a driving device 140; the bipolar closed forceps assembly is connected to the distal end of the long shaft, and the proximal end of the long shaft is connected to the driving device 140. The long shaft 160 comprises a transmission assembly arranged inside, the proximal end of the transmission assembly is connected to the driving device 140, and the distal end of the transmission assembly is detachably connected to the bipolar closed forceps assembly to transmit the push and pull force along the axial direction of the long shaft 160. The driving device 140 can be coupled with the actuator 130 through its joint portion, and the driving unit inside the driving device 140 is connected to the long shaft distal end joint assembly 161 and the end effector through the long shaft 160 through a cable, and the driving unit 170 drives the joint assembly and / or the end effector to move by manipulating a plurality of cables; wherein the cable also comprises a tendon, and the cable can be flexible, or can include a flexible segment and a rigid segmented strip.

[0047] In the first embodiment, referring to Figure 6 As shown, the bipolar closed forceps assembly 150 includes two forceps bodies, a driving assembly, a base 151 and two conductive wires 170 , and the base 151 is connected to a joint assembly 161 at the distal end of the long shaft.

[0048] Each pliers body includes a pliers head 152, a pliers arm 153 and a plastic connector 154 connected between the pliers head 152 and the pliers arm 153; each pliers head 152 is provided with a plurality of teeth 1520;

[0049] The two clamp bodies are rotatably arranged on the base 151, and are used to drive the assembly to drive the clamp arm 153 to rotate so as to drive the clamp head 152 to perform an opening and closing action; each conductive wire 170 is configured to be electrically connected to a clamp head 152 respectively, and the conductive wire 170 passes through the long axis 160 to be connected to the drive device 140, and then connected to the energy device. The energy device can release energy according to instructions and automatically disconnect energy according to the coagulation and drying state. Doctors generally use a small amount of high-frequency energy applied multiple times to achieve blood vessel closure and coagulation to achieve the electrosurgical effect of blood coagulation.

[0050] Reference Figure 6 , Figure 7a -f, Figure 7a -c shows that the tooth tops of the multiple teeth 1520 of the two pliers 152 constitute an occlusal surface, and the occlusal surface includes a hollow shuttle-shaped occlusal surface; the multiple teeth forming the hollow shuttle-shaped occlusal surface may also have arc segments corresponding to the hollow shuttle, and the tooth grooves are arc-shaped; when the two pliers (152) are closed, the distal ends and proximal ends of the hollow shuttle-shaped occlusal surface are in contact with each other, and the middle parts of the hollow shuttle-shaped occlusal surfaces are not in contact; Figure 7d It is shown that the tooth tops of the multiple teeth of one pliers head 152 are arranged opposite to the tooth grooves of the multiple teeth of the other pliers head 152 on the opposite side, and the length of the tooth tops in the axial direction of the pliers head 152 is greater than the length of the corresponding tooth groove; and the heights of the multiple teeth of the two pliers heads 152 are the same; the tooth grooves of the multiple teeth also enclose a hollow shuttle shape; Figure 7f Another embodiment of a pliers head is shown: at least two rows of the multiple teeth 1520 are axially arranged on one pliers head 152, or at least two rows of the multiple teeth 1520 are staggered, and the multiple teeth on the other pliers head 152 on the opposite side are also arranged in at least two rows correspondingly.

[0051] When the two forceps arms 153 are driven and approach each other, the two forceps heads 152 gradually close. When the forceps heads 152 clamp biological tissues, instruments, and other materials, the teeth at the distal ends of the forceps heads 152 are in contact and bite each other when the forceps heads 152 are in a fully closed state, and a gap is maintained at the hollow shuttle-shaped bite surface. When the forceps heads 152 clamp biological tissues, a portion of the biological tissues are clamped between the hollow shuttle-shaped bite surfaces when the forceps heads 152 are in a fully closed state. When the two forceps heads 152 are energized respectively, the clamped biological tissues in the hollow shuttle-shaped bite surfaces are heated and electrocoagulated to stop bleeding. Moreover, because of the hollow shuttle-shaped bite surfaces, the teeth on both sides will not be in close contact, so the biological tissues will not be overly compressed and heated to break.

[0052] In another embodiment, referring to Figure 7e As shown, the pliers head 152 further includes at least three teeth 1520 that are adjacent to the distal end of the hollow shuttle-shaped occlusal surface and can contact each other and extend toward the distal end of the pliers head. Figure 7e for Figure 7bA partial enlarged view of area C in the middle. Figure 7e The middle L section shows that there are at least 3 teeth; when the two forceps heads 152 are closed, the at least three teeth 1520 are in contact with each other, and the surgical sutures can be clamped during the operation. The sutures can be firmly clamped between the occlusal surfaces at the distal ends of the two forceps heads. At least three teeth can provide a larger clamping area to prevent the sutures from slipping due to loose clamping.

[0053] In another embodiment, at least two rows of multiple teeth are axially arranged on one pliers head 152, and the tooth tops of the at least two rows of multiple teeth are staggered in the transverse direction, and the multiple teeth of the other pliers head 152 on the opposite side are also arranged in at least two rows correspondingly; and the corresponding at least two rows of teeth between the two pliers heads after closing form corresponding hollow shuttle-shaped bite surfaces, that is, at least two axially parallel hollow shuttle-shaped bite surfaces.

[0054] In another embodiment, referring to Figure 7a -c, the tooth top of each tooth of the two pliers heads 152 does not exceed the occlusal reference plane S of the pliers heads 152, that is, the teeth at the front ends of the two pliers heads 152 contact each other and do not enter the inter-tooth recess on the opposite side, and the tooth tops of the upper and lower corresponding teeth at the hollow shuttle are at an equal distance from the occlusal reference plane S, Figure 7c for Figure 7b Enlarged view of the hollow spindle occlusal surface, refer to Figure 7c As shown, the equal distance values ​​between a plurality of corresponding teeth and the occlusal reference plane S vary along with the width of the hollow shuttle from the distal end to the proximal end.

[0055] Figure 7d for Figure 7b An enlarged view of the middle area B shows that one implementation method of the tooth structure of the pliers body of this embodiment is as follows: the axial length of the hollow shuttle-shaped occlusal surface is 15 mm, and the widest part is 0.1 mm; the tooth groove is arc-shaped, and the arc radius is 0.05 mm and the arc is 90°; the tooth groove spacing is 0.6 mm, the tooth height is 0.15 mm, the spacing between adjacent tooth tops is 0.23 mm, and the tooth shoulder angle is 60°.

[0056] In the first embodiment, referring to Figure 6 As shown, the base 151 is U-shaped, including a base body and brackets 1511 symmetrically arranged on both sides of the base. The brackets 1511 are provided with slide grooves 1513 extending along the axial direction of the base 151. The clamp arms 153 are rotatably connected to the rotating shaft between the brackets 1511. One end of the rotating shaft has a thread and can be screwed on the bracket 1511. The driving component is arranged in the base 151, and the driving component can drive the two clamp arms 153 to rotate to drive the clamp head to perform an opening and closing action.

[0057] The driving assembly is configured as a structure in which a sliding pin cooperates with an inclined slot to drive the pliers head to rotate, and the driving assembly includes a sliding pin 155. The details are as follows: The clamp arm 153 is rotatably connected to the rotating shaft 1512 screwed between the brackets 1511; each clamp arm 153 has an oblique groove 1531 extending along its length direction on the proximal end portion facing away from the clamp head, and the two oblique grooves 1531 are staggered with each other; Figure 6 As shown, the driving assembly includes a sliding pin 155, which is configured to have two lateral ends at the distal end and a tail end connected to the actuating tendon 180 at the proximal end. The two lateral ends 1551 are configured to pass through the inclined slots 1531 on the two brackets 1511 respectively and then be slidably installed on the corresponding slide slots 1513, and are used to drive the angle between the two clamp arms 153 to change during the movement along the slide slots 1513 to drive the clamp head 152 to perform an opening and closing action. The driving device can drive the cable and / or the actuating tendon 180 inside it to enable the end effector to perform opening and closing, yaw, pitch and other freedom actions.

[0058] The size of the clamp arm of the clamp body can be changed according to the structural requirements of the end actuator, refer to Figure 8a - Two embodiments of b are: two clamp arms with different lengths. Figure 8a The inclination angle of the middle clamp arm 153 relative to the occlusal reference plane S is 4.701°, the inclination angle of the oblique groove 1531 relative to the occlusal reference plane S is 20°, the length of the oblique groove 1531 is 5 mm, the axial spacing between the rotation center of the distal end of the oblique groove 1531 and the axis center of the shaft mounting hole is 1.72 mm, and the vertical spacing is 0.98 mm; Figure 8b The inclination angle of the middle clamp arm 153 relative to the occlusal reference plane S is 4.701°, the inclination angle of the inclined groove 1531 relative to the occlusal reference plane S is 28°, the length of the inclined groove 1531 is 6.1mm, the axial spacing between the center of rotation at the far end of the inclined groove 1531 and the center of rotation of the shaft mounting hole is 4.13mm, and the vertical spacing is 1.69mm.

[0059] In the second embodiment, referring to Fig.11 As shown, the bipolar closed forceps assembly 150 ′ includes two jaw bodies, a driving assembly, a base 151 ′ and two conductive wires 170 ′, wherein the base 151 ′ is connected to a joint assembly at the distal end of the long shaft.

[0060] Each pliers body includes a pliers head 152', a pliers arm 153' and a plastic connector 154' connected between the pliers head 152' and the pliers arm 153'; the two pliers bodies are rotatably disposed on the U-shaped base 151', and are used for driving the assembly to drive the pliers arm 153' to rotate so as to drive the pliers head 152' to perform an opening and closing action; each conductive wire 170' is configured to be electrically connected to a pliers head 152' respectively, and the conductive wire 170' passes through the long axis to be connected to the driving device, and then is electrically connected to an external energy device that provides electrical energy.

[0061] Reference Fig.11As shown, the second embodiment is different from the first embodiment in terms of the drive assembly, the U-shaped base and the proximal end portion of the clamp arm.

[0062] The U-shaped base 151' in the second embodiment includes a base body, brackets 1511' symmetrically arranged on both sides of the base, and a clamp arm 153' is rotatably connected to a rotating shaft 1512' screwed between the two brackets 1511'. The driving assembly is arranged in the base 151', and the driving assembly can drive the two clamp arms 153' to rotate to drive the clamp head to perform an opening and closing action;

[0063] The driving assembly is configured as a structure in which a sliding pin and a pair of connecting rods cooperate to drive the pliers head to rotate. The driving assembly includes a sliding pin 155' and a pair of connecting rods 156a' and 156b'. The details are as follows:

[0064] Reference Fig.11 As shown, the connecting rods 156a' and 156b' are axially staggered, and the distal ends and proximal ends of the connecting rods 156a' and 156b' are respectively provided with push-pull holes, and the clamp arm 153' is rotatably connected to the rotating shaft 1512' screwed between the brackets 1511'; a cross column 1531' is provided on the inner side of the proximal end of each clamp arm 153' facing away from the clamp head, which cooperates with the push-pull hole at the distal end of the above-mentioned connecting rod. The sliding pin 155' is configured to have two lateral ends at the distal end and a tail end connected to the actuating tendon 180' at the proximal end. The two lateral ends 1551' are configured to be respectively mounted on the push-pull holes on the proximal ends of the connecting rods 156a' and 156b'. The two transverse columns 1531' on the inner side of the proximal ends of the two clamp arms 153' are respectively mounted on the push-pull holes on the distal ends of a pair of connecting rods 156a' and 156b', and are used to drive the angle between the two clamp arms 153' to change during the axial driving of the sliding pin 155' to drive the clamp head 152' to perform the opening and closing action. The driving device can drive the end effector to perform the opening and closing, yaw, pitch and other freedom actions by driving the internal cable and / or the actuating tendon 180'.

[0065] In the above-mentioned first and second embodiments, the specific same structure of the plastic connecting members 154 and 154' of the clamp body is shown in FIG. Figure 9a -d, taking the plastic connector 154 as an example:

[0066] Reference Figure 7a -b and Fig.10a As shown in FIG. 1-f, the plastic connector 154 is connected between the pliers head 152 and the pliers arm 153. The plastic connector 154 is disposed on the distal end of the rotating shaft 1512. The plastic connector 154 covers the inner surface of the pliers head 152 and extends to the first tooth proximal to the hollow shuttle-shaped occlusal surface, and the tooth top of the first tooth proximal to the hollow shuttle-shaped occlusal surface is maintained in the same plane; Fig.10a-c, the clamp head 152 and the clamp arm 153 are separated in space but overlap in the axial direction, and a notch is provided on the first connecting arm 1522 at the proximal end of each clamp head 152, especially the first connecting arm 1522 is in the shape of a flat plate; a transverse extension portion and a vertical extension portion are provided on the second connecting arm 1532 at the distal end of each clamp arm 153, and the vertical extension portion of the second connecting arm 1532 passes through the notch of the first connecting arm 1522 without contacting the first connecting arm 1522, so as to avoid mutual conduction between the two, and the distal connecting end of each conductive wire 170 is electrically connected to the proximal end of a corresponding first connecting arm 1522, and the guide wire 170 passes through the conductive wire cavity reserved on the clamp arm 153 without being electrically connected thereto; as shown in FIG. Fig.10d -f, the plastic connector 154 simultaneously wraps around the connecting end of the first connecting arm 1522, the second connecting arm 1532 and the corresponding one of the guide wire 170, fixing the first connecting arm 1522, the second connecting arm 1532 and the guide wire 170 into a whole, namely the clamp body, and the bonding area between the plastic connector 154 and each connecting arm is further increased, thereby further improving the bonding strength of the clamp head and the overall force-bearing characteristics of the bipolar closed forceps.

[0067] The plastic connector 154 is made of high temperature resistant non-conductive plastic material.

[0068] In another embodiment, a transition shoulder 1545 is provided at the junction of the distal end of the outer surface of the plastic connector 154 and the forceps head 152 to solve the flash phenomenon existing in the prior art. The transition shoulder 1545 at the junction avoids the formation of flash, reduces the presence of liquid during surgery, and makes disinfection and cleaning easy and thorough.

[0069] In another embodiment, the maximum vertical height difference between the plastic connector 154 and the connected clamp arm 153 is set to 0.6 mm, which vertically reduces the thickness of the end effector and makes the end effector have a smaller distal end, thereby increasing its operational flexibility and enlarging the doctor's intraoperative field of view of the surgical robot.

[0070] In the third embodiment, referring to Fig.12 , Fig.13 As shown, the bipolar closed forceps assembly 150 ″ includes two jaws, a drive assembly, a base 151 ″ and two conductive wires 170 ″, and the base 151 ″ is connected to the joint assembly at the distal end of the long shaft.

[0071] Each pliers body includes a pliers head 152", a pliers arm 153" and a plastic connector 154" connected between the pliers head 152" and the pliers arm 153"; the two pliers bodies are connected to the U-shaped base 151" through a driving assembly, the driving assembly is arranged in the base 151", and the driving assembly can drive the two pliers arms 153" to rotate to drive the pliers head 152" to perform an opening and closing action; each conductive wire 170" is configured to be electrically connected to a pliers head 152" respectively, and the conductive wire 170" passes through the long axis to be connected to the driving device, and then electrically connected to an external energy device that provides electrical energy.

[0073] Reference Fig.12 , Fig.13 As shown, the second embodiment is different from the first and second embodiments in the drive assembly, the U-shaped base and the proximal end portion of the clamp arm.

[0074] The U-shaped base 151" in the third embodiment includes a base body and brackets 1511" symmetrically arranged on both sides of the base; the proximal end of each clamp arm 153" is divided into a fixed wheel structure with a mounting cavity, and the two fixed wheel structures are arranged opposite to each other;

[0075] The driving assembly is configured as a pulley transmission structure, and the driving assembly includes a U-shaped pitch frame 1501", two sets of pulleys 1505", two pairs of driving cables 180a", 180b", 180c", 180d", and a pair of pitch cables 180". The details are as follows:

[0076] Reference Fig.12 , Fig.13As shown, the rotating shaft 1503" is screwed on the two side arms 1502" of the U-shaped pitch frame 1501", and the two clamp arms 153" are rotatably connected to the U-shaped pitch frame 1501" through the rotating shaft 1503". The pulley installation shaft 1512" screwed between the two brackets 1511" of the U-shaped base 151" includes two, and the pulley installation shaft 1512" is configured to be perpendicular to the axial direction of the U-shaped base 151" and parallel. The two groups of pulley groups 1505" are rotatably installed on the U-shaped base 151" through the pulley installation shaft 1512". Two pairs of driving cables 180a", 180b" are a pair, and the driving cables 180c", 180d" are a pair. The far end of each pair of driving cables is fixedly connected with an installation Part 180e", ​​a mounting part 180e" is installed in a mounting part cavity of a fixed wheel structure on a clamp arm 153", and the pair of driving cables are respectively wound around the two sides of the fixed wheel structure, and the proximal ends of the pair of driving cables are wound around the pulleys on the same side of the pulley block 1505", and the cables on the same side of the two pairs of driving cables form a cross between the pulleys of the pulley block on the same side, which is used to drive the clamp arm 153" to rotate to drive the clamp head 152" to perform opening and closing or yaw movement; a pair of pitch cables 180" are respectively fixed with mounting columns 1801" at the distal ends, and the two mounting columns 1801" are respectively installed in the mounting column cavities of the U-shaped pitch frame 1501", which are used to drive the pitch frame 1501" to pitch to drive the clamp head 152" to perform pitch movement. The driving device drives the above-mentioned driving cables and / or pitch cables to enable the end actuator to perform opening and closing, yaw, pitch and other freedom movements.

[0077] Specifically, refer to Fig.13 As shown, the drive cable 180c" and the drive cable 180d" cooperate together to manipulate the clamp head 1521" to rotate around the axis BB" of the rotating shaft 1503", and the drive cable 180a" and the drive cable 180b" cooperate together to manipulate the upper clamp head 1522" to rotate around the axis BB" of the rotating shaft 1503", and then the drive cable 180c", the drive cable 180d", the drive cable 180a" and the drive cable 180b" cooperate together to manipulate the clamp head 1521" and the clamp head 1522" to realize the opening and closing and / or yaw movement of the end actuator 150.

[0078] In addition, the pitch cable 180" and the drive cable 180c" and the drive cable 180d" cooperate together to operate the pliers head and the U-shaped pitch frame 1501" to rotate around the axis AA" of the pulley mounting shaft 1512" near the far end of the base 151" to achieve the pitch movement of the pliers head. Since the axis AA" of the pulley mounting shaft 1512" near the far end of the base 151" is perpendicular to the rotating shaft 1503", the yaw motion and pitch motion of the pliers head are also orthogonal.

[0079] Specifically, refer to Fig.13As shown, when the driving device simultaneously retracts the driving cable 180c" and the driving cable 180d" and / or a pitch cable 180" on the same side and simultaneously releases a pitch cable 180" on the opposite side, the driving cable 180a" and the driving cable 180b", the clamp head and the U-shaped pitch frame 1501" rotate counterclockwise around the axis AA' of the pulley mounting shaft 1512" near the far end of the base 151", and the clamp head performs a lateral outward pitch movement; when the driving mechanism retracts and pulls the driving cable 180a" and the driving cable 180b" and / or a pitch cable 180" on the same side, the clamp head and the U-shaped pitch frame 1501" rotate clockwise around the axis AA' of the pulley mounting shaft 1512" near the far end of the base 151", and the clamp head performs a lateral inward pitch movement.

[0080] When the driving mechanism retracts the driving cable 180d' and the driving cable 180b' and simultaneously releases the driving cable 180c' and the driving cable 180a', the pliers head rotates clockwise around the axis BB' of the rotating shaft 1503', and the pliers head performs a vertical downward yaw motion. When the driving device retracts the driving cable 180d' and the driving cable 180a' and simultaneously releases the driving cable 180c' and the driving cable 180b', the pliers head 1521' rotates clockwise around the axis BB' of the rotating shaft 1503', and the pliers head 1522' rotates counterclockwise around the axis BB' of the rotating shaft 1503', and the pliers head performs an opening motion. The above-mentioned pitch, yaw and opening and closing motions of the pliers head can also be performed simultaneously. As shown in the figure, the pitch cable, the first pair of cables and the second pair of cables cooperate to manipulate the pliers head to perform pitch, yaw and opening and closing motions simultaneously. It is understandable that when the movement direction of the driving cable is opposite to the above direction, the pitch, yaw and opening and closing directions of the clamp head are opposite to the above directions, which will not be described in detail here.

[0081] In the third embodiment, referring to Fig.14a -c is the specific structure of the plastic connecting piece 154" of the pliers body in this embodiment, which is the same as the structure of the plastic connecting piece 154 in the first embodiment.

[0082] In another embodiment, the distal ends of the two pliers heads in the first, second and third embodiments are bent toward one axial end of the rotating shaft (1512, 1512', 1504").

[0083] In all the above embodiments, the teeth of the hollow shuttle-shaped occlusal surface, especially the tooth tops, are arranged to correspond to the arc segments of the hollow shuttle, and the tooth grooves are arranged to be arc-shaped, so as to solve the problem that the vascular closing forceps in the prior art are prone to tissue adhesion after coagulation. After testing, the above changes in the present application can make the tissue that has been coagulated and dried to the optimal state completely separate from the clamp head after high-frequency electrocoagulation, and basically no adhesion will occur on the occlusal surface of the clamp head.

[0084] The surgical instrument 120 of each of the above embodiments, after its end effector 150 is mounted on the joint assembly at the distal end of the long shaft 160, is mounted on the driving device 140 via the long shaft 160. The external energy device (high-frequency current generating device) is connected to the conductive wire 170 via the conductive cable and the interface on the driving device 140, and the main operating device 200 can control the external energy device to provide electrical energy, so that the surgical instrument 120 can perform high-frequency electrosurgery.

[0085] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A surgical instrument, characterized in that: include: bipolar closing forceps assembly, long shaft and drive unit; The long shaft includes a transmission assembly disposed inside, the proximal end of the transmission assembly is connected to the driving device, and the distal end of the transmission assembly is detachably connected to the bipolar closing forceps assembly to transmit a push and pull force along the axial direction of the long shaft; The bipolar closing forceps assembly comprises: two forceps bodies, a driving assembly, a base and two conductive wires; Each of the pliers bodies comprises a pliers head, a pliers arm and a plastic connector connected between the pliers head and the pliers arm; each of the pliers head is electrically connected to one of the conductive wires; The two pliers bodies are rotatably disposed on the base, respectively, and are used to drive the pliers arms to rotate through the driving assembly to drive the pliers heads to perform opening and closing actions; The tooth tops of the multiple teeth on the two pliers heads form an occlusal surface, and the occlusal surface includes a hollow shuttle-shaped occlusal surface; when the two pliers heads are closed, the distal ends and proximal ends of the hollow shuttle-shaped occlusal surface are in contact with each other, and the middle parts of the hollow shuttle-shaped occlusal surface are not in contact; the tooth tops of the multiple teeth on one pliers head are arranged opposite to the multiple tooth grooves on the other pliers head on the opposite side; In the axial direction of the pliers head, the length of the tooth top is greater than the width of the tooth groove opening facing it; The tooth groove is arc-shaped.

2. The surgical instrument according to claim 1, characterized in that: The distal end of the pliers head further comprises at least three teeth adjacent to the hollow shuttle-shaped occlusal surface, and when the two pliers heads are closed, the at least three teeth are in contact with each other.

3. The surgical instrument according to claim 2, characterized in that: At least two rows of the multiple teeth are axially arranged on one of the pliers heads, and at least two rows of the multiple teeth are correspondingly arranged on the other pliers head on the opposite side.

4. The surgical instrument according to claim 3, characterized in that: The heights of the multiple teeth of the two pliers heads are all the same.

5. The surgical instrument according to any one of claims 1 to 4, characterized in that: The plastic connector is made of high temperature resistant non-conductive plastic and extends to the first tooth at the proximal end of the hollow shuttle-shaped occlusal surface.

6. The surgical instrument according to claim 5, characterized in that: The base is U-shaped, including a base body and brackets symmetrically arranged on both sides of the base. The clamp arms are connected to the rotating shafts screwed between the brackets. The driving component is arranged in the base and can drive the two clamp arms to rotate to drive the clamp head to perform opening and closing actions.

7. The surgical instrument according to claim 6, characterized in that: The clamp arm is rotatably connected to a rotating shaft screwed between the brackets; A cross column is provided on the proximal end of each of the pliers arms facing away from the pliers head; The driving assembly includes a sliding pin and a pair of connecting rods, the pair of connecting rods are axially staggered, the two lateral ends of the sliding pin are respectively installed in the push-pull holes at the proximal ends of the pair of connecting rods, and the push-pull holes at the distal ends of the pair of connecting rods are respectively installed on the cross columns of the two clamp arms, and are used to drive the angle between the two clamp arms to change during the axial driving of the sliding pin to drive the clamp head to perform an opening and closing action.

8. The surgical instrument according to claim 6, characterized in that: The clamp arms are rotatably mounted on the brackets on both sides of the base via a rotating shaft; Each of the pliers arms is provided with an oblique groove extending along its length direction, and the two oblique grooves are staggered with each other; the driving assembly includes a sliding pin shaft, and the bracket is provided with a sliding groove extending along the axial direction of the base, and the two lateral ends of the sliding pin shaft respectively pass through the two oblique grooves and can be slidably installed on the corresponding sliding grooves, so as to drive the angle between the two pliers arms to change during the movement along the sliding groove so as to drive the pliers head to perform an opening and closing action.

9. The surgical instrument according to claim 6, characterized in that: The proximal end of each clamp arm is divided into a fixed wheel structure with a mounting cavity, and the two fixed wheel structures are arranged opposite to each other; The driving assembly comprises a U-shaped pitch frame, two pulley groups, two pairs of driving cables, and a pair of pitch cables; the two clamp arms are rotatably connected to the U-shaped pitch frame through a rotating shaft; the rotating shaft is screwed to the two side arms of the U-shaped pitch frame; The U-shaped base includes two pulley mounting shafts threadedly connected between the brackets, the pulley mounting shafts are configured to be perpendicular to the axial direction of the U-shaped base and arranged in parallel, and the two groups of pulley sets are rotatably mounted on the U-shaped base through the pulley mounting shafts; A mounting piece is fixedly connected to the distal end of each pair of driving cables, one of the mounting pieces is mounted in a mounting piece cavity of a fixed wheel structure on one of the pliers arms and the corresponding driving cables are respectively wound around the two sides of the fixed wheel structure, the proximal ends of the pair of driving cables are wound around the pulleys on the same side of the pulley block, and the cables on the same side of the two pairs of driving cables are crossed between the pulleys on the same side of the pulley block, so as to drive the pliers arm to rotate so as to drive the pliers head to perform opening and closing or yaw motion; A pair of mounting posts at the far ends of the pitch cables are respectively mounted in mounting post cavities of the U-shaped pitch frame, and are used to drive the pitch frame to pitch so as to drive the clamp head to perform pitch motion.

10. The surgical instrument according to any one of claims 7 to 9, characterized in that: The plastic connector is disposed on one side of the distal end of the rotating shaft, and the plastic connector covers the inner surface of the pliers head and is maintained in the same plane as the tooth top of the first tooth at the proximal end of the hollow shuttle-shaped occlusal surface; The pliers head and the pliers arms are spatially isolated but overlap in the axial direction; a notch is provided on the first connecting arm at the proximal end of each pliers head; a transverse extension portion and a vertical extension portion are provided on the second connecting arm at the distal end of each pliers arm; the vertical extension portion of the second connecting arm passes through the notch without contacting the first connecting arm; the distal connecting end of each conductive wire is electrically connected to the corresponding first connecting arm; The plastic connecting member wraps the first connecting arm and the second connecting arm at the same time.

11. The surgical instrument according to claim 10, characterized in that: A transition shoulder is provided at the junction of the distal end of the outer surface of the plastic connector and the clamp head.

12. The surgical instrument according to claim 11, characterized in that: The maximum vertical height difference between each plastic connector and the clamp arm to which it is connected is 0.6 mm.

13. The surgical instrument according to claim 12, characterized in that: The distal ends of the two clamp heads are bent toward one axial end of the rotating shaft.

Images