A surgical instrument

Abstract

The application relates to a surgical instrument. The instrument comprises a bipolar closing forceps assembly, a long shaft and a driving device; the long shaft comprises a transmission assembly arranged in the interior; the proximal end of the transmission assembly is connected with the driving device; the distal end of the transmission assembly is detachably connected with the bipolar closing forceps assembly to transmit the push-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 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 forceps bodies are rotatably arranged on the base and are driven by the driving assembly to rotate the forceps arm to drive the forceps head to perform the opening and closing action; the tooth tops of the multiple teeth of the two forceps heads form a hollow shuttle-shaped occlusal surface; the tooth tops of the multiple teeth of one forceps head are oppositely arranged with the tooth grooves of the multiple teeth of the other forceps head on the opposite side; and each forceps head is electrically connected with one conductive wire.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surgical instruments, in particular to a bipolar closure forceps. BACKGROUND

[0002] The structure development of the vascular closure device suitable for surgical single-hole surgical instrument. The structure design scheme is a vascular closure forceps, which can conveniently solve the problems in the surgical process,

[0003] The minimally invasive surgery robot is used in minimally invasive surgery, and the surgical instrument is used in the human body cavity through the natural cavity or the opening of the chest and abdomen. Compared with the traditional surgery, the minimally invasive surgery has the advantages of small trauma, light pain, fast recovery and the like. The minimally invasive surgery robot usually comprises a master operation console and a slave operation device, the master operation console is used for sending a control command to the slave operation device according to the operation of a doctor, so as to control the slave operation device; the slave operation device is connected with a surgical instrument which is detachable from the slave operation device, the surgical instrument comprises a driving device, a long shaft and an end effector used for performing surgery; the slave operation device is used for driving the end effector to perform corresponding surgical operation in response to the control command sent by the master operation console. The driving device receives the driving force from the slave operation device, and transmits the driving force to the end effector through the driving cable connected with the end effector to manipulate the movement of the end effector.

[0004] The present application relates to a bipolar vascular closure device assembled in a single-hole surgical robot, which is a surgical medical electrical equipment for biological tissue coagulation by high-frequency current method. It sends high-frequency current into the human body through the electrodes at both ends of the forceps head, forms high-density current in the local tissue under the end of the forceps head, and thus makes the local high heat to achieve the effect of coagulation of electric surgery, such as coagulating the blood vessel wall dry. Using high-frequency equipment, the incision is small, the cutting speed is fast, the hemostasis speed is fast and the effect is good, the operation is simple, safe and convenient, and the operation time is greatly shortened, but the existing bipolar vascular closure forceps are generally handheld, and cannot be cooperated with the surgical robot, especially with the multiple surgical instruments of the single-hole surgical robot inserted into the abdominal cavity through the same punch card to cooperate; and the existing vascular closure device has the problems that in the actual coagulation process, the tissue adheres to the forceps head, affects the use of the forceps head for coagulation, the coagulation effect of the thin blood vessel is not good, and the phenomenon of coagulation rupture is easily caused, the coagulation of the slightly thick blood vessel is easy to cause the coagulation edge of the tissue to be coagulated too much to cause the rupture, and the middle part of the blood vessel is not coagulated completely to cause the re-bleeding, the above phenomena affect the operation progress and cause the operation time to be prolonged, and even increase the risk of postoperative infection. The combination of the insulating isolation part and the conductive part on the forceps head in the prior art is directly molded, the combination part will cause the flash, the flash part is easy to store liquid during the operation of the end effector, and the disinfection and cleaning are not thorough, so that the contaminated end effector greatly increases the risk of postoperative infection. SUMMARY

[0005] The technical problem solved by the present application is to provide a surgical instrument with bipolar vessel sealing forceps having a special tooth shape design.

[0006] To solve the above technical problems, the present application adopts the following technical solutions:

[0007] The surgical instrument comprises a bipolar sealing 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 sealing forceps assembly to transmit the push-pull force in the axial direction of the long shaft; the bipolar sealing forceps assembly comprises two forceps 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; each forceps head is electrically connected to one of the conductive wires; the two forceps bodies are rotatably arranged on the base and are used to drive the forceps arms to rotate by the driving assembly to drive the forceps heads to perform opening and closing actions; the tooth tips of the plurality of teeth on the two forceps heads form a bite surface, and the bite surface comprises a hollow shuttle-shaped bite surface; when the two forceps heads are closed, the distal end and the proximal end of the hollow shuttle-shaped bite surface are in contact with each other, and the middle part of the hollow shuttle-shaped bite surface is not in contact; the tooth tips of the plurality of teeth on one forceps head are arranged opposite to the tooth grooves of the plurality of teeth on the other forceps head; in the axial direction of the forceps head, the length of the tooth tip is greater than the opening width of the opposite tooth groove; the tooth groove is in the shape of a circular arc.

[0008] In one embodiment, the distal end of the forceps head further comprises at least three teeth adjacent to the hollow shuttle-shaped bite surface, and when the two forceps 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 arranged axially on one forceps head, and the plurality of teeth on the other forceps head are also correspondingly arranged in at least two rows.

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

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

[0012] In one embodiment, the base is in the shape of a U and comprises a base body and supports arranged symmetrically on both sides of the base body, the forceps arms are connected to a rotating shaft screwed between the supports, and the driving assembly is arranged in the base and can drive the two forceps arms to rotate to drive the forceps heads to perform opening and closing actions.

[0013] In one embodiment, the arm is rotatably connected to the shaft screwing between the brackets; the proximal part of each arm is provided with a cross column facing away from the jaw; the driving assembly comprises a sliding pin shaft, a pair of connecting rods, the connecting rods are arranged axially staggered, the two transverse ends of the sliding pin shaft are respectively installed in the push-pull holes at the proximal end of the connecting rods, the push-pull holes at the distal end of the connecting rods are respectively installed on the cross columns of the two arms, and the angle between the two arms is changed during the axial driving of the sliding pin shaft to drive the jaw to perform the opening and closing action.

[0014] In one embodiment, the arm (153) is rotatably installed on the two side brackets (1511) of the base (151) through the shaft (1512); the proximal part of each arm is provided with an inclined slot extending along the length direction thereof, and the two inclined slots are arranged staggered with each other; the driving assembly comprises a sliding pin shaft, the bracket is provided with a sliding groove extending along the axial direction of the base, and the two transverse ends of the sliding pin shaft are respectively slidably installed in the corresponding sliding grooves after passing through the two inclined slots, for driving the angle between the two arms to change during the movement along the sliding groove to drive the jaw to perform the opening and closing action.

[0015] In one embodiment, the proximal part of each arm is 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 tilting frame, two groups of pulley blocks, two pairs of driving cables, and a pair of tilting cables; the two arms are rotatably connected to the U-shaped tilting frame through the shaft; the shaft is screwing on the two side arms of the U-shaped tilting frame; the pulley mounting shaft screwing between the brackets of the U-shaped base comprises two, the pulley mounting shafts are arranged perpendicular to the axial direction of the U-shaped base and parallel to each other, and two groups of pulley blocks are rotatably installed on the U-shaped base through the pulley mounting shafts; the distal end of each pair of driving cables is fixedly connected with a mounting member, one mounting member is installed in the mounting cavity of the fixed wheel structure of one arm, and the corresponding driving cables are respectively wound around the two sides of the fixed wheel structure, the proximal end of the pair of driving cables is wound around the same side pulley of the pulley block, and the same side cables of the two pairs of driving cables are crossed between the same side pulleys of the pulley block, for driving the arm to rotate to drive the jaw to perform the opening and closing or yawing movement; the mounting columns at the distal end of the pair of tilting cables are respectively installed in the mounting column cavities of the U-shaped tilting frame, for driving the tilting frame to tilt to drive the jaw to perform the tilting movement.

[0016] In one embodiment, the plastic connecting piece is arranged at the distal end of the rotating shaft, covers the inner side surface of the plier head and is kept in the same plane with the top of the first tooth of the proximal hollow shuttle-shaped occlusal surface; the plier head and the plier arm are spatially isolated but axially overlapped, the first connecting arm of the proximal end of each plier head is provided with a notch, the second connecting arm of the distal end of each plier arm is provided with a transverse extension and a vertical extension, the vertical extension of the second connecting arm passes through the notch without contacting the first connecting arm; the distal end of each conductive wire is electrically connected with the corresponding first connecting arm; the plastic connecting piece wraps the first connecting arm and the second connecting arm.

[0017] In one embodiment, the distal end of the outer side surface of the plastic connecting piece is provided with a transition shoulder at the junction with the plier head.

[0018] In one embodiment, the vertical maximum height difference between each plastic connecting piece and the connected plier arm is 0.6 mm.

[0019] In one embodiment, the distal end of each plier head is curved towards one end of the rotating shaft in the axial direction.

[0020] The beneficial effects of the application are:

[0021] The surgical instrument has a special tooth shape design, can quickly close the blood vessels below 7 mm, and can automatically cut off the energy supply when the blood vessel wall coagulates to the best condition. The instrument combines the traditional blood vessel closer with the laparoscopic single-hole surgical robot, adopts the anti-slip plier head structure and the hollow shuttle-shaped occlusal surface formed by the plier head tooth shape, and the surgeon can quickly and accurately close the blood vessels below 7 mm of the patient by means of the surgical robot, so as to achieve the purpose of constant coagulation to the best condition for hemostasis.

[0022] The application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of a slave operating device of the surgical robot of the embodiment of the application.

[0024] Figure 2 is a schematic diagram of a master operating device of the surgical robot of the embodiment of the application.

[0025] Figure 3 is a perspective view of the surgical instrument of the embodiment of the application.

[0026] Figure 4 is a partial perspective view of the surgical instrument after removing the sheath of the first embodiment of the application. is a partial perspective view of the surgical instrument after removing the sheath of the first embodiment of the application.

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

[0028] Figure 6 is a perspective view of a bipolar vascular closure device according to a first embodiment of the present application. Figure 5 is an exploded view of the structure of region A in the middle.

[0029] Figure 7a is a structural view of the teeth of the bipolar vascular closure device according to the first embodiment of the present application.

[0030] Figure 8a is a structural view of the jaw arms of the bipolar vascular closure device according to the first embodiment of the present application.

[0031] Figure 9a is a structural view of the plastic connecting piece of the bipolar vascular closure device according to the first embodiment of the present application.

[0032] Figure 10a is a structural view of the connection of the jaw body of the bipolar vascular closure device according to the first embodiment of the present application.

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

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

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

[0036] Figure 14a is a structural view of the plastic connecting piece of the bipolar vascular closure device according to the third embodiment of the present application. DETAILED DESCRIPTION

[0037] It should be noted that the embodiments and features in the present application can be combined with each other without conflict, and the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0038] Although the terms first, second, third, etc. can be used herein to describe various elements, components, parts, assemblies, devices, mechanisms, regions, layers and / or sections, these elements, components, parts, assemblies, devices, mechanisms, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, part, assembly, device, mechanism, region, layer or section from another element, component, part, assembly, device, mechanism, region, layer or section. Unless the context clearly indicates otherwise, terms such as "first," "second," and the like can be used herein to describe a variety of elements, components, parts, assemblies, devices, mechanisms, regions, layers and / or sections. Thus, the first element, component, part, assembly, device, mechanism, region, layer or section discussed below can be termed the second element, component, part, assembly, device, mechanism, region, layer or section without departing from the teachings of the example embodiments.

[0039] Spatially relative terms, such as "inner," "outer," "inward," "outward," "lateral," "longitudinal," and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms can be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0040] In the present application, unless specifically stated and limited otherwise, the terms "mounting", "connected", "connecting", "coupling", "fixed", "set up" and the like should not be construed as necessarily limiting the term to a direct and immediate connection, but can include indirect connections, such as through an intermediate medium, and can include removable connections, or can be integral; can be mechanical, or can be electrical; can be direct, or can be indirect; can be internal to the elements, or can be an interaction between the elements. The terms "proximal" and "distal" are commonly used terms in the field of interventional medical devices, "proximal" refers to the end of an element closer to the operator or away from the end effector of the interventional medical device, and "distal" refers to the end of an element closer to the end effector of the interventional medical device or away from the operator. The specific meanings of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.

[0041] In order to make the purposes, technical solutions and advantages of the present application clearer, further detailed description will be given below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application. The following examples illustrate the structure of the end effector 150 with a vascular closure clamp as an example, and the end effector 150 can be replaced with other tools according to the needs of surgical operation to realize various embodiments of the end effector 150 and the surgical instrument 120.

[0042] The surgical robot generally comprises a slave operating device and a master operating device, Figure 1 The slave operating device 100 of an embodiment of the present application is shown, Figure 2 The master operating device 200 of an embodiment of the present application is shown, and a surgeon or other operator performs relevant control operations on the slave operating device 100 on the master operating device 200. The slave operating device 100 performs surgical operations on a human body or other living body 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 one operating room, or can be placed in different rooms, or even the master operating device 200 and the slave operating device 100 can be far apart, for example, the master operating device 200 and the slave operating device 100 are located in different cities. The master operating device 200 and the slave operating device 100 can transmit data in a wired manner, or can transmit data in a wireless manner, for example, the master operating device 200 and the slave operating device 100 are located in one operating room, and data transmission is performed in a wired manner between the two, and for example, the master operating device 200 and the slave operating device 100 are located in different cities, and long-distance data transmission is performed between the two through wireless communication (such as 5G wireless signal).

[0043] Exemplarily, referring to Figure 1 As shown, the slave operating device 100 comprises a mechanical arm 110, an actuating device 130 arranged at the distal end of the mechanical arm 110, and a surgical instrument 120 arranged on the actuating device 130. The actuating device 130 is used to drive the surgical instrument 120 to move, and the surgical instrument 120 is used to perform surgical operations. It should be understood that the surgical robot is a single-hole surgical robot.

[0044] Referring to Figures 3-4 The surgical instrument 120 of the first embodiment of the present application is shown, which comprises a driving device 140, a long shaft 160, and an end effector assembly at the distal end of the long shaft 160. Referring to Figures 5-6The end effector assembly 150 includes an end effector and an actuating tendon 180, which is usually a nickel-titanium alloy wire, the distal end of the actuating tendon 180 is connected to a driving assembly inside the end effector, and the proximal end of the actuating tendon 180 passes through the long shaft and is connected to the driving device 140; the distal end of the long shaft 160 further includes a plurality of joint assemblies 161 that can rotate relative to each other, and the joint assemblies 161 are used to mount the end effector at the distal end. The driving device 140 can be coupled to the actuating device 130 through the joint, and the driving unit inside the driving device 140 is connected to the joint assembly and the end effector through a cable, and the driving unit drives the joint assembly and / or the end effector to act by manipulating a plurality of cables; wherein the cable can be flexible, or can include a flexible section and a rigid segmented long strip body. The driving device drives the above-mentioned cable and / or actuating tendon to enable the end effector to perform the actions of opening and closing, yawing, pitching, etc.

[0045] The end effector can be one of an anastomat, a cutting device, 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 can be used for posture control of the end effector or control the action of the internal components of the end effector.

[0046] The end effector assembly of the surgical instrument of the present application relates to a bipolar closing forceps assembly. The surgical instrument of the present application includes a bipolar closing forceps assembly, a long shaft 160 and a driving device 140; the bipolar closing 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 includes 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 closing forceps assembly to transmit the push-pull force along the axial direction of the long shaft 160. The driving device 140 can be coupled to the actuating device 130 through the joint thereof, and the driving unit inside the driving device 140 is connected to the joint assembly 161 at the distal end of the long shaft and the end effector through a cable, and the driving unit 170 drives the joint assembly and / or the end effector to act by manipulating a plurality of cables; wherein the cable further includes a tendon, and the cable can be flexible, or can include a flexible section and a rigid segmented long strip body.

[0047] In the first embodiment, referring to Figure 6 The bipolar closing 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 the joint assembly 161 at the distal end of the long shaft.

[0048] Each forceps body includes a forceps head 152, a forceps arm 153 and a plastic connecting piece 154 connected between the forceps head 152 and the forceps arm 153; a plurality of teeth 1520 are arranged on each forceps head 152;

[0049] Two jaw bodies are rotatably arranged on the base 151, and are used to drive the assembly to drive the jaw arms 153 to rotate to drive the jaw heads 152 to perform opening and closing actions; each conductive wire 170 is configured to be electrically connected with one jaw head 152 respectively, the conductive wire 170 passes through the long shaft 160 and is connected with the driving device 140, and then is connected with the energy instrument, so that the energy instrument can release energy according to instructions and automatically disconnect the energy according to the coagulation dry state. Doctors generally use a small amount of multiple times to apply high-frequency energy to achieve blood vessel closure coagulation dryness to achieve the effect of coagulation electrosurgery.

[0050] Referring to Figure 6 , Figure 7a -f, as shown, Figure 7a -c shows that the tooth tips of the plurality of teeth 1520 of the two jaw heads 152 form the occlusal surface, and the occlusal surface includes a hollow shuttle-shaped occlusal surface; the plurality of teeth forming the hollow shuttle-shaped occlusal surface can also have an arc segment corresponding to the hollow shuttle shape at the tooth tip, and the tooth groove is in the shape of a circular arc; when the two jaw heads 152 are closed, the distal end and the proximal end 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; Figure 7d The tooth tip of the plurality of teeth of one jaw head 152 is arranged opposite to the tooth groove of the plurality of teeth of the other jaw head 152 on the opposite side, and the length of the tooth tip is greater than the length of the corresponding tooth groove in the axial direction of the jaw head 152; and the plurality of teeth of the two jaw heads 152 have the same height; the tooth grooves of the plurality of teeth also form a hollow shuttle shape; Figure 7f Another embodiment of one jaw head is shown: at least two rows of the plurality of teeth 1520 are arranged axially on one jaw head 152, or at least two rows of the plurality of teeth 1520 are arranged staggered, and the plurality of teeth on the other jaw head 152 on the opposite side are also provided with at least two rows corresponding to them.

[0051] When the two jaw arms 153 are driven to approach each other, the two jaw heads 152 gradually close, and when the jaw heads 152 clamp biological tissues or instruments and other substances, the teeth at the distal end of the jaw heads 152 are in contact and occluded in the fully closed state of the jaw heads 152, and a gap is maintained at the hollow shuttle-shaped occlusal surface; when the jaw heads 152 clamp biological tissues, a part of the biological tissues is clamped between the hollow shuttle-shaped occlusal surfaces in the fully closed state of the jaw heads 152, and when the two jaw heads 152 are powered, the biological tissues clamped in the hollow shuttle-shaped occlusal surfaces are heated to achieve electrocoagulation hemostasis, and because the hollow shuttle-shaped occlusal surface exists, the two sides of the teeth do not tightly contact, so that the biological tissues are not excessively compressed and heated to be broken.

[0052] In another embodiment, referring to Figure 7e , the jaw head 152 further includes at least three teeth 1520 extending to the distal end of the jaw head from the teeth that can contact each other at the distal end of the hollow shuttle-shaped occlusal surface, Figure 7e , and Figure 7bA local enlarged view of the middle region C, Figure 7e The L-shaped middle section has at least three teeth, and when the two jaws 152 are closed, the at least three teeth 1520 are in contact with each other, so that the surgical suture can be clamped during the operation. The suture can be firmly clamped between the occlusal surfaces of the distal ends of the two jaws, and the at least three teeth can provide a larger clamping area to prevent the suture from slipping due to insecure clamping.

[0053] In another embodiment, at least two rows of teeth are arranged axially on one jaw 152, and the at least two rows of teeth are arranged in a staggered manner in the transverse direction. The other jaw 152 on the opposite side also has at least two rows of teeth arranged in a corresponding manner. When the two jaws are closed, the corresponding at least two rows of teeth form corresponding hollow shuttle-shaped occlusal surfaces, i.e., at least two axially parallel hollow shuttle-shaped occlusal surfaces.

[0054] In another embodiment, referring to Figure 7a As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S, Figure 7c As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S, Figure 7b As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S, Figure 7c As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S,

[0055] Figure 7d As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S, Figure 7b As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S,

[0056] In the first embodiment, referring to Figure 6 As shown in FIG. 8C, the tooth tips of each tooth of the two jaws 152 do not exceed the occlusal reference surface S of the jaws 152, i.e., the teeth at the front ends of the two jaws 152 are in contact with each other and do not enter the tooth gap between the teeth on the opposite side. The tooth tips of the corresponding upper and lower teeth at the hollow shuttle-shaped portion have equal distances from the occlusal reference surface S,

[0057] The driving assembly is arranged in the base 151 and can drive the two jaw arms 153 to rotate to perform the opening and closing action of the jaws.

[0058] The clamping arms 153 are rotatably connected to the rotation shaft 1512 which is screwed between the brackets 1511. Each clamping arm 153 has a slanted slot 1531 which extends along the length of the proximal end of the clamping arm 153, and the two slanted slots 1531 are staggered with each other. As shown in Figure 6 The driving assembly includes a sliding pin 155 which has 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 slidably installed in the corresponding sliding slots 1513 after passing through the slanted slots 1531 in the two brackets 1511, for driving the change of the angle between the two clamping arms 153 during the movement along the sliding slots 1513 to drive the clamping head 152 to perform the opening and closing action. The driving device can drive the end effector to perform the degrees of freedom actions such as opening and closing, yawing, pitching, etc. by driving the inner cable and / or the actuating tendon 180.

[0059] According to the structural requirements of the end actuator, the size of the clamping arms of the clamp body can be changed. As shown in Figure 8a The two embodiments of -b are two clamping arms with different lengths. Figure 8a The inclination angle of the middle clamping arm 153 relative to the occlusal reference plane S is 4.701°, the inclination angle of the slanted slot 1531 relative to the occlusal reference plane S is 20°, the length of the slanted slot 1531 is 5mm, and the axial distance between the rotation center of the distal end of the slanted slot 1531 and the axis of the rotation shaft mounting hole is 1.72mm, and the vertical distance is 0.98mm. Figure 8b The inclination angle of the middle clamping arm 153 relative to the occlusal reference plane S is 4.701°, the inclination angle of the slanted slot 1531 relative to the occlusal reference plane S is 28°, the length of the slanted slot 1531 is 6.1mm, and the axial distance between the rotation center of the distal end of the slanted slot 1531 and the axis of the rotation shaft mounting hole is 4.13mm, and the vertical distance is 1.69mm.

[0060] In the second embodiment, as shown in Figure 11 The bipolar closing clamp assembly 150' includes two clamp bodies, a driving 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.

[0061] Each clamp body includes a clamping head 152', a clamping arm 153', and a plastic connecting piece 154' connected between the clamping head 152' and the clamping arm 153'. The two clamp bodies are rotatably arranged in the U-shaped base 151', and the driving assembly drives the clamping arm 153' to rotate to drive the clamping head 152' to perform the opening and closing action. Each conductive wire 170' is configured to be electrically connected to one clamping head 152', and the conductive wire 170' is connected to the driving device through the long shaft and is electrically connected to an external energy device which provides electrical energy.

[0062] As shown in Figure 11The second embodiment differs from the first embodiment in the driving assembly, the U-shaped base, and the proximal portion of the jaw arms.

[0063] The U-shaped base 151' in the second embodiment comprises a base body, supports 1511' symmetrically arranged on both sides of the base, and a rotating shaft 1512' screwed between the two supports 1511' to which the jaw arms 153' are rotatably connected. The driving assembly is arranged in the base 151', and the driving assembly can drive the two jaw arms 153' to rotate to drive the jaw head to perform the opening and closing action.

[0064] The driving assembly is configured to drive the jaw head to rotate by matching a sliding pin shaft with a pair of connecting rods. The driving assembly comprises a sliding pin shaft 155', a pair of connecting rods 156a' and 156b'. Specifically as follows:

[0065] Referring to Figure 11 As shown, the connecting rods 156a' and 156b' are arranged axially staggered, and the distal end and the proximal end of the connecting rods 156a' and 156b' are respectively provided with a push-pull hole. The jaw arms 153' are rotatably connected to the rotating shaft 1512' screwed between the supports 1511'. Each jaw arm 153' is provided with a cross column 1531' on the inner side of the proximal end of the jaw arm 153' facing away from the jaw head, which matches the push-pull hole on the distal end of the connecting rod. The sliding pin shaft 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 installed in the push-pull holes on the proximal ends of the connecting rods 156a' and 156b'. The two cross columns 1531' on the inner sides of the proximal ends of the two jaw arms 153' are respectively installed in the push-pull holes on the distal ends of the pair of connecting rods 156a' and 156b', which are used to drive the angle between the two jaw arms 153' to change during the axial driving of the sliding pin shaft 155' to drive the jaw head 152' to perform the opening and closing action. The driving device can make the end effector perform the degrees of freedom actions such as opening and closing, yawing, and pitching by driving the inner cable and / or the actuating tendon 180'.

[0066] In the above-mentioned first and second embodiments, the plastic connecting piece 154, 154' of the jaw body has the same specific structure, referring to Figure 9a -d. As shown in the plastic connecting piece 154, for example:

[0067] Referring to Figure 7a -b and Figure 10a As shown in the plastic connecting piece 154, the plastic connecting piece 154 is connected between the jaw head 152 and the jaw arm 153. The plastic connecting piece 154 is arranged on the distal end side of the rotating shaft 1512. The plastic connecting piece 154 covers the inner side surface of the jaw head 152 and extends to the first tooth near the hollow shuttle-shaped occlusal surface, and the tooth top of the first tooth near the hollow shuttle-shaped occlusal surface is kept in the same plane. As Figure 10aAs shown in -c, the clamp head 152 and clamp arm 153 are spatially isolated but overlap axially. Each clamp head 152 has a notch on its proximal first connecting arm 1522, which is flat and plate-shaped. Each clamp arm 153 has a lateral extension and a vertical extension on its distal second connecting arm 1532. The vertical extension of the second connecting arm 1532 passes through the notch of the first connecting arm 1522 without contacting it, thus preventing electrical conductivity. The distal 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 pre-reserved conductive wire cavity on the clamp arm 153 without electrical connection to it. Figure 10d As shown in -f, the plastic connector 154 simultaneously wraps around the connecting end of one of the first connecting arm 1522, the second connecting arm 1532, and the guide line 170, thus fixing the first connecting arm 1522, the second connecting arm 1532, and the guide line 170 into a whole, namely the clamp body. The contact area between the plastic connector 154 and each connecting arm is further increased, which further improves the contact strength of the clamp head and the overall force characteristics of the bipolar closing clamp.

[0068] The aforementioned plastic connector 154 is made of high-temperature resistant, non-conductive plastic material.

[0069] 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 intraoperative fluid, and makes disinfection and cleaning easy and thorough.

[0070] 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 reduces the thickness of the end effector in the vertical direction, making the end effector have a smaller distal end, thereby increasing its operational flexibility and expanding the surgeon's intraoperative field of vision for the surgical robot.

[0071] In the third embodiment, reference is made to... Figure 12 , Figure 13 As shown, the bipolar closed clamp assembly 150” includes two clamp bodies, a drive assembly, a base 151” and two conductive lines 170”. The base 151” is connected to the joint assembly at the far end of the long axis.

[0072] Each of the plier bodies comprises a plier head 152", a plier arm 153" and a plastic connecting piece 154" connecting the plier head 152" and the plier arm 153"; the two plier bodies are connected to the U-shaped base 151" through a driving assembly, the driving assembly is arranged in the base 151", the driving assembly can drive the two plier arms 153" to rotate to drive the plier head 152" to perform the opening and closing action; each of the conductive wires 170" is configured to be electrically connected with one plier head 152" respectively, the conductive wire 170" is connected to the driving device through the long shaft and is electrically connected with an external energy device providing electric energy.

[0073] Referring to Figure 12 , Figure 13 The second embodiment is different from the first and second embodiments in the driving assembly, the U-shaped base and the proximal end portion of the plier arm.

[0074] The U-shaped base 151" in the third embodiment comprises a base body and supports 1511" symmetrically arranged on both sides of the base; the proximal end portion of each of the plier arms 153" is a fixed wheel structure with a mounting cavity, and the two fixed wheel structures are oppositely arranged;

[0075] The driving assembly is arranged in the form of a pulley transmission structure, the driving assembly comprises a U-shaped pitching frame 1501", two groups of pulley sets 1505", two pairs of driving cables 180a", 180b", 180c" and 180d" and a pair of pitching cables 180". Specifically as follows:

[0076] Referring to Figure 12 , Figure 13As shown, the rotating shaft 1503" is screwed on the two side arms 1502" of the U-shaped elevation frame 1501", and the two clamping arms 153" are rotatably connected to the U-shaped elevation frame 1501" through the rotating shaft 1503"; the pulley mounting shaft 1512" screwed between the two supports 1511" of the U-shaped base 151" includes two, which are configured to be perpendicular to the axial direction of the U-shaped base 151" and arranged in parallel, and the two groups of pulley blocks 1505" are rotatably mounted on the U-shaped base 151" through the pulley mounting shaft 1512" respectively; the two pairs of driving cables 180a", 180b" are a pair, and the driving cables 180c", 180d" are a pair, and the distal end of each pair of driving cables is fixedly connected with a mounting piece 180e", one mounting piece 180e" is installed in the mounting piece cavity of the fixed wheel structure of one clamping arm 153" and the pair of driving cables respectively pass through the two sides of the fixed wheel structure, and the proximal end of the pair of driving cables passes through the same side pulley of the pulley block 1505", the same side cables of the two pairs of driving cables are crossed between the pulleys of the same side pulley block, which is used to drive the clamping arm 153" to rotate to drive the jaw 152" to perform opening and closing or yawing motion; the distal end of the pair of elevation cables 180" is respectively fixedly connected with a mounting column 1801", and the two mounting columns 1801" are respectively installed in the mounting column cavity of the U-shaped elevation frame 1501", which is used to drive the elevation frame 1501" to perform elevation to drive the jaw 152" to perform elevation motion. The driving of the above driving cables and / or elevation cables by the driving device can make the end effector perform opening and closing, yawing, elevation and other degrees of freedom actions.

[0077] Specifically, referring to Figure 13 As shown, the driving cable 180c" and the driving cable 180d" together cooperate to manipulate the jaw 1521" to rotate around the axis BB" of the rotating shaft 1503", the driving cable 180a" and the driving cable 180b" together cooperate to manipulate the upper jaw 1522" to rotate around the axis BB" of the rotating shaft 1503", and then the driving cable 180c", the driving cable 180d", the driving cable 180a" and the driving cable 180b" together cooperate to manipulate the jaw 1521" and the jaw 1522" to realize the opening and closing and / or yawing motion of the end effector 150.

[0078] In addition, the elevation cable 180" and the driving cable 180c", the driving cable 180d" together cooperate to manipulate the jaw and the U-shaped elevation frame 1501" to rotate around the axis AA" of the pulley mounting shaft 1512" close to the distal end of the base 151" to realize the elevation motion of the jaw, since the axis AA" of the pulley mounting shaft 1512" close to the distal end of the base 151" is perpendicular to the rotating shaft 1503", the yawing motion of the jaw is also orthogonal to the elevation motion.

[0079] Specifically, referring to Figure 13As shown, when the driving device simultaneously pulls driving cable 180c" and driving cable 180d" and / or the same side of one of the luffing cables 180" and simultaneously releases the opposite side of one of the luffing cables 180", driving cable 180a" and driving cable 180b", the jaw and U-shaped luffing frame 1501" rotate counterclockwise around the axis AA' of the pulley mounting shaft 1512" close to the distal end of the base 151", and the jaw performs a lateral outward luffing movement; when the driving mechanism simultaneously pulls driving cable 180a" and driving cable 180b" and / or the same side of one of the luffing cables 180", the jaw and U-shaped luffing frame 1501" rotate clockwise around the axis AA" of the pulley mounting shaft 1512" close to the distal end of the base 151", and the jaw performs a lateral inward luffing movement.

[0080] When the driving mechanism pulls driving cable 180d" and driving cable 180b" and simultaneously releases driving cable 180c" and driving cable 180a", the jaw rotates clockwise around the axis BB" of the rotating shaft 1503", and the jaw performs a vertical downward yawing movement. When the driving device pulls driving cable 180d" and driving cable 180a" and simultaneously releases driving cable 180c" and driving cable 180b", the jaw 1521" rotates clockwise around the axis BB" of the rotating shaft 1503", and the jaw 1522" rotates counterclockwise around the axis BB" of the rotating shaft 1503", and the jaw performs an opening movement. The above-mentioned luffing, yawing and opening and closing movements of the jaw can also be performed simultaneously, as shown, the luffing cables, the first pair of cables and the second pair of cables cooperate to operate the jaw to simultaneously perform luffing, yawing and opening and closing movements. It can be understood that when the driving cable moves in the opposite direction, the luffing, yawing and opening and closing directions of the jaw are opposite to the above-mentioned directions, which will not be described here.

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

[0082] In another embodiment, the distal end of each of the two jaws in the first, second and third embodiments above is curved towards one end of the axis of the rotating shaft (1512, 1512', 1504").

[0083] In all the above-mentioned embodiments, the teeth formed on the hollow shuttle-shaped clamping surface, especially the tooth top, are arranged to correspond to the arc segment of the hollow shuttle shape, and the tooth groove is arranged in a circular arc shape, so as to solve the problem that the blood vessel closure forceps in the prior art are prone to adhere to the coagulated tissue, and tests have shown that the above-mentioned changes of the present application can completely separate the coagulated and dried tissue from the jaw after high-frequency electrocoagulation, and the adhesion phenomenon on the clamping surface of the jaw is basically eliminated.

[0084] After the end effector 150 of the surgical instrument 120 of each of the above embodiments is mounted on the joint assembly at the distal end of the long shaft 160, the long shaft 160 is mounted on the driving device 140. The external energy instrument (high-frequency current generating device) is connected with the conductive wire 170 through the conductive cable and the interface on the driving device 140, and the electric energy can be provided by the main operating equipment 200 to control the external energy instrument, so that the surgical instrument 120 can perform high-frequency electric surgical operation.

[0085] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A surgical instrument, characterized in that, include: Bipolar closing clamp assembly, long shaft, and drive unit; The long shaft includes an internal transmission assembly, the proximal end of which is connected to the drive device, and the distal end of which is detachably connected to the bipolar clamp assembly to transmit push-pull forces along the axial direction of the long shaft. The bipolar closing clamp assembly includes: two clamp bodies, a drive assembly, a base, and two conductive wires; Each of the clamps includes a clamp head, clamp arms, and a plastic connector connecting the clamp head and clamp arms; each clamp head is electrically connected to a conductive wire. The two clamp bodies are rotatably mounted on the base, and are used to drive the clamp arms to rotate via the drive assembly so as to drive the clamp heads to perform opening and closing actions; The tooth tips of multiple teeth on the two pliers heads form a biting surface, and the biting surface includes a hollow spindle-shaped biting surface; when the two pliers heads are closed, the distal and proximal ends of the hollow spindle-shaped biting surface are in contact with each other, and the middle part of the hollow spindle-shaped biting surface is not in contact; the tooth tips of multiple teeth on one pliers head are arranged opposite to multiple tooth grooves on the other pliers head on the opposite side. Along the axial direction of the pliers head, the length of the tooth tip is greater than the width of the tooth groove opening directly opposite it; The tooth grooves are arc-shaped.

2. The surgical instrument according to claim 1, characterized in that, The distal end of the pliers also includes at least three teeth adjacent to the hollow spindle-shaped clenching surface, and when the two pliers are closed, the at least three teeth are in contact with each other.

3. The surgical instrument according to claim 2, characterized in that, One of the clamp heads has at least two rows of teeth arranged axially, and the other clamp head on the opposite side also has at least two rows of teeth.

4. The surgical instrument according to claim 3, characterized in that, The height of multiple teeth in both clamp heads is the same.

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

6. The surgical instrument according to claim 5, characterized in that, The base is U-shaped and includes a base body and brackets symmetrically arranged on both sides of the base. The clamp arms are connected to a rotating shaft screwed between the brackets. The drive assembly is located inside the base and can drive the two clamp arms to rotate so that the clamp head can perform an opening and closing action.

7. The surgical instrument according to claim 6, characterized in that, The clamp arm is rotatably connected to the rotating shaft screwed between the brackets; Each of the clamp arms has a transverse post on its proximal portion facing away from the clamp head; The drive assembly includes a sliding pin and a pair of connecting rods arranged axially in an alternating manner. The two transverse ends of the sliding pin are respectively installed in push-pull holes at the near ends of the pair of connecting rods, and the push-pull holes at the far ends of the pair of connecting rods are respectively installed on the crossbars of the two clamp arms. This is used to drive the angle between the two clamp arms to change during the axial driving of the sliding pin, thereby causing 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 two side supports of the base via a rotating shaft; Each of the clamp arms has an inclined groove extending along its length, and the two inclined grooves are staggered. The drive assembly includes a sliding pin, and the bracket has a sliding groove extending axially along the base. The two lateral ends of the sliding pin pass through the two inclined grooves respectively and are slidably mounted on the corresponding sliding grooves. This is used to drive the angle between the two clamp arms to change during movement along the sliding grooves, thereby causing the clamp head to perform an opening and closing action.

9. The surgical instrument according to claim 6, characterized in that, Each clamp arm is divided into a fixed wheel structure with a mounting cavity at its proximal end, and the two fixed wheel structures are arranged facing each other. The drive assembly includes a U-shaped pitch frame, two sets of pulleys, two pairs of drive cables, and one pair of pitch cables; the two clamping arms are rotatably connected to the U-shaped pitch frame via a rotating shaft; the rotating shaft is screwed onto the two side arms of the U-shaped pitch frame. The U-shaped base has two pulley mounting shafts screwed between its supports. The pulley mounting shafts are configured to be perpendicular to the axial direction of the U-shaped base and arranged in parallel. The two sets of pulleys are rotatably mounted on the U-shaped base through the pulley mounting shafts. Each pair of drive cables has a mounting component fixed to its distal end. One mounting component is installed in the mounting cavity of a fixed wheel structure on one of the clamp arms, and the corresponding drive cables are respectively wrapped around both sides of the fixed wheel structure. The proximal ends of the pair of drive cables are wrapped around the same-side pulley of the pulley group. The same-side cables of the two pairs of drive cables cross between the same-side pulleys of the pulley group, which is used to drive the clamp arm to rotate so as to drive the clamp head to perform opening, closing or yaw motion. The mounting posts at the distal ends of the pair of pitch cables are respectively installed in the mounting post 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.

10. The surgical instrument according to any one of claims 7-9, characterized in that, The plastic connector is located on the far side of the rotating shaft, and the plastic connector covers the inner surface of the pliers head and is kept on the same plane as the tooth tip of the first tooth at the proximal end of the hollow spindle-shaped biting surface. The clamp heads and clamp arms are spatially isolated but overlap axially. Each clamp head has a notch on its proximal first connecting arm, and each clamp arm has a lateral extension and a vertical extension on its distal second connecting arm. The vertical extension 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 connector simultaneously wraps around both the first connecting arm and the second connecting arm.

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

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

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

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