Surgical actuator, surgical tool and surgical robot

Abstract

According to the surgical actuator, the surgical tool and the surgical robot, the surgical actuator comprises a first tissue separating part, a second tissue separating part and a driving part, the first tissue separating part comprises an insulating head arranged at the far end, the second tissue separating part comprises a hook arranged at the far end, and the driving part is connected with the near end of the second tissue separating part; the driving part comprises a driving wire, the far end of the driving wire is connected with the second tissue separation part, and the near end of the driving wire is used for being connected with a power supply device, so that a conductive path is formed between the second tissue separation part and the driving wire. According to the surgical actuator, the surgical tool and the surgical robot, the surgical actuator can be used for sharp separation and blunt separation and can also have the functions of an electric hook and scissors, integration and consideration of multiple functions are achieved, and therefore the surgical actuator becomes an efficient, accurate and flexible surgical tool, and the surgical efficiency is improved. The method has great application prospects in the field of medical instruments.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to a surgical actuator, a surgical tool and a surgical robot. Background Art

[0002] Minimally invasive surgery has many advantages such as less trauma, less bleeding, and faster recovery. In recent years, it has been used more and more widely in clinical surgery. In minimally invasive surgery, various surgical tools are usually used, such as tissue graspers, separation forceps, curved scissors, bipolar graspers, electric hooks or needle holders, etc. The surgical tools are inserted directly or through cannulas into the patient's small incisions or natural orifices to perform the corresponding surgical operations. A surgical tool often has only a single function. For example, an electric hook can only perform electrocuting, stripping and electrocoagulation, but cannot cut like ordinary scissors, and graspers can only grab tissues but cannot cut. Each operation has different requirements for tissue stripping. It is usually necessary to choose whether to use sharp separation or blunt separation according to the specific surgical needs to adapt to different tissue types and surgical goals. This causes doctors to frequently change different tools during the operation to complete various operations.

[0003] Frequent tool changes will cause interruptions in the surgical process, thereby prolonging the overall operation time, increasing the physical and mental burden on the doctor, and may also increase the patient's anesthesia time and surgical risks. Each tool change requires time and operation to reposition and adjust the tool, reducing the efficiency of the operation. Summary of the invention

[0004] The first object of the present invention is to provide a surgical implement to solve the problems in the prior art.

[0005] To this end, the above-mentioned purpose of the present invention is achieved through the following technical solutions: A surgical actuator, comprising: A first tissue separation member, comprising an insulating head disposed at a distal end; A second tissue separation member including a hook disposed at a distal end; and a driving part connected to the proximal end of the second tissue separating member to drive the second tissue separating member to move; The driving part comprises a driving wire, the distal end of the driving wire is connected to the second tissue separation member, and the proximal end of the driving wire is used to connect to a power supply device to form a conductive path between the second tissue separation member and the driving wire.

[0006] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions: As a preferred technical solution of the present invention: the first tissue separation member further includes a first knife area located in the middle; The second tissue separation piece further comprises a second knife area located in the middle, and the second knife area is used to cooperate with the first knife area to achieve shearing.

[0007] As a preferred technical solution of the present invention: the hook is in an eagle beak shape.

[0008] As a preferred technical solution of the present invention: the bending direction of the hawk-beak-shaped hook is toward the first tissue separation piece.

[0009] As a preferred technical solution of the present invention: the second tissue separator is used to move between a closed state and an open state. When the second tissue separator is in the closed state, there is a gap between the insulating head of the second tissue separator and the hook of the first tissue separator.

[0010] As a preferred technical solution of the present invention: the size of the insulating head of the first tissue separation piece gradually decreases from the proximal end to the distal end.

[0011] As a preferred technical solution of the present invention: it also includes: The forceps head base comprises an internal cavity, the first tissue separation piece and the second tissue separation piece are respectively arranged on the forceps head base, and the driving part is slidably arranged in the internal cavity of the forceps head base and connected to the proximal end of the second tissue separation piece.

[0012] As a preferred technical solution of the present invention: the first tissue separation member is fixedly arranged on the clamp head base, and the second tissue separation member is pivotally connected to the clamp head base.

[0013] As a preferred technical solution of the present invention: it also includes: A seal is sealingly connected to the drive portion at a first end and is sealingly connected to the pliers head base at a second end, at least a portion of the seal being deformable.

[0014] As a preferred technical solution of the present invention: the sealing member is cylindrical, the distal end of the sealing member forms the first end, and the proximal end of the sealing member forms the second end.

[0015] As a preferred technical solution of the present invention: the sealing member includes an inner cylinder portion, an outer cylinder portion and a transition portion connecting the inner cylinder portion and the outer cylinder portion, the distal end of the inner cylinder portion forms the first end, and the distal end of the outer cylinder portion forms the second end.

[0016] As a preferred technical solution of the present invention: the sealing member is sealed and coated to the outer periphery of the distal end of the driving wire at the first end; and / or The seal is sealingly covered on the proximal periphery of the pliers head base at the second end; or the seal is sealingly joined to the inner wall of the pliers head base at the second end.

[0017] As a preferred technical solution of the present invention: the driving unit further includes: A slider, the slider is slidably disposed in the internal cavity of the clamp head base, and the slider is connected to the proximal end of the second tissue separation member through a sliding pin; The distal end of the driving wire is connected to the proximal end of the slider, and the proximal end of the driving wire is used to receive a push or pull motion to drive the slider to reciprocate in the clamp head base.

[0018] As a preferred technical solution of the present invention: the clamp head base includes a pair of base slide grooves; The second tissue separation piece further comprises support parts symmetrically arranged on both sides of the proximal end of the second tissue separation piece, and the support parts are pivotally connected to the clamp head base; The support portion comprises a pair of pliers head sliding grooves, and the sliding pin is slidably arranged in the pair of base sliding grooves and the pair of pliers head sliding grooves.

[0019] The second object of the present invention is to provide a surgical tool to address the problems in the prior art.

[0020] To this end, the above-mentioned purpose of the present invention is achieved through the following technical solutions: A surgical tool, comprising: Surgical tool arm; Selecting the surgical actuator, the surgical actuator is arranged at the distal end of the surgical tool arm, and the driving wire of the surgical actuator extends through the surgical tool arm; and The transmission part is arranged at the proximal end of the surgical tool arm and connected to the surgical tool arm and the driving wire. The transmission part is used to drive the movement of the surgical tool arm and / or the surgical actuator.

[0021] The third object of the present invention is to provide a surgical robot to address the problems in the prior art.

[0022] To this end, the above-mentioned purpose of the present invention is achieved through the following technical solutions: A surgical robot, comprising: at least one robotic arm; at least one of the surgical tools is disposed at the distal end of the at least one robotic arm; and At least one control device is connected to at least one of the robotic arms and is used to control the movement of at least one of the robotic arms, the arm body of the surgical tool and / or the surgical actuator.

[0023] Compared with the prior art, the surgical actuator, surgical tools and surgical robot of the present invention have the following beneficial effects: utilizing the cooperation between the first tissue separation component - the insulating head and the second tissue separation component - the curved hook, the surgical actuator can switch between the two separation modes by adjusting the position of the curved hook relative to the insulating head, realizing the functions of sharp separation and blunt separation on the same tool, so that the doctor can flexibly switch functions according to actual needs during the operation, and can achieve different surgical needs without frequently replacing different surgical tools, greatly shortening the operation time and improving the operation efficiency; utilizing the cooperation between the driving part and the tissue separation component, the surgical actuator can accurately control the movement trajectory and strength of the curved hook, thereby realizing precise separation and cutting of the tissue, and at the same time, the power conduction function of the driving part supports the electrocoagulation and electrocuting operations of the curved hook. At the same time, the insulation and diverse shapes of the insulating head in the present invention make blunt separation safer and more flexible; the eagle-beak design and conductivity of the curved hook support the realization of sharp separation and electrocoagulation and electrocuting functions, so that the surgical actuator can better perform fine operations and improve the accuracy and flexibility of the operation; the driving part can realize the complex movement of the tissue separation piece through simple push-pull actions, reducing the difficulty and risk of surgical operations and simplifying the operating procedures.

[0024] The surgical actuator, surgical tool and surgical robot of the present invention not only have the functions of blunt separation and sharp separation, but also take into account the roles of scissors and electric hooks through the electrocoagulation and electrocuting capabilities of the curved hook. The multi-functional integration makes the surgical actuator a comprehensive and efficient surgical tool. The same tool can meet the needs of tissue stripping or complex electrocoagulation and electrocuting operations, and adapt to diverse surgical needs, making the surgical actuator an efficient, precise and flexible surgical tool with great application prospects in the field of medical devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a surgical actuator of the present invention; Figure 2 It is a bottom-up structural schematic diagram of the surgical actuator of the present invention in a closed state; Figure 3 is a front view structural schematic diagram of the surgical actuator of the present invention in a closed state; Figure 4 is a schematic structural diagram of the first tissue separation member of the present invention; Figure 5 is a schematic structural diagram of the second tissue separation member of the present invention; Figure 6 is a longitudinal cross-sectional schematic diagram of a surgical actuator of the present invention; Figure 7 It is a schematic diagram of the structure of the seal and the driving part of the present invention; Figure 8 is a schematic structural diagram of the surgical tool of the present invention; Fig. 9 is a schematic structural diagram of the surgical robot of the present invention; DETAILED DESCRIPTION

[0026] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Example 1

[0027] The present invention provides a surgical actuator, such as Figure 1 As shown, the structural diagram of the surgical actuator 100, Figure 2 FIG. 1 is a schematic diagram showing a bottom-up structural view of a surgical actuator 100 in a closed state according to some embodiments of the present disclosure. Figure 3 FIG. 2 shows a front view of a surgical actuator 100 in a closed state according to some embodiments of the present disclosure. Figure 1-Figure 3 As shown, the surgical implement 100 may include a first tissue separating element 110 , a second tissue separating element 120 , and a driving unit 130 .

[0028] like Figure 1 As shown, the first tissue separation piece 110 may include an insulating head 111 disposed at the distal end. It should be understood that the insulating head 111 may include various suitable shapes and materials. For example, the insulating head 111 may include a rod-shaped, sheet-shaped, block-shaped, columnar, conical head, etc. made of insulating material. For example, the insulating material may be rubber, plastic, or ceramic. The second tissue separation piece 120 may include a hook 121 disposed at the distal end. It should be understood that the bending direction of the hook 121 may be toward or away from the insulating head 111. The curvature of the hook 121 may be set according to actual needs. As shown in FIG. Figure 2 As shown, the driving part 130 is connected to the proximal end of the second tissue separating member 120 to drive the second tissue separating member 120 to move so that the second tissue separating member 120 moves closer to or farther from the first tissue separating member 110 .

[0029] In the present invention, the insulating head is made of insulating materials such as rubber, plastic or ceramic, and has various shapes such as rod-shaped, sheet-shaped, block-shaped, columnar, conical head, etc. The distal end size gradually becomes smaller to form a roughly triangular structure, which enables the insulating head to adapt to different surgical scenarios. In particular, when blunt separation of tissue is required, the insulating head can perform tissue separation along existing seams or natural planes to reduce damage to surrounding tissues.

[0030] like Figure 2As shown, the driving part 130 may include a driving wire 131. The distal end of the driving wire 131 is connected to the second tissue separation member 120, and the proximal end of the driving wire 131 is used to connect the power supply device to form a conductive path between the second tissue separation member 120 and the driving wire 131. It should be understood that the hook 121 of the second tissue separation member 120 can be made of a conductive material, such as a metal material or other conductive materials. The driving wire 131 can be a nickel-titanium alloy wire or a steel wire. The second tissue separation member 120 can be driven, such as an opening and closing movement, by pushing and pulling the driving wire 131.

[0031] During actual operation, blunt tissue separation can be performed by the first tissue separation piece 110, and sharp tissue separation can be performed by the second tissue separation piece 120, for example, electrocoagulation and electrocuting. Those skilled in the art should understand that blunt tissue separation can refer to tissue separation along existing seams or natural planes. Sharp tissue separation can refer to the cutting of seamless tissue, for example, tissue separation can be performed by shearing, electrocuting, etc. In this way, a surgical actuator 100 can have multiple functions, and the operator can use a surgical actuator 100 to perform sharp separation or blunt separation without switching between multiple surgical actuators 100, thereby avoiding frequent switching of different surgical tools, resulting in prolonged operation time and increased or decreased surgical operation costs.

[0032] In some embodiments, Figure 1 As shown, the hook 121 can be hawk-beak shaped. This can better implement functions similar to electric hooks to perform electrocuting and electrocoagulation operations on tissues. In some embodiments, the bending direction of the hawk beak can be toward the first tissue separation member 110. The hook 121 is designed to be hawk-beak shaped to better perform delicate operations and achieve functions similar to electric hooks.

[0033] In some embodiments, Figure 1 and Figure 3 As shown, the second tissue separation member 120 is used to move between a closed state and an open state. Figure 1 The second tissue separation member 120 is shown in an open state. Figure 3 The second tissue separator 120 is shown in a closed state. When the second tissue separator 120 is in a closed state, there is a gap 125 between the insulating head 111 of the second tissue separator 120 and the hook 121 of the first tissue separator 110. In this way, the tissue can be finely manipulated better.

[0034] In some embodiments, Figure 1 and Figure 3 As shown, the size of the insulating head 111 of the first tissue separation member 110 gradually decreases from the proximal end to the distal end. In this way, the distal end of the insulating head 111 can form a roughly triangular structure, which is convenient for the separation operation of the tissue.

[0035] In some embodiments, Figure 1-Figure 3 As shown, the first tissue separation piece 110 may also include a first knife area 112 located in the middle, and the second tissue separation piece 120 may also include a second knife area 122 located in the middle. The second knife area 122 is used to cooperate with the first knife area 112 to achieve shearing. It should be understood that when the second tissue separation piece 120 is in a closed state, the second knife area 122 and the first knife area 112 are staggered to achieve shearing of tissue. By setting the knife area, the surgical actuator 100 can have the function of an electric hook and the function of shearing, and there is no need to switch between the electric hook tool and the shearing tool, which can shorten the operation time.

[0036] In some embodiments, the second knife region 122 and the hook 121 can be integrally formed or fixedly connected (e.g., welded or bonded). In some embodiments, the insulating head 111 can be disposed at the distal end of the first knife region 112 by welding, bonding, hot melting, etc. In some embodiments, the insulating head 111 can be made of ceramic material, the first knife region 112 can be made of metal material, and the insulating head 111 is fixedly disposed at the distal end of the first knife region 112 by welding.

[0037] Figure 4 FIG. 1 is a schematic diagram showing the structure of the first tissue separation member 110 according to some embodiments of the present disclosure. For the sake of clarity, Figure 4 The second tissue separation member 120 is not shown. In some embodiments, Figure 4 As shown, the insulating head 111 may be insulating plastic or rubber. The proximal end of the insulating head 111 may include at least one columnar connector 1111 extending from one side. The first knife area 112 may include at least one connecting hole 1121, and at least one columnar connector 1111 is used to extend into at least one connecting hole 1121 respectively. An annular groove 1122 recessed inwardly is provided on the side of the connecting hole 1121 away from the insulating head 111. The columnar connector 1111 is filled with the annular groove 1122 by hot melting to form a mushroom head structure. In this way, the connection between the insulating head 111 and the first knife area 112 can be made more stable and reliable.

[0038] In some embodiments, Figure 1 and Figure 2As shown, the surgical actuator 100 may further include a forceps head base 140. The forceps head base 140 includes an internal cavity 1411. The first tissue separation member 110 and the second tissue separation member 120 are respectively disposed on the forceps head base 140. The driving unit 130 is slidably disposed in the internal cavity 1411 of the forceps head base 140 and is connected to the proximal end of the second tissue separation member 120. In some embodiments, the proximal end of the forceps head base 140 may be cylindrical, and the internal cavity 1411 is formed in the cylindrical shape. Alternatively, the internal cavity 1411 is formed between the side walls opposite to the proximal end of the forceps head base 140. The driving unit 130 may slide along the internal cavity 1411. The first tissue separation member 110 is fixedly disposed at the distal end of the forceps head base 140, and the second tissue separation member 120 may be hinged to the distal end of the forceps head base 140 by a pivot (e.g., a pin 124). The distal end of the clamp head base 140 is shaped to cooperate with the second tissue separator 120 to facilitate driving of the driving portion 130. It should be understood that the second tissue separator 120 can also be connected to the distal end of the clamp head base 140 in other ways as long as the driving portion 130 can realize its opening and closing movement.

[0039] By fixing the first tissue separation member 110 on the clamp head base 140 and pivotally connecting the second tissue separation member 120 to the clamp head base 140, the driving structure can be simplified and the surgical actuator 100 can be miniaturized. Therefore, it can be widely used in various minimally invasive surgeries, especially in minimally invasive surgical robots, such as laparoscopic surgical robots.

[0040] In some embodiments, Figure 1 and Figure 2 As shown, the driving part 130 may also include a slider 132. The slider 132 is slidably disposed in the internal cavity 1411 of the clamp head base 140. The slider 132 is connected to the proximal end of the second tissue separation member 120 through a sliding pin 133. The distal end of the drive wire 131 is connected to the proximal end of the slider 132, and the proximal end of the drive wire 131 is used to receive a push or pull movement to drive the slider 132 to reciprocate in the clamp head base 140. It should be understood that the drive wire 131 and the slider 132 can be connected by welding, clamping, adapter connection or other methods, which are not limited here. In some embodiments, the slider 132 can be cylindrical, cubic, polyhedral or a special-shaped structure, and the sliding pin 133 can be fixedly penetrated on the slider 132 along the radial direction of the slider 132.

[0041] It should be understood that the slider 132 and the sliding pin 133 can be made of metal material. The proximal end of the drive wire 131 is connected to the power supply device to form a conductive path between the second tissue separation member 120 and the drive wire 131. For example, the second tissue separation member 120 forms a conductive path through the sliding pin 133, the slider 132 and the drive wire 131 to achieve the electric hook function. In some embodiments, the clamp head base 140 can also be conductive, for example, the distal portion of the clamp head base 140 can also be made of metal material. This can make the conductive effect better. Those skilled in the art should understand that the slider 132, the sliding pin 133 and the distal portion of the clamp head base 140 (such as the first support member 142) can also be plated with a conductive layer on its surface to achieve the conductive function.

[0042] Figure 5 FIG. 1 is a schematic diagram showing the structure of the second tissue separation member 120 according to some embodiments of the present disclosure. Figure 2-Figure 5 As shown, the clamp head base 140 may include a pair of base slide grooves 1421. The second tissue separation member 120 may also include a first support portion 123 symmetrically arranged on both sides of the proximal end of the second tissue separation member 120, for example Figure 2 The left support portion 1233 and the right support portion 1234 shown, the first support portion 123 is pivotally connected to the clamp head base 140, for example, pivotally connected to the clamp head base 140 through a pin 124. It should be understood that the first support portion 123 and the second knife area 122 can be fixedly connected or integrally formed. The first support portion 123 includes a pair of clamp head slots 1231, and the sliding pin 133 can be slidably inserted into the pair of base slots 1421 and the pair of clamp head slots 1231. It should be understood that the pair of base slots 1421 can be radially opposite to each other and extend axially, and the pair of clamp head slots 1231 are opposite to each other and correspond to the circumferential position and radial position of the pair of base slots 1421.

[0043] In some embodiments, the base slot 1421 may be a longitudinal slot, and the clamp head slot 1231 may be an arc slot. The sliding pin 133 may be radially inserted into the slider 132, and the two ends of the sliding pin 133 are respectively inserted into the vertical slot and the arc slot, and may reciprocate along the vertical slot and the arc slot. The driving wire 131 pushes the slider 132 to move toward the distal end, and the slider 132 drives the sliding pin 133 to move from the vertical slot and the arc slot toward the distal end, so that the second tissue separation member 120 rotates around the pivot axis (e.g., pin 124) to achieve the opening and closing of the second tissue separation member 120 relative to the insulating head 111.

[0044] In some embodiments, Figure 5As shown, the arc-shaped groove of the second tissue separation member 120 can be composed of one or more arc-shaped contour lines. By adjusting the curvature angle of the arc-shaped contour line, etc., the surgical actuator 100 can output a larger clamping force to facilitate shearing between the first knife area 112 and the second knife area 122.

[0045] In some embodiments, Figure 1-Figure 3 As shown, the clamp head base 140 may include a support connecting member 141 at the proximal end and at least one first support member 142 (eg, Figure 2 The left support member 1423 and the right support member 1424 in the pair of support members shown). The support connecting member 141 can be cylindrical, and the cross section can be circular, elliptical, rectangular or polygonal, etc. An internal cavity 1411 arranged along the axial direction is formed therein. The left support member 1423 and the right support member 1424 can be arranged opposite to each other, and a pair of base slide grooves 1421 can be formed on the left support member 1423 and the right support member 1424 respectively, for example, formed on the side walls of the left support member 1423 and the right support member 1424. The first support member 142 (for example, the left support member 1423 and the right support member 1424) and the support connecting member 141 can be fixedly connected or integrally formed. In some embodiments, the first support member 142 of the clamp head base 140 can be cylindrical or a part of a cylindrical shape, and the cross section can be circular, elliptical, rectangular, polygonal, etc. By providing the circumferentially spaced first support members 142 , the hollow structure at the distal end of the forceps head base 140 is increased, and the internal pores and shielding area are reduced, so as to facilitate the cleaning of the surgical actuator 100 .

[0046] like Figure 2 , Figure 3 and Figure 5 As shown, a pair of first supporting parts 123 (e.g., left supporting part 1233 and right supporting part 1234) of the second tissue separation member 120 can be pivotally connected to a pair of supporting parts 142 (e.g., left supporting part 1423 and right supporting part 1424) of the forceps head base 140 through a pin 124, and the pair of first supporting parts 123 are respectively located inside the pair of first supporting parts 142. For example, a pair of connecting holes can be provided at the distal ends of the pair of first supporting parts 123, and a pair of connecting holes are correspondingly provided on the pair of first supporting parts 142. The pin 124 penetrates through the connecting holes on the first supporting parts 123 and the first supporting parts 142, so that the pair of first supporting parts 123 are pivotally connected to the pair of first supporting parts 142. The first tissue separation member 110 is fixedly connected to one of the first supporting parts 142 or is integrally formed.

[0047] Figure 6 FIG. 1 is a schematic longitudinal cross-sectional view of a surgical implement 100 according to some embodiments of the present disclosure. Figure 7FIG. 1 is a schematic diagram showing the structure of the seal 150 and the drive unit 130 according to some embodiments of the present disclosure. Figure 6 and Figure 7 As shown, the surgical actuator 100 may further include a seal 150. The seal 150 is disposed at a first end (eg, a proximal end or a Figure 6 The distal end shown in FIG. 1 is sealed to the drive portion 130 and is sealed to the drive portion 130 at a second end (e.g., the distal end or as shown in FIG. Figure 6 The seal 150 is sealed and connected to the forceps head base 140 at the proximal end (as shown in the figure), and at least a part of the seal 150 is deformable. Therefore, when the driving part 130 moves relatively in the forceps head base 140, the seal 150 can be adaptively deformed. The setting of the seal 150 forms a sealed isolation between the interior of the driving part 130 (for example, the slider 132 and the driving wire 131) and the surgical environment outside (including the distal end of the forceps head base 140 and the first tissue separation member 110 and the second tissue separation member 120), preventing the body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 100 (for example, the driving part 130) through the pores during the operation, so as to facilitate repeated cleaning and disinfection of the surgical actuator 100.

[0048] In some embodiments, the seal 150 may be made of a retractable elastic material, such as rubber or a thermoplastic elastomer. It should be understood that at least a portion of the seal 150 between the first end and the second end may be retractably deformed or the seal 150 as a whole may be retractably deformed. In some embodiments, at least a portion of the seal 150 is flexible, such as plastic or non-woven fabric. In this way, the seal 150 can meet the adaptive deformation during the reciprocating motion of the drive wire 131.

[0049] In some embodiments, Figure 6 and Figure 7 As shown, the seal 150 is sealed and coated to the distal periphery of the drive wire 131 at the first end. It should be understood that the distal periphery of the drive wire 131 can be broadly understood, for example, it can include the distal periphery of the drive wire 131, or the periphery of the slider 132 connected to the distal end of the drive wire 131. The seal 150 is sealed and coated to the periphery of the proximal end (e.g., the support connector 141) of the forceps head base 140 at the second end. Or the seal 150 is sealed and coupled to the inner wall of the forceps head base 140 (e.g., as shown in FIG. 1 ) at the second end. Figure 6 For example, the seal 150 can be sealed and coated on the drive wire 131 or the clamp head base 140 by bonding, thermoplasticization, clamps, etc.

[0050] In some embodiments, the seal 150 may be cylindrical, with the distal end of the seal 150 forming the first end and the proximal end of the seal 150 forming the second end. Figure 6 and Figure 7 As shown, the sealing member 150 may include an inner cylinder portion 151, an outer cylinder portion 152, and a transition portion 153 connecting the inner cylinder portion 151 and the outer cylinder portion 152. The distal end of the inner cylinder portion 151 forms a first end, and the distal end of the outer cylinder portion 152 forms a second end. The inner cylinder portion 151 may be sleeved on the outer periphery of the distal end of the drive wire 131 and located in the internal cavity 1411 of the support connector 141, and the inner cylinder portion 151 may perform telescopic movement along the internal cavity 1411 driven by the slider 132. The outer cylinder portion 152 is sleeved on the outside of the inner cylinder portion 151 and is also located in the internal cavity 1411 of the connector, the outer wall of the outer cylinder portion 152 is tightly connected to the inner wall of the support connector 141 (it should be understood that it can also be set that the outer cylinder portion 152 tightly wraps the support connector 141), and the outer cylinder portion 152 is connected to the inner cylinder portion 151 through the curved transition portion 153. At least a portion of the transition portion 153 may include a flexible material, or at least a portion of the transition portion 153 may include a pleated portion, which may be extended, expanded, or contracted and folded. In this way, when the driving portion 130 slides relatively in the clamp head base 140, the sealing member 150 can be adaptively deformed, thereby achieving sealing without affecting the relative movement between the driving portion 130 and the clamp head base 140. It should be understood that the inner cylinder portion 151, the outer cylinder portion 152 and the transition portion 153 of the sealing member 150 can form a continuous sealing surface, which has a better sealing effect.

[0051] Thus, the seal 150 enables the slider 132 and the drive wire 131 to form an integral sealing structure to isolate the drive wire 131 from the surgical interface, so that during the operation, body fluids and the like will not penetrate into the surgical actuator 100 or the interior of the surgical tool. During cleaning and disinfection, only the outer surface of the surgical actuator 100 needs to be cleaned, and there are no difficult-to-clean gaps or cavities. Therefore, there is no need to disassemble the surgical actuator 100 for cleaning. This not only makes it easier to disinfect thoroughly, but also avoids secondary infection.

[0052] In some embodiments, Figure 6 and Figure 7 As shown, a sleeve 160 can be sleeved on the outside of the inner cylinder 151 of the seal 150 to seal and fasten the seal 150 and the slider 132 or the drive wire 131. The sleeve 160 can further ensure the sealing between the seal 150 and the drive wire 131. The risk of the seal 150 slipping off during telescopic movement is reduced.

[0053] In some embodiments, Figure 1 and Figure 6As shown, a protective cover 170 may also be provided at the periphery of the proximal end of the pliers head base 140. In some embodiments, the protective cover 170 may include a proximal section 171 and a distal section 172, wherein the radial dimension of the distal section 172 is greater than the radial dimension of the proximal section 171. The proximal section 171 and the distal section 172 may be integrally formed and interpenetrate each other. The distal section 172 of the protective cover 170 may include a receiving groove at the distal end. The receiving groove of the protective cover 170 receives the proximal end of the pliers head base 140, such as the support connector 141, and is sealed with the end of the pliers head base 140. It should be understood by those skilled in the art that the distal section 172 and the support connector 141 at the proximal end of the pliers head base 140 may be threadedly connected, interference fit connected, welded, bonded or integrally formed, etc. The proximal section 171 of the protective cover 170 receives the drive wire 131. The end of the proximal section 171 of the protective cover 170 may be provided with a through hole for the drive wire 131 to pass through. In some embodiments, the proximal section 171 of the protective cover 170 is used to be fixedly connected to the surgical tool arm. The drive wire 131 can pass through the through hole and extend through the surgical tool arm. In some embodiments, the protective cover 170 can be an insulator such as rubber, plastic or ceramic. The protective cover 170 can prevent the proximal end of the surgical actuator 100 from being charged and burning the patient during surgery. The surgical actuator 100 can be insulated from the surgical tool arm, which can prevent contaminants from entering the surgical tool and causing cleaning difficulties.

[0054] In some embodiments, Figure 6 As shown, the inner wall of the receiving groove of the distal section 172 may be provided with a threaded structure, and the proximal periphery of the supporting connector 141 of the clamp head base 140 may be provided with a corresponding threaded structure, so that the distal section 172 is threadedly connected to the clamp head base 140. In this way, the detachable connection of the surgical actuator 100 can be achieved, which is convenient for replacing the surgical actuator 100.

[0055] The present disclosure also provides a surgical tool. Figure 8 FIG. 1 is a schematic diagram showing a structure of a surgical tool 1000 according to some embodiments of the present disclosure. Figure 8 As shown, the surgical tool 1000 may include a surgical tool arm 200, a surgical actuator 100 as in any embodiment of the present disclosure, and a transmission part 300. The surgical actuator 100 may be disposed at the distal end of the surgical tool arm 200, and the drive wire 131 of the surgical actuator 100 extends through the surgical tool arm 200. The transmission part 300 is disposed at the proximal end of the surgical tool arm 200, connected to the surgical tool arm 200 and the drive wire 131, and the transmission part 300 is used to receive an external driving force to drive the movement of the surgical tool arm 200 and / or the surgical actuator 100.

[0056] In some embodiments, the surgical tool arm 200 may include a deformable arm or a rigid arm or a combination of the two. In some embodiments, the deformable arm may include at least one of an articulated arm, a serpentine arm, and a continuous arm. The surgical tool arm 200 may bend under the drive of the transmission part 300, so that the posture of the surgical actuator 100 at the distal end can be adjusted.

[0057] In some embodiments, the transmission part 300 may include a transmission unit for connecting to an external motor drive device (e.g., drive device 102), so that the drive wire 131 of the surgical actuator 100 or the surgical tool arm 200 can be driven. It should be understood that the transmission unit may include any mechanism that converts rotational motion into linear motion. For example, the transmission unit may include but is not limited to a screw nut mechanism, a gear rack mechanism, a wire pulley mechanism, a worm gear mechanism, etc., which are not limited here. In some embodiments, the transmission part 300 may also include a motor drive unit, which may drive the transmission unit, and the drive wire 131 or the surgical tool arm 200 may be driven by the transmission unit.

[0058] The present disclosure also provides a surgical robot. Fig. 9 FIG. 1 is a schematic diagram showing the structure of a surgical robot 10 according to some embodiments of the present disclosure. Fig. 9 As shown, the surgical robot 10 may include at least one robotic arm 101, at least one surgical tool 1000 (or endoscope), at least one surgical actuator 100 in any embodiment of the present disclosure, and at least one control device. The surgical tool 1000 or endoscope is disposed at the distal end of at least one robotic arm 101, and the control device is communicatively connected with at least one robotic arm 101 and the surgical tool 1000 or endoscope to control the movement of the robotic arm 101, the surgical tool arm 200, and / or the opening and closing of the surgical actuator 100.

[0059] In some embodiments, Fig. 9As shown, the surgical robot 10 may include a surgical trolley 11, and the surgical trolley 11 may include at least one mechanical arm 101, at least one surgical tool 1000 (or endoscope) is respectively arranged at the distal end of at least one mechanical arm 101, and at least one surgical actuator 100 may be respectively arranged at the distal end of at least one surgical tool 1000. The control device may be used to remotely control the movement of the mechanical arm 101, the surgical tool arm body 200 of at least one surgical tool 1000, and / or at least one surgical actuator 100. It should be understood that the mechanical arm 101 may include a plurality of movable joints and connecting rods, and has a plurality of degrees of freedom. The surgical tool 1000 is detachably arranged at the distal end of the mechanical arm 101, and the mechanical arm 101 is used to adjust the position and posture of the end of the surgical tool 1000 (for example, the surgical actuator 100), or the driving device (for example, the driving device 102) arranged on the mechanical arm 101 is used to drive the surgical tool arm body 200 to adjust the position and posture of the end (for example, the surgical actuator 100).

[0060] During surgery, the robot arm 101 can remain motionless outside the body, and the position and posture of the surgical implement 100 can be adjusted by controlling the movement of the surgical tool 1000 (e.g., the surgical tool arm 200). The robot arm 101 remains motionless outside the body, and only the movement of the surgical tool arm 200 or the surgical implement 100 is controlled to perform the surgical operation, thereby improving the safety of the operation. It should be understood that in some embodiments, during surgery, the robot arm 101 can also be controlled to move to drive the surgical tool 1000 to move, so as to perform the surgical operation.

[0061] In some embodiments, the surgical robot 10 may further include a control trolley 12. The operating trolley 11 and the control trolley 12 may be connected via wired transmission or wireless transmission. In some embodiments, at least one control device may be provided on the control trolley 12 or the operating trolley 11.

[0062] In some embodiments, the surgical trolley 11 of the surgical robot 10 may further include at least one driving device 102. The at least one driving device 102 may be disposed between at least one surgical tool (e.g., surgical tool 1000) and at least one robotic arm 101. The driving device 102 may be coupled to the transmission part 300 at the proximal end of the surgical tool 1000 to convert the rotary motion of the driving device 102 into a linear motion, such as a push or pull motion, through the transmission part 300, so as to drive the surgical tool arm 200 or the surgical actuator 100 to move. Fig. 9As shown, the surgical trolley 11 may include a single robotic arm 101, and a plurality of mutually independent driving devices 102 may be provided on the robotic arm 101 (e.g., the end of the robotic arm 101). Those skilled in the art may understand that the surgical trolley 11 may also include a plurality of robotic arms 101, and a plurality of driving devices 102 may be provided on a plurality of robotic arms 101, respectively, and the specific details are not limited here. Those skilled in the art may understand that the surgical robot 10 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0063] The present invention provides a surgical actuator, surgical tools and surgical robot. The surgical actuator includes a first tissue separation piece, a second tissue separation piece and a driving unit. The first tissue separation piece includes an insulating head arranged at the distal end, the second tissue separation piece includes a curved hook arranged at the distal end, the driving unit is connected to the proximal end of the second tissue separation piece to drive the second tissue separation piece to move, the driving unit includes a driving wire, the distal end of the driving wire is connected to the second tissue separation piece, and the proximal end of the driving wire is used to connect a power supply device to form a conductive path between the second tissue separation piece and the driving wire. The surgical actuator can be used for sharp separation and blunt separation, and can also take into account the functions of an electric hook and scissors. There is no need to switch between multiple surgical actuators, thereby avoiding frequent switching of different surgical tools, resulting in prolonged surgery time and increased or decreased surgical operation costs.

[0064] The above-mentioned specific implementation methods are used to explain the present invention and are only preferred embodiments of the present invention, rather than limiting the present invention. Any modifications, equivalent substitutions, improvements, etc. made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A surgical actuator, characterized in that: include: A first tissue separation member, comprising an insulating head disposed at a distal end; A second tissue separation member, comprising a hook disposed at a distal end; as well as a driving part connected to the proximal end of the second tissue separating member to drive the second tissue separating member to move; The driving part comprises a driving wire, the distal end of the driving wire is connected to the second tissue separation member, and the proximal end of the driving wire is used to connect to a power supply device to form a conductive path between the second tissue separation member and the driving wire.

2. The surgical actuator according to claim 1, characterized in that: The first tissue separation member further comprises a first knife region located in the middle; The second tissue separation piece further comprises a second knife area located in the middle, and the second knife area is used to cooperate with the first knife area to achieve shearing.

3. The surgical actuator according to claim 1, characterized in that: The hook is in the shape of an eagle's beak.

4. The surgical implement according to claim 3, characterized in that: The bending direction of the hawkbill-shaped hook is toward the first tissue separation piece.

5. The surgical implement according to claim 1, characterized in that: The second tissue separating member is used to move between a closed state and an open state. When the second tissue separating member is in the closed state, there is a gap between the insulating head of the second tissue separating member and the hook of the first tissue separating member.

6. The surgical implement according to claim 1, characterized in that: The insulating head of the first tissue separating element has a size that gradually decreases from the proximal end to the distal end.

7. The surgical implement according to claim 1, characterized in that: Also includes: The forceps head base comprises an internal cavity, the first tissue separation piece and the second tissue separation piece are respectively arranged on the forceps head base, and the driving part is slidably arranged in the internal cavity of the forceps head base and connected to the proximal end of the second tissue separation piece.

8. The surgical implement according to claim 7, characterized in that: The first tissue separation member is fixedly arranged on the clamp head base, and the second tissue separation member is pivotally connected to the clamp head base.

9. The surgical implement according to claim 7, characterized in that: Also includes: A seal is sealingly connected to the drive portion at a first end and sealingly connected to the pliers head base at a second end, at least a portion of the seal being deformable.

10. The surgical implement according to claim 9, characterized in that: The sealing member is in a cylindrical shape, the distal end of the sealing member forms the first end, and the proximal end of the sealing member forms the second end.

11. The surgical implement according to claim 9, characterized in that: The sealing member includes an inner cylinder portion, an outer cylinder portion, and a transition portion connecting the inner cylinder portion and the outer cylinder portion. The distal end of the inner cylinder portion forms the first end, and the distal end of the outer cylinder portion forms the second end.

12. The surgical actuator according to claim 9, characterized in that: The seal is sealingly covered to the outer periphery of the distal end of the drive wire at a first end; and / or The seal is sealingly covered on the proximal periphery of the pliers head base at the second end; or the seal is sealingly joined to the inner wall of the pliers head base at the second end.

13. The surgical implement according to claim 12, characterized in that: The driving unit further includes: A slider, the slider is slidably disposed in the internal cavity of the clamp head base, and the slider is connected to the proximal end of the second tissue separation member through a sliding pin; The distal end of the driving wire is connected to the proximal end of the slider, and the proximal end of the driving wire is used to receive a push or pull motion to drive the slider to reciprocate in the clamp head base.

14. The surgical implement according to claim 13, characterized in that: The clamp head base includes a pair of base slide grooves; The second tissue separation piece further comprises support parts symmetrically arranged on both sides of the proximal end of the second tissue separation piece, and the support parts are pivotally connected to the clamp head base; The support portion comprises a pair of pliers head sliding grooves, and the sliding pin is slidably arranged in the pair of base sliding grooves and the pair of pliers head sliding grooves.

15. A surgical tool, characterized in that: include: Surgical tool arm ； The surgical actuator according to any one of claims 1 to 14, wherein the surgical actuator is disposed at the distal end of the surgical tool arm, and the drive wire of the surgical actuator extends through the surgical tool arm; as well as The transmission part is arranged at the proximal end of the surgical tool arm and connected to the surgical tool arm and the driving wire. The transmission part is used to drive the movement of the surgical tool arm and / or the surgical actuator.

16. A surgical robot, characterized in that: include: at least one robotic arm; at least one surgical tool as claimed in claim 15, disposed at a distal end of the at least one robotic arm; as well as At least one control device is connected to at least one of the robotic arms and is used to control the movement of at least one of the robotic arms, the arm body of the surgical tool and / or the surgical actuator.

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