Surgical actuators, surgical instruments, and surgical robots

Abstract

This invention discloses a surgical actuator, surgical tool, and surgical robot. The surgical actuator includes a first tissue separation component, a second tissue separation component, and a drive unit. The first tissue separation component includes an insulating head disposed at its distal end, and the second tissue separation component includes a hook disposed at its distal end. The drive unit is connected to the proximal end of the second tissue separation component to drive the movement of the second tissue separation component. The drive unit includes a drive wire, the distal end of which is connected to the second tissue separation component, and the proximal end of which is used to connect to a power supply device to form a conductive path between the second tissue separation component and the drive wire. The surgical actuator, surgical tool, and surgical robot of this invention can be used for both sharp and blunt dissection, and can also function as an electric hook and scissors, achieving the integration and commensurate use of multiple functions. This makes the surgical actuator a highly efficient, precise, and flexible surgical tool with great application prospects in the field of medical devices.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to a surgical actuator, surgical tool, and surgical robot. Background Technology

[0002] Minimally invasive surgery offers numerous advantages, including less trauma, less bleeding, and faster recovery, and has been increasingly widely used in clinical surgery in recent years. Various surgical tools are typically used in minimally invasive surgery, such as tissue grasping forceps, dissecting forceps, curved scissors, bipolar grasping forceps, electrocautery hooks, or needle holders. These tools are inserted directly or through cannulas into the patient's small incision or natural orifice to perform the corresponding surgical procedures. Each surgical tool often has only a single function; for example, an electrocautery hook can only perform electro-cutting, dissection, and electrocoagulation, but cannot cut like ordinary scissors, and grasping forceps can only grasp tissue, not cut. The requirements for tissue dissection vary depending on the specific surgical needs, usually requiring the selection of sharp or blunt dissection techniques to suit different tissue types and surgical goals. This necessitates frequent tool changes during the procedure to complete various operations.

[0003] Frequent tool changes can interrupt the surgical procedure, thus prolonging the overall surgical time, increasing the physical and mental burden on doctors, and potentially increasing 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 surgery. Summary of the Invention

[0004] The first objective of this invention is to provide a surgical actuator that addresses the problems in the prior art.

[0005] Therefore, the above-mentioned objectives of the present invention are achieved through the following technical solutions:

[0006] A surgical actuator, characterized in that it comprises:

[0007] The first separation component includes an insulating head located at the distal end;

[0008] The second tissue separator includes a hook located at the distal end; and

[0009] A drive unit is connected to the proximal end of the second tissue separator to drive the second tissue separator to move;

[0010] The drive unit includes a drive wire, the drive wire being connected at its distal end to the second tissue separator, and the drive wire being connected at its proximal end to a power supply device to form a conductive path between the second tissue separator and the drive wire.

[0011] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0012] As a preferred embodiment of the present invention: the first tissue separator further includes a first cutting region located in the middle;

[0013] The second tissue separator also includes a second blade region located in the middle, which is used to cooperate with the first blade region to achieve shearing.

[0014] As a preferred embodiment of the present invention, the hook is shaped like an eagle's beak.

[0015] As a preferred technical solution of the present invention: the bending direction of the beak-shaped hook is towards the first tissue separation member.

[0016] As a preferred embodiment of the present invention: the second tissue separator is used to move between a closed state and an open state, and 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.

[0017] As a preferred embodiment of the present invention, the insulating head of the first tissue separator gradually decreases in size from the proximal end to the distal end.

[0018] As a preferred technical solution of the present invention, it further includes:

[0019] A forceps base, the forceps base including an internal cavity, the first tissue separator and the second tissue separator respectively disposed on the forceps base, the driving part being slidably disposed in the internal cavity of the forceps base and connected to the proximal end of the second tissue separator.

[0020] As a preferred embodiment of the present invention: the first tissue separation member is fixedly disposed on the forceps base, and the second tissue separation member is pivotally connected to the forceps base.

[0021] As a preferred technical solution of the present invention, it further includes:

[0022] A seal is provided, which is sealed to the drive unit at a first end and sealed to the plier base at a second end, and at least a portion of the seal is deformable.

[0023] As a preferred embodiment of the present invention: the sealing element is cylindrical, the distal end of the sealing element forms the first end, and the proximal end of the sealing element forms the second end.

[0024] As a preferred embodiment 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, wherein 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.

[0025] As a preferred embodiment of the present invention: the sealing member seals and covers the distal outer periphery of the drive wire at the first end; and / or

[0026] The seal is sealed at the second end to the proximal outer periphery of the pliers base; or the seal is sealed at the second end to the inner wall of the pliers base.

[0027] As a preferred embodiment of the present invention, the driving unit further includes:

[0028] A slider is slidably disposed in the internal cavity of the forceps base, and the slider is connected to the proximal end of the second tissue separator via a sliding pin;

[0029] The distal end of the drive wire is connected to the proximal end of the slider, and the proximal end of the drive wire is used to receive push or pull motion to drive the slider to reciprocate within the pliers base.

[0030] As a preferred embodiment of the present invention: the clamp head base includes a pair of base grooves;

[0031] The second tissue separator further includes support portions symmetrically arranged on both sides of the proximal end of the second tissue separator, the support portions being pivotally connected to the clamp head base;

[0032] The support includes a pair of plier head grooves, and the sliding pin is slidably inserted into the pair of base grooves and the pair of plier head grooves.

[0033] The second objective of this invention is to provide a surgical tool that addresses the problems in the prior art.

[0034] Therefore, the above-mentioned objectives of the present invention are achieved through the following technical solutions:

[0035] A surgical instrument, comprising:

[0036] Surgical instrument arm;

[0037] The surgical actuator described above is selected, 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; and

[0038] A transmission unit is disposed at the proximal end of the surgical tool arm and connected to the surgical tool arm and the drive wire. The transmission unit is used to drive the movement of the surgical tool arm and / or the surgical actuator.

[0039] The third objective of this invention is to provide a surgical robot that addresses the problems in the prior art.

[0040] Therefore, the above-mentioned objectives of the present invention are achieved through the following technical solutions:

[0041] A surgical robot, comprising:

[0042] At least one robotic arm;

[0043] At least one of the surgical instruments is disposed at the distal end of the at least one robotic arm; and

[0044] At least one control device, connected to at least one of the robotic arms, is used to control the movement of at least one of the robotic arms, the arm body of the surgical instrument, and / or the surgical actuator.

[0045] Compared with the prior art, the surgical actuator, surgical tool, and surgical robot of the present invention have the following beneficial effects: By utilizing the cooperation of the first tissue separation component—the insulating head—and the second tissue separation component—the hook—the surgical actuator can switch between two separation modes by adjusting the position of the hook relative to the insulating head, achieving both sharp and blunt separation functions on the same tool. This allows surgeons to flexibly switch functions according to actual needs during surgery, without frequently changing different surgical tools, thus achieving different surgical requirements, greatly shortening surgical time and improving surgical efficiency. Furthermore, by utilizing the cooperation between the drive unit and the tissue separation component, the surgical actuator can precisely control the movement trajectory and force of the hook, thereby achieving precise separation and cutting of tissues. Simultaneously, the power conduction function of the drive unit supports the electrocoagulation and electro-cutting operations of the hook. Meanwhile, the insulation and diverse shapes of the insulating head in this invention make blunt separation safer and more flexible; while the hook's beak-shaped design and conductivity support the realization of sharp separation and electrocoagulation and electro-cutting functions, enabling the surgical actuator to perform finer operations and improving the accuracy and flexibility of the surgery; the drive unit can realize the complex movement of the tissue separation component through simple push and pull actions, reducing the difficulty and risk of surgical operations and simplifying the operation process.

[0046] The surgical actuator, surgical tool, and surgical robot of this invention not only possess the functions of blunt and sharp dissection, but also combine the roles of scissors and electric hooks through the electrocoagulation and electro-cutting capabilities of the hook. This multi-functional integration makes the surgical actuator a comprehensive and efficient surgical tool. It can meet the needs of tissue dissection and complex electrocoagulation and electro-cutting operations with the same tool, adapting to diverse surgical requirements. This makes the surgical actuator an efficient, precise, and flexible surgical tool with great application prospects in the field of medical devices. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the surgical actuator of the present invention;

[0048] Figure 2This is a bottom view of the surgical actuator of the present invention in the closed state;

[0049] Figure 3 This is a front view schematic diagram of the surgical actuator of the present invention in the closed state;

[0050] Figure 4 This is a schematic diagram of the structure of the first tissue separation component of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of the second tissue separation component of the present invention;

[0052] Figure 6 This is a longitudinal cross-sectional schematic diagram of the surgical actuator of the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of the seal and the drive unit of the present invention.

[0054] Figure 8 This is a schematic diagram of the structure of the surgical tool of the present invention;

[0055] Figure 9 This is a schematic diagram of the surgical robot of the present invention; Detailed Implementation

[0056] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Example 1

[0057] This invention provides a surgical actuator, such as Figure 1 The diagram shown is a structural schematic of the surgical actuator 100. Figure 2 This diagram shows a bottom view of the surgical actuator 100 in a closed state according to some embodiments of the present disclosure. Figure 3 A front view schematic diagram of a surgical actuator 100 in a closed state according to some embodiments of the present disclosure is shown. Figures 1-3 As shown, the surgical actuator 100 may include a first tissue separator 110, a second tissue separator 120, and a drive unit 130.

[0058] like Figure 1 As shown, the first tissue separator 110 may include an insulating head 111 disposed at its 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, etc. The second tissue separator 120 may include a hook 121 disposed at its distal end. It should be understood that the bending direction of the hook 121 may be towards or away from the insulating head 111. The bending radius of the hook 121 can be set according to actual needs. Figure 2As shown, the drive unit 130 is connected to the proximal end of the second tissue separator 120 to drive the second tissue separator 120 to move so that the second tissue separator 120 moves closer to or further away from the first tissue separator 110.

[0059] In this 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, column-shaped, and conical head. Its distal end gradually decreases in size, forming a roughly triangular structure. This allows the insulating head to adapt to different surgical scenarios. In particular, when blunt dissection of tissue is required, the insulating head can perform tissue dissection along existing seams or natural planes, reducing damage to surrounding tissues.

[0060] like Figure 2 As shown, the drive unit 130 may include a drive wire 131. The distal end of the drive wire 131 is connected to the second tissue separator 120, and the proximal end of the drive wire 131 is used to connect to a power supply device to form a conductive path between the second tissue separator 120 and the drive wire 131. It should be understood that the hook 121 of the second tissue separator 120 may be made of a conductive material, such as a metal or other conductive material. The drive wire 131 may be a nickel-titanium alloy wire or a steel wire. The second tissue separator 120 can be driven, for example, by pushing or pulling the drive wire 131.

[0061] In actual operation, blunt tissue separation can be performed using the first tissue separation element 110, and sharp tissue separation can be performed using the second tissue separation element 120, for example, electrocoagulation and electroresection. 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, electroresection, etc. In this way, a single surgical actuator 100 can possess multiple functions, allowing the operator to perform either sharp or blunt separation using a single surgical actuator 100 without switching between multiple surgical actuators 100. This avoids frequent switching between different surgical tools, which would prolong surgical time and increase surgical costs.

[0062] In some embodiments, such as Figure 1 As shown, the hook 121 can be beak-shaped. This allows for better implementation of functions similar to an electrocautery hook for electrocautery and electrocoagulation of tissue. In some embodiments, the beak can bend towards the first tissue separator 110. The beak-shaped design of the hook 121 allows for better precision manipulation, achieving functions similar to an electrocautery hook.

[0063] In some embodiments, such as Figure 1 and Figure 3 As shown, the second tissue separator 120 is used to move between a closed state and an open state. Wherein, Figure 1The second tissue separator 120 shown is in the open state. Figure 3 The second tissue separator 120 shown is in a closed state. When the second tissue separator 120 is in the 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. This allows for better fine manipulation of the tissue.

[0064] In some embodiments, such as Figure 1 and Figure 3 As shown, the insulating head 111 of the first tissue separator 110 gradually decreases in size 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 facilitates the tissue separation operation.

[0065] In some embodiments, such as Figures 1-3 As shown, the first tissue separator 110 may further include a first blade region 112 located in the middle, and the second tissue separator 120 may further include a second blade region 122 located in the middle. The second blade region 122 is used to cooperate with the first blade region 112 to achieve shearing. It should be understood that when the second tissue separator 120 is in the closed state, the second blade region 122 and the first blade region 112 are staggered to achieve shearing of the tissue. By setting the blade regions, the surgical actuator 100 can have both the function of an electric hook and the function of shearing, eliminating the need to switch between electric hook tools and shearing tools, thus shortening the operation time.

[0066] In some embodiments, the second cutting region 122 and the hook 121 can be integrally formed or fixedly connected (e.g., by welding or bonding). In some embodiments, the insulating head 111 can be disposed at the distal end of the first cutting region 112 by welding, bonding, hot melting, or other methods. In some embodiments, the insulating head 111 can be made of ceramic material, the first cutting region 112 can be made of metal material, and the insulating head 111 is fixedly disposed at the distal end of the first cutting region 112 by welding.

[0067] Figure 4 A schematic diagram of the structure of a first tissue separator 110 according to some embodiments of the present disclosure is shown. For clarity, Figure 4 The second tissue separator 120 is not shown. In some embodiments, such as Figure 4As shown, the insulating head 111 can be made of 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 cutting region 112 may include at least one connecting hole 1121, into which the at least one columnar connector 1111 is respectively inserted. The connecting hole 1121 has an inwardly recessed annular groove 1122 on the side opposite to the insulating head 111. The columnar connector 1111 is filled into the annular groove 1122 by heat fusion to form a mushroom head structure. This makes the connection between the insulating head 111 and the first cutting region 112 more stable and reliable.

[0068] In some embodiments, such as Figure 1 and Figure 2 As shown, the surgical actuator 100 may further include a forceps base 140. The forceps base 140 includes an internal cavity 1411. A first tissue separator 110 and a second tissue separator 120 are respectively disposed on the forceps base 140. A drive unit 130 is slidably disposed in the internal cavity 1411 of the forceps base 140 and connected to the proximal end of the second tissue separator 120. In some embodiments, the proximal end of the forceps base 140 may be cylindrical, with the internal cavity 1411 formed within the cylindrical shape. Alternatively, the internal cavity 1411 may be formed between opposing sidewalls of the proximal end of the forceps base 140. The drive unit 130 may slide along the internal cavity 1411. The first tissue separator 110 is fixedly disposed at the distal end of the forceps base 140, and the second tissue separator 120 may be hinged to the distal end of the forceps base 140 via a pivot (e.g., pin 124). The distal end of the clamp base 140 is shaped to engage with the second tissue separator 120 for actuation by the drive unit 130. It should be understood that the second tissue separator 120 may also be connected to the distal end of the clamp base 140 in other ways, as long as its opening and closing motion can be achieved by the drive unit 130.

[0069] By fixing the first tissue separator 110 to the forceps base 140 and pivotally connecting the second tissue separator 120 to the forceps base 140, the drive 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.

[0070] In some embodiments, such as Figure 1 and Figure 2As shown, the drive unit 130 may further include a slider 132. The slider 132 is slidably disposed in the internal cavity 1411 of the pliers base 140. The slider 132 is connected to the proximal end of the second tissue separator 120 via 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 pushing or pulling motion to drive the slider 132 to reciprocate within the pliers base 140. It should be understood that the drive wire 131 and the slider 132 can be connected by welding, snap-fitting, adapter connection or other means, which are not limited herein. In some embodiments, the slider 132 may be cylindrical, cubic, polyhedral or irregularly shaped, and the sliding pin 133 may be fixedly inserted into the slider 132 radially.

[0071] It should be understood that the slider 132 and the sliding pin 133 can be made of metal. The proximal end of the drive wire 131 is connected to a power supply device to form a conductive path between the second tissue separator 120 and the drive wire 131. For example, the second tissue separator 120 forms a conductive path through the sliding pin 133, the slider 132, and the drive wire 131 to achieve the function of an electric hook. In some embodiments, the pliers base 140 can also be conductive; for example, the distal portion of the pliers base 140 can also be made of metal. This can improve the conductivity. Those skilled in the art should understand that the slider 132, the sliding pin 133, and the distal portion of the pliers base 140 (e.g., the first support 142) can also be plated with a conductive layer on their surfaces to achieve the function of conductivity.

[0072] Figure 5 A schematic diagram of the structure of a second tissue separator 120 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figures 2-5 As shown, the clamp base 140 may include a pair of base grooves 1421. The second tissue separator 120 may also include first support portions 123 symmetrically arranged on both sides of the proximal end of the second tissue separator 120, for example... Figure 2 The left support portion 1233 and the right support portion 1234 are shown. The first support portion 123 is pivotally connected to the pliers head base 140, for example, by means of a pin 124. It should be understood that the first support portion 123 and the second blade region 122 can be fixedly connected or integrally formed. The first support portion 123 includes a pair of pliers head grooves 1231, and a sliding pin 133 is slidably disposed in a pair of base grooves 1421 and a pair of pliers head grooves 1231. It should be understood that the pair of base grooves 1421 can be radially opposite to each other and axially extended, and the pair of pliers head grooves 1231 are opposite to each other and correspond to the circumferential and radial positions of the pair of base grooves 1421.

[0073] In some embodiments, the base groove 1421 can be a longitudinal groove, and the clamp head groove 1231 can be an arc-shaped groove. The sliding pin 133 can be radially inserted into the slider 132, with its two ends respectively inserted into the vertical groove and the arc-shaped groove, and can reciprocate along the vertical groove and the arc-shaped groove. The drive wire 131 pushes the slider 132 to move to the distal end, and the slider 132 drives the sliding pin 133 to move from the vertical groove and the arc-shaped groove to the distal end, so that the second tissue separator 120 rotates about the pivot shaft (e.g., pin 124) to realize the opening and closing of the second tissue separator 120 relative to the insulating head 111.

[0074] In some embodiments, such as Figure 5 As shown, the arc-shaped groove of the second tissue separator 120 can be composed of one or more arc-shaped contour lines. By adjusting the curvature angle of the arc-shaped contour lines, the surgical actuator 100 can output a larger clamping force so that the first cut area 112 and the second cut area 122 can be cut.

[0075] In some embodiments, such as Figures 1-3 As shown, the clamp base 140 may include a support connector 141 located at the proximal end and at least one first support member 142 circumferentially spaced at the distal end of the support connector 141 (e.g., Figure 2 The left support member 1423 and the right support member 1424 are shown as a pair of supports. The support connector 141 can be cylindrical, and its cross-section can be circular, elliptical, rectangular, or polygonal, etc. An internal cavity 1411 is formed therein, arranged along the axial direction. The left support member 1423 and the right support member 1424 can be arranged opposite to each other, and a pair of base grooves 1421 can be formed opposite to each other on the left support member 1423 and the right support member 1424, for example, on the sidewalls of the left support member 1423 and the right support member 1424. The first support member 142 (e.g., the left support member 1423 and the right support member 1424) and the support connector 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 its cross-section can be circular, elliptical, rectangular, polygonal, etc. By setting the first support member 142 with circumferential spacing, the hollow structure at the distal end of the forceps base 140 is increased, reducing the internal gaps and the shielding area, so as to facilitate the cleaning of the surgical actuator 100.

[0076] like Figure 2 , Figure 3 and Figure 5As shown, a pair of first support portions 123 (e.g., left support portion 1233 and right support portion 1234) of the second tissue separator 120 can be pivotally connected to a pair of support members 142 (e.g., left support member 1423 and right support member 1424) of the pliers head base 140 via pins 124. The pair of first support portions 123 are located inside the pair of first support members 142. For example, a pair of connecting holes can be provided at the distal ends of the pair of first support portions 123, and a pair of connecting holes are correspondingly provided on the pair of first support members 142. The pin 124 passes through the connecting holes on the first support portions 123 and the first support members 142, so that the pair of first support portions 123 are pivotally connected to the pair of first support members 142. The first tissue separator 110 is fixedly connected to or integrally formed with one of the first support members 142.

[0077] Figure 6 This diagram shows a longitudinal cross-sectional view of a surgical actuator 100 according to some embodiments of the present disclosure. Figure 7 A schematic diagram showing the structure of the seal 150 and the drive portion 130 cooperating according to some embodiments of the present disclosure is provided. In some embodiments, such as Figure 6 and Figure 7 As shown, the surgical actuator 100 may also include a seal 150. The seal 150 is located at a first end (e.g., proximal end or such as...). Figure 6 The distal end (as shown) is sealed to the drive unit 130, and at the second end (e.g., the distal end or as shown) Figure 6 The seal 150 is sealed to the forceps base 140 at its proximal end (as shown), and at least a portion of the seal 150 is deformable. Thus, the seal 150 can adaptively deform as the drive unit 130 moves relative to the forceps base 140. The seal 150 creates a sealed isolation between the interior of the drive unit 130 (e.g., the slider 132 and drive wire 131) and the external surgical environment (including the distal end of the forceps base 140 and the first tissue separator 110 and the second tissue separator 120), preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 100 (e.g., the drive unit 130) through pores during surgery, facilitating repeated cleaning and disinfection of the surgical actuator 100.

[0078] In some embodiments, the seal 150 may be made of a stretchable 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 and second ends is stretchable, or the seal 150 as a whole is stretchable. In some embodiments, at least a portion of the seal 150 is flexible, for example, it may be plastic or nonwoven fabric. This allows the seal 150 to adapt to deformation during the reciprocating motion of the drive wire 131.

[0079] In some embodiments, such as Figure 6 and Figure 7As shown, the seal 150 seals over the distal outer periphery of the drive wire 131 at its first end. It should be understood that the distal outer periphery of the drive wire 131 can be broadly interpreted; for example, it may include the distal outer periphery of the drive wire 131, or the outer periphery of the slider 132 connected to the distal end of the drive wire 131. The seal 150 seals over the proximal outer periphery of the pliers base 140 (e.g., the support connector 141) at its second end. Alternatively, the seal 150 seals against the inner wall of the pliers base 140 at its second end (e.g., as shown in the image). Figure 6 (The inner wall of the support connector 141 shown). For example, the seal 150 can be sealed to the drive wire 131 or the pliers base 140 by means of adhesive, thermoplastic, clamp, etc.

[0080] In some embodiments, the seal 150 may be cylindrical, with the distal end of the seal 150 forming a first end and the proximal end of the seal 150 forming a second end. In some embodiments, such as Figure 6 and Figure 7 As shown, the seal 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 distal outer periphery of the drive wire 131 and located in the internal cavity 1411 of the support connector 141. The inner cylinder portion 151 may extend and retract along the internal cavity 1411 under the drive of 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 may also be configured such that the outer cylinder portion 152 tightly wraps around the support connector 141). The outer cylinder portion 152 is connected to the inner cylinder portion 151 as a whole through the bent 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 that can be extended or retracted. Thus, when the drive portion 130 slides relative to the jaw base 140, the seal 150 can adaptively deform, thereby achieving a seal without affecting the relative movement between the drive portion 130 and the jaw base 140. It should be understood that the inner cylinder portion 151, the outer cylinder portion 152, and the transition portion 153 of the seal 150 can form a continuous sealing surface, resulting in a better sealing effect.

[0081] Thus, the seal 150 forms an integral sealing structure between the slider 132 and the drive wire 131, isolating the drive wire 131 from the surgical interface. This prevents bodily fluids from penetrating the surgical actuator 100 or surgical instruments during the operation. During cleaning and disinfection, only the outer surface of the surgical actuator 100 needs to be cleaned. Since there are no difficult-to-clean crevices or cavities, it is not necessary to disassemble the surgical actuator 100 for cleaning. This not only makes disinfection easier and more thorough but also avoids secondary infection.

[0082] In some embodiments, such as Figure 6 and Figure 7 As shown, a sleeve 160 can be fitted over the outer side of the inner cylinder portion 151 of the seal 150 to ensure a tight and sealed connection between the seal 150 and the slider 132 or the drive wire 131. The sleeve 160 further ensures the seal between the seal 150 and the drive wire 131. The risk of the seal 150 slipping during telescopic movement is reduced.

[0083] In some embodiments, such as Figure 1 and Figure 6 As shown, a protective sleeve 170 may also be provided on the proximal outer periphery of the pliers base 140. In some embodiments, the protective sleeve 170 may include a proximal segment 171 and a distal segment 172, wherein the radial dimension of the distal segment 172 is larger than the radial dimension of the proximal segment 171. The proximal segment 171 and the distal segment 172 may be integrally formed and communicate with each other. The distal segment 172 of the protective sleeve 170 may include a receiving groove at its distal end. The receiving groove of the protective sleeve 170 receives the proximal end of the pliers base 140, such as a support connector 141, and seals with the end of the pliers base 140. Those skilled in the art will understand that the distal segment 172 and the support connector 141 at the proximal end of the pliers base 140 may be threaded, interference-fitted, welded, bonded, or integrally formed, etc. The proximal segment 171 of the protective sleeve 170 receives a drive wire 131. The end of the proximal segment 171 of the protective sleeve 170 may be provided with a through hole for the drive wire 131 to pass through. In some embodiments, the proximal portion 171 of the protective sleeve 170 is used for fixed connection to the surgical tool arm. The drive wire 131 can pass through a through-hole and extend through the surgical tool arm. In some embodiments, the protective sleeve 170 can be an insulator such as rubber, plastic, or ceramic. The protective sleeve 170 can prevent the proximal end of the surgical actuator 100 from becoming electrified, potentially burning the patient during surgery. It can also insulate the surgical actuator 100 from the surgical tool arm, preventing contaminants from entering the surgical tool and causing cleaning difficulties.

[0084] In some embodiments, such as Figure 6As shown, the inner wall of the receiving groove of the distal segment 172 may be provided with a threaded structure, and the proximal outer periphery of the support connector 141 of the forceps base 140 is provided with a corresponding threaded structure, so that the distal segment 172 is threadedly connected to the forceps base 140. In this way, the surgical actuator 100 can be detachably connected, which facilitates the replacement of the surgical actuator 100.

[0085] This disclosure also provides a surgical tool. Figure 8 A schematic diagram of the structure of a surgical tool 1000 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 8 As shown, the surgical tool 1000 may include a surgical tool arm 200, a surgical actuator 100 as in any embodiment of this disclosure, and a transmission unit 300. The surgical actuator 100 may be disposed at the distal end of the surgical tool arm 200, and a drive wire 131 of the surgical actuator 100 extends through the surgical tool arm 200. The transmission unit 300 is disposed at the proximal end of the surgical tool arm 200 and connected to the surgical tool arm 200 and the drive wire 131. The transmission unit 300 is used to receive external driving force to drive the movement of the surgical tool arm 200 and / or the surgical actuator 100.

[0086] In some embodiments, the surgical tool arm 200 may include a deformable arm or a rigid arm or a combination of both. In some embodiments, the deformable arm may include at least one of an articulated arm, a serpentine arm, or a continuous arm. The surgical tool arm 200 may bend under the drive of the transmission unit 300, thereby adjusting the position of the distal surgical actuator 100.

[0087] In some embodiments, the transmission unit 300 may include a transmission unit for connection to an external motor drive device (e.g., drive device 102) to drive the drive wire 131 of the surgical actuator 100 or the surgical tool arm 200. It should be understood that the transmission unit may include any mechanism that converts rotary motion into linear motion. For example, the transmission unit may include, but is not limited to, a lead screw and nut mechanism, a rack and pinion mechanism, a wire pulley mechanism, a worm gear mechanism, etc., and is not limited thereto. In some embodiments, the transmission unit 300 may further include a motor drive unit that drives the transmission unit, thereby enabling the drive of the drive wire 131 or the surgical tool arm 200.

[0088] This disclosure also provides a surgical robot. Figure 9 A schematic diagram of the structure of a surgical robot 10 according to some embodiments of the present disclosure is shown. For example... Figure 9As 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 this 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 to at least one robotic arm 101 and the surgical tool 1000 or endoscope for controlling the movement of the robotic arm 101, the surgical tool arm 200, and / or the opening and closing of the surgical actuator 100.

[0089] In some embodiments, such as Figure 9 As shown, the surgical robot 10 may include a surgical cart 11, which may include at least one robotic arm 101. At least one surgical tool 1000 (or endoscope) is disposed at the distal end of the at least one robotic arm 101, and at least one surgical actuator 100 may be disposed at the distal end of the at least one surgical tool 1000. A control device may be used to remotely control the movement of the robotic arm 101, the surgical tool arm 200 of the at least one surgical tool 1000, and / or the at least one surgical actuator 100. It should be understood that the robotic arm 101 may include multiple movable joints and links, having multiple degrees of freedom. The surgical tool 1000 is detachably disposed at the distal end of the robotic arm 101. The robotic arm 101 is used to adjust the position and orientation of the end effector (e.g., the surgical actuator 100) of the surgical tool 1000, or a drive device (e.g., drive device 102) disposed on the robotic arm 101 is used to drive the surgical tool arm 200 to adjust the position and orientation of the end effector (e.g., the surgical actuator 100).

[0090] During the procedure, the robotic arm 101 can remain stationary outside the body, and the position and orientation of the surgical actuator 100 can be adjusted by controlling the movement of the surgical tool 1000 (e.g., surgical tool arm 200). By keeping the robotic arm 101 stationary outside the body and performing surgical operations solely by controlling the movement of the surgical tool arm 200 or the surgical actuator 100, the safety of the surgery is improved. It should be understood that in some embodiments, the robotic arm 101 can also be controlled to move the surgical tool 1000 during the procedure to perform surgical operations.

[0091] In some embodiments, the surgical robot 10 may further include a main control carriage 12. The surgical carriage 11 and the main control carriage 12 can be connected via wired or wireless transmission. In some embodiments, at least one control device may be mounted on the main control carriage 12 or the surgical carriage 11.

[0092] In some embodiments, the surgical trolley 11 of the surgical robot 10 may further include at least one drive unit 102. The at least one drive unit 102 may be disposed between at least one surgical instrument (e.g., surgical tool 1000) and at least one robotic arm 101. The drive unit 102 may be coupled to a transmission 300 at the proximal end of the surgical tool 1000 to convert the rotational motion of the drive unit 102 into linear motion, such as pushing or pulling motion, to drive the surgical tool arm 200 or the surgical actuator 100. Figure 9 As shown, the surgical cart 11 may include a single robotic arm 101, and multiple independent drive devices 102 may be mounted on the robotic arm 101 (e.g., the end of the robotic arm 101). Those skilled in the art will understand that the surgical cart 11 may also include multiple robotic arms 101, and the multiple drive devices 102 may be respectively mounted on multiple robotic arms 101; no specific limitation is made here. Those skilled in the art will understand that the surgical robot 10 provided in this embodiment may be any suitable surgical robot, including laparoscopic surgical robots.

[0093] This invention discloses a surgical actuator, surgical tool, and surgical robot. The surgical actuator includes a first tissue separation component, a second tissue separation component, and a drive unit. The first tissue separation component includes an insulating head disposed at its distal end, and the second tissue separation component includes a hook disposed at its distal end. The drive unit is connected to the proximal end of the second tissue separation component to drive the movement of the second tissue separation component. The drive unit includes a drive wire, the distal end of which is connected to the second tissue separation component, and the proximal end of which is used to connect to a power supply device to form a conductive path between the second tissue separation component and the drive wire. This surgical actuator can be used for both sharp and blunt dissection, and can also function as an electric hook and scissors. It eliminates the need to switch between multiple surgical actuators, thereby avoiding frequent switching of different surgical tools, which would prolong surgical time and increase surgical costs.

[0094] The above specific embodiments are used to explain and illustrate the present invention, and are only preferred embodiments of the present invention, not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A surgical actuator, characterized in that, include: The first tissue separator includes an insulating head disposed at the distal end, wherein the size of the insulating head of the first tissue separator gradually decreases from the proximal end to the distal end, forming a triangular structure; The second tissue separator includes a beak-shaped hook at the distal end, the beak-shaped hook bending in the direction of the first tissue separator, and forming a tissue operation gap with the insulating head in the closed state. as well as A drive unit is connected to the proximal end of the second tissue separator to drive the second tissue separator to move between a closed state and an open state; A forceps base includes an internal cavity, a first tissue separation member is fixedly disposed on the forceps base, and a second tissue separation member is hinged to the forceps base; A sealing element, which is sealed to the drive unit at a first end and sealed to the forceps base at a second end, wherein at least a portion of the sealing element is deformable to form a sealed isolation between the interior of the drive unit and the external surgical environment. The drive unit includes a drive wire, which is connected at its distal end to the second tissue separator. The beak-shaped hook of the second tissue separator is made of a conductive material. The proximal end of the drive wire is used to connect to a power supply device to form a conductive path between the second tissue separator and the drive wire. The first tissue separator further includes a first blade region located in the middle, with an insulating head fixedly disposed at the distal end of the first blade region. The second tissue separator further includes a second blade region located in the middle. The second blade region and the first blade region are staggered in the closed state to achieve a shearing function. By utilizing the cooperation of the first and second tissue separation components, and adjusting the position of the beak-shaped hook relative to the insulating head, the surgical actuator can switch between two separation modes, achieving both sharp and blunt separation functions on the same tool.

2. The surgical actuator according to claim 1, characterized in that, The seal is cylindrical, with the distal end of the seal forming the first end and the proximal end of the seal forming the second end.

3. The surgical actuator according to claim 1, characterized in that, The sealing element 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.

4. The surgical actuator according to claim 1, characterized in that, The seal at the first end seals over the distal outer periphery of the drive wire; and / or The seal is sealed at the second end to the proximal outer periphery of the pliers base; or the seal is sealed at the second end to the inner wall of the pliers base.

5. The surgical actuator according to claim 4, characterized in that, The drive unit also includes: A slider is slidably disposed in the internal cavity of the forceps base, and the slider is connected to the proximal end of the second tissue separator via a sliding pin; The distal end of the drive wire is connected to the proximal end of the slider, and the proximal end of the drive wire is used to receive push or pull motion to drive the slider to reciprocate within the pliers base.

6. The surgical actuator according to claim 5, characterized in that, The clamp base includes a pair of base grooves; The second tissue separator further includes support portions symmetrically arranged on both sides of the proximal end of the second tissue separator, the support portions being pivotally connected to the clamp head base; The support includes a pair of plier head grooves, and the sliding pin is slidably inserted into the pair of base grooves and the pair of plier head grooves.

7. A surgical instrument, characterized in that, include: Surgical instrument arm; The surgical actuator as described in any one of claims 1-6, 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 A transmission unit is disposed at the proximal end of the surgical tool arm and connected to the surgical tool arm and the drive wire. The transmission unit is used to drive the movement of the surgical tool arm and / or the surgical actuator.

8. A surgical robot, characterized in that, include: At least one robotic arm; At least one surgical tool as described in claim 7 is disposed at the distal end of the at least one robotic arm; as well as At least one control device, connected to at least one of the robotic arms, is used to control the movement of at least one of the robotic arms, the surgical tool arm body, and / or the surgical actuator.

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