Monopole combined type surgical tool and surgical robot

Abstract

According to the monopole combined type surgical tool and the surgical robot, the tool comprises a first forceps component, a second forceps component and a driving part, the first forceps component comprises a first clamping part located at the far end and a first shearing part located in the middle, and the second forceps component comprises a second clamping part located at the far end and a second shearing part located in the middle; the second clamping part is used for being matched with the first clamping part to achieve clamping, the second shearing part is used for being matched with the first shearing part to achieve shearing, the driving part is used for driving the second forceps component to move, the far end of a driving wire of the driving part is connected with the second forceps component, and the near end of the driving wire is used for receiving unipolar energy. A conductive path is formed between the second jaw member and the drive wire. By selectively carrying out the monopole operation, the clamping operation or the shearing operation on the same surgical tool, a doctor can be prevented from frequently switching among a monopole tool, a clamping tool and a shearing tool in the surgical operation process, and the surgical time is shortened.

Description

Technical Field

[0001] The present invention belongs to the field of medical instruments, and in particular relates to a monopolar compound 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, monopolar scissors, 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 one function, such as only physical shearing function, no monopolar function (such as electroresection), or only monopolar function, no clamping function. For tissue stripping, surgical tools cannot have both monopolar function and physical shearing function, while taking into account the clamping function.

[0003] During surgery, it is usually necessary to alternately use a variety of surgical tools with different functions. For example, the doctor needs to switch between a clamping tool and a monopolar tool, or between a clamping tool and a physical shearing tool. Frequent switching of surgical tools will prolong the operation time and increase the cost of the surgical operation. Summary of the invention

[0004] The first object of the present invention is to provide a monopolar composite surgical tool to address 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 monopolar composite surgical tool, comprising: The first jaw component comprises: A first clamping portion provided at a distal end of the first jaw element; and a first shearing portion connected to the first clamping portion and disposed in the middle of the first jaw member; The second jaw component comprises: a second clamping portion, disposed at a distal end of the second jaw member, and configured to cooperate with the first clamping portion to achieve clamping; and a second shearing portion connected to the second clamping portion and disposed at a middle portion of the second jaw member, the second shearing portion being used to cooperate with the first shearing portion to achieve shearing; and a driving portion connected to the proximal end of the second jaw member to drive the second jaw member to move; The driving portion comprises a driving wire, a distal end of the driving wire is connected to the second jaw element, and a proximal end of the driving wire is used to receive monopolar energy to form a conductive path between the second jaw element 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: at least a portion of the first jaw element and at least a portion of the second jaw element are bent in the same direction.

[0007] As a preferred technical solution of the present invention: the first clamping portion and the first shearing portion include a first contact surface bent toward the second jaw element; The second clamping portion and the second shearing portion include a second contact surface bent to fit with the first contact surface.

[0008] As a preferred technical solution of the present invention: the sizes of the first clamping part and the second clamping part gradually decrease from the proximal end to the distal end; and / or The sizes of the first shearing portion and the second shearing portion gradually decrease from the proximal end to the distal end.

[0009] As a preferred technical solution of the present invention: the first clamping portion includes a first tooth structure, the second clamping portion includes a second tooth structure, and the first tooth structure is used to mesh with the second tooth structure.

[0010] As a preferred technical solution of the present invention: a pliers head base, the pliers head base includes an internal cavity, the first jaw member and the second jaw member are respectively arranged on the pliers head base, and the distal end of the driving part is slidably arranged in the internal cavity of the pliers head base and connected to the proximal end of the second jaw member.

[0011] As a preferred technical solution of the present invention: the first jaw member is fixedly arranged on the jaw head base, and the second jaw member is rotatably pivoted to the jaw head base.

[0012] As a preferred technical solution of the present invention: a seal, wherein the seal is sealed to the driving portion at a first end and is sealed to the pliers head base at a second end, and at least a portion of the seal is deformable.

[0013] 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.

[0014] As a preferred technical solution of the present invention: the sealing member is sealed and covered 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.

[0015] As a preferred technical solution of the present invention: the driving unit further includes: A slider, the slider being slidably disposed in the inner cavity of the clamp head base, the slider being connected to the proximal end of the second clamp member via 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.

[0016] As a preferred technical solution of the present invention: the clamp head base includes a pair of base slide grooves; The second jaw member further comprises support portions symmetrically arranged on both sides of the proximal end of the jaw member, and the support portions are pivotally connected to the jaw 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.

[0017] As a preferred technical solution of the present invention: the drive wire, the slider, the sliding pin and the second jaw member form the conductive path.

[0018] As a preferred technical solution of the present invention: it also includes: a tool arm, wherein the proximal end of the pliers head base is disposed at the distal end of the tool arm, and the drive wire extends through the tool arm; and The transmission part is arranged at the proximal end of the tool arm and connected to the tool arm and the driving wire. The transmission part is used to receive a drive to push or pull the driving wire and / or drive the tool arm to bend.

[0019] The second object of the present invention is to provide a surgical robot 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 robot, comprising: A surgical trolley, comprising at least one robotic arm; at least one monopolar hybrid surgical tool as described above, wherein the monopolar hybrid surgical tool is disposed at the distal end of the at least one robotic arm; and A monopolar energy generator is used to be connected to the driving wire of the monopolar composite surgical tool to provide energy to the second jaw element.

[0021] Compared with the prior art, a monopolar composite surgical tool of the present invention has the following beneficial effects: the configuration of the first jaw member and the second jaw member respectively including a clamping portion and a shearing portion allows the tool to perform effective tissue clamping and shearing during surgery; through the connection of the driving portion and the second jaw member and the use of a driving wire, precise adjustment and control of the jaw member, including movement towards or away from, is achieved to complete the clamping or shearing action to adapt to different surgical needs; the proximal end of the driving wire is used to receive monopolar energy, so that the jaw member serves as a conductive positive electrode and the electrode in contact with the human body serves as a negative electrode to form a high-frequency current loop to achieve electrocuting or electrocoagulation operations, and electrocuting or electrocoagulation is performed without contacting the patient, thereby reducing direct contact with the patient, reducing the risk of damage to surrounding tissues, and reducing the risk of surgical complications.

[0022] The present invention integrates monopolar operation, clamping and shearing functions on the same surgical tool, avoiding the doctor from frequently changing tools during the operation. By integrating multiple functions into one, the time for changing tools during the operation is reduced, and the efficiency of the operation is improved. The fine drive control of the forceps component by the drive wire makes tissue clamping and shearing more accurate, which helps to improve the quality of the operation and adapt to different surgical needs. The monopolar composite surgical tool and surgical robot of the present invention provide an integrated tool that saves time, improves accuracy, improves surgical safety and is easy to operate, making the surgical process smoother and improving the efficiency and convenience of the doctor's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the monopolar composite surgical tool of the present invention in a closed state; Figure 2 It is a structural schematic diagram of the monopolar composite surgical tool of the present invention in an open state; Figure 3 is a schematic structural diagram of a first jaw component of the present invention; Figure 4 is a schematic structural diagram of a second jaw component of the present invention; Figure 5 is a longitudinal cross-sectional schematic diagram of the monopolar composite surgical tool of the present invention; Figure 6 It is a structural schematic diagram of the monopolar composite surgical tool of the present invention; Figure 7 It is a schematic structural diagram of the tool arm of the present invention; Figure 8 It is a structural schematic diagram of the transmission part of the present invention; Fig. 9 is a schematic structural diagram of the surgical robot of the present invention; Fig.10 It is a partial structural schematic diagram of the surgical robot of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] The present disclosure provides a monopolar composite surgical tool. Figure 1 FIG. 1 is a schematic structural diagram showing a monopolar composite surgical tool 100 in a closed state according to some embodiments of the present disclosure. Figure 2 FIG. 1 is a schematic diagram showing a structure of a monopolar composite surgical tool 100 in an open state according to some embodiments of the present disclosure. Figure 1 and Figure 2 As shown, the monopolar composite surgical tool 100 may include a first jaw element 110 , a second jaw element 120 , and a driving portion 130 .

[0026] like Figure 1 and Figure 2 As shown, the first jaw component 110 may include a first clamping portion 111 and a first shearing portion 112. The first clamping portion 111 is disposed at the distal end of the first jaw component 110, and the first shearing portion 112 is connected to the first clamping portion 111 and disposed in the middle of the first jaw component 110. The second jaw component 120 may include a second clamping portion 121 and a second shearing portion 122. The second clamping portion 121 is disposed at the distal end of the second jaw component 120, and is used to cooperate with the first clamping portion 111 to achieve clamping. The second shearing portion 122 is connected to the second clamping portion 121, and is disposed in the middle of the second jaw component 120, and the second shearing portion 122 is used to cooperate with the first shearing portion 112 to achieve shearing.

[0027] It should be understood that the first clamping portion 111 and the first shearing portion 112 can be integrally formed or fixedly connected (e.g., welded or bonded), and the second clamping portion 121 and the second shearing portion 122 can be integrally formed or fixedly connected (e.g., welded or bonded). In some embodiments, the first clamping portion 111 and the first shearing portion 112 can be made of conductive materials, the second clamping portion 121 and the second shearing portion 122 can be made of conductive materials, the first clamping portion 111 is fixedly disposed at the distal end of the first shearing portion 112, and the second clamping portion 121 is fixedly disposed at the distal end of the second shearing portion 122. For example, in the present disclosure, the conductive material can be a metal material, a hard material containing a conductive coating, or other conductive materials.

[0028] The tissue clamping action is performed by the clamping part at the distal end of the jaw member, and scissors are provided at the proximal end of the jaw member, so that in some scenarios, when there is scab on the tissue or blood vessel section and it is not easy to cut off, it is more efficient to use scissors to cut these scabs.

[0029] like Figure 1 , Figure 2 and Figure 5As shown, the driving part 130 is connected to the proximal end of the second jaw member 120 to drive the second jaw member 120 to move, for example, to drive the second jaw member 120 to move closer to or farther from the first jaw member 110 to clamp or shear the tissue. In some embodiments, the driving part 130 may include a driving wire 131, the distal end of the driving wire 131 is connected to the second jaw member 120, and the proximal end of the driving wire 131 is used to receive monopolar energy to form a conductive path between the second jaw member 120 and the driving wire 131. It should be understood that the proximal end of the driving wire 131 can be used to receive monopolar energy, for example, the driving wire 131 can be connected to a high-frequency energy generator through a wire to implement a monopolar electrocuting or electrocoagulation operation. In some embodiments, the driving wire 131 can be a nickel-titanium alloy wire or a steel wire. The second jaw member 120 can be driven by pushing and pulling the driving wire 131, for example, an opening and closing movement, so that the first jaw member 110 and the second jaw member 120 can achieve a clamping action or a shearing action.

[0030] When a monopolar function (e.g., shearing tissue) is performed during surgery, the jaw member (e.g., the second jaw member 120) serves as a conductive positive electrode, the electrode plate in contact with the human body serves as a negative electrode, and the human tissue serves as a conductor to conduct the positive and negative electrodes, thereby forming a high-frequency current loop. By selectively performing monopolar operations, clamping or shearing operations on the same surgical tool, it is possible to avoid doctors frequently switching between monopolar tools, clamping tools, and shearing tools during the surgical operation, thereby reducing the surgical time. It will be understood by those skilled in the art that, in some embodiments, a conductive path may also be formed between the first jaw member 110 and the drive wire 131, and the first jaw member 110 may also be used as a monopolar tool, or the first jaw member 110 and the second jaw member 120 may be used together as a monopolar tool.

[0031] In some embodiments, at least a portion of the first jaw element 110 and at least a portion of the second jaw element 120 are bent in the same direction. It should be understood that designing the jaw elements to bend in the same direction can facilitate the freeing of blood vessels during operation.

[0032] Figure 3 FIG. 1 is a schematic structural diagram of a first jaw component 110 according to some embodiments of the present disclosure, Figure 4 FIG. 4 is a schematic diagram showing the structure of the second jaw member 120 according to some embodiments of the present disclosure. Figures 1 to 4As shown, the first clamping portion 111 and the first shearing portion 112 include a first contact surface (e.g., a first clamping surface 1112 and a first shearing surface 1113) that is bent toward the direction of the second jaw member 120, and the second clamping portion 121 and the second shearing portion 122 include a second contact surface (e.g., a second clamping surface 1212 and a second shearing surface 1213) that is bent and matched with the first contact surface. It should be understood that the first contact surface may include a curved arc surface formed by the first clamping surface 1112 of the first clamping portion 111 and the first shearing surface 1113 of the first shearing portion 112, and the first contact surface may be a continuous curved surface or a discontinuous curved surface. The second contact surface may include a curved arc surface formed by the second clamping surface 1212 of the second clamping portion 121 and the second shearing surface 1213 of the second shearing portion 122, and the second contact surface is bent and matched with the first contact surface.

[0033] In some embodiments, Figure 3 and Figure 4 As shown, the size of the first clamping portion 111 and the second clamping portion 121 gradually decreases from the proximal end to the distal end. In some embodiments, the size of the first shearing portion 112 and the second shearing portion 122 gradually decreases from the proximal end to the distal end. The size of the clamping portion and the shearing portion gradually decreases from the proximal end to the distal end to facilitate the freeing of the blood vessel during operation.

[0034] In some embodiments, Figure 3 and Figure 4 As shown, the first clamping portion 111 may include a first tooth structure 1111, and the second clamping portion 121 may include a second tooth structure 1211. The first tooth structure 1111 is used to mesh with the second tooth structure 1211. Figure 3 For example, the first tooth structure 1111 and the second tooth structure 1211 can be respectively arranged on the inner side of the first clamping portion 111 and the second clamping portion 121 (for example, on the first clamping surface 1112 and the second clamping surface 1212), and when the first clamping portion 111 and the second clamping portion 121 are completely closed, the first tooth structure 1111 and the second tooth structure 1211 are meshed with each other. By providing the tooth structure, the friction force of the first clamping portion 111 and the second clamping portion 121 when clamping the tissue can be increased to prevent the tissue from slipping.

[0035] In some embodiments, Figure 1-Figure 3As shown, the monopolar composite surgical tool 100 may further include a forceps head base 140. The forceps head base 140 includes an internal cavity 1411. The first jaw member 110 and the second jaw member 120 are respectively disposed on the forceps head base 140. The distal end of the driving portion 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 jaw member 120. In some embodiments, the proximal end of the forceps head base 140 may be cylindrical or cylindrical-like, and the internal cavity 1411 is formed in the cylindrical shape. The driving portion 130 may slide along the internal cavity 1411. The first jaw member 110 is fixedly disposed at the distal end of the forceps head base 140, and the second jaw member 120 is hinged to the distal end of the forceps head base 140 by a pivot (e.g., a pin 124). The distal end of the forceps head base 140 is shaped so as to be able to cooperate with the second jaw member 120 to facilitate driving by the driving portion 130. It should be understood that the second jaw component 120 may also be connected to the distal end of the jaw head base 140 in other ways, as long as the opening and closing movement thereof can be achieved by the driving portion 130 .

[0036] By fixing the first jaw member 110 on the jaw base 140 and pivotally connecting the second jaw member 120 to the jaw base 140, the driving structure can be simplified and the monopolar composite surgical tool 100 can be miniaturized. Therefore, the tool can be widely used in various minimally invasive surgeries, especially in minimally invasive surgical robots, such as laparoscopic surgical robots.

[0037] Figure 5 FIG. 1 is a schematic longitudinal cross-sectional view of a monopolar composite surgical tool 100 according to some embodiments of the present disclosure. Figures 1 to 5 As shown, the driving part 130 may further 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 slidably connected to the slide groove (e.g., the clamp head slide groove 1231) of the proximal end (e.g., the right support part 1232 and the left support part 1233) of the second jaw member 120 through a sliding pin 133. The distal end of the driving wire 131 is connected to the proximal end of the slider 132, and the proximal end of the driving wire 131 is used to receive the push or pull movement to drive the slider 132 to reciprocate in the clamp head base 140. It should be understood that the driving 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 special-shaped, and the sliding pin 133 can be fixedly penetrated on the slider 132 along the radial direction of the slider 132.

[0038] 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 wire, and the wire is connected to the monopolar energy generator to form a conductive path between the second jaw member 120 and the drive wire 131. For example, the second jaw member 120 forms a conductive path through the sliding pin 133, the slider 132 and the drive wire 131. In some embodiments, the clamp head base 140 can also be conductive, for example, the distal portion of the clamp head base 140 (such as the first support member 142) can also be made of metal material. This can make the conductive effect better. It should be understood by those skilled in the art 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 their surface to achieve the function of conductivity.

[0039] In some embodiments, Figure 3 and Figure 4 As shown, the clamp head base 140 may include a pair of base slide grooves 1421. The second jaw component 120 may also include a first support portion 123 symmetrically arranged on both sides of the proximal end of the second jaw component 120, for example Figure 4 The right support portion 1232 and the left support portion 1233 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 the pin 124. It should be understood that the first support portion 123 and the second shearing portion 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.

[0040] In some embodiments, the base slot 1421 may be a longitudinal slot, and the jaw 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 jaw member 120 rotates around the pivot axis (e.g., the pin 124) to achieve the opening and closing of the second jaw member 120 relative to the first jaw member 110.

[0041] In some embodiments, the arc-shaped groove of the second jaw component 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 monopolar composite surgical tool 100 can output a larger clamping force or shearing force, so that the first clamping portion 111 and the second clamping portion 121 can achieve clamping or the first shearing portion 112 and the second shearing portion 122 can achieve shearing.

[0042] 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 3 The pair of support members shown in the figure include a left support member 1422 and a right support member 1423). The support connector 141 may be cylindrical, and the cross section may be circular, elliptical, rectangular or polygonal, etc. Alternatively, the support connector 141 may be annular. An axially arranged channel is formed in the support connector 141, and the support connector 141 and the left support member 1422 and the right support member 1423 form an axially arranged internal cavity 1411. The left support member 1422 and the right support member 1423 may be arranged opposite to each other, and a pair of base slide grooves 1421 may be formed on the left support member 1422 and the right support member 1423 respectively, for example, on the side walls of the left support member 1422 and the right support member 1423. The first support member 142 (for example, the left support member 1422 and the right support member 1423) and the support connector 141 may be fixedly connected or integrally formed. In some embodiments, the first support member 142 of the forceps head base 140 may be cylindrical or a part of a cylindrical shape, and the cross section may 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 monopolar composite surgical tool 100.

[0043] like Figure 4As shown, a pair of first support portions 123 (e.g., right support portion 1232 and left support portion 1233) of the second jaw member 120 can be pivotally connected to a pair of first support members 142 (e.g., left support member 1422 and right support member 1423) of the jaw head base 140 through a pin 124, and the pair of first support portions 123 are respectively 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 penetrates 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 jaw member 110 is fixedly connected to or integrally formed with at least one first support member 142. It should be understood that the first jaw member 110 can be fixedly connected to or integrally formed with a first support member 142, or the first jaw member 110 can be fixedly connected to a pair of first support members 142 (eg, a left support member 1422 and a right support member 1423), such as Figure 2 , Figure 3 shown.

[0044] In some embodiments, Figure 5 As shown, the clamp head base 140 may also include a proximal connection base 144. The proximal connection base 144 and the support connector 141 may be threaded, interference fit, welded, bonded, or integrally formed. It should be understood that the proximal connection base 144 may also form an internal cavity inside for accommodating the support connector 141. In some embodiments, the proximal connection base 144 and the support connector 141 may be made of different materials, for example, the proximal connection base 144 may be an insulating material such as rubber, plastic, or ceramic. The support connector 141 may be a conductive material such as metal. It should be understood that the proximal connection base 144 and the support connector 141 may be sealed, for example, by threading, bonding, thermoplasticization, welding, etc.

[0045] It should be understood that the proximal connection base 144 is made of insulating material to prevent the proximal end of the monopolar composite surgical tool 100 from being charged and burning the patient during surgery. The monopolar composite surgical tool 100 can be insulated from the surgical tool arm to prevent contaminants from entering the surgical tool and causing cleaning difficulties.

[0046] In some embodiments, Figure 5 As shown, the monopolar composite surgical tool 100 may further include a seal 150. The seal 150 is provided at a first end (e.g., Figure 5 The distal end (shown in FIG. 1 ) is sealedly connected to the drive portion 130 and at a second end (e.g., Figure 5The seal 150 is sealed and connected to the forceps head base 140 (for example, the support connector 141 or the proximal connecting base 144) at the proximal end 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 jaw member 110 and the second jaw member 120), preventing the body fluids, bacteria, and viruses from the patient from entering the interior of the monopolar composite surgical tool 100 (for example, the driving part 130) through the pores during the operation, so as to facilitate repeated cleaning and disinfection of the monopolar composite surgical tool 100.

[0047] 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.

[0048] In some embodiments, Figure 5 As shown, the seal 150 is sealed and coated to the outer periphery of the distal end of the drive wire 131 at the first end. It should be understood that the outer periphery of the distal end of the drive wire 131 can be broadly understood, for example, it can include the outer periphery of the distal end 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 is sealed and coated to the outer 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 (e.g., the inner wall) of the forceps head base 140 at the second end. Figure 5 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.

[0049] 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 5As 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 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 proximal connection base 144, and the inner cylinder portion 151 may be driven by the slider 132 to perform telescopic movement along the internal cavity 1411. The outer tube portion 152 is sleeved on the outside of the inner tube portion 151 and is also located in the internal cavity 1411 of the connector (for example, the cavity portion formed by the distal section 1442 of the support connector 141 and the proximal connection base 144). The outer wall of the outer tube portion 152 is tightly connected to the inner wall of the support connector 141 or the proximal connection base 144 (it should be understood that it can also be set that the outer tube portion 152 tightly wraps the support connector 141), and the outer tube portion 152 is connected to the inner tube portion 151 through a 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, and the pleated portion can be extended, unfolded, or contracted and folded. In this way, when the drive portion 130 slides relatively in the clamp head base 140, the seal 150 can be adaptively deformed, thereby achieving sealing without affecting the relative movement between the drive 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 seal 150 can form a continuous sealing surface, which has a better sealing effect.

[0050] 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 interior of the monopolar compound surgical tool 100. When cleaning and disinfecting, only the outer surface of the monopolar compound surgical tool 100 needs to be cleaned, and there are no gaps or cavities that are difficult to clean. Therefore, there is no need to disassemble the monopolar compound surgical tool 100 for cleaning. This is not only easier to disinfect thoroughly, but also can avoid secondary infection.

[0051] In some embodiments, Figure 5 As shown, a sleeve 170 may 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 170 may 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.

[0052] In some embodiments, Figure 5-Figure 7As shown, the proximal connection base 144 may include a proximal section 1441 and a distal section 1442, wherein the radial dimension of the distal section 1442 is greater than the radial dimension of the proximal section 1441. The proximal section 1441 and the distal section 1442 may be integrally formed and interpenetrate each other. The radial dimension of the support connector 141 may be consistent with the radial dimension of the distal section 1442, so as to facilitate the connection between the support connector 141 and the distal section 1442. The distal section 1442 of the proximal connection base 144 may include a receiving groove, which may form a part of the internal cavity 1411 and may be used to receive the proximal portion of the seal 150, for example, the outer cylinder portion 152 of the seal 150 may be sealed and connected to the inner wall of the receiving groove. The proximal section 1441 of the proximal connection base 144 receives the drive wire 131. The end of the proximal section 1441 of the proximal connection base 144 may be provided with a through hole for the drive wire 131 to pass through. In some embodiments, the proximal section 1441 of the proximal connection base 144 is used to be fixedly connected to a tool arm (eg, tool arm 160 ) of the monopolar hybrid surgical tool 100 . The drive wire 131 may pass through the through hole and extend through the tool arm 160 .

[0053] The present disclosure also provides a surgical tool. Figure 5 , Figure 6 FIG. 1 is a schematic diagram showing the structure of a monopolar composite surgical tool 100 according to some embodiments of the present disclosure. Figure 6 As shown, the monopolar composite surgical tool 100 may include a tool arm 160 and a transmission part 180. The forceps head base 140 of the monopolar composite surgical tool 100 may be disposed at the distal end of the tool arm 160, and the drive wire 131 extends through the tool arm 160. The transmission part 180 is disposed at the proximal end of the tool arm 160, connected to the tool arm 160 and the drive wire 131, and the transmission part 180 is used to receive an external driving force to drive the movement of the tool arm 160 and / or the second jaw member 120.

[0054] In some embodiments, the tool arm 160 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 tool arm 160 may bend under the drive of the transmission part 180, so that the position of the distal jaw member can be adjusted.

[0055] Figure 7 FIG. 1 is a schematic diagram showing a structure of a tool arm 160 according to some embodiments of the present disclosure. To simplify the description, the tool arm 160 only shows a schematic diagram of a structure including a distal continuum segment 161. In some embodiments, as shown in FIG. Figure 7As shown, the tool arm 160 may include at least one distal continuum segment 161. The distal continuum segment 161 may include a plurality of distal structural bones 1611, a distal base plate 1612, a distal stop plate 1613, and at least one distal spacer plate 1614 disposed between the distal base plate 1612 and the distal stop plate 1613. The distal stop plate 1613 is connected to the proximal end of the support. The distal ends of the plurality of distal structural bones 1611 are fixedly connected to the distal stop plate 1613, the plurality of distal structural bones 1611 can slidably pass through at least one distal spacer plate 1614 and the distal base plate 1612, and the proximal ends of the plurality of distal structural bones 1611 are used to receive a push or pull drive to drive the distal continuum segment 161 to move. It should be understood that the plurality of distal structural bones 1611 can be distributed in radially opposite positions, and the distal continuum segment 161 can be driven to bend by cooperatively pushing or pulling two structural bones in opposite positions. It should be understood that the number of structural bones is not limited here, and can be adjusted according to the load that the monopolar composite surgical tool 100 actually needs to bear. The reliability and load capacity of the tool arm 160 of the monopolar composite surgical tool 100 can be improved by using a continuous structural arm body. For example, in the event that a structural bone is broken, the movement of the tool arm 160 is not affected, thereby improving the safety of the monopolar composite surgical tool 100.

[0056] In some embodiments, the distal base plate 1612, at least one distal spacer plate 1614 and the distal stop plate 1613 can be arranged at intervals, and each plate is provided with corresponding through holes distributed at intervals along the circumferential direction, and multiple distal structural bones 1611 can slide through the through holes on the distal spacer plate 1614 and the distal base plate 1612. In some embodiments, the shape of the distal base plate 1612, the distal stop plate 1613 and the distal spacer plate 1614 can be a suitable structure such as an annular structure, a disc structure, and the cross-section can be a variety of shapes such as a circle, a rectangle, a polygon, etc. Multiple distal spacer plates 1614 are arranged at intervals to enhance the stability of multiple distal structural bones 1611 when being pushed or pulled. It should be understood that the distal structural bone 1611 may include an elastic thin rod or thin tube made of a superelastic material, such as a nickel-titanium alloy material. Those skilled in the art will understand that the number of distal spacer plates 1614 included in the distal continuum segment 161 can be any suitable number, which is not limited here. It should be understood that the number of the distal continuum segments 161 may also be two or more, and by driving the multiple distal continuum segments 161 to bend, the tool arm 160 can be bent in multiple degrees of freedom to increase the flexibility of the tool arm 160 .

[0057] In some embodiments, the transmission part 180 may include a transmission unit for externally connecting a motor drive device (e.g., a motor) so as to drive the drive wire 131 or the tool arm 160 of the monopolar composite surgical tool 100. The transmission part 180 pushes or pulls the distal structural bone 1611 to deform the distal continuum segment 161. For example, the transmission part 180 drives the distal structural bone 1611 to put the distal continuum segment 161 in a bent state. In some embodiments, the transmission part 180 may include a linear motion mechanism, a driving segment (e.g., a proximal continuum segment), or a combination of the two. The linear motion mechanism may be connected to the distal structural bone 1611 of one or more distal continuum segments 161 to push or pull the distal structural bone 1611, thereby driving the one or more distal continuum segments 161 to bend. The driving segment may include a fixed plate and a plurality of proximal structural bones, wherein one end of the plurality of proximal structural bones is fixedly connected to the fixed plate. The other ends of the multiple proximal structural bones of the driving segment are connected to or integrally formed with the multiple distal structural bones 1611, so that the distal continuum segment 161 is bent by bending the driving segment, thereby driving the jaw member (such as the second jaw member 120) and the tool arm 160 disposed at the distal end of the tool arm 160 to move.

[0058] 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 180 may also include a motor drive unit, which may drive the transmission unit, and the drive wire 131 or the tool arm 160 may be driven by the transmission unit.

[0059] Figure 8 FIG. 1 is a schematic diagram showing the structure of the transmission part 180 according to some embodiments of the present disclosure. Figure 5 , Figure 7 and Figure 8 As shown, the monopolar composite surgical tool 100 may further include at least one transmission part 180. The at least one transmission part 180 is respectively connected to the proximal ends of the drive wire (e.g., the drive wire 131) and the plurality of distal structural bones 1611, and is used to push or pull the drive wire 131 and the distal structural bones 1611 to drive the jaw member to open and close, or to achieve the bending of the tool arm 160.

[0060] In some embodiments, Figure 8As shown, the transmission part 180 may include a plurality of sets of screw rod and nut modules 181. The screw rod and nut modules 181 may include a screw rod 1811 and a nut 1812 that are threadedly connected. The screw rod 1811 is used to connect with a driving device (such as a motor), and the nut 1812 is connected to the proximal end of the driving wire 131 and the distal structural bone 1611 (or the proximal structural bone of the driving segment). By driving the screw rod 1811 to rotate through the motor, the nut 1812 can be driven to move linearly along the screw rod 1811 to push and pull the driving wire 131 and the distal structural bone 1611 (or the proximal structural bone of the driving segment). It should be understood that the number of screw rod and nut modules 181 can be adjusted according to the number of driving wires 131 and the distal structural bone 1611.

[0061] It should be understood that the plurality of nuts 1812 may be driven to move linearly to cooperatively push and pull at least one pair of distal structural bones 1611 (or the proximal structural bones of the driving segment), thereby driving the outer pair of distal structural bones 1611 (or the proximal structural bones of the driving segment) to move in opposite directions and synchronously. Alternatively, the nuts 1812 may be driven to push and pull the driving wire 131, thereby driving the driving wire 131 to move, so as to drive the driving slider 132 to slide back and forth through the driving wire 131.

[0062] In some embodiments, Figure 8 As shown, the transmission part 180 can also include multiple sets of double-headed screw modules 183. The double-headed screw module 183 can include a double-headed screw 1831 and a nut pair 1832 threadedly connected to the double-headed screw 1831. The double-headed screw 1831 has reverse thread sections, which are respectively connected to a nut pair 1832, and the nut pair 1832 can be connected to the distal structural bone 1611 of the distal continuum segment 161 (or the proximal structural bone of the driving segment). When the double-headed screw 1831 is driven to rotate, a nut pair 1832 can be driven to move linearly in opposite directions at the same speed to achieve coordinated push and pull of the two structural bones to drive the distal continuum segment 161 to bend. It should be understood that the number of double-headed screw modules 183 can be adjusted according to the number of structural bones. It should be understood that multiple transmission parts 180 can be a combination of a screw nut module 181 and a double-headed screw module 183. Those skilled in the art will appreciate that the double-headed screw module 183 can also be used to drive the drive wire. The above is only an example, and it should be understood that the transmission part 180 can include any mechanism that can achieve linear motion.

[0063] The present disclosure also provides a surgical robot. Fig. 9 FIG. 2 is a schematic diagram showing the structure of a surgical robot 1 according to some embodiments of the present disclosure. Fig. 9 As shown, the surgical robot 1 may include a surgical trolley 20 , a monopolar compound surgical tool as in any embodiment of the present disclosure (eg, the monopolar compound surgical tool 100 ), and a monopolar energy generator 30 .

[0064] In some embodiments, Fig. 9 As shown, the surgical trolley 20 may include at least one robotic arm 201, and at least one monopolar composite surgical tool 100 (or endoscope) is respectively arranged at the distal end of at least one robotic arm 201. The robotic arm 201 may include a multi-joint arm body with multiple degrees of freedom to adjust the position and posture of the monopolar composite surgical tool 100. Those skilled in the art will appreciate that the surgical robot 1 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0065] Fig.10 FIG. 1 is a schematic diagram showing a partial structure of a surgical robot 1 according to some embodiments of the present disclosure. Fig.10 As shown, the surgical trolley 20 may further include a linear drive mechanism 190. The linear drive mechanism 190 is connected to the monopolar composite surgical tool 100 and is used to drive the tool arm 160 to advance or retreat. In some embodiments, the monopolar composite surgical tool 100 may further include an arm frame 167, which is used to accommodate a transmission part (e.g., Figure 8 Transmission unit 180 shown).

[0066] In some embodiments, the linear drive mechanism 190 may include a base and a drive unit, wherein the base may be used to support the arm frame 167, and the drive unit may be used to drive the base forward or backward. Fig.10 As shown, the linear drive mechanism 190 may include a bracket 191 with a slide groove, and a lead screw 192 is rotatably arranged on the bracket 191. A sliding block 193 is sleeved on the lead screw 192 as a base, and the sliding block 193 is threadedly matched with the lead screw 192 and is slidably arranged in the slide groove of the bracket 191. A motor 194 may be arranged at one end of the bracket 191, and the output shaft of the motor 194 may be fixedly connected to the lead screw 192 through a coupling 195. In some embodiments, the sliding block 193 also includes a sleeve 196 for mounting the arm body frame 167. The sleeve 196 may be mounted on the sliding block 193, or the sleeve 196 may be integrally formed with the sliding block 193. The motor 194 drives the lead screw 192 to rotate, thereby driving the sliding block 193 and the sleeve 196 to move linearly along the slide groove, thereby realizing the feeding and retreating movement of the tool arm 160. It should be understood that the linear drive mechanism 190 is not limited to the above structure, and any drive mechanism capable of achieving the feeding motion of the deformable arm does not depart from the scope of the present disclosure.

[0067] When performing surgical operations such as tissue grasping, hemostasis or cutting, the surgical robot 1 controls the movement of the tool arm 160 of the monopolar composite surgical tool 100 by controlling the movement of the transmission part 180, and controls the first jaw member 110 and the second jaw member 120 to grasp or shear tissue. Then the monopolar energy generator 30 is controlled to provide energy to the second jaw member 120 through the wire 173 to implement the monopolar function to perform tissue cutting and hemostasis.

[0068] The monopolar composite surgical tool and surgical robot of the present invention include a first jaw component, a second jaw component and a driving part, wherein the first jaw component includes a first clamping part located at a distal end and a first shearing part located in a middle part, the second jaw component includes a second clamping part located at a distal end and a second shearing part located in a middle part, the second clamping part is used to cooperate with the first clamping part to achieve clamping, the second shearing part is used to cooperate with the first shearing part to achieve shearing, the driving part is used to drive the second jaw component to move, the driving wire distal end of the driving part is connected to the second jaw component, and the proximal end of the driving wire is used to receive monopolar energy to form a conductive path between the second jaw component and the driving wire. By selectively performing monopolar operation, clamping or shearing operation on the same surgical tool, it is possible to avoid doctors frequently switching between monopolar tools, clamping tools and shearing tools during surgical operations, thereby reducing surgical time.

[0069] 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 monopolar composite surgical tool, characterized in that: The invention comprises a first jaw element, a second jaw element and a driving unit, The first jaw element comprises a first clamping portion and a first shearing portion; A first clamping portion provided at a distal end of the first jaw element; and a first shearing portion connected to the first clamping portion and disposed in the middle of the first jaw member; The second jaw element includes a second clamping portion and a second shearing portion; a second clamping portion, disposed at a distal end of the second jaw member, and configured to cooperate with the first clamping portion to achieve clamping; and a second shearing portion connected to the second clamping portion and disposed at a middle portion of the second jaw member, the second shearing portion being used to cooperate with the first shearing portion to achieve shearing; and a driving portion connected to the proximal end of the second jaw member to drive the second jaw member to move; The driving portion comprises a driving wire, a distal end of the driving wire is connected to the second jaw element, and a proximal end of the driving wire is used to receive monopolar energy to form a conductive path between the second jaw element and the driving wire.

2. The monopolar combined surgical tool according to claim 1, characterized in that: At least a portion of the first jaw element and at least a portion of the second jaw element are bent in the same direction.

3. The monopolar combined surgical tool according to claim 2, characterized in that: The first clamping portion and the first shearing portion include a first contact surface that is bent toward the second jaw element; The second clamping portion and the second shearing portion include a second contact surface bent to fit with the first contact surface.

4. The monopolar combined surgical tool according to claim 3, characterized in that: The sizes of the first clamping portion and the second clamping portion gradually decrease from the proximal end to the distal end; and / or The sizes of the first shearing portion and the second shearing portion gradually decrease from the proximal end to the distal end.

5. The monopolar combined surgical tool according to claim 1, characterized in that: The first clamping portion includes a first tooth structure, the second clamping portion includes a second tooth structure, and the first tooth structure is used to mesh with the second tooth structure.

6. The monopolar combined surgical tool according to claim 1, characterized in that: The clamp head base comprises an internal cavity, the first jaw member and the second jaw member are respectively arranged on the clamp head base, and the distal end of the driving part is slidably arranged in the internal cavity of the clamp head base and connected with the proximal end of the second jaw member.

7. The monopolar combined surgical tool according to claim 6, characterized in that: The first jaw component is fixedly arranged on the jaw head base, and the second jaw component is rotatably pivoted to the jaw head base.

8. The monopolar combined surgical tool 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.

9. The monopolar combined surgical tool according to claim 8, 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.

10. The monopolar combined surgical tool 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.

11. The monopolar combined surgical tool according to claim 10, characterized in that: The driving unit further includes: A slider, the slider being slidably disposed in the inner cavity of the clamp head base, the slider being connected to the proximal end of the second clamp member via 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.

12. The monopolar combined surgical tool according to claim 11, characterized in that: The clamp head base includes a pair of base slide grooves; The second jaw member further comprises support portions symmetrically arranged on both sides of the proximal end of the jaw member, and the support portions are pivotally connected to the jaw 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.

13. The monopolar combined surgical tool according to claim 12, characterized in that: The drive wire, the slider, the sliding pin, and the second jaw member form the conductive path.

14. The monopolar combined surgical tool according to claim 6, characterized in that: Also includes: A tool arm, wherein the proximal end of the pliers head base is arranged at the distal end of the tool arm, and the drive wire extends through the tool arm; as well as The transmission part is arranged at the proximal end of the tool arm and connected to the tool arm and the driving wire. The transmission part is used to receive a drive to push or pull the driving wire and / or drive the tool arm to bend.

15. A surgical robot, characterized in that: include: A surgical trolley, comprising at least one robotic arm; At least one monopolar hybrid surgical tool as claimed in any one of claims 1 to 14, wherein the monopolar hybrid surgical tool is disposed at the distal end of the at least one robotic arm; as well as A monopolar energy generator is used to be connected to the driving wire of the monopolar composite surgical tool to provide energy to the second jaw element.

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