Surgical robot

Abstract

The invention relates to the field of medical instruments, and discloses a surgical robot. The surgical robot comprises a first surgical tool capable of achieving a bipolar function, a second surgical tool capable of achieving a monopolar function and a bipolar function, an energy generator used for providing energy for the two surgical tools, a first control pedal, a second control pedal and a control device, wherein the first control pedal and the second control pedal are used for controlling the two surgical tools to achieve the bipolar function respectively. The control device is configured to control the first bipolar energy output port or the second bipolar energy output port of the energy generator to output a test energy signal and detect whether the first surgical tool and the second surgical tool generate high-frequency voltage or not; and determining the mapping relation between the first control pedal and the first bipolar energy output port and between the second control pedal and the second bipolar energy output port based on the detection result. The mapping relation between the control pedal and the energy output port can be defined, and the situation that the control pedal corresponds to a surgical tool mistakenly to affect surgical operation is avoided.

Description

Technical Field

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

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, can be performed through a surgical robot system, which can optimize the surgical method through computer remote control technology.

[0003] During surgery, two energy surgical tools are sometimes controlled by the left and right hands respectively. When preparing the two energy surgical tools, wiring errors may occur, which will have a negative impact on subsequent surgical operations. Summary of the invention

[0004] In some embodiments, the present disclosure provides a surgical robot, comprising:

[0005] A first surgical tool, wherein the first surgical tool is a bipolar energy surgical tool;

[0006] The second surgical tool includes:

[0007] a first clamp, the first clamp being configured to achieve a monopolar function;

[0008] and a second clamp configured to cooperate with the first clamp to achieve a bipolar function;

[0009] An energy generator connected to the first surgical tool and the second surgical tool, used to provide energy to the first surgical tool and the second surgical tool, the energy generator comprising a first bipolar energy output port and a second bipolar energy output port;

[0010] a first control pedal, the first control pedal being used to control the energy generator to realize the bipolar function of the first surgical tool;

[0011] a second control pedal, the second control pedal being used to control the energy generator to realize the bipolar function of the second surgical tool;

[0012] And a control device, the control device is configured to control the first bipolar energy output port or the second bipolar energy output port to output a test energy signal, detect whether the first surgical tool and the second surgical tool generate a high-frequency voltage, and determine a mapping relationship between the first control pedal and the second control pedal and the first bipolar energy output port and the second bipolar energy output port based on the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0014] Figure 1 A schematic diagram showing the structure of a surgical robot according to some embodiments of the present disclosure is shown;

[0015] Figure 2 A schematic structural diagram of a second surgical tool according to some embodiments of the present disclosure is shown;

[0016] Figure 3 A schematic structural diagram of a second high-frequency cable according to some embodiments of the present disclosure is shown;

[0017] Figure 4 A schematic front view of the structure of a second surgical tool according to some embodiments of the present disclosure is shown;

[0018] Figure 5 A schematic diagram showing a three-dimensional structure of a second surgical tool according to some embodiments of the present disclosure;

[0019] Figure 6 A longitudinal cross-sectional view showing a second surgical tool according to some embodiments of the present disclosure;

[0020] Figure 7 A schematic structural diagram of a first surgical tool according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0021] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0022] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0023] In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, rear end, or rear part, and the end opposite to the proximal end, near part, rear end, or rear part is defined as the distal end, far end, front end, or front part. Alternatively, the end close to the operator (e.g., surgical patient) is defined as the distal end, far end, front end, or front part, and the end opposite to the distal end, far end, front end, or front part is defined as the proximal end, near part, rear end, or rear part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0024] Some embodiments of the present disclosure provide a surgical robot 1000 . Figure 1 FIG. 1 is a schematic diagram showing the structure of a surgical robot 1000 according to some embodiments of the present disclosure. The surgical robot 1000 may be any suitable surgical robot including a laparoscopic surgical robot. Figure 1 As shown, the surgical robot 1000 may include a first surgical tool 11 and a second surgical tool 12. The first surgical tool 11 may be a bipolar energy surgical tool. Those skilled in the art will appreciate that the bipolar energy surgical tool can perform various suitable bipolar operations, such as bipolar electrocoagulation operations.

[0025] Figure 2 FIG. 2 is a schematic diagram showing the structure of a second surgical tool 12 according to some embodiments of the present disclosure. Figure 2As shown, the second surgical tool 12 may include a first clamp 121 and a second clamp 122. The first clamp 121 may be configured to achieve a monopolar function. The second clamp 122 is configured to cooperate with the first clamp 121 to achieve a bipolar function. Those skilled in the art will appreciate that the monopolar function refers to the ability to perform various suitable monopolar operations, such as monopolar electroresection or monopolar electrocoagulation operations, and the bipolar function refers to the ability to perform various suitable bipolar operations, such as bipolar electrocoagulation operations.

[0026] In some embodiments, Figure 1 As shown, the surgical robot 1000 may also include a surgical trolley 10. The surgical trolley 10 may include at least one robotic arm 100. A first surgical tool 11 and a second surgical tool 12 may be disposed at the distal end of at least one robotic arm 100. During surgery, the distal end of at least one robotic arm 100 may also carry an endoscope to collect surgical images, or carry other surgical tools to perform different surgical operations. During surgery, the surgical trolley 10 may be located on the patient's side to facilitate performing surgical operations on the patient.

[0027] like Figure 1 As shown, the surgical robot 1000 may further include an energy generator 31. The energy generator 31 may be connected to the first surgical tool 11 and the second surgical tool 12, for example, respectively connected to the first surgical tool 11 and the second surgical tool 12 through a high-frequency cable. The energy generator 31 may be used to provide energy to the first surgical tool 11 and the second surgical tool 12. The energy generator 31 may include a first bipolar energy output port 311 and a second bipolar energy output port 312. The first bipolar energy output port 311 and the second bipolar energy output port 312 may respectively transmit energy to the first surgical tool 11 and the second surgical tool 12 through a high-frequency cable to enable them to achieve a bipolar function. In some embodiments, the energy generator 31 may further include a monopolar energy output port, such as port 313 and / or port 314, and the monopolar energy output port may transmit energy to the second surgical tool 12 through a high-frequency cable to enable it to achieve a monopolar function. In some embodiments, as Figure 1 As shown, the surgical robot 1000 may further include an equipment trolley 30. An energy generator 31 may be disposed on the equipment trolley 30. Those skilled in the art may understand that the energy generator 31 may include a single energy generator for providing energy to the first surgical tool 11 and the second surgical tool 12. In other embodiments, the energy generator 31 may also include a plurality of distributed energy generating units, and the plurality of energy sound generating units may provide energy to the first surgical tool 11 and the second surgical tool 12, respectively.

[0028] In some embodiments, the surgical robot 1000 may further include a first high-frequency cable (not shown in the figure), and the first surgical tool 11 may be connected to the energy generator 31 through the first high-frequency cable. The proximal interface of the first high-frequency cable may be connected to the first bipolar energy output port 311 or the second bipolar energy output port 312. The distal interface of the first high-frequency cable may be connected to the first surgical tool 11 to transmit energy to the first surgical tool 11.

[0029] In some embodiments, the surgical robot 1000 may further include a second high-frequency cable 40 . Figure 3 FIG. 4 is a schematic diagram showing the structure of the second high-frequency cable 40. Figure 3 As shown, the second high-frequency cable 40 may include a first proximal interface 401, a second proximal interface 402, and a distal interface 403. The first proximal interface 401 of the second high-frequency cable 40 may be connected to the first bipolar energy output port 311 or the second bipolar energy output port 312. The second proximal interface 402 of the second high-frequency cable 40 may be connected to the monopolar energy output port 313 or 314. The distal interface of the second high-frequency cable 40 may be connected to the second surgical tool 12 to transmit energy to the second surgical tool 12.

[0030] In some embodiments, Figure 3 As shown, the second high-frequency cable 40 may also include a first proximal cable 41, a second proximal cable 42 and a third proximal cable 43. The proximal ends of the first proximal cable 41 and the second proximal cable 42 are connected to the first proximal interface 401. The proximal end of the third proximal cable 43 is connected to the second proximal interface 402. The second high-frequency cable 40 may also include a first distal cable 44 and a second distal cable 45. The distal ends of the first distal cable 44 and the second distal cable 45 may be connected to the distal interface 403. The second high-frequency cable 40 may also include a connecting device 46, which may be used to connect the distal ends of the first proximal cable 41 and the third proximal cable 43 with the proximal end of the first proximal cable 44, and to connect the distal end of the second proximal cable 42 with the proximal end of the second distal cable 45.

[0031] Those skilled in the art will appreciate that the first distal cable 44 can be used to transmit monopolar energy received by the second proximal interface 402 or bipolar energy received by the first proximal interface 401, and the second distal cable 45 can be used to transmit bipolar energy. In some embodiments, the first distal cable 44 can be connected to the first clamp 121 to transmit monopolar energy or bipolar energy to the first clamp 121, and the second distal cable 45 can be connected to the second clamp 122 to transmit bipolar energy to the second clamp 122. The second high-frequency cable 40 can provide monopolar energy and bipolar energy to the second surgical tool 12 without switching high-frequency cables, which helps to optimize the surgical process.

[0032] like Figure 1 As shown, the surgical robot 1000 may also include a first control pedal 21 and a second control pedal 22. The first control pedal 21 may be used to control the first surgical tool 11 to achieve a bipolar function. The first control pedal 21 and the first surgical tool 11 may have a mapping relationship to control the first surgical tool 11 to achieve a bipolar function. In some embodiments, the first control pedal 21 may be a left control pedal, and the first surgical tool 11 may be a surgical tool remotely operated by a user through a left main manipulator for user operation. In some embodiments, the first control pedal 21 may be connected to the control device in communication to control the energy generator 31 to output energy so as to achieve the bipolar function of the first surgical tool 11. In some embodiments, the user may trigger the energy generator 31 to output energy by stepping on the first control pedal 21, thereby triggering the first surgical tool 11 to start performing a bipolar function. The user may also keep stepping on the first control pedal 21 to cause the energy generator 31 to continuously output energy, thereby causing the first surgical tool 11 to continuously perform a bipolar function.

[0033] The second control pedal 22 can be used to control the second surgical tool 12 to achieve a bipolar function. The second control pedal 22 and the second surgical tool 12 can have a mapping relationship to control the second surgical tool 12 to achieve a bipolar function. In some embodiments, the second control pedal 22 can be connected to the control device in communication to control the energy generator 31 to output energy to achieve the bipolar function of the second surgical tool 12.

[0034] In some embodiments, the surgical robot 1000 may further include a main control trolley 20. The first control pedal 21 and the second control pedal 22 may be arranged on the main control trolley 20 to facilitate receiving the user's operation. The main control trolley 20 may further include at least one main operator 200, and at least one main operator 200 may be used to receive the user's operation. At least one main operator 200 may include a left main operator for receiving the operation of the user's left hand, and a right main operator for receiving the operation of the user's right hand. During the operation, the main control trolley 20 may be located on the user side to facilitate receiving the user's operation. The main control trolley 20 may be connected to the surgical trolley 10 in communication. The user may operate the main operator 200 and control the surgical tool to perform the operation through the control device. For example, the left main operator may be used to control the first surgical tool 11, and the right main operator may be used to control the second surgical tool 12.

[0035] In some embodiments, the surgical robot 1000 may further include a control device (not shown). The control device may be disposed in the equipment trolley 30 or in the main control trolley 20, and may include an integrated controller or a plurality of distributed control units. The control device may establish a communication connection with various components in the surgical robot 1000, such as the first surgical tool 11, the second surgical tool 12, the energy generator 31, at least one main operator 200, the first control pedal 21, the second control pedal 22, and the like.

[0036] In some embodiments, the control device may be configured to control the first bipolar energy output port 311 or the second bipolar energy output port 312 to output a test energy signal, for example, to control the first bipolar energy output port 311 or the second bipolar energy output port 312 to perform instantaneous discharge. The control device may be in communication with the energy generator 31 to control the energy generator 31 to output the test energy signal.

[0037] The control device may also be configured to detect whether the first surgical tool 11 and the second surgical tool 12 generate a high-frequency voltage. In some embodiments, the first surgical tool 11 may include a first voltage monitor (not shown in the figure), and the second surgical tool 12 may include a second voltage monitor (not shown in the figure). The control device may also be configured to detect whether the first surgical tool 11 and the second surgical tool 12 generate a high-frequency voltage based on the voltage monitoring results of the first voltage monitor and the second voltage monitor, respectively. The control device may be connected to the first surgical tool 11 and the second surgical tool 12 in communication to obtain the voltage monitoring results of the voltage monitors.

[0038] The control device may also be configured to determine the mapping relationship between the first control pedal 21 and the second control pedal 22 and the first bipolar energy output port 311 and the second bipolar energy output port 312 based on the detection result. For example, the control device may be configured to control the first bipolar energy output port 311 to output a test energy signal, and in response to detecting that the first surgical tool 11 generates a high-frequency voltage, determine that the first bipolar energy output port 311 has a mapping relationship with the first control pedal 21. Based on this, the user can control the first bipolar energy output port 311 to output energy by operating the first control pedal 21, thereby controlling the first surgical tool 11 to achieve a bipolar function.

[0039] In other embodiments, the control device may be configured to control the first bipolar energy output port 311 to output a test energy signal, and in response to detecting that the second surgical tool 12 generates a high-frequency voltage, determine that the first bipolar energy output port 311 has a mapping relationship with the second control pedal 22. Based on this, the user can control the first bipolar energy output port 311 to output energy by operating the second control pedal 22, thereby controlling the second surgical tool 12 to achieve a bipolar function.

[0040] For example, the control device may also be configured to control the second bipolar energy output port 312 to output a test energy signal, and in response to detecting that the first surgical tool 11 generates a high-frequency voltage, determine that the second bipolar energy output port 312 has a mapping relationship with the first control pedal 21. Based on this, the user can control the second bipolar energy output port 312 to output energy by operating the first control pedal 21, thereby controlling the first surgical tool 11 to achieve a bipolar function.

[0041] In other embodiments, the control device may also be configured to control the second bipolar energy output port 312 to output a test energy signal, and in response to detecting that the second surgical tool 12 generates a high-frequency voltage, determine that the second bipolar energy output port 312 has a mapping relationship with the second control pedal 22. Based on this, the user can control the second bipolar energy output port 312 to output energy by operating the second control pedal 22, thereby controlling the second surgical tool 12 to achieve a bipolar function.

[0042] In some embodiments, the control device is further configured to control the first bipolar energy output port or the second bipolar energy output port to output a test energy signal in response to a trigger operation. In some embodiments, the trigger operation may include establishing a mapping relationship between the first surgical tool 11 and the left main operator, and establishing a mapping relationship between the second surgical tool 12 and the right main operator. In this way, it can be determined that the control pedal located on the left side has a mapping relationship with the bipolar energy output port connected to the first surgical tool 11, and it can be determined that the control pedal located on the right side has a mapping relationship with the bipolar energy output port connected to the second surgical tool 12. Based on this, the user can control the first surgical tool 11 controlled by the left main operator through the left control pedal to achieve a bipolar function, and control the second surgical tool 12 controlled by the right main operator through the right control pedal to achieve a bipolar function. On this basis, the control device can control the bipolar energy output port of the energy generator 31 to output a test energy signal, so that the mapping relationship between the control pedal and the bipolar energy output port can be determined.

[0043] Those skilled in the art can understand that the trigger operation can also include establishing a mapping relationship between the first surgical tool 11 and the right main manipulator, and establishing a mapping relationship between the second surgical tool 12 and the left main manipulator.

[0044] In other embodiments, the trigger operation may also include the first surgical tool 11 establishing a connection with the energy generator 31 through the first high-frequency cable, and the second surgical tool 12 establishing a connection with the energy generator 31 through the second high-frequency cable 40. Based on this, the control device may determine the mapping relationship between the control pedal and the bipolar energy output port of the energy generator 31 when both the first surgical tool 11 and the second surgical tool 12 are connected to the energy generator 31.

[0045] In other embodiments, the trigger operation may also include a user operating a trigger. For example, the trigger may include a button, a knob, or other suitable form. The user may operate the trigger to cause the control device to control the bipolar energy output port of the energy generator 31 to output a test energy signal, thereby determining the mapping relationship between the control pedal and the bipolar energy output port.

[0046] In the existing surgery, the user should connect the first high-frequency cable used to transmit energy to the first surgical tool 11 and the second high-frequency cable 40 used to transmit energy to the second surgical tool 12 to the designated output port of the energy generator 31 respectively. However, since the proximal interface of the first high-frequency cable may be similar in shape to the first proximal interface 401 of the second high-frequency cable 40, the reverse connection may occur. For example, when the user operates the first control pedal in the expectation of controlling the first surgical tool 11 to realize the bipolar function, it may cause the second surgical tool 12 to realize the bipolar function, which will have a negative impact on the surgical operation. Based on the surgical robot provided by some embodiments of the present disclosure, the user can connect the first high-frequency cable used to transmit energy to the first surgical tool 11 and the second high-frequency cable 40 used to transmit energy to the second surgical tool 12 to any output port of the energy generator 31 respectively, without distinguishing the specific port, because the embodiment of the present disclosure can detect the corresponding relationship between the surgical tool and the bipolar energy output port, thereby determining the mapping relationship between the control pedal and the bipolar energy output port. In this way, the wrong connection can be avoided, greatly improving the user experience. Moreover, during surgery, the surgical tools to be controlled by the left and right master manipulators can be switched at will without switching the control pedals.

[0047] In some embodiments, Figure 1 As shown, the main control trolley 20 may also include a third control pedal 23 and a fourth control pedal 24. The third control pedal 23 may be used to control the energy generator 31 to realize the monopolar electrocuting function of the second surgical tool 12. The fourth control pedal 24 may be used to control the energy generator 31 to realize the monopolar electrocoagulation function of the second surgical tool 12. In some embodiments, the third control pedal 23 and the fourth control pedal 24 may respectively control the monopolar energy output port 313 or 314 of the energy generator 31 to output energy in a monopolar electrocuting or monopolar monopolar electrocoagulation mode. Those skilled in the art may understand that the device for controlling the first surgical tool 11 and the second surgical tool 12 to realize a bipolar function or a monopolar function is not limited to a control pedal, but may also be any suitable device such as a control button or a control dial.

[0048] In some embodiments, Figure 2As shown, the second surgical tool 12 may further include a second arm 123 and an actuator base 124. The second arm 123 may include a suitable structure such as a continuum structure, a snake bone structure, a combination structure of a rod and a joint, etc., to increase the degree of freedom of the second arm 123, thereby increasing the flexibility of the second surgical tool 12 in the patient's body. The actuator base 124 may be disposed at the distal end of the second arm 123, and the first clamp 121 may be fixedly disposed at the distal end of the actuator base 124. The second clamp 122 may be rotatably connected to the actuator base 124.

[0049] Figure 4 FIG. 2 is a front view of a second surgical tool 12 according to some embodiments of the present disclosure. Figure 4 As shown, the second clamp 122 can be pivotally connected to the actuator base 124 through a pin structure 125. In other embodiments, the second clamp 122 can be rotatably connected to the actuator base 124 through a structure such as a rivet. By fixing the first clamp 121 on the actuator base 124 and rotatably connecting the second clamp 122 to the actuator base 124, the driving structure can be simplified and the surgical tool 12 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.

[0050] like Figure 4 As shown, in some embodiments, the first clamp 121 and the second clamp 122 may respectively include a tooth structure ch1 and a tooth structure ch2 that are arranged opposite to each other and can mesh with each other. Based on this, the friction between the first clamp 121 and the second clamp 122 when clamping tissue can be increased to prevent tissue slippage.

[0051] In some embodiments, the second surgical tool 12 may further include a drive assembly. Figure 4 As shown, the drive assembly may include a drive wire 1261, which can be used to receive a push or pull force, and the distal end of the drive wire 1261 can be connected to the second clamp 122 to drive the second clamp 122 to open and close, so that the first clamp 121 and the second clamp 122 can achieve a clamping action. In some embodiments, the drive wire 1261 can be a nickel-titanium alloy wire or a steel wire. The proximal end of the drive wire 1261 can be connected to the second distal cable 45 of the second high-frequency cable 40, and the drive wire 1261 can also be used to conduct electricity to the second clamp 122. It can be understood by those skilled in the art that the drive wire 1261 can transmit the bipolar energy provided by the energy generator 31 to the second clamp 122, so that the second clamp 122 can achieve a bipolar function. The second clamp 122 can be made of a conductive material. In the present disclosure, the conductive material can be a metal material or a hard material containing a conductive coating or other conductive materials.

[0052] In some embodiments, the arm 123 may include a middle cavity (not shown in the figure), and the drive wire 1261 may extend proximally through the middle cavity to receive drive and receive energy. Figure 2 As shown, the second surgical tool 12 may further include a drive transmission device 127, which may be disposed at the proximal end of the arm body 123. The drive transmission device 127 may be used to receive an external driving force (e.g., a driving force provided by a drive device 101 disposed at the distal end of at least one mechanical arm 100), and the proximal end of the drive wire 1261 may be connected to the drive transmission device to receive a push or pull drive. The drive transmission device 127 may also be used to drive the arm body 123 to undergo bending motion, thereby adjusting the posture of the distal structure of the second surgical tool 12. In some embodiments, the drive transmission device 127 may include a mechanism that converts rotational motion into linear motion. For example, the drive transmission device 127 may include, but is not limited to, a screw nut mechanism, a rack and pinion mechanism, a wire pulley mechanism, a worm gear mechanism, and the like, which are not limited herein.

[0053] Figure 5 FIG. 1 is a schematic diagram showing a three-dimensional structure of a second surgical tool 12 according to some embodiments of the present disclosure. Figure 5 As shown, the second surgical tool 12 may further include a wire 128. The proximal end of the wire 128 may be connected to the first distal cable 44 of the second high-frequency cable 40, and the distal end of the wire 128 may be connected to the first clamp 121 to conduct electricity to the first clamp 121. It will be appreciated by those skilled in the art that the wire 128 may transmit the monopolar energy or bipolar energy provided by the energy generator 31 to the first clamp 121, thereby enabling the first clamp 121 to achieve a monopolar function or cooperate with the second clamp 122 to achieve a bipolar function. The first clamp 121 may be made of a conductive material.

[0054] Those skilled in the art can understand that when a monopolar function (such as shearing tissue) is implemented during surgery, the first clamp 121 can be used as a conductive positive electrode and the electrode in contact with the human body can be used as a negative electrode. Human tissue can be used as a conductor to make the positive and negative electrodes conductive, forming a high-frequency current loop. When a bipolar function (such as electrocoagulation of tissue) is implemented, one of the first clamp 121 and the second clamp 122 can be used as a conductive positive electrode and the other can be used as a negative electrode. The human tissue clamped between the first clamp 121 and the second clamp 122 can make the positive and negative electrodes conductive, forming a high-frequency current loop. Based on this, the second surgical tool 12 can selectively perform monopolar operation or bipolar operation, thereby avoiding the doctor from frequently switching between monopolar tools and bipolar tools during surgery, which helps to shorten the operation time.

[0055] In some embodiments, Figure 5As shown, the second surgical tool 12 may further include an insulating member 129. The insulating member 129 may be disposed at the distal end of the actuator base 124. For example, the insulating member 129 may be fixedly disposed at the distal end of the actuator base 124 by bonding, clamping, or other suitable means. Figure 6 FIG. 2 shows a longitudinal cross-sectional view of a second surgical tool 12 according to some embodiments of the present disclosure. Figure 6 As shown, the insulating member 129 may include a mounting groove 1291 arranged along the axial direction, and the proximal end of the first clamp 121 may extend into the mounting groove 1291 to be fixedly arranged at the distal end of the insulating member 129. The insulating member 129 can insulate the proximal end of the first clamp 121 from the second clamp 122, and can prevent the proximal end of the first clamp 121 from burning the patient's tissue.

[0056] In some embodiments, Figure 5 and Figure 6 As shown, the actuator base 124 may include a wire groove c11 disposed on the outer peripheral surface and extending in the axial direction. The insulating member 129 may also include a wire channel 1292 communicating with the mounting groove 1291, and the distal end of the wire 128 may be connected to the proximal end of the first clamp 121 through the wire groove c11 and the wire channel 1292 to transmit energy to the first clamp 121.

[0057] In some embodiments, Figure 6 As shown, the drive assembly 126 may further include a slider 1262. The slider 1262 may be connected to the distal end of the drive wire 1261. The actuator base 124 may include an internal cavity, and the slider 1262 may be slidably disposed in the internal cavity. In some embodiments, the slider 1262 may be cylindrical, cubic, polyhedral, or a special-shaped structure. In some embodiments, the actuator base 124 may be cylindrical or cylindrical-like, and an internal cavity may be formed in the cylinder.

[0058] In some embodiments, Figures 4 to 6 As shown, the second clamp 122 may include a proximal portion 1221 and a clamping portion 1222 disposed at the distal end of the proximal portion 1221. The proximal portion 1221 and the clamping portion 1222 may be fixedly connected or integrally formed. The proximal end of the proximal portion 1221 may be disposed in an internal cavity. The distal end of the proximal portion 1221 may be rotatably connected to the actuator base 124 via a pin structure 125. The proximal portion 1221 may include a sliding space and a pair of clamp grooves c1 and c2 relatively disposed on both sides of the sliding space. The pair of clamp grooves c1 and c2 may be radially opposite to each other. The proximal portion 1221 may include two parts that are radially opposite to each other and spaced from each other, and a pair of clamp grooves c1 and c2 may be respectively disposed thereon. The actuator base 124 may also include a pair of base grooves relatively disposed on both sides of the internal cavity, such as Figure 4 or Figure 5The base slide groove c3 and the slide groove arranged opposite to c3 are shown. A pair of base slide grooves are radially opposite to each other.

[0059] The slider 1262 can be slidably connected to a pair of clamp slide grooves and a pair of base slide grooves through a pin structure 1263. The pin structure 1263 can be radially penetrated in the slider 1262 and fixedly connected to the slider 1262. One end of the pin structure 1263 can be slidably connected to the clamp slide groove c1 and the base slide groove c3, and the other end of the pin structure 1263 can be slidably connected to the clamp slide groove c2 and another base slide groove.

[0060] In some embodiments, a pair of base slide grooves can both extend axially, and a pair of clamp slide grooves c1 and c2 can be arcuate slide grooves. The arcuate slide groove can be composed of one or more arcuate contour lines. By adjusting the curvature angle of the arcuate contour line, etc., the second surgical tool 12 can output a larger clamping force, so that the first clamp 121 and the second clamp 122 can achieve clamping. The drive wire 1261 can receive a push or pull drive to drive the slider 1262 to reciprocate along the axial direction, and the two ends of the pin structure 1263 can reciprocate along the direction of the pair of base slide grooves. And during the reciprocating motion, the second clamp 122 can be pushed to rotate around the pin structure 125 to open the second clamp 122, or the second clamp 122 can be pulled to close.

[0061] In some embodiments, the slider 1262 and the pin structure 1263 may be both conductive materials to facilitate energy transmission to the second clamp 122. Based on this, the drive wire 1261, the slider 1262, the pin structure 1263 and the second clamp 122 may form a second conductive path to achieve the bipolar function of the second clamp 122.

[0062] In some embodiments, Figure 4 and Figure 5As shown, the actuator base 124 may include a base 1241 located at the proximal end and at least one support member 1242 circumferentially spaced at the distal end of the base 1241. In some embodiments, the at least one support member 1242 may include a pair of support members radially oppositely disposed and spaced from each other. The base 1241 may be cylindrical, and the cross section may be circular, elliptical, rectangular, polygonal, etc., or the base 1241 may be annular. A channel arranged along the axial direction is formed in the base 1241, and the base 1241 and the pair of support members 1242 may form an internal cavity arranged along the axial direction. A pair of base slide grooves may be formed on the pair of support members 1242 respectively, for example, on the side walls of the pair of support members 1242. The support member 1242 and the base 1241 may be fixedly connected or integrally formed. In some embodiments, the support member 1242 of the actuator base 124 may be cylindrical or a part of a cylindrical shape, and the cross section may be circular, elliptical, rectangular, polygonal, etc. By providing a pair of support members 1242 spaced apart from each other, the hollow structure at the distal end of the actuator base 124 can be increased, and the internal pores and shielding area can be reduced to facilitate cleaning of the second surgical tool 12.

[0063] like Figures 4 to 6 As shown, the proximal portion 1221 of the second clamp 122 can be pivotally connected to a pair of support members 1242 of the actuator base 124 through a pin structure 125, and the proximal portion 1221 can be located inside the pair of support members 1242. For example, a pair of connection holes can be provided at the distal end of the proximal portion 1221, and a pair of connection holes are correspondingly provided on the pair of support members 1242. The pin structure 125 can penetrate the connection holes on the proximal portion 1221 and the support members 1242, so that the proximal portion 1221 can be rotatably connected to the support members 1242. The first clamp 121 can be fixedly connected to the support member 1242 or integrally formed.

[0064] In some embodiments, Figure 4 and Figure 5 As shown, the actuator base 124 may also include a proximal connection base 1243. The proximal connection base 1243 and the base 1241 may be threaded, interference fit, welded, bonded, or integrally formed. In some embodiments, the proximal connection base 1243 may also form an internal cavity 1411 therein. In some embodiments, the proximal connection base 1243 and the base 1241 may be made of different materials, for example, the proximal connection base 1243 may be an insulating material such as rubber, plastic, or ceramic. The base 1241 may be a conductive material such as metal. In some embodiments, the proximal connection base 1243 and the base 1241 may be sealed, for example, by bonding, thermoplasticization, welding, or the like.

[0065] Those skilled in the art will appreciate that the proximal connection base 1243 is made of insulating material to prevent the proximal end of the second surgical tool 12 from being charged and burning the patient during surgery. The second surgical tool 12 can be insulated from the second arm 123 to prevent contaminants from entering the second surgical tool 12 and making it difficult to clean.

[0066] like Figure 6 As shown, the second surgical tool 12 may further include a sealing structure 1210. The sealing structure 1210 may be cylindrical. The sealing structure 1210 may include an inner cylinder 1211 and an outer cylinder 1212, and the outer cylinder 1212 may be sleeved outside the inner cylinder 1211. The sealing structure 1210 may further include a transition section 1213 between the inner cylinder 1211 and the outer cylinder 1212, and at least a portion of the transition section 1213 may be retractable.

[0067] like Figure 6 As shown, a portion of the inner cylinder 1211 of the sealing structure 1210 can be sealed and connected to the drive assembly 126. For example, the inner surface of a portion of the inner cylinder 1211 of the sealing structure 1210 can be sealed and connected to the drive wire 1261 of the drive assembly 126, such as by bonding, thermoplasticization, or fastening through a hoop (e.g., the first hoop 1214), etc. Those skilled in the art will understand that the inner cylinder 1211 can be located in the internal cavity of the actuator base 124. The inner cylinder 1211 can move axially in the internal cavity under the drive assembly 126. In some embodiments, as Figure 6 As shown, the distal end of the inner tube 1211 of the sealing structure 1210 can be sealed to the distal periphery of the drive wire 1261. It should be understood that the distal periphery of the drive wire 1261 can be broadly understood, for example, it can include the distal periphery of the drive wire 1261, or the periphery of the slider 1262 connected to the distal end of the drive wire 1261.

[0068] like Figure 6 As shown, a portion of the outer cylinder 1212 of the sealing structure 1210 can be sealed and connected to the actuator base 124. For example, a portion of the outer cylinder 1212 of the sealing structure 1210 can be sealed and connected to the inner circumferential surface of the proximal connection base 1243, for example, by any suitable method such as bonding, thermoplasticization, etc. The outer cylinder 1212 can be connected to the inner cylinder 1211 as a whole through the transition section 1213. Those skilled in the art can understand that the inner cylinder 1211, the outer cylinder 1212 and the transition section 1213 of the sealing structure 1210 can form a continuous sealing surface, thereby having a better sealing effect.

[0069] The sealing structure 1210 can isolate the drive assembly 126 (e.g., the drive wire 1261 and the slider 1262) from the surgical environment, thereby preventing the patient's body fluids and bacteria from the outside from entering the interior of the second surgical tool 12 (e.g., the interior of the drive assembly 126) through the pores during the operation. When cleaning and disinfecting the second surgical tool 12, the second surgical tool 12 can be left unassembled, and only the exposed parts of the second surgical tool 12 (e.g., the first clamp 121, the second clamp 122, and the support member 1242, etc.) can be cleaned, thereby improving the convenience of cleaning and disinfection, and reducing or avoiding secondary infection.

[0070] In some embodiments, Figure 6 As shown, the sealing structure 1210 may further include a first hoop 1214 sleeved on the outside of the inner tube 1211, so that the sealing structure 1210 and the drive wire 1261 or the slider 1262 are sealed and fastened. The first hoop 1214 can further improve the sealing between the sealing structure 1210 and the drive wire 1261, which helps to reduce the risk of the sealing structure 1210 slipping during telescopic movement. The sealing structure 1210 may also include a second hoop (not shown) arranged on the inner side of the outer tube 1212, and the second hoop can improve the sealing between the outer tube 1212 of the sealing structure 1210 and the actuator base 124.

[0071] In some embodiments, at least a portion of the transition section 1213 may include an elastic and retractable material, such as rubber or thermoplastic elastomer, or a flexible material, such as plastic, non-woven fabric, etc. In some embodiments, at least a portion of the transition section 1213 may include a pleated portion, which can be extended and unfolded or contracted and folded. Based on this, when the second surgical tool 12 is opened and closed, and the drive assembly 126 and the actuator base 124 move relative to each other (for example, the slider 1262 moves axially in the internal cavity), the sealing structure 1210 can be adaptively deformed, and the inner cylinder 1211 of the sealing structure 1210 can follow the drive assembly 126 under the drive assembly 126. Based on this, the movement of the drive assembly 126 will not be affected while achieving sealing.

[0072] In some embodiments, Figure 5As shown, the proximal connection base 1243 may include a proximal section 1244 and a distal section 1245, wherein the radial dimension of the distal section 1245 may be greater than the radial dimension of the proximal section 1244. The proximal section 1244 and the distal section 1245 may be integrally formed and interpenetrate each other. The radial dimension of the base 1241 may be consistent with the radial dimension of the distal section 1245, so as to facilitate connection with the distal section 1245. The distal section 1245 of the proximal connection base 1243 may include a receiving groove, forming a part of the internal cavity, for accommodating the proximal portion of the sealing structure 1210. For example, the outer cylinder 1212 of the sealing structure 1210 may be sealed and connected to the inner wall of the receiving groove. The proximal section 1244 of the proximal connection base 1243 may accommodate the drive wire 1261. The proximal section 1244 of the proximal connection base 1243 may be provided with a through hole for the drive wire 1261 to pass through. In some embodiments, the proximal section 1244 of the proximal connection base 1243 is used to be fixedly connected to the arm body 123. The driving wire 1261 can pass through the through hole to extend toward the proximal end.

[0073] Figure 7 FIG. 1 is a schematic diagram showing the structure of a first surgical tool 11 according to some embodiments of the present disclosure. A person skilled in the art can understand that Figure 7 FIG. 2 shows the distal end structure of the first surgical tool 11. In some embodiments, as shown in FIG. Figure 7 As shown, the first surgical tool 11 may include a first arm 111 and a tool head 112. In some embodiments, the first arm 111 may include a continuous structure to improve the flexibility of the first surgical tool 11 in the patient's body. The tool head 112 may be disposed at the distal end of the first arm 111, and the tool head 112 may include a first clamp body 1121 and a second clamp body 1122. The first clamp body 1121 and the second clamp body 1122 may be configured to cooperate with each other to achieve an opening and closing function and a bipolar function. Those skilled in the art will appreciate that the attached Figure 7 The structure shown is merely exemplary, and the first surgical tool 11 may adopt any suitable bipolar tool structure. For example, the first surgical tool 11 may adopt a structure similar to that of the second surgical tool 12 .

[0074] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical robot, characterized in that: include: a first surgical tool, wherein the first surgical tool is a bipolar energy surgical tool; The second surgical tool includes: a first clamp configured to achieve a monopolar function; and a second clamp configured to cooperate with the first clamp to achieve a bipolar function; an energy generator connected to the first surgical tool and the second surgical tool, and used to provide energy to the first surgical tool and the second surgical tool, the energy generator comprising a first bipolar energy output port and a second bipolar energy output port; a first control pedal, the first control pedal being used to control the first surgical tool to achieve a bipolar function; a second control pedal, the second control pedal being used to control the second surgical tool to achieve a bipolar function; and a control device, wherein the control device is configured to control the first bipolar energy output port or the second bipolar energy output port to output a test energy signal, detect whether the first surgical tool and the second surgical tool generate a high-frequency voltage, and determine a mapping relationship between the first control pedal and the second control pedal and the first bipolar energy output port and the second bipolar energy output port based on the detection result.

2. The surgical robot according to claim 1, characterized in that: The control device is also configured to control the first bipolar energy output port to output a test energy signal, and in response to detecting that the first surgical tool generates a high-frequency voltage, determine that the first bipolar energy output port has a mapping relationship with the first control pedal, or in response to detecting that the second surgical tool generates a high-frequency voltage, determine that the first bipolar energy output port has a mapping relationship with the second control pedal.

3. The surgical robot according to claim 1, characterized in that: The control device is also configured to control the second bipolar energy output port to output a test energy signal, and in response to detecting that the first surgical tool generates a high-frequency voltage, determine that the second bipolar energy output port has a mapping relationship with the first control pedal, or in response to detecting that the second surgical tool generates a high-frequency voltage, determine that the second bipolar energy output port has a mapping relationship with the second control pedal.

4. The surgical robot according to claim 1, characterized in that: Also includes: A first high-frequency cable, wherein a proximal interface of the first high-frequency cable is connected to the first bipolar energy output port or the second bipolar energy output port, and a distal interface of the first high-frequency cable is connected to the first surgical tool to transmit energy to the first surgical tool.

5. The surgical robot according to claim 4, characterized in that: The energy generator further includes a monopolar energy output port, and the surgical robot further includes: A second high-frequency cable, wherein the first proximal interface of the second high-frequency cable is connected to the first bipolar energy output port or the second bipolar energy output port, the second proximal interface of the second high-frequency cable is connected to the monopolar energy output port, and the distal interface of the second high-frequency cable is connected to the second surgical tool to transmit energy to the second surgical tool.

6. The surgical robot according to claim 5, characterized in that: The second high-frequency cable also includes: A first proximal-end cable and a second proximal-end cable, wherein proximal ends of the first proximal-end cable and the second proximal-end cable are connected to the first proximal-end interface; a third proximal-end cable, wherein a proximal end of the third proximal-end cable is connected to the second proximal-end interface; A first remote cable and a second remote cable, wherein the remote ends of the first remote cable and the second remote cable are connected to the remote interface; and a connecting device for connecting the distal ends of the first proximal-end cable and the third proximal-end cable with the proximal end of the first distal-end cable, and connecting the distal end of the second proximal-end cable with the proximal end of the second distal-end cable.

7. The surgical robot according to claim 5, characterized in that: The control device is further configured to control the first bipolar energy output port or the second bipolar energy output port to output a test energy signal in response to a trigger operation.

8. The surgical robot according to claim 1, characterized in that: The first surgical tool comprises: First arm body; and a tool head, disposed at the distal end of the first arm body, the tool head comprising: The first clamp body and the second clamp body are configured to cooperate with each other to achieve a bipolar function.

9. The surgical robot according to claim 6, characterized in that: The second surgical tool also includes: Second arm body; and an actuator base, which is arranged at the distal end of the second arm body, the first clamp is fixedly arranged at the distal end of the actuator base, and the second clamp is rotatably connected to the actuator base.

10. The surgical robot according to claim 9, characterized in that: The second surgical tool comprises: A drive assembly, the drive assembly comprising: The driving wire is used to receive pushing or pulling force. The distal end of the driving wire is connected to the second clamp to drive the second clamp to open and close. The proximal end of the driving wire can be connected to the second distal cable of the second high-frequency cable. The driving wire is also used to conduct electricity to the second clamp.

11. The surgical robot according to claim 10, characterized in that: The second surgical tool also includes: A conductive wire, a proximal end of which can be connected to the first distal end cable of the second high-frequency cable, and a distal end of which is connected to the first clamp to conduct electricity to the first clamp.

12. The surgical robot according to claim 11, characterized in that: The second surgical tool also includes: An insulating member is arranged at the distal end of the actuator base, the insulating member comprises a mounting groove arranged along the axial direction, and the proximal end of the first clamp extends into the mounting groove to be fixedly arranged at the distal end of the insulating member.

13. The surgical robot according to claim 12, characterized in that: The actuator base includes a wire groove arranged on the outer peripheral surface and extending in the axial direction, and the insulating member also includes a wire channel communicating with the mounting groove, and the distal end of the wire is connected to the proximal end of the first clamp through the wire groove and the wire channel.

14. The surgical robot according to claim 10, characterized in that: The drive assembly further includes a slider connected to the distal end of the drive wire, and the actuator base includes an internal cavity in which the slider is slidably disposed.

15. The surgical robot according to claim 14, characterized in that: The second clamp includes a proximal portion and a clamping portion disposed at a distal end of the proximal portion, the proximal end of the proximal portion is disposed in the internal cavity, the proximal portion includes a sliding space and a pair of clamp sliding grooves disposed on both sides of the sliding space. The actuator base also includes a pair of base slide grooves arranged opposite to each other on both sides of the internal cavity. The slide block is slidably connected to the pair of clamp slide grooves and the pair of base slide grooves through a pin structure.

16. The surgical robot according to claim 10, characterized in that: The second surgical tool also includes: The sealing structure is in a cylindrical shape and comprises an inner cylinder and an outer cylinder. A portion of the inner cylinder is sealedly connected to the driving wire, and a portion of the outer cylinder is sealedly connected to the inner circumferential surface of the actuator base.

17. The surgical robot according to claim 16, characterized in that: The sealing structure further includes a transition section disposed between the inner cylinder and the outer cylinder, and at least a portion of the transition section is telescopic.

18. The surgical robot according to claim 1, characterized in that: The first surgical tool includes a first voltage monitor, the second surgical tool includes a second voltage monitor, and the control device is further configured to detect whether the first surgical tool and the second surgical tool generate high-frequency voltage based on voltage monitoring results of the first voltage monitor and the second voltage monitor, respectively.

19. The surgical robot according to claim 1, characterized in that: Also includes: An operating trolley comprises at least one robotic arm, wherein the first surgical tool and the second surgical tool are arranged at the distal end of the at least one robotic arm.

20. The surgical robot according to claim 19, characterized in that: Also includes: A main control trolley is communicatively connected with the operating trolley, and the main control trolley includes at least one main operator, and the at least one main operator is used to receive user operations. The first control pedal and the second control pedal are arranged on the main control trolley.

21. The surgical robot according to claim 20, characterized in that: The main control vehicle also includes: a third control pedal, the third control pedal being used to control the energy generator to realize the monopolar electroresection function of the second surgical tool; And a fourth control pedal, wherein the fourth control pedal is used to control the energy generator to realize the monopolar electrocoagulation function of the second surgical tool.

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