Wrist-rotatable microwave electric shear composite energy instrument special for surgical robot

Abstract

The invention discloses a wrist-rotatable microwave electric shear composite energy instrument special for a surgical robot, and belongs to the technical field of medical instruments. The wrist-rotatable microwave electric shear composite energy instrument comprises a tool bit assembly, a wrist-rotating assembly and a drive-by-wire assembly; the cutter head assembly comprises a connecting seat, a fixed cutter and a movable cutter, a traction assembly is arranged in the connecting seat, and the output end of the traction assembly is fixedly connected with the movable cutter and used for driving the movable cutter to be opened and closed relative to the fixed cutter and conducting shearing and stripping work; one end of the wrist rotating assembly is connected with the tool bit assembly, and the other end is connected with the wire control assembly for controlling the tool bit assembly to perform transverse and longitudinal wrist rotating operation through the wire control assembly; the wrist rotating assembly comprises a fixed sleeve, a movable sleeve, a connecting sleeve, a movable joint and a drive-by-wire unit, the movable joint is arranged inside and used for assisting the fixed sleeve and the movable sleeve to rotate longitudinally and transversely; the drive-by-wire assembly drives a control wire in the wrist rotating assembly to be tightened and loosened by connecting the drive-by-wire unit; the invention has the advantages of fine operation and no need of frequent replacement of energy instruments.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and more specifically relates to a wrist-rotatable microwave electric shears composite energy device specially used for surgical robots. Background Art

[0002] A surgical robot is a precision-operating robot that can be controlled remotely by a surgeon and can enter the patient's body through a tiny incision to assist the surgeon in performing minimally invasive surgery. Surgical robots are used in the field of minimally invasive surgery that is beyond human capabilities to achieve precision operations that cannot be completed by human capabilities alone. Surgical robots are often equipped with energy surgical instruments to perform operations such as cutting, separation, and hemostasis of tissues during surgery. These instruments emit high-frequency, ultrasonic, microwave and other energies, interact with living tissues, and achieve precision surgery. However, different energy instruments are required for tissue stripping and hemostasis operations in existing surgical operations. The use of various energy instruments in turn makes the operation of medical staff very cumbersome, which not only prolongs the operation time, but also seriously affects the safety of surgical operations, and even leads to the failure of surgical operations. Compared with traditional minimally invasive surgery, surgical robots have higher requirements for surgical instruments. Surgical instruments need to be more flexible and provide rotation, bending and other movements that are almost comparable to human hands, and provide fine operations when performing surgical operations such as separation, hemostasis, knotting, and suturing of blood vessels and nerves. Therefore, how to provide a microwave electric shear composite energy instrument dedicated to surgical robots is a problem that technicians in this field urgently need to solve. Summary of the invention

[0003] In view of this, the present invention provides a rotatable wrist microwave electric shears composite energy device for surgical robots, which adopts the following technical solutions:

[0004] A wrist-rotating microwave electric shears composite energy device specially designed for surgical robots, comprising a blade head assembly, a wrist-rotating assembly and a wire control assembly; the blade head assembly comprises a connecting seat, a fixed blade and a movable blade, a pulling assembly is arranged in the connecting seat, the output end of the pulling assembly is fixedly connected to the movable blade, for driving the movable blade to open and close relative to the fixed blade, for shearing and peeling the operating part; one end of the wrist-rotating assembly is connected to the blade head assembly, and the other end is connected to the wire control assembly, for controlling the blade head assembly to perform horizontal and vertical wrist-rotating operations through the wire control assembly; the wire control assembly is used to drive the control line in the wrist-rotating assembly to tighten and relax.

[0005] Furthermore, the fixed knife is fixedly arranged at the front end of the connecting seat, the movable knife is hinged to the fixed knife through a knife head rotating shaft, and a peeling surface is provided on the outer side of the fixed knife for peeling operation; an electrical conductor and a microwave transmission line are passed through the connecting seat, the electrical conductor is connected to the movable knife, and the microwave transmission line is connected to the fixed knife.

[0006] Furthermore, the pulling assembly includes a pulling wire, a reset plate and a reset spring; a pulling groove is provided in the connecting seat, and a reset groove is connected to the middle position of the pulling groove; an eccentric column is provided at a position of the movable knife close to the knife head rotating shaft; one end of the pulling wire passes through the pulling groove and is fixedly connected to the eccentric column; the reset plate is adapted to the reset groove, and the other end passes through the reset plate and is connected to the wire control assembly; the pulling wire is fixedly connected to the reset plate; the reset spring is sleeved on the pulling wire, one end of the reset spring is fixedly connected to the reset plate, and the other end is fixedly connected to the inner wall of the reset groove on the side away from the reset plate.

[0007] Furthermore, the movable knife is provided with a limiting groove, and the fixed knife is provided with a limiting pin matched with the limiting groove, which is used to limit the shearing closing position of the movable knife and the fixed knife.

[0008] Furthermore, the wrist turning assembly includes a fixed sleeve, a movable sleeve, a connecting sleeve, a movable joint and a wire control unit; one end of the movable sleeve is connected to the fixed sleeve, and the other end is connected to the connecting sleeve; the other end of the fixed sleeve is connected to the connecting seat of the blade head assembly; the other end of the connecting sleeve is connected to the surgical robot arm through the wire control assembly; the movable joint is arranged inside the fixed sleeve, the movable sleeve and the connecting sleeve, and is used to assist the longitudinal and lateral rotation of the fixed sleeve and the movable sleeve; the wire control unit is used to control the longitudinal and lateral rotation of the fixed sleeve and the movable sleeve.

[0009] Furthermore, a wire gathering ball is arranged inside one end of the fixed sleeve connected to the cutter head assembly, and three arc-shaped wire gathering grooves are arranged inside the wire gathering ball for gathering the cables in the cutter head assembly; the two sides of the wire gathering ball are fixed inside the fixed sleeve by fixing rods.

[0010] Furthermore, the movable joint includes a longitudinal rotation joint and a transverse rotation joint; the longitudinal rotation joint is arranged between the fixed sleeve and the movable sleeve, and is used to assist the fixed sleeve to rotate longitudinally relative to the movable sleeve; the transverse rotation joint is arranged between the movable sleeve and the connecting sleeve, and is used to assist the movable sleeve to rotate transversely relative to the connecting sleeve.

[0011] Further, the longitudinal rotation joint includes a first gear group and a second gear group; the first gear group is fixed to the inside of the fixed sleeve through a first rotating shaft; the second gear group is fixed to the inside of the movable sleeve through a second rotating shaft; the first gear group is meshed with the second gear group for transmission; the transverse rotation joint includes a third gear group and a fourth gear group; the third gear group is fixed to the inside of the movable sleeve through a third rotating shaft, and the fourth gear group is fixed to the inside of the connecting sleeve through a fourth rotating shaft; the third gear group is meshed with the fourth gear group for transmission; the third rotating shaft and the fourth rotating shaft are arranged perpendicular to the first rotating shaft and the second rotating shaft.

[0012] Furthermore, a first cable collecting wheel is movably provided at the center position of the first rotating shaft and the second rotating shaft, and the first cable collecting wheel is used to assist the cables in the cutter head assembly to pass through; the central axis of the first cable collecting wheel is perpendicular to the central axis of the first rotating shaft and the second rotating shaft; a second cable collecting wheel is movably provided at the center position of the third rotating shaft and the fourth rotating shaft, and the second cable collecting wheel is used to assist the cables in the cutter head assembly to pass through; the central axis of the second cable collecting wheel is perpendicular to the central axis of the third rotating shaft and the third rotating shaft, and is colinear with the central axis of the first cable collecting wheel.

[0013] Further, the wire control unit includes a first longitudinal control line, a second longitudinal control line, a third transverse control line and a fourth transverse control line; the first longitudinal control line and the second longitudinal control line are both rotatably connected to the fixed sleeve through a rotating seat at one end, and the other end passes through the movable sleeve and the connecting sleeve to connect the wire control assembly; the third transverse control line and the fourth transverse control line are both rotatably connected to the movable sleeve through a rotating seat at one end, and the other end passes through the connecting sleeve to connect the wire control assembly; the first longitudinal control line, the second longitudinal control line, the third transverse control line and the fourth transverse control line are uniformly arranged circumferentially relative to the central axis of the movable sleeve, and the first longitudinal control line and the second longitudinal control line are symmetrically arranged relative to the central axis of the movable sleeve, and the third transverse control line and the fourth transverse control line are symmetrically arranged relative to the central axis of the movable sleeve.

[0014] The beneficial effects of the present invention are:

[0015] The present invention connects the movable knife to the electric wire and the fixed knife to the microwave wire, so that the electric energy and the microwave are simultaneously connected to the same energy device. The stripping surface on the fixed knife is used for the stripping operation, and the movable knife and the fixed knife rotate relative to each other for the shearing operation, so that there is no need to replace the energy device during the operation, which greatly improves the efficiency and safety of the operation. In addition, the present invention realizes the longitudinal and lateral rotation of the knife head assembly by providing a wrist rotating assembly, so that the operation of the knife head assembly is more sensitive and can meet the fine operation requirements when performing surgical operations such as separation, hemostasis, knotting and suturing of blood vessels and nerves. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the internal structure of the cutter head assembly of the present invention.

[0019] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0020] Figure 4 Schematic diagram of the internal structure of the wrist rotating assembly of the present invention.

[0021] Figure 5 It is a top view of the wrist rotating assembly of the present invention.

[0022] Among them, in the figure:

[0023] 1-connecting seat; 2-movable knife; 3-fixed knife; 4-knife head shaft; 5-electric conductor; 6-microwave transmission line; 7-pulling line; 8-reset plate; 9-reset spring; 10-wire control assembly; 11-pulling groove; 12-reset groove; 13-peeling surface; 14-limiting pin; 15-fixed sleeve; 16-movable sleeve; 17-connecting sleeve; 18-collecting ball; 19-first gear set; 20-second gear set; 21-eccentric column; 22-limiting groove; 23-first collecting wheel; 24-third gear set; 25-fourth gear set; 26-second collecting wheel; 27-first longitudinal control line; 28-second longitudinal control line; 29-third transverse control line; 30-fourth transverse control line. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Please see attached Figure 1-5 The present invention provides a wrist-rotating microwave electric shears composite energy device for surgical robots, comprising a cutter head assembly, a wrist-rotating assembly and a wire control assembly 10; the cutter head assembly is used to shear and peel the operating part; one end of the wrist-rotating assembly is connected to the cutter head assembly, and the other end is connected to the wire control assembly 10, which is used to control the cutter head assembly to perform horizontal and vertical wrist-rotating operations through the wire control assembly 10. The wire control assembly 10 is used to drive the control wire in the wrist-rotating assembly to tighten and loosen, thereby controlling the operation of the wrist-rotating assembly. Its configuration is a prior art and will not be repeated here.

[0026] The blade head assembly includes a connection seat 1, a fixed blade 3 and a movable blade 2. The fixed blade 3 is fixedly arranged at the front end of the connection seat 1. The movable blade 2 is hinged to the fixed blade 3 through a blade head rotating shaft 4. A stripping surface 13 is arranged on the outer side of the fixed blade 3. An electric wire 5 and a microwave transmission line 6 are passed through the connection seat 1. The electric wire 5 is connected to the movable blade 2, and the microwave transmission line 6 is connected to the fixed blade 3. A pulling assembly is arranged in the connection seat 1. The output end of the pulling assembly is fixedly connected to the movable blade 2 to drive the movable blade 2 to open and close. The stripping surface 13 can be shovel-shaped. The movable blade 2 emits electric energy for shearing operation. The fixed blade 3 emits microwave energy. The stripping surface 13 is used for stripping operation. There is no need to replace energy instruments during the operation, which greatly improves the efficiency and safety of the operation.

[0027] The pulling assembly includes a pulling wire 7, a reset plate 8 and a reset spring 9; a pulling groove 11 is penetrated by the connecting seat 1, and a reset groove 12 is connected to the middle position of the pulling groove 11, and the reset groove 12 is larger than the pulling groove 11; an eccentric column 21 is provided at a position of the movable knife 2 close to the knife head rotating shaft 4, and one end of the pulling wire 7 passes through the pulling groove 11 and is fixedly connected to the eccentric column 21; the reset plate 8 is adapted to the reset groove 12, and the other end passes through the reset plate 8 to connect the wire control assembly, and the pulling wire 7 is fixedly connected to the reset plate 8; the reset spring 9 is sleeved on the pulling wire 7, and one end of the reset spring 9 is fixedly connected to the reset plate 8, and the other end is fixedly connected to the inner wall of the reset groove 12 away from the reset plate 8. The wire control assembly controls the retraction and release of the pulling wire 7, pulling the pulling wire 7 away from one end of the eccentric column 21. The pulling wire 7 pulls the movable knife 2 to rotate along the knife head shaft 4 through the eccentric column 21, so that the fixed knife 3 and the movable knife 2 shear the lesion. After excision, the pulling wire 7 is released, and the reset spring 9 pushes the reset plate 8, driving the pulling wire 7 to move closer to the movable knife 2, thereby driving the movable knife 2 to reset and return to the open state.

[0028] The movable knife 2 is also provided with a limiting groove 22 , and the fixed knife 3 is provided with a limiting pin 14 matched with the limiting groove 22 for limiting the shearing closing position of the movable knife 2 and the fixed knife 3 .

[0029] The electric conductor 5 is connected to the power supply through a power switch, and the microwave transmission line 6 is connected to the microwave source through a microwave switch, and the power supply or the microwave source can be turned on separately to facilitate energy switching. The microwave transmission line 6 is set as a copper wire with an insulating sheath.

[0030] The wrist turning assembly includes a fixed sleeve 15, a movable sleeve 16, a connecting sleeve 17, an active joint and a wire control unit; one end of the fixed sleeve 15 is connected to the connecting seat 1 of the blade head assembly, and the other end is set to a convex arc structure connected to the movable sleeve 16; one end of the movable sleeve 16 is set to a concave arc structure connected to the fixed sleeve 15, and the other end is set to a convex arc structure connected to the connecting sleeve 17; one end of the connecting sleeve 17 connected to the movable sleeve 16 is set to a concave arc structure, and the other end is connected to the surgical robot arm through the wire control assembly 10; the active joint is set inside the fixed sleeve 15, the movable sleeve 16 and the connecting sleeve 17, and is used to assist the longitudinal and lateral rotation of the fixed sleeve 15 and the movable sleeve 16; the wire control unit is used to control the longitudinal and lateral rotation of the fixed sleeve 15 and the movable sleeve 16.

[0031] A wire collecting ball 18 is also provided inside the fixed sleeve 15 connected to one end of the cutter head assembly. The wire collecting ball 18 is provided with three arc-shaped wire collecting grooves for collecting the electric wire 5, microwave transmission wire 6 and pulling wire 7 in the cutter head assembly to avoid friction with other parts during movement and causing wear. Fixed rods are provided on both sides of the wire collecting ball 18, and the two sides of the wire collecting ball 18 are fixedly arranged inside the fixed sleeve 15 through the fixed rods.

[0032] The movable joint includes a longitudinal rotation joint and a transverse rotation joint; the longitudinal rotation joint is arranged between the fixed sleeve 15 and the movable sleeve 16 ; the transverse rotation joint is arranged between the movable sleeve 16 and the connecting sleeve 17 .

[0033] The longitudinal rotation joint includes a first gear set 19 and a second gear set 20; the first gear set 19 includes two first gears symmetrically arranged relative to the central axis of the fixed sleeve 15, and the two first gears are fixed inside the fixed sleeve 15 through a first rotating shaft, and the second gear set 20 includes two second gears symmetrically arranged relative to the central axis of the movable sleeve 16, and the two second gears are fixed inside the movable sleeve 16 through a second rotating shaft; the first gear set 19 and the second gear set 20 are meshed for transmission, and assist the fixed sleeve 15 to rotate when the linear control unit controls the fixed sleeve 15 to rotate longitudinally relative to the movable sleeve 16.

[0034] The first rotating shaft and the second rotating shaft are both movably sleeved with a first wire collecting wheel 23 at the center position, and the first wire collecting wheel 23 is provided with three wire grooves inside to assist the electric wire 5, microwave transmission wire 6 and pulling wire 7 in the cutter head assembly to pass through. The central axis of the first wire collecting wheel 23 is perpendicular to the central axis of the first rotating shaft and the second rotating shaft. The first rotating shaft and the second rotating shaft are movably connected with the first wire collecting wheel 23 to avoid friction between the cable and other components during rotation to cause damage.

[0035] The lateral rotation joint includes a third gear set 24 and a fourth gear set 25; the third gear set 24 includes two third gears symmetrically arranged relative to the central axis of the movable sleeve 16, and the two third gears are fixed inside the movable sleeve 16 through a third rotating shaft, and the fourth gear set 25 includes two fourth gears symmetrically arranged relative to the central axis of the connecting sleeve 17, and the two fourth gears are fixed inside the connecting sleeve 17 through a fourth rotating shaft; the third gear set 24 and the fourth gear set 25 are meshed and transmitted, and assist the movable sleeve 16 to rotate when the line control unit controls the movable sleeve 16 to rotate horizontally relative to the connecting sleeve 17. The third rotating shaft and the fourth rotating shaft are arranged perpendicular to the first rotating shaft and the second rotating shaft.

[0036] The center positions of the third rotating shaft and the fourth rotating shaft are both movably sleeved with a second wire collection wheel 26, and three wire grooves are arranged inside the second wire collection wheel 26 to assist the electric wire 5, microwave transmission wire 6 and pulling wire 7 in the cutter head assembly to pass through. The central axis of the second wire collection wheel 26 is perpendicular to the central axis of the third rotating shaft and the third rotating shaft, and is colinear with the central axis of the first wire collection wheel 23. The third rotating shaft and the fourth rotating shaft are movably connected to the second wire collection wheel 26 to avoid damage caused by friction between the cable and other components during rotation.

[0037] The wire control unit includes a first longitudinal control line 27, a second longitudinal control line 28, a third transverse control line 29 and a fourth transverse control line 30; one end of the first longitudinal control line 27 and the second longitudinal control line 28 are both rotatably connected to the fixed sleeve 15 through a rotating seat, and the other end passes through the movable sleeve 16 and the connecting sleeve 17 to connect the wire control assembly 10; one end of the third transverse control line 29 and the fourth transverse control line 30 are both rotatably connected to the movable sleeve 16 through a rotating seat, and the other end passes through the connecting sleeve 17 to connect the wire control assembly 10. The first longitudinal control line 27, the second longitudinal control line 28, the third transverse control line 29 and the fourth transverse control line 30 are uniformly arranged circumferentially relative to the central axis of the movable sleeve 16, and the first longitudinal control line 27 and the second longitudinal control line 28 are symmetrically arranged relative to the central axis of the movable sleeve 16, and the third transverse control line 29 and the fourth transverse control line 30 are symmetrically arranged relative to the central axis of the movable sleeve 16. The wire control assembly 10 controls the longitudinal rotation of the fixed sleeve 15 along the movable sleeve 16 by controlling the retraction and extension of the first longitudinal control line 27 and the second longitudinal control line 28. The wire control assembly 10 controls the lateral rotation of the movable sleeve 16 along the connecting sleeve 17 by controlling the retraction and extension of the third transverse control line 29 and the fourth transverse control line 30.

[0038] The method of use of the present invention is:

[0039] When the shearing operation is required, the power is turned on, the surgical robot mechanical arm is used to move the present invention, the wrist assembly is controlled by the wire control assembly to rotate longitudinally and transversely, the fixed knife 3 and the movable knife 2 are accurately aligned with the part to be removed, the movable knife 2 emits electrical energy, the pulling wire 7 is pulled by the wire control assembly, and the pulling wire 7 pulls the movable knife 2 to rotate along the knife head shaft 4 through the eccentric column 21, so that the fixed knife 3 and the movable knife 2 shear the lesion part, and the shearing operation is completed;

[0040] When the peeling operation is required, turn on the microwave source, align the peeling surface 13 with the part to be peeled (at this time, for precise operation, the movable knife 2 can be closed), the peeling surface 13 emits microwave energy, moves the connecting seat 1, and makes the peeling surface 13 peel off the lesion part to complete the peeling operation.

[0041] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0042] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A microwave electric shears composite energy device with a rotatable wrist for a surgical robot, characterized in that: The invention comprises a cutter head assembly, a wrist rotating assembly and a wire control assembly (10); the cutter head assembly comprises a connecting seat (1), a fixed knife (3) and a movable knife (2); a pulling assembly is arranged inside the connecting seat (1); an output end of the pulling assembly is fixedly connected to the movable knife (2) for driving the movable knife (2) to open and close relative to the fixed knife (3) for shearing and peeling the operating part; one end of the wrist rotating assembly is connected to the cutter head assembly and the other end is connected to the wire control assembly (10) for controlling the cutter head assembly to perform horizontal and vertical wrist rotating operations through the wire control assembly (10); the wire control assembly (10) is used to drive the control line in the wrist rotating assembly to tighten and loosen.

2. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 1, characterized in that: The fixed knife (3) is fixedly arranged at the front end of the connecting seat (1); the movable knife (2) is hinged to the fixed knife (3) via a knife head rotating shaft (4); a peeling surface (13) is provided on the outer side of the fixed knife (3) for peeling operation; an electric wire (5) and a microwave transmission line (6) are passed through the connecting seat (1); the electric wire (5) is connected to the movable knife (2), and the microwave transmission line (6) is connected to the fixed knife (3).

3. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 2, characterized in that: The pulling assembly comprises a pulling wire (7), a reset plate (8) and a reset spring (9); a pulling groove (11) is provided in the connecting seat (1), and a reset groove (12) is connected to the middle position of the pulling groove (11); an eccentric column (21) is provided at a position of the movable knife (2) close to the knife head rotating shaft (4); one end of the pulling wire (7) passes through the pulling groove (11) and is fixedly connected to the eccentric column (21); the reset plate (8) is adapted to the reset groove (12), and the other end passes through the reset plate (8) and is connected to the wire control assembly; the pulling wire (7) is fixedly connected to the reset plate (8); the reset spring (9) is sleeved on the pulling wire (7), one end of the reset spring (9) is fixedly connected to the reset plate (8), and the other end is fixedly connected to the inner wall of the reset groove (12) away from the reset plate (8).

4. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 1, characterized in that: The movable knife (2) is provided with a limiting groove (22), and the fixed knife (3) is provided with a limiting pin (14) matched with the limiting groove (22) for limiting the shearing closing position of the movable knife (2) and the fixed knife (3).

5. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 1, characterized in that: The wrist rotation assembly comprises a fixed sleeve (15), a movable sleeve (16), a connecting sleeve (17), a movable joint and a wire control unit; one end of the movable sleeve (16) is connected to the fixed sleeve (15), and the other end is connected to the connecting sleeve (17); the other end of the fixed sleeve (15) is connected to the connecting seat (1) of the blade head assembly; the other end of the connecting sleeve (17) is connected to the mechanical arm of the surgical robot through the wire control assembly (10); the movable joint is arranged inside the fixed sleeve (15), the movable sleeve (16) and the connecting sleeve (17), and is used to assist the longitudinal and lateral rotation of the fixed sleeve (15) and the movable sleeve (16); the wire control unit is used to control the longitudinal and lateral rotation of the fixed sleeve (15) and the movable sleeve (16).

6. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 5, characterized in that: The fixed sleeve (15) is connected to one end of the cutter head assembly and is internally provided with a wire collecting ball (18). The wire collecting ball (18) is internally provided with three arc-shaped wire collecting grooves for collecting the cables in the cutter head assembly. Both sides of the wire collecting ball (18) are fixed inside the fixed sleeve (15) by fixing rods.

7. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 5, characterized in that: The movable joint comprises a longitudinal rotation joint and a transverse rotation joint; the longitudinal rotation joint is arranged between the fixed sleeve (15) and the movable sleeve (16) to assist the fixed sleeve (15) to rotate longitudinally relative to the movable sleeve (16); the transverse rotation joint is arranged between the movable sleeve (16) and the connecting sleeve (17) to assist the movable sleeve (16) to rotate transversely relative to the connecting sleeve (17).

8. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 7, characterized in that: The longitudinal rotation joint comprises a first gear set (19) and a second gear set (20); the first gear set (19) is fixed inside the fixed sleeve (15) via a first rotating shaft; the second gear set (20) is fixed inside the movable sleeve (16) via a second rotating shaft; the first gear set (19) and the second gear set (20) are meshed for transmission; the transverse rotation joint comprises a third gear set (24) and a fourth gear set (25); the third gear set (24) is fixed inside the movable sleeve (16) via a third rotating shaft, and the fourth gear set (25) is fixed inside the connecting sleeve (17) via a fourth rotating shaft; the third gear set (24) and the fourth gear set (25) are meshed for transmission; the third rotating shaft and the fourth rotating shaft are arranged perpendicular to the first rotating shaft and the second rotating shaft.

9. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 8, characterized in that: A first cable collecting wheel (23) is movably provided at the center position of the first rotating shaft and the second rotating shaft, and the first cable collecting wheel (23) is used to assist the cables in the cutter head assembly to pass through; the central axis of the first cable collecting wheel (23) is perpendicularly arranged to the central axis of the first rotating shaft and the second rotating shaft; a second cable collecting wheel (26) is movably provided at the center position of the third rotating shaft and the fourth rotating shaft, and the second cable collecting wheel (26) is used to assist the cables in the cutter head assembly to pass through; the central axis of the second cable collecting wheel (26) is perpendicularly arranged to the central axis of the third rotating shaft and the third rotating shaft, and is colinear with the central axis of the first cable collecting wheel (23).

10. The rotatable wrist microwave electric shears composite energy device for surgical robots according to claim 5, characterized in that: The wire control unit comprises a first longitudinal control line (27), a second longitudinal control line (28), a third transverse control line (29) and a fourth transverse control line (30); one end of the first longitudinal control line (27) and the second longitudinal control line (28) are rotatably connected to the fixed sleeve (15) through a rotating seat, and the other end passes through the movable sleeve (16) and the connecting sleeve (17) to connect the wire control assembly (10); one end of the third transverse control line (29) and the fourth transverse control line (30) are rotatably connected to the movable sleeve (16) through a rotating seat, and the other end passes through the movable sleeve (16) and the connecting sleeve (17) to connect the wire control assembly (10); one end of the third transverse control line (29) and the fourth transverse control line (30) are rotatably connected to the movable sleeve (16) through a rotating seat, and the other end passes through the movable sleeve (16) and the connecting sleeve (17) to connect the wire control assembly (10). The first end of the movable sleeve (16) passes through the connecting sleeve (17) and is connected to the wire control assembly (10); the first longitudinal control line (27), the second longitudinal control line (28), the third transverse control line (29) and the fourth transverse control line (30) are uniformly arranged in the circumferential direction relative to the central axis of the movable sleeve (16), and the first longitudinal control line (27) and the second longitudinal control line (28) are symmetrically arranged relative to the central axis of the movable sleeve (16), and the third transverse control line (29) and the fourth transverse control line (30) are symmetrically arranged relative to the central axis of the movable sleeve (16).

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