Single-joint flexible bipolar grasping forceps and system, control method of single-joint flexible bipolar grasping forceps and electronic equipment

Abstract

The invention belongs to the technical field of medical instruments, and provides single-joint flexible bipolar grasping forceps, a system, a control method of the system and electronic equipment.The single-joint flexible bipolar grasping forceps comprise a forceps rod assembly, a fixed tooth and a movable tooth are arranged at the front end of the forceps rod assembly, the fixed tooth is fixedly connected with the forceps rod assembly, and the movable tooth is hinged to the forceps rod assembly; a flexible driving assembly is arranged in the forceps rod assembly, one end of the flexible driving assembly is connected with one end of the moving tooth, and the flexible driving assembly is used for driving the moving tooth to rotate and enabling the moving tooth to be close to or away from the fixed tooth. When the flexible grasping forceps are used, the fixed teeth firstly make contact with a focus, then the movable teeth are controlled to clamp and close, the clamping point is located at the fixed teeth, the problem that existing flexible grasping forceps need to judge whether the clamping point is located on the midline or not is solved, the accuracy is higher, tiny targets can be accurately captured, the operation time is shortened, and the anesthesia risk of a patient is reduced.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, relates to a single-joint flexible bipolar grasping forceps, a system and a control method thereof, an electronic device and a readable storage medium. Background Art

[0002] In the medical field, traditional rigid surgical instruments often encounter bottlenecks when faced with the complex anatomical structure of the human body. The internal cavities and tissues of the human body are not regular geometric shapes. Especially in the abdominal cavity, thoracic cavity and neurosurgery scenarios, the narrow and irregular operating space makes it difficult for rigid instruments to flexibly reach the target area, and forced operation can easily cause the risk of damage to surrounding tissues. As the concept of minimally invasive surgery has become popular, the flexible transformation of medical devices has become a trend. Single-joint flexible instruments have begun to emerge in this context. They can use their own flexible characteristics to fit the natural form of human tissue to a certain extent. For example, in laparoscopic surgery, single-joint flexible bipolar graspers can more easily bypass obstacles such as the intestines to grasp the target tissue compared to traditional rigid graspers, opening up a new path for minimally invasive surgery.

[0003] In head and neck surgery, the throat tissues rise and fall with breathing movements, and the position of nodules changes in real time. It is difficult for doctors to accurately capture the tiny nodules by manipulating the clamping instruments based on naked eye observation and experience. The existing single-joint flexible bipolar grasping forceps have a clamping point located on the midline. The judgment of the midline position during surgery completely relies on the doctor's experience, and the accuracy is not high. This not only prolongs the operation time and increases the risk of anesthesia for patients, but may also cause damage to surrounding normal tissues due to multiple mis-clamping.

[0004] Therefore, it is urgent to design a new single-joint flexible bipolar grasping forceps to solve the above problems. Summary of the invention

[0005] To achieve the above-mentioned purpose, in the first aspect, the technical solution adopted in the present application is: to provide a single-joint flexible bipolar grasping forceps, including a clamp rod assembly, the front end of the clamp rod assembly is provided with fixed teeth and movable teeth, the fixed teeth are fixedly connected to the clamp rod assembly, the movable teeth are hinged to the clamp rod assembly, and a flexible driving assembly is arranged inside the clamp rod assembly, one end of the flexible driving assembly is connected to one end of the movable teeth, and is used to drive the movable teeth to rotate so that the movable teeth are close to or away from the fixed teeth.

[0006] Optionally, the pliers rod assembly comprises a pliers head base rod, the pliers head base rod is fixedly connected with an insulating member, the movable teeth are hinged to the insulating member, and the fixed teeth are fixedly connected to the pliers head base rod.

[0007] Optionally, the moving tooth is hinged to the insulating member via an insulating pin.

[0008] Optionally, the diameter of the insulating pin is 0.6 mm to 1 mm.

[0009] Optionally, the flexible driving assembly includes a moving push rod, a push-pull steel wire, a push-pull capillary and a ball rod fixedly connected in sequence, the moving push rod, the push-pull steel wire and the push-pull capillary are slidably arranged in the clamp rod assembly, and one end of the moving push rod away from the push-pull steel wire is hinged to the moving tooth.

[0010] Optionally, an isolation layer is provided on the inner side of the pliers head base rod and on one end close to the insulating member, and the moving push rod is located on the inner side of the isolation layer.

[0011] Optionally, the pliers rod assembly further comprises a flat wire spring, a fixing tube and a fixing ring which are fixedly connected in sequence, and one end of the flat wire spring away from the fixing tube is fixedly connected to one end of the pliers head base rod away from the fixing tooth.

[0012] Optionally, the push-pull capillary is located on the inner side of the fixing ring and is slidably connected to the fixing ring, and the push-pull steel wire passes through the fixing tube and the flat wire spring in sequence and is connected to the moving push rod.

[0013] The single-joint flexible bipolar grasping forceps include a first electrode and a second electrode that can be powered by electricity. The first electrode is composed of the fixed teeth, the forceps head base rod, the flat wire spring, the fixed tube and the fixed ring. The second electrode is composed of the moving teeth, the moving push rod, the push-pull wire, the push-pull capillary and the ball rod.

[0014] Optionally, an insulating layer is provided on the outer sides of the clamp head base rod, the flat wire spring, the fixing tube and the fixing ring.

[0015] Optionally, the outer sides of the moving teeth, the moving push rod, the push-pull steel wire, the push-pull capillary and the ball rod are all provided with an insulating layer.

[0016] Optionally, the front ends of the fixed teeth and the movable teeth are both provided with clamping parts, and mutually engaging convex teeth are provided on opposite sides of the two clamping parts, and the two clamping parts are both annular structures.

[0017] Optionally, the maximum opening angle of the moving teeth is not less than 45°.

[0018] To achieve the above-mentioned purpose, in a second aspect, the technical solution adopted by the present application is: to provide a single-joint flexible bipolar grasping forceps system, comprising a control component, a power component and the single-joint flexible bipolar grasping forceps as described above, wherein the control component is electrically connected to the power component, and the power component is connected to the clamp rod component of the single-joint flexible bipolar grasping forceps;

[0019] The control component is used to receive control instructions and control the power component to output power to the clamp rod component according to the control instructions, so as to drive the posture change and the opening and closing of the moving teeth of the single-joint flexible bipolar grasping forceps.

[0020] Optionally, the control instruction is a collected hand posture and / or position change of the operator.

[0021] Optionally, the control component controls the power component to output power to the clamp rod component according to the control instruction to drive the posture change and movement teeth opening and closing of the single-joint flexible bipolar grasping forceps, including:

[0022] The control component converts the control instruction into the desired posture of the single-joint flexible bipolar grasping forceps and / or the desired range of opening of the moving teeth and / or the closure information of the moving teeth. When the desired posture of the single-joint flexible bipolar grasping forceps is achieved, the desired posture of the single-joint flexible bipolar grasping forceps is input into a preset single-joint flexible bipolar grasping forceps posture model to obtain the posture control information of the power component controlling the posture of the clamp rod component. When the expected range of opening of the moving teeth is achieved, the expected range of opening of the moving teeth is input into a preset single-joint flexible bipolar grasping forceps clamp model to obtain the power control information of the power component controlling the flexible driving component. The power component is controlled according to the posture control information and / or the power control information and / or the moving tooth closure information, respectively.

[0023] Optionally, when the single-joint flexible bipolar grasping forceps comprises a first electrode and a second electrode that can be energized,

[0024] It also includes an electric knife excitation component, the control component is electrically connected to the electric knife excitation component, and the electric knife excitation component is electrically connected to the first electrode and the second electrode respectively;

[0025] The control component is also used to receive external signals and control the electrosurgical knife excitation component;

[0026] The electrosurgical knife excitation component is used to output corresponding excitation energy to the first electrode and / or the second electrode under the control of the control component, so that the fixed teeth and / or the movable teeth can achieve bipolar coagulation or bipolar electroresection.

[0027] To achieve the above purpose, in a third aspect, the technical solution adopted in the present application is: to provide a control method for a single-joint flexible bipolar grasping forceps system, which is applied to the single-joint flexible bipolar grasping forceps system as described above, and comprises the following steps:

[0028] Get control instructions;

[0029] Converting the control instruction into the desired posture of the single-joint flexible bipolar grasping forceps and / or the desired range of opening of the moving teeth and / or the closing information of the moving teeth;

[0030] Inputting the desired posture of the single-joint flexible bipolar grasping forceps into a preset single-joint flexible bipolar grasping forceps posture model to obtain posture control information of the power assembly controlling the posture of the clamp rod assembly;

[0031] Inputting the expected range of opening of the moving teeth into a preset single-joint flexible bipolar grasping forceps clamping model to obtain power control information of the power component controlling the flexible driving component;

[0032] The posture change and / or the opening and closing of the moving teeth of the single-joint flexible bipolar grasping forceps are controlled according to the posture control information and / or the power control information and / or the moving teeth closing information.

[0033] To achieve the above-mentioned purpose, in the fourth aspect, the technical solution adopted in this application is: to provide an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, a control method for the single-joint flexible bipolar grasping forceps system as described above is implemented.

[0034] To achieve the above objectives, in the fifth aspect, the technical solution adopted in the present application is: to provide a computer-readable storage medium on which a program is stored, and when the program is executed by a processor, a control method for the single-joint flexible bipolar grasping forceps system as described above is implemented.

[0035] The single-joint flexible bipolar grasping forceps provided by the present application have the following beneficial effects: compared with the prior art, the single-joint flexible bipolar grasping forceps provided by the present application have fixed teeth and moving teeth set at the front end of the clamp rod assembly, the fixed teeth are fixedly connected to the clamp rod assembly, the moving teeth are hinged to the clamp rod assembly, and the moving teeth are driven to rotate by the flexible driving assembly, so that the moving teeth are close to or away from the fixed teeth, so as to realize the opening and closing of the grasping forceps. When in use, the fixed teeth first contact the lesion, and then control the moving teeth to clamp and close, and the clamping point is located at the fixed teeth, which avoids the problem that the existing flexible grasping forceps need to judge whether the clamping point is located on the midline, and has higher accuracy, can accurately capture small targets, shorten the operation time, and reduce the risk of anesthesia for patients; secondly, the instrument has the functions of clamping, pulling and coagulation, and can replace the clamping of passive instruments and the coagulation of monopolar instruments at the same time, reduce the steps of changing instruments during surgery, save operation time, and improve operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1A schematic diagram of the structure of a single-joint flexible bipolar grasping forceps provided in an embodiment of the present application;

[0038] Figure 2 A schematic cross-sectional structure diagram of a single-joint flexible bipolar grasping forceps provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a closed state of a single-joint flexible bipolar grasping forceps provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of an open state of a single-joint flexible bipolar grasping forceps provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of force analysis of a single-joint flexible bipolar grasping forceps provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of fixed teeth and moving teeth in a single-joint flexible bipolar grasping forceps provided in an embodiment of the present application;

[0043] Figure 7 A schematic structural block diagram of a single-joint flexible bipolar grasping forceps system provided in an embodiment of the present application.

[0044] Among them, the reference numerals in the figure are:

[0045] 1. Fixed teeth; 2. Moving teeth; 3. Clamp head base rod; 4. Flat wire spring; 5. Fixed tube; 6. Fixed ring; 7. Moving push rod; 8. Push-pull steel wire; 9. Push-pull capillary; 10. Ball rod; 11. Insulating part; 12. Isolation layer; 13. Insulating pin. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] Please also read Figure 1-Figure 5 Now, the single-joint flexible bipolar grasping forceps provided in the embodiment of the present application are described.

[0051] A single-jointed flexible bipolar grasping forceps, see Figure 1 , including a clamp rod assembly, a fixed tooth 1 and a movable tooth 2 are arranged at the front end of the clamp rod assembly, the fixed tooth 1 is fixedly connected to the clamp rod assembly, the movable tooth 2 is hinged to the clamp rod assembly, and a flexible driving assembly is arranged inside the clamp rod assembly, one end of the flexible driving assembly is connected to one end of the movable tooth 2, and is used to drive the movable tooth 2 to rotate along the axis hinged to the clamp rod assembly, so that the movable tooth 2 is close to or away from the fixed tooth 1.

[0052] In the prior art, during head and neck surgery, the throat tissues fluctuate constantly with breathing movements, and the position of the nodules changes in real time. Doctors can only rely on naked eye observation and experience to control the clamping instruments, making it difficult to accurately capture the tiny target of nodules. The existing single-joint flexible bipolar grasping forceps have a clamping point located on the midline, and the judgment of the midline position during surgery completely relies on the doctor's experience, which is not very accurate. It not only prolongs the operation time and increases the risk of anesthesia for patients, but may also cause damage to surrounding normal tissues due to multiple mis-clamping.

[0053] The present application sets a fixed tooth 1 and a movable tooth 2 at the front end of the clamp rod assembly, the fixed tooth 1 is fixedly connected to the clamp rod assembly, and the movable tooth 2 is hinged to the clamp rod assembly. The movable tooth 2 is driven to rotate by the flexible driving assembly to make the movable tooth 2 approach or move away from the fixed tooth 1, thereby realizing the opening and closing of the grasping forceps. When in use, the medical staff first contacts the lesion through the fixed tooth 1, and then controls the movable tooth 2 to clamp and close, thereby realizing the clamping of the lesion. Since the clamping point of the single-joint flexible bipolar grasping forceps provided by the present application is located at the fixed tooth 1, the problem of the existing flexible grasping forceps needing to judge whether the clamping point is located on the midline is avoided, and there is no need to rely on the experience of medical staff. The accuracy is higher, and small targets can be accurately captured, the operation time is shortened, and the anesthesia risk of the patient is reduced.

[0054] In some embodiments of the present application, see Figure 2-Figure 4 The forceps rod assembly includes a forceps head base rod 3, the forceps head base rod 3 is fixedly connected with an insulating member 11, the moving teeth 2 are hinged with the insulating member 11, and the fixed teeth 1 are fixedly connected with the forceps head base rod 3. The single-joint flexible bipolar grasping forceps provided in the present application can be powered on to achieve the functions of electric knife, grasping and coagulation, and perform excision and hemostasis on the lesion. The moving teeth 2 can be insulated by the insulating member 11 to prevent leakage caused by contact between the two electrodes.

[0055] In some embodiments of the present application, the insulating member 11 is made of ceramic material. In other embodiments of the present application, the insulating member 11 may also be made of other insulating materials, which is not limited in the present application.

[0056] In some embodiments of the present application, see Figure 2 The moving tooth 2 is hinged to the insulating member 11 through the insulating pin 13. The insulating pin 13 can further improve the insulation effect.

[0057] In some embodiments of the present application, the insulating pin 13 is made of ceramic material. Optionally, in other embodiments of the present application, the insulating pin 13 may also be made of other insulating materials, which is not limited in the present application.

[0058] The applicant found that traditional clamping forceps also have the problem of weak clamping force. They are often unable to fix firmly due to insufficient clamping force. It is difficult to firmly clamp tissue without damaging it. It is also difficult to accurately control the clamping force in a delicate balance, which seriously restricts the improvement of surgical quality.

[0059] In order to solve the above problem, in some embodiments of the present application, the diameter of the insulating pin 13 is 0.6-1 mm.

[0060] The size of the single-joint flexible bipolar grasping forceps provided in one embodiment of the present application is as follows: Figure 5 As shown, in this embodiment, the diameter of the insulating pin 13 is 7 mm, and the calculation relationship between the tail end pulling force and the clamping force lever is as follows:

[0061] ;

[0062] From the above formula, we can deduce that F=0.25F 拉 ; Assuming that a clamping force of 10N is required, that is, F=10N, then F needs to be provided 拉 =40N pulling force. Torque generated by the insulating pin 13 under the clamping force of 10N , the shear stress generated is as follows:

[0063]

[0064] At 20°C, the allowable stress of zirconia ceramics is 1200 MPa, which is much greater than the shear stress. Therefore, the insulating pin 13 with a diameter of 0.7 mm can provide sufficient clamping force and is not easily sheared, thereby ensuring that the tissue is firmly clamped without being injured.

[0065] Optionally, the diameter of the insulating pin 13 can be 0.8 mm, 0.9 mm, 1 mm, etc., which can be selected according to actual needs and is not limited in this application.

[0066] In some embodiments of the present application, see Figure 2-Figure 4 The flexible driving assembly includes a moving push rod 7, a push-pull steel wire 8, a push-pull capillary 9 and a ball rod 10 which are fixedly connected in sequence. The moving push rod 7, the push-pull steel wire 8 and the push-pull capillary 9 are slidably arranged in the clamp rod assembly. The end of the moving push rod 7 away from the push-pull steel wire 8 is hinged to the moving tooth 2.

[0067] See also Figure 3 and Figure 4 When in use, by pushing the ball rod 10 to the left, the ball rod 10 can drive the push-pull capillary 9, the push-pull steel wire 8 and the moving push rod 7 to move to the left, and the moving push rod 7 drives the moving tooth 2 to rotate clockwise around the insulating pin 13, so that the moving tooth 2 is opened. Then the fixed tooth 1 is brought into contact with the lesion, and the ball rod 10 is moved to the right, and the ball rod 10 can drive the push-pull capillary 9, the push-pull steel wire 8 and the moving push rod 7 to move to the right, and the moving push rod 7 drives the moving tooth 2 to rotate counterclockwise around the insulating pin 13, so that the moving tooth 2 is closed, and the lesion is clamped.

[0068] In some embodiments of the present application, see Figure 2 and Figure 3 An isolation layer 12 is provided on the inner side of the clamp head base rod 3 and one end close to the insulating member 11, and the moving push rod 7 is located on the inner side of the isolation layer 12. By providing the isolation layer 12, the insulating member 11 and the clamp head base rod 3 and the moving push rod 7 and the clamp head base rod 3 can be insulated to avoid leakage.

[0069] In some embodiments of the present application, see Figure 1 and Figure 2 The pliers rod assembly also includes a flat wire spring 4, a fixed tube 5 and a fixed ring 6 which are fixedly connected in sequence. One end of the flat wire spring 4 away from the fixed tube 5 is fixedly connected to one end of the pliers head base rod 3 away from the fixed tooth 1.

[0070] When in use, the fixing ring 6 can be connected to the bracket to fix the entire grasping forceps, the ball rod 10 can be connected to the handle, and the ball rod 10 can be pushed and pulled by the handle, and the flat wire spring 4 can be retracted and bent, so that the single-joint flexible bipolar grasping forceps can better adapt to the structure of the inner wall of the oral cavity or the structure of other surgical parts, which is convenient for surgery. The ball rod 10 can also be connected to other power devices, which provide it with push-pull power, and the fixing ring 6 can also be fixedly connected to the mechanical arm, so that it is fixed on the mechanical arm, and the mechanical arm drives the entire single-joint flexible bipolar grasping forceps to move, so that the single-joint flexible bipolar grasping forceps moves to the corresponding posture, which will not be described in detail here.

[0071] In some embodiments of the present application, see Figure 2 The push-pull capillary 9 is located on the inner side of the fixed ring 6 and is slidably connected to the fixed ring 6 . The push-pull steel wire 8 passes through the fixed tube 5 and the flat wire spring 4 in sequence and is connected to the moving push rod 7 .

[0072] The interiors of the fixed tube 5, the flat wire spring 4 and the pliers head base rod 3 are all provided with a cavity with a diameter slightly larger than the push-pull steel wire 8, which limits the radial deformation of the push-pull steel wire 8 so that the push-pull steel wire 8 can transmit thrust and tension. The push-pull capillary 9 is made of hard material and is slidingly connected to the fixed ring 6. It can transmit thrust and tension to the push-pull steel wire 8 along its axial direction, and then the push-pull steel wire 8 transmits the thrust and tension to the moving push rod 7, thereby driving the moving tooth 2 to open or close.

[0073] In some embodiments of the present application, see Figure 2 The single-joint flexible bipolar grasping forceps include a first electrode and a second electrode that can be powered by electricity. The first electrode is composed of a fixed tooth 1, a forceps head base rod 3, a flat wire spring 4, a fixed tube 5 and a fixed ring 6. The second electrode is composed of a moving tooth 2, a moving push rod 7, a push-pull steel wire 8, a push-pull capillary 9 and a ball rod 10.

[0074] When in use, the first electrode can be energized through the fixed ring 6, and the current is transmitted to the fixed tooth 1 through the fixed tube 5, the flat wire spring 4, and the clamp head base rod 3 in sequence; the second electrode can be energized through the ball rod 10, and the current is transmitted to the moving tooth 2 through the push-pull capillary 9, the push-pull steel wire 8, and the moving push rod 7 in sequence. After the fixed tooth 1 and the moving tooth 2 are conductive, not only can the electric knife be cut, but also the grasping and coagulation functions can be realized.

[0075] In some embodiments of the present application, an insulating layer (not shown in the figure) is provided on the outer side of the clamp head base rod 3, the flat wire spring 4, the fixed tube 5, and the fixed ring 6. Since the clamp head base rod 3, the flat wire spring 4, the fixed tube 5, the fixed ring 6 and the fixed tooth 1 will be energized during use and serve as one of the electrodes, the insulating layer can be provided to prevent the clamp head base rod 3, the flat wire spring 4, the fixed tube 5 and the fixed ring 6 from leaking electricity, which may cause electric shock to the patient.

[0076] In some embodiments of the present application, an insulating layer (not shown in the figure) is provided on the outer side of the moving teeth 2, the moving push rod 7, the push-pull steel wire 8, the push-pull capillary 9 and the ball rod 10. When in use, the moving teeth 2, the moving push rod 7, the push-pull steel wire 8, the push-pull capillary 9 and the ball rod 10 serve as another electrode. By providing an insulating layer, contact between the two electrodes can be avoided to cause leakage.

[0077] In some embodiments of the present application, the thickness of the insulating layer on the fixed teeth 1 and the movable teeth 2 is 0.4 mm, and the creepage distance is small, which facilitates the removal of lesions and hemostasis through the fixed teeth 1 and the movable teeth 2.

[0078] In some embodiments of the present application, see Figure 6 The front ends of the fixed tooth 1 and the moving tooth 2 are both provided with a clamping portion, and the opposite sides of the two clamping portions are both provided with convex teeth that mesh with each other, and the two clamping portions are both annular structures.

[0079] By configuring the two supporting parts to be an annular structure, the contact area of ​​the clamping part can be reduced. Under the condition that the tissue is not injured by the clamping, reducing the contact area can increase the pressure per unit area under the same clamping force, thereby clamping the tissue more firmly.

[0080] In some embodiments of the present application, the maximum opening angle of the moving teeth 2 is not less than 45°. Setting this angle can meet the clamping requirements of various lesions.

[0081] See also Figure 7 , the single-joint flexible bipolar grasping forceps system provided in the embodiments of the present application is now described.

[0082] A single-joint flexible bipolar grasping forceps system comprises a control component, a power component and the single-joint flexible bipolar grasping forceps as described above, wherein the control component is electrically connected to the power component, and the power component is connected to the clamp rod component of the single-joint flexible bipolar grasping forceps.

[0083] Here, the control component is used to receive control instructions, and control the power component to output power to the clamp rod component according to the control instructions, so as to drive the posture change and movement teeth opening and closing of the single-joint flexible bipolar grasping forceps.

[0084] It can be understood that since the clamp rod assembly includes a flexible drive assembly inside it, the power assembly can control the posture change of the entire single-joint flexible bipolar grasping forceps by controlling the clamp rod assembly, and can also control the opening and closing of the moving teeth through the flexible drive assembly inside the clamp rod assembly.

[0085] In some embodiments of the present application, the control instruction may be a collected hand posture and / or position change of the operator.

[0086] This can simulate human hand operation as much as possible, so that the control equipment can be designed to be ergonomic and convenient for operators. There is no need for operators to relearn control instructions, or the control method can be simplified to facilitate learning for operators.

[0087] In some embodiments of the present application, the control component controls the power component to output power to the clamp rod component according to the control instruction to drive the posture change and movement teeth opening and closing of the single-joint flexible bipolar grasping forceps, which may include:

[0088] The control component converts the control instruction into the expected posture of the single-joint flexible bipolar grasping forceps and / or the expected range of opening of the moving teeth and / or the closing information of the moving teeth. When the expected posture of the single-joint flexible bipolar grasping forceps is achieved, the expected posture of the single-joint flexible bipolar grasping forceps is input into a preset single-joint flexible bipolar grasping forceps posture model to obtain the posture control information of the power component controlling the posture of the clamp rod component. When the expected range of opening of the moving teeth is achieved, the expected range of opening of the moving teeth is input into the preset single-joint flexible bipolar grasping forceps clamp model to obtain the power control information of the power component controlling the flexible driving component. The power component is controlled according to the posture control information and / or the power control information and / or the moving tooth closure information, respectively.

[0089] It can be understood that since the posture control of the single-joint flexible bipolar grasping forceps is relatively complicated, if it is completely calculated in real time on site, it will consume a lot of computing power and easily cause a large time delay. Therefore, in the above embodiment, a preset single-joint flexible bipolar grasping forceps posture model and a preset single-joint flexible bipolar grasping forceps clamping model are used to calculate the posture control information of the power component controlling the posture of the clamp rod assembly and the power control information of the power component controlling the flexible drive assembly, thereby saving calculation steps and improving the calculation efficiency of specific control information (including the posture control information of the power component controlling the posture of the clamp rod assembly and the power control information of the power component controlling the flexible drive assembly). The preset single-joint flexible bipolar grasping forceps posture model and the preset single-joint flexible bipolar grasping forceps clamping model are virtual models built in advance, corresponding to the structure of the single-joint flexible bipolar grasping forceps system, at least including the dimensions of the power component and each component in the single-joint flexible bipolar grasping forceps, wherein the power component can be a combination of a robotic arm and a motor, etc.

[0090] In addition, since the control instructions may be control signals that do not directly control the power components, such as gestures or actions, they need to be converted before they can be used. This conversion can be done in a variety of ways, such as pre-setting corresponding relationships, etc., and when the corresponding relationship is preset, the gestures or actions of the operator (which can correspond to medical personnel) are associated with the posture of the single-joint flexible bipolar grasping forceps and the opening and closing of the moving teeth, so that the operator does not need to re-learn the control instructions or adopt a new operating method, which will not be described in detail here.

[0091] In some embodiments of the present application, when the single-joint flexible bipolar grasping forceps include a first electrode and a second electrode that can be energized, it may also include an electrosurgical knife excitation assembly, and the control assembly is electrically connected to the electrosurgical knife excitation assembly, and the electrosurgical knife excitation assembly is electrically connected to the first electrode and the second electrode respectively.

[0092] Here, the control component is also used to receive external signals and control the electrosurgical knife excitation component;

[0093] The electrosurgical unit is used to output corresponding excitation energy to the first electrode and / or the second electrode under the control of the control unit, so that the fixed teeth and / or the movable teeth can achieve monopolar coagulation or bipolar coagulation or monopolar electrocuting or bipolar electrocuting, etc.

[0094] It can be understood that the external signal here can be various excitation signals, such as key signals sent by keys set on the handle or foot signals sent by pedals set on the operating table or control signals sent by other devices or means or modules, etc., which will not be described in detail here.

[0095] Specifically, in some embodiments, the electrosurgical knife excitation component is used to output corresponding excitation energy to the first electrode and / or the second electrode according to the control of the control component, so that the fixed teeth and / or the movable teeth can achieve monopolar coagulation or bipolar coagulation or monopolar electroresection or bipolar electroresection.

[0096] The control method of the single-joint flexible bipolar grasping forceps system provided in the embodiment of the present application is now described.

[0097] A control method for a single-joint flexible bipolar grasping forceps system is applied to the single-joint flexible bipolar grasping forceps system as described above, comprising the following steps:

[0098] Get control instructions;

[0099] Converting the control instruction into the desired posture of the single-joint flexible bipolar grasping forceps and / or the desired range of opening of the moving teeth and / or the closing information of the moving teeth;

[0100] Inputting the desired posture of the single-joint flexible bipolar grasping forceps into a preset single-joint flexible bipolar grasping forceps posture model to obtain posture control information of the power component controlling the posture of the clamp rod component;

[0101] The expected range of opening of the moving teeth is input into a preset single-joint flexible bipolar grasping forceps clamping model to obtain power control information of the power component controlling the flexible driving component;

[0102] The posture change and / or the opening and closing of the moving teeth of the single-joint flexible bipolar grasping forceps are controlled according to the posture control information and / or the power control information and / or the moving teeth closing information.

[0103] It is understandable that there are various ways to obtain control instructions here. It can be to collect the operator's hand video information, obtain gestures and / or actions through video analysis as corresponding control instructions, or to obtain corresponding control instructions by collecting mechanical signals or electrical signals of the handle when a handle is used. It can also be designed by making the operator wear the simulation gloves, and obtain corresponding control instructions by collecting electrical signals on the simulation gloves. The specific implementation method can be specifically designed according to the specific situation and will not be described in detail here.

[0104] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, a control method for the single-joint flexible bipolar grasping forceps system as described above is implemented.

[0105] A computer-readable storage medium is also provided in an embodiment of the present application, on which a program is stored, and when the program is executed by a processor, a control method for the single-joint flexible bipolar grasping forceps system as described above is implemented.

[0106] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A single-joint flexible bipolar grasping forceps, characterized in that: It includes a clamp rod assembly, the front end of which is provided with a fixed tooth and a movable tooth, the fixed tooth is fixedly connected to the clamp rod assembly, the movable tooth is hinged to the clamp rod assembly, and a flexible driving assembly is provided inside the clamp rod assembly, one end of the flexible driving assembly is connected to one end of the movable tooth for driving the movable tooth to rotate so that the movable tooth approaches or moves away from the fixed tooth.

2. The single-joint flexible bipolar grasping forceps according to claim 1, characterized in that: The pliers rod assembly comprises a pliers head base rod, the pliers head base rod is fixedly connected with an insulating member, the moving teeth are hinged to the insulating member, and the fixed teeth are fixedly connected to the pliers head base rod.

3. The single-joint flexible bipolar grasping forceps according to claim 2, characterized in that: The moving tooth is hinged to the insulating member through an insulating pin.

4. The single-joint flexible bipolar grasping forceps according to claim 3, characterized in that: The diameter of the insulating pin is 0.6 mm to 1 mm.

5. The single-joint flexible bipolar grasping forceps according to claim 2, characterized in that: The flexible driving assembly includes a moving push rod, a push-pull wire, a push-pull capillary and a ball rod which are fixedly connected in sequence. The moving push rod, the push-pull wire and the push-pull capillary are slidably arranged in the clamp rod assembly. The end of the moving push rod away from the push-pull wire is hinged to the moving tooth.

6. The single-joint flexible bipolar grasping forceps according to claim 5, characterized in that: An isolation layer is arranged on the inner side of the clamp head base rod and on one end close to the insulating member, and the moving push rod is located on the inner side of the isolation layer.

7. The single-joint flexible bipolar grasping forceps according to claim 5, characterized in that: The pliers rod assembly also includes a flat wire spring, a fixing tube and a fixing ring which are fixedly connected in sequence. One end of the flat wire spring away from the fixing tube is fixedly connected to one end of the pliers head base rod away from the fixing teeth.

8. The single-joint flexible bipolar grasping forceps according to claim 7, characterized in that: The push-pull capillary is located at the inner side of the fixing ring and is slidably connected to the fixing ring. The push-pull steel wire passes through the fixing tube and the flat wire spring in sequence and is connected to the moving push rod.

9. The single-joint flexible bipolar grasping forceps according to claim 7, characterized in that: The single-joint flexible bipolar grasping forceps include a first electrode and a second electrode that can be powered by electricity. The first electrode is composed of the fixed teeth, the forceps head base rod, the flat wire spring, the fixed tube and the fixed ring. The second electrode is composed of the moving teeth, the moving push rod, the push-pull wire, the push-pull capillary and the ball rod.

10. The single-joint flexible bipolar grasping forceps according to claim 9, characterized in that: An insulating layer is arranged on the outer sides of the clamp head base rod, the flat wire spring, the fixing tube and the fixing ring.

11. The single-joint flexible bipolar grasping forceps according to claim 9, characterized in that: The outer sides of the moving teeth, the moving push rod, the push-pull steel wire, the push-pull capillary tube and the ball rod are all provided with an insulating layer.

12. The single-joint flexible bipolar grasping forceps according to claim 1, characterized in that: The front ends of the fixed teeth and the moving teeth are both provided with clamping parts, and mutually engaging convex teeth are provided on opposite sides of the two clamping parts, and both the two clamping parts are annular structures.

13. The single-joint flexible bipolar grasping forceps according to claim 1, characterized in that: The maximum opening angle of the moving teeth is not less than 45°.

14. A single-joint flexible bipolar grasping forceps system, characterized in that: It comprises a control component, a power component and the single-joint flexible bipolar grasping forceps according to any one of claims 1 to 13, wherein the control component is electrically connected to the power component, and the power component is connected to the clamp rod component of the single-joint flexible bipolar grasping forceps; The control component is used to receive control instructions and control the power component to output power to the clamp rod component according to the control instructions, so as to drive the posture change and the opening and closing of the moving teeth of the single-joint flexible bipolar grasping forceps.

15. The single-joint flexible bipolar grasping forceps system according to claim 14, characterized in that: The control instruction is the collected hand posture and / or position change of the operator.

16. The single-joint flexible bipolar grasping forceps system according to claim 14, characterized in that: The control component controls the power component to output power to the clamp rod component according to the control instruction to drive the posture change and the opening and closing of the moving teeth of the single-joint flexible bipolar grasping forceps, including: The control component converts the control instruction into the desired posture of the single-joint flexible bipolar grasping forceps and / or the desired range of opening of the moving teeth and / or the closure information of the moving teeth. When the desired posture of the single-joint flexible bipolar grasping forceps is achieved, the desired posture of the single-joint flexible bipolar grasping forceps is input into a preset single-joint flexible bipolar grasping forceps posture model to obtain the posture control information of the power component controlling the posture of the clamp rod component. When the expected range of opening of the moving teeth is achieved, the expected range of opening of the moving teeth is input into a preset single-joint flexible bipolar grasping forceps clamp model to obtain the power control information of the power component controlling the flexible driving component. The power component is controlled according to the posture control information and / or the power control information and / or the moving tooth closure information, respectively.

17. The single-joint flexible bipolar grasping forceps system according to any one of claims 14 to 16, characterized in that: When the single-joint flexible bipolar grasping forceps comprises a first electrode and a second electrode that can be energized, It also includes an electric knife excitation component, the control component is electrically connected to the electric knife excitation component, and the electric knife excitation component is electrically connected to the first electrode and the second electrode respectively; The control component is also used to receive external signals and control the electrosurgical knife excitation component; The electrosurgical knife excitation component is used to output corresponding excitation energy to the first electrode and / or the second electrode under the control of the control component, so that the fixed teeth and / or the movable teeth can achieve bipolar coagulation or bipolar electroresection.

18. A control method for a single-joint flexible bipolar grasping forceps system, applied to the single-joint flexible bipolar grasping forceps system according to any one of claims 14 to 17, characterized in that: The following steps are involved: Get control instructions; Converting the control instruction into the desired posture of the single-joint flexible bipolar grasping forceps and / or the desired range of opening of the moving teeth and / or the closing information of the moving teeth; Inputting the desired posture of the single-joint flexible bipolar grasping forceps into a preset single-joint flexible bipolar grasping forceps posture model to obtain posture control information of the power assembly controlling the posture of the clamp rod assembly; Inputting the expected range of opening of the moving teeth into a preset single-joint flexible bipolar grasping forceps clamping model to obtain power control information of the power component controlling the flexible driving component; The posture change and / or the opening and closing of the moving teeth of the single-joint flexible bipolar grasping forceps are controlled according to the posture control information and / or the power control information and / or the moving teeth closing information.

19. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the single-joint flexible bipolar grasping forceps system as described in claim 18 is implemented.

20. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the control method of the single-joint flexible bipolar grasping forceps system as described in claim 18 is implemented.

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