A single-joint flexible bipolar grasper, system, and control method and electronic device thereof

Abstract

The application belongs to the technical field of medical devices, and provides a single-joint flexible bipolar grabbing forceps, a system, a control method thereof and an electronic device, wherein the single-joint flexible bipolar grabbing forceps comprises a forceps rod assembly, the front end of the forceps rod assembly is provided with a fixed tooth and a moving tooth, the fixed tooth is fixedly connected with the forceps rod assembly, the moving tooth is hinged with the forceps rod assembly, the inside of the forceps rod assembly is provided with a flexible driving 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, so that the moving tooth is close to or away from the fixed tooth. When in use, the fixed tooth is first contacted with a lesion, and then the moving tooth is controlled to be clamped and closed, and the clamping point is located at the fixed tooth, thereby avoiding the problem that the existing flexible grabbing forceps needs to judge whether the clamping point is located on the center line, the accuracy is higher, the small target can be accurately captured, the operation time is shortened, and the anesthesia risk of the patient is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, more specifically, it 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

[0002] In the medical field, traditional rigid surgical instruments often encounter bottlenecks when facing the complex anatomy of the human body. The internal cavities and tissues of the human body are not regular geometric shapes, especially in the abdominal cavity, chest cavity and neurosurgery scenes, the narrow and irregular operating space makes it difficult for rigid instruments to flexibly reach the target site, and forced operation may also cause the risk of damage to surrounding tissues. With the deepening of the concept of minimally invasive, the flexible transformation of medical devices has become a trend. Single-joint flexible instruments have begun to stand out in this context. They can use their flexible properties to some extent to conform to the natural form of human tissues. For example, in laparoscopic surgery, single-joint flexible bipolar grasping forceps can more easily bypass obstacles such as the intestines to grasp target tissues, opening up new paths for minimally invasive surgery.

[0003] In head and neck surgery, the throat tissue fluctuates with respiratory movement, and the nodule position changes in real time. It is difficult for doctors to accurately capture the tiny target of the nodule by relying on visual observation and experience to control the clamping instrument. The existing single-joint flexible bipolar grasping forceps have a clamping point on the midline, and the judgment of the midline position completely relies on the experience of the doctor, which is not accurate. Not only does it prolong the operation time and increase the risk of anesthesia for patients, but it may also cause damage to the surrounding normal tissues due to multiple misclamping.

[0004] Therefore, there is an urgent need to design a new single-joint flexible bipolar grasping forceps to solve the above problems. SUMMARY

[0005] To achieve the above-mentioned purpose, in a first aspect, the technical solution adopted by the present application is to provide a single-joint flexible bipolar grasping forceps, comprising a forceps rod assembly, a fixed tooth and a moving tooth are arranged at the front end of the forceps rod assembly, the fixed tooth is fixedly connected with the forceps rod assembly, the moving tooth is hingedly connected with the forceps rod assembly, a flexible driving assembly is arranged inside 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 to drive the moving tooth to rotate, so that the moving tooth is close to or away from the fixed tooth.

[0006] Optionally, the forceps rod assembly comprises a forceps head base rod, the forceps head base rod is fixedly connected with an insulating piece, the moving tooth is hingedly connected with the insulating piece, and the fixed tooth is fixedly connected with the forceps head base rod.

[0007] Optionally, the moving tooth is hingedly connected with the insulating piece through an insulating pin.

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

[0009] Optionally, the flexible driving assembly comprises a motion push rod, a push-pull steel wire, a push-pull capillary tube and a ball rod which are sequentially fixedly connected, the motion push rod, the push-pull steel wire and the push-pull capillary tube are slidably arranged in the clamp rod assembly, and the end of the motion push rod away from the push-pull steel wire is hingedly connected with the motion tooth.

[0010] Optionally, the inner side of the clamp head base rod and the end close to the insulating member are provided with an isolation layer, and the motion push rod is located on the inner side of the isolation layer.

[0011] Optionally, the clamp rod assembly further comprises a flat spring, a fixed tube and a fixed ring which are sequentially fixedly connected, and the end of the flat spring away from the fixed tube is fixedly connected with the end of the clamp head base rod away from the fixed tooth.

[0012] Optionally, the push-pull capillary tube is located on the inner side of the fixed ring and is slidably connected with the fixed ring, and the push-pull steel wire sequentially passes through the fixed tube and the flat spring and is connected with the motion push rod.

[0013] The single-joint flexible bipolar grabber comprises a first electrode and a second electrode which can be electrified, the first electrode is composed of the fixed tooth, the clamp head base rod, the flat spring, the fixed tube and the fixed ring, and the second electrode is composed of the motion tooth, the motion push rod, the push-pull steel wire, the push-pull capillary tube and the ball rod.

[0014] Optionally, the outer sides of the clamp head base rod, the flat spring, the fixed tube and the fixed ring are provided with an insulating layer.

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

[0016] Optionally, the front ends of the fixed tooth and the motion tooth are provided with clamping portions, the opposite sides of the two clamping portions are provided with convex teeth which are mutually engaged, and the two clamping portions are annular structures.

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

[0018] To achieve the above object, in the second aspect, the technical scheme adopted by the present application is as follows: a single-joint flexible bipolar grabber system is provided, comprising a control assembly, a power assembly and a single-joint flexible bipolar grabber as described above, the control assembly is electrically connected with the power assembly, and the power assembly is connected with the clamp rod assembly of the single-joint flexible bipolar grabber.

[0019] The control component is configured to receive a control instruction and control the power component to output power to the jaw lever assembly according to the control instruction, so as to drive the pose change and movement tooth opening and closing of the single-joint flexible bipolar grabber.

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

[0021] Optionally, the control component controls the power component to output power to the jaw lever assembly according to the control instruction, so as to drive the pose change and movement tooth opening and closing of the single-joint flexible bipolar grabber, including:

[0022] The control component converts the control instruction into the desired pose of the single-joint flexible bipolar grabber and / or the desired range of the movement tooth opening and / or the movement tooth closing information, inputs the desired pose of the single-joint flexible bipolar grabber into a preset single-joint flexible bipolar grabber pose model when the single-joint flexible bipolar grabber has the desired pose, obtains pose control information of the power component controlling the pose of the jaw lever assembly, inputs the desired range of the movement tooth opening into a preset single-joint flexible bipolar grabber jaw model when the movement tooth has the desired range of opening, obtains power control information of the power component controlling the flexible driving assembly, and controls the power component according to the pose control information and / or the power control information and / or the movement tooth closing information, respectively.

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

[0024] Further comprising an electrotome excitation component, the control component is electrically connected with the electrotome excitation component, and the electrotome excitation component is electrically connected with the first electrode and the second electrode, respectively.

[0025] The control component is further configured to receive an external signal and control the electrotome excitation component.

[0026] The electrotome excitation component is configured 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 tooth and / or the movable tooth realize bipolar electrocoagulation or bipolar electrocision.

[0027] To achieve the above object, in a third aspect, the technical solution applied by the present application is: a control method of a single-joint flexible bipolar grabber system is provided, which is applied to the single-joint flexible bipolar grabber system as described above, and includes the following steps:

[0028] Obtaining a control instruction;

[0029] Converting the control instruction into the desired pose of the single-joint flexible bipolar grabber and / or the desired range of the movement tooth opening and / or the movement tooth closing information;

[0030] Input the desired pose of the single-joint flexible bipolar grasper into the preset single-joint flexible bipolar grasper pose model to obtain pose control information for the power assembly to control the pose of the gripper rod assembly;

[0031] Input the desired range of opening of the movement tooth into the preset single-joint flexible bipolar grasper gripper model to obtain power control information for the power assembly to control the flexible driving assembly;

[0032] Control the pose change and / or movement tooth opening and closing of the single-joint flexible bipolar grasper according to the pose control information and / or power control information and / or movement tooth closing information.

[0033] To achieve the above object, in a fourth aspect, the technical solution adopted by the present application is: providing an electronic device, comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor executes the program to realize the control method of the single-joint flexible bipolar grasper system as described above.

[0034] To achieve the above object, in a fifth aspect, the technical solution adopted by the present application is: providing a computer readable storage medium having a program stored thereon, wherein the program is executed by a processor to realize the control method of the single-joint flexible bipolar grasper system as described above.

[0035] The single-joint flexible bipolar grasper provided by the present application has the following advantages: compared with the prior art, the single-joint flexible bipolar grasper provided by the present application is provided with a fixed tooth and a movement tooth at the front end of the gripper rod assembly, the fixed tooth is fixedly connected with the gripper rod assembly, the movement tooth is hinged with the gripper rod assembly, the movement tooth is driven to rotate by the flexible driving assembly, the movement tooth is moved closer to or away from the fixed tooth, and the opening and closing of the grasper are realized. In use, the fixed tooth first contacts the lesion, and then the movement tooth is controlled to clamp and close, and the clamping point is located at the fixed tooth, thereby avoiding the problem of the existing flexible grasper that needs to determine whether the clamping point is located on the center line, improving the accuracy, accurately capturing the small target, shortening the operation time and reducing the risk of anesthesia for the patient. Secondly, the device has the functions of clamping, pulling and coagulating blood, and can simultaneously replace the clamping of passive devices and the coagulation of monopolar devices, thereby reducing the steps of replacing devices during the operation, saving the operation time and improving the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1A structural schematic diagram of a single-joint flexible bipolar grabber provided by the embodiment of the present application is shown in FIG. 1.

[0038] Figure 2 A sectional structural schematic diagram of the single-joint flexible bipolar grabber provided by the embodiment of the present application is shown in FIG. 2.

[0039] Figure 3 A closed state schematic diagram of the single-joint flexible bipolar grabber provided by the embodiment of the present application is shown in FIG. 3.

[0040] Figure 4 An open state schematic diagram of the single-joint flexible bipolar grabber provided by the embodiment of the present application is shown in FIG. 4.

[0041] Figure 5 A force analysis schematic diagram of the single-joint flexible bipolar grabber provided by the embodiment of the present application is shown in FIG. 5.

[0042] Figure 6 A structural schematic diagram of the fixed tooth and the moving tooth in the single-joint flexible bipolar grabber provided by the embodiment of the present application is shown in FIG. 6.

[0043] Figure 7 A schematic structural block diagram of the single-joint flexible bipolar grabber system provided by the embodiment of the present application is shown in FIG. 7.

[0044] In the drawings, various reference numerals refer to various identical or similar elements.

[0045] 1, fixed tooth; 2, moving tooth; 3, 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 tube; 10, ball rod; 11, insulating piece; 12, isolation layer; 13, insulating pin. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the 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", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate directions or positions based on the directions or positions shown in the drawings, and are used only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0049] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0050] Please refer to Figures 1-5 , now the single joint flexible bipolar grabber provided in the embodiment of the present application will be described.

[0051] A single joint flexible bipolar grabber, please refer to Figure 1 , comprising a clamp rod assembly, the front end of the clamp rod assembly is provided with a fixed tooth 1 and a moving tooth 2, the fixed tooth 1 is fixedly connected with the clamp rod assembly, the moving tooth 2 is hinged with the clamp rod assembly, the inside of the clamp rod assembly is provided with a flexible driving assembly, one end of the flexible driving assembly is connected with one end of the moving tooth 2, for driving the moving tooth 2 to rotate along the axis hinged with the clamp rod assembly, so that the moving tooth 2 approaches or moves away from the fixed tooth 1.

[0052] In the prior art, during head and neck surgery, the throat tissue fluctuates with respiratory movement, the nodule position changes in real time, and the doctor can hardly accurately capture the small target of nodule by relying on naked eye observation and experience to control the clamping instrument. The existing single joint flexible bipolar grabber has the clamping point located on the midline, the judgment of the midline position completely relies on the experience of the doctor during the operation, and the accuracy is not high, which not only prolongs the operation time and increases the risk of anesthesia for the patient, but also may cause damage to the surrounding normal tissue due to multiple misclamping.

[0053] The application is provided with a fixed tooth 1 and a moving tooth 2 at the front end of the forceps rod assembly, the fixed tooth 1 is fixedly connected with the forceps rod assembly, the moving tooth 2 is hingedly connected with the forceps rod assembly, the moving tooth 2 is driven to rotate by a flexible driving assembly, so that the moving tooth 2 is close to or away from the fixed tooth 1, and the opening and closing of the forceps are realized. In use, medical staff first contacts the lesion through the fixed tooth 1, and then controls the moving tooth 2 to clamp and close, so that the lesion is clamped. Since the clamping point of the single-joint flexible bipolar forceps provided by the application is located at the fixed tooth 1, the problem that whether the clamping point is located on the center line needs to be judged for the existing flexible forceps is avoided, the experience of medical staff is not needed, the accuracy is higher, the micro target can be accurately captured, the operation time is shortened, and the anesthesia risk of the patient is reduced.

[0054] In some embodiments of the application, referring to Figures 2-4 , the forceps rod assembly comprises a forceps head base rod 3, the forceps head base rod 3 is fixedly connected with an insulating piece 11, the moving tooth 2 is hingedly connected with the insulating piece 11, and the fixed tooth 1 is fixedly connected with the forceps head base rod 3. The single-joint flexible bipolar forceps provided by the application can be electrified to realize the functions of an electric knife, grabbing and blood coagulation, remove the lesion and stop bleeding, and the moving tooth 2 can be insulated through the insulating piece 11 to prevent the two electrodes from contacting to cause electric leakage.

[0055] In some embodiments of the application, the insulating piece 11 is made of ceramic material, and in some other embodiments of the application, the insulating piece 11 can also be made of other insulating materials, which are not limited in the application.

[0056] In some embodiments of the application, referring to Figure 2 , the moving tooth 2 is hingedly connected with the insulating piece 11 through an insulating pin 13. The insulating effect can be further improved through the insulating pin 13.

[0057] In some embodiments of the application, the insulating pin 13 is made of ceramic material, and optionally, in some other embodiments of the application, the insulating pin 13 can also be made of other insulating materials, which are not limited in the application.

[0058] The applicant finds that the traditional clamping forceps also have the problem of weak clamping force, and often cannot be firmly fixed due to insufficient clamping force, it is difficult to ensure that the tissue is not clamped and injured, and it is difficult to accurately control the clamping force in a subtle balance, which seriously restricts the improvement of operation quality.

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

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

[0061] ;

[0062] From the above formula, F = 0.25F 拉 ; assuming that a clamping force of 10N is required, i.e. F = 10N, then a pulling force of F 拉 = 40N needs to be provided. The torsion generated at the position of the insulating pin 13 under a clamping force of 10N is , and the shear stress generated is as follows:

[0063]

[0064] The allowable stress of zirconium oxide ceramic is 1200MPa at 20℃, which is much greater than the shear stress received, so the insulating pin 13 with a diameter of 0.7mm can provide sufficient clamping force and is not easy to be sheared off, which can ensure that the tissue is not clamped and clamped firmly.

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

[0066] In some embodiments of the present application, referring to Figures 2-4 , the flexible driving assembly comprises a movement push rod 7, a push-pull steel wire 8, a push-pull capillary tube 9 and a ball rod 10 which are sequentially fixedly connected, the movement push rod 7, the push-pull steel wire 8 and the push-pull capillary tube 9 are slidably arranged in the forceps lever assembly, and the end of the movement push rod 7 away from the push-pull steel wire 8 is hingedly connected with the movement tooth 2.

[0067] Referring to Figure 3 and Figure 4 , in use, by pushing the ball rod 10 to the left, the ball rod 10 can drive the push-pull capillary tube 9, the push-pull steel wire 8 and the movement push rod 7 to move to the left, the movement push rod 7 drives the movement tooth 2 to rotate in the clockwise direction around the insulating pin 13, so that the movement tooth 2 is opened. Then the fixed tooth 1 contacts the lesion, the ball rod 10 moves to the right, the ball rod 10 can drive the push-pull capillary tube 9, the push-pull steel wire 8 and the movement push rod 7 to move to the right, the movement push rod 7 drives the movement tooth 2 to rotate in the counterclockwise direction around the insulating pin 13, so that the movement tooth 2 is closed, realizing clamping of the lesion.

[0068] In some embodiments of the present application, referring to Figure 2 and Figure 3 , the inner side of the forceps head base lever 3 and the end close to the insulating piece 11 are provided with an isolation layer 12, and the movement push rod 7 is located on the inner side of the isolation layer 12. By providing the isolation layer 12, insulation between the insulating piece 11 and the forceps head base lever 3 and between the movement push rod 7 and the forceps head base lever 3 can be achieved, avoiding electric leakage.

[0069] In some embodiments of the present application, referring toFigure 1 and Figure 2 The clamp rod assembly further comprises a flat spring 4, a fixed tube 5 and a fixed ring 6 connected in sequence, and the end of the flat spring 4 away from the fixed tube 5 is fixedly connected with the end of the jaw base rod 3 away from the fixed tooth 1.

[0070] In use, the fixed ring 6 can be connected with a support for fixing the entire grabber, and the ball rod 10 can be connected with a handle for pushing and pulling the ball rod 10 through the handle. The flat spring 4 can be stretched and bent, so that the single-joint flexible bipolar grabber can better adapt to the structure of the oral cavity or other surgical sites, facilitating the surgery. The ball rod 10 can also be connected with other power devices to provide power for pushing and pulling, and the fixed ring 6 can also be fixedly connected with a mechanical arm to be fixed on the mechanical arm and driven by the mechanical arm to move the single-joint flexible bipolar grabber to a corresponding pose, which will not be described in detail here.

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

[0072] The inside of the fixed tube 5, the flat spring 4 and the jaw base rod 3 is provided with a cavity with a diameter slightly larger than that of the push-pull steel wire 8 to limit the radial deformation of the push-pull steel wire 8, so that the push-pull steel wire 8 can transmit the pushing force and the pulling force. The push-pull capillary tube 9 is made of hard material and is in sliding connection with the fixed ring 6, and can transmit the pushing force and the pulling force to the push-pull steel wire 8 along the axial direction, and then the push-pull steel wire 8 transmits the pushing force and the pulling force to the moving push rod 7 to drive the moving tooth 2 to open or close.

[0073] In some embodiments of the present application, referring to Figure 2 The single-joint flexible bipolar grabber comprises a first electrode and a second electrode that can be electrified, the first electrode is composed of the fixed tooth 1, the jaw base rod 3, the flat spring 4, the fixed tube 5 and the fixed ring 6, and the second electrode is composed of the moving tooth 2, the moving push rod 7, the push-pull steel wire 8, the push-pull capillary tube 9 and the ball rod 10.

[0074] In use, the first electrode can be electrified through the fixed ring 6, and the current passes through the fixed tube 5, the flat spring 4, the jaw base rod 3 to the fixed tooth 1 in sequence; the second electrode can be electrified through the ball rod 10, and the current passes through the push-pull capillary tube 9, the push-pull steel wire 8, the moving push rod 7 to the moving tooth 2 in sequence. After the fixed tooth 1 and the moving tooth 2 are electrified, not only can they be used for cutting with an electric knife, but also can they be used for grabbing and coagulating blood.

[0075] In some embodiments of the present application, the outer side of the jaw base rod 3, the flat wire spring 4, the fixed tube 5, the fixed ring 6 is provided with an insulating layer (not shown in the figure). Since the jaw base rod 3, the flat wire spring 4, the fixed tube 5, the fixed ring 6 and the fixed tooth 1 are all electrified during use, as one of the electrodes, the insulating layer can prevent the jaw base rod 3, the flat wire spring 4, the fixed tube 5 and the fixed ring 6 from leaking electricity, causing the patient to be electrically injured.

[0076] In some embodiments of the present application, the outer side of the moving tooth 2, the moving push rod 7, the push-pull steel wire 8, the push-pull capillary tube 9 and the ball rod 10 are provided with an insulating layer (not shown in the figure). During use, the moving tooth 2, the moving push rod 7, the push-pull steel wire 8, the push-pull capillary tube 9 and the ball rod 10 serve as the other electrode, and the insulating layer can prevent the two electrodes from contacting and causing a leakage.

[0077] In some embodiments of the present application, the thickness of the insulating layer on the fixed tooth 1 and the moving tooth 2 is 0.4mm, the creepage distance is small, and the fixed tooth 1 and the moving tooth 2 can be used to resect and stop bleeding of the lesion.

[0078] In some embodiments of the present application, referring to Figure 6 , the front ends of the fixed tooth 1 and the moving tooth 2 are provided with clamping parts, the opposite sides of the two clamping parts are provided with interlocking teeth, and the two clamping parts are annular structures.

[0079] By setting the two clamping parts as annular structures, the contact area of the clamping parts can be reduced. Under the same clamping force, the contact area is reduced to improve the pressure per unit area and clamp the tissue more firmly without damaging the tissue.

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

[0081] Referring to Figure 7 , the single-joint flexible bipolar grabber system provided in the embodiments of the present application will be described.

[0082] A single-joint flexible bipolar grabber system, comprising a control assembly, a power assembly and a single-joint flexible bipolar grabber as described above, wherein the control assembly is electrically connected with the power assembly, and the power assembly is connected with the jaw rod assembly of the single-joint flexible bipolar grabber.

[0083] Here, the control assembly is used to receive a control instruction and control the power assembly to output power to the jaw rod assembly according to the control instruction, so as to drive the pose change and the opening and closing of the moving tooth of the single-joint flexible bipolar grabber.

[0084] It can be understood that, since the forceps rod assembly includes the flexible driving assembly inside, the power assembly can control the pose change of the whole single-joint flexible bipolar forceps by controlling the forceps rod assembly, and can also control the opening and closing of the movement tooth by the flexible driving assembly inside the forceps rod assembly.

[0085] In some embodiments of the present application, the control instruction can be the collected operator hand posture and / or pose change, etc.

[0086] In this way, the operation of the human hand can be simulated as much as possible, so that the manipulator is designed to be ergonomic, and the operator is convenient, without the need for the operator to relearn the control instruction, or the control mode is simplified, and the operator is facilitated to learn.

[0087] In some embodiments of the present application, the control assembly controls the power assembly to output power to the forceps rod assembly according to the control instruction to drive the pose change of the single-joint flexible bipolar forceps and the opening and closing of the movement tooth, which can include:

[0088] The control assembly converts the control instruction into the expected pose of the single-joint flexible bipolar forceps and / or the expected range of the opening of the movement tooth and / or the closing information of the movement tooth, inputs the expected pose of the single-joint flexible bipolar forceps into a preset single-joint flexible bipolar forceps pose model when the single-joint flexible bipolar forceps has the expected pose, inputs the expected range of the opening of the movement tooth into a preset single-joint flexible bipolar forceps jaw model when the movement tooth has the expected range of the opening, and controls the power assembly according to the pose control information and / or the power control information and / or the closing information of the movement tooth, respectively.

[0089] It can be understood that, since the pose control of the single-joint flexible bipolar forceps is relatively complex, if it is calculated in real time on site, a large amount of computing power will be consumed, and a large time delay will be caused. Therefore, in the above embodiments, the preset single-joint flexible bipolar forceps pose model and the preset single-joint flexible bipolar forceps jaw model are used to calculate the pose control information of the power assembly controlling the pose of the forceps rod assembly and the power control information of the power assembly controlling the flexible driving assembly, so as to save the calculation steps, improve the calculation efficiency of the specific control information (including the pose control information of the power assembly controlling the pose of the forceps rod assembly and the power control information of the power assembly controlling the flexible driving assembly), and the preset single-joint flexible bipolar forceps pose model and the preset single-joint flexible bipolar forceps jaw model are a virtual model constructed in advance, which should be the structure of the single-joint flexible bipolar forceps system, at least including the size of each device in the power assembly and the single-joint flexible bipolar forceps, etc., wherein the power assembly can be a combination of a mechanical arm and a motor, etc.

[0090] In addition, since the control instruction can be a control signal such as a gesture or a motion that does not directly control the power assembly, the control instruction needs to be converted before being used, and the conversion can be performed in various ways, such as a preset corresponding relationship. When the preset corresponding relationship is set, the gesture or motion of the operator (which can correspond to a medical staff) is correspondingly associated with the pose of the single-joint flexible bipolar grabber and the opening and closing of the movement tooth, so that the operator does not need to relearn the control instruction or use a new operation mode. Here, the details are not described again.

[0091] In some embodiments of the present application, when the single-joint flexible bipolar grabber includes a first electrode and a second electrode that can be energized, an electrotome excitation assembly can also be included. The control assembly is electrically connected to the electrotome excitation assembly, and the electrotome excitation assembly is electrically connected to the first electrode and the second electrode, respectively.

[0092] Here, the control assembly is also used to receive an external signal to control the electrotome excitation assembly.

[0093] The electrotome excitation assembly is used to output corresponding excitation energy to the first electrode and / or the second electrode according to the control of the control assembly, so that the fixed tooth and / or the movable tooth realizes monopolar coagulation or bipolar coagulation or monopolar cutting or bipolar cutting.

[0094] It can be understood that the external signal here can be various excitation signals, such as a key signal sent by a key arranged on a handle, a foot pedal signal sent by a foot pedal arranged on an operating table, or a control signal sent by other devices or apparatuses or modules, and the like. Here, the details are not described again.

[0095] Specifically, in some embodiments, the electrotome excitation assembly is used to output corresponding excitation energy to the first electrode and / or the second electrode according to the control of the control assembly, so that the fixed tooth and / or the movable tooth realizes monopolar coagulation or bipolar coagulation or monopolar cutting or bipolar cutting.

[0096] Now the control method of the single-joint flexible bipolar grabber system provided in the embodiments of the present application is described.

[0097] A control method of a single-joint flexible bipolar grabber system, applied to the single-joint flexible bipolar grabber system as described above, includes the following steps:

[0098] Obtaining a control instruction;

[0099] Converting the control instruction into a desired pose of the single-joint flexible bipolar grabber and / or a desired range of opening of the movement tooth and / or closing information of the movement tooth;

[0100] Inputting the desired pose of the single-joint flexible bipolar grabber into a preset single-joint flexible bipolar grabber pose model to obtain pose control information of a pose of a power assembly control jaw assembly;

[0101] input the expected range of the movement tooth opening into the preset single-joint flexible bipolar gripper model, to obtain power control information of the power assembly controlling the flexible driving assembly;

[0102] control the pose change and / or the movement tooth opening and closing of the single-joint flexible bipolar gripper according to the pose control information and / or the power control information and / or the movement tooth closing information.

[0103] It can be understood that the way of obtaining the control instruction herein is various, which can be collecting the hand video information of the operator, obtaining the gesture and / or action through video analysis as the corresponding control instruction, or collecting the mechanical signal or electrical signal of the handle to obtain the corresponding control instruction when the handle is used, or using the designed simulation gloves, making the operator wear the simulation gloves, and collecting the electrical signal on the simulation gloves to obtain the corresponding control instruction. The specific implementation manner can be designed according to the specific situation, which will not be described in detail here.

[0104] The embodiment of the present application further provides an electronic device, including a memory, a processor and a program stored in the memory and executable on the processor, and the processor executes the program to realize the control method of the single-joint flexible bipolar gripper system as described above.

[0105] The embodiment of the present application further provides a computer readable storage medium, which stores a program, and the program is executed by a processor to realize the control method of the single-joint flexible bipolar gripper system as described above.

[0106] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A single joint flexible bipolar grasper system, characterized by: The utility model provides a kind of single-joint flexible bipolar grabber including control component, power component and the single-joint flexible bipolar grabber, the single-joint flexible bipolar grabber includes clamp rod component, the front end of the clamp rod component is provided with fixed tooth and moving tooth, the fixed tooth is fixedly connected with the clamp rod component, the moving tooth is hinged with the clamp rod component, flexible drive component is arranged inside the clamp rod component, one end of the flexible drive component is connected with one end of the moving tooth, for driving the moving tooth rotation, the moving tooth is close to or away from the fixed tooth; The control component is electrically connected with the power component, and the power component is connected with the clamp rod component of the single-joint flexible bipolar grabber. The control component is used for receiving control instructions and controlling the power component to output power to the clamp rod component according to the control instructions to drive the pose change and the opening and closing of the moving tooth of the single-joint flexible bipolar grabber. The control component controls the power component to output power to the clamp rod component according to the control instructions to drive the pose change and the opening and closing of the moving tooth of the single-joint flexible bipolar grabber, including: The control component converts the control instructions into the desired pose of the single-joint flexible bipolar grabber and / or the desired range of opening of the moving tooth and / or the closing information of the moving tooth, inputs the desired pose of the single-joint flexible bipolar grabber into a preset single-joint flexible bipolar grabber pose model when the single-joint flexible bipolar grabber has the desired pose, obtains pose control information for the power component to control the pose of the clamp rod component, inputs the desired range of opening of the moving tooth into a preset single-joint flexible bipolar grabber jaw model when the moving tooth has the desired range of opening, obtains power control information for the power component to control the flexible drive component, and controls the power component according to the pose control information and / or the power control information and / or the closing information of the moving tooth, respectively. The flexible drive component includes a moving push rod, a push-pull steel wire, a push-pull capillary tube and a ball rod fixedly connected in sequence, the moving push rod, the push-pull steel wire and the push-pull capillary tube are slidably arranged in the clamp rod component, and one end of the moving push rod away from the push-pull steel wire is hinged with the moving tooth. The clamp rod component further includes a flat spring, a fixed tube and a fixed ring fixedly connected in sequence, one end of the flat spring away from the fixed tube is fixedly connected with one end of the jaw base rod away from the fixed tooth. The front ends of the fixed tooth and the moving tooth are provided with clamping parts, the opposite sides of the two clamping parts are provided with convex teeth that engage with each other, and the two clamping parts are annular structures. The clamp rod component includes a jaw base rod, the jaw base rod is fixedly connected with an insulating part, the moving tooth is hinged with the insulating part, and the fixed tooth is fixedly connected with the jaw base rod.

2. The single joint flexible bipolar grasper system of claim 1, wherein: The insulating pin is made of ceramic material, and the diameter of the insulating pin is 0.6mm-1mm. The inner side of the jaw base rod and the end close to the insulating part are provided with an isolation layer, and the moving push rod is located inside the isolation layer.

3. The single joint flexible bipolar grasper system of claim 1, wherein: The push-pull capillary tube is located on the inner side of the fixed ring and is in sliding connection with the fixed ring, and the push-pull steel wire passes through the fixed tube and the flat spring in sequence and is connected with the moving push rod.

4. The single joint flexible bipolar grasper system of claim 1, wherein: The single-joint flexible bipolar grasper includes a first electrode and a second electrode that can be electrified, the first electrode is composed of the fixed tooth, the jaw base rod, the flat spring, the fixed tube and the fixed ring, and the second electrode is composed of the moving tooth, the moving push rod, the push-pull steel wire, the push-pull capillary tube and the ball rod.

5. The single joint flexible bipolar grasper system of claim 4, wherein: The outer side of the jaw base rod, the flat spring, the fixed tube and the fixed ring is provided with an insulating layer.

6. The single joint flexible bipolar grasper system of claim 4, wherein: The outer side of the moving tooth, the moving push rod, the push-pull steel wire, the push-pull capillary tube and the ball rod is provided with an insulating layer.

7. The single joint flexible bipolar grasper system of claim 1, wherein: The maximum opening angle of the moving tooth is not less than 45°.

8. The single-joint flexible bipolar grasper system of claim 1, wherein: The control instruction is the collected hand posture and / or posture change of the operator.

9. The single joint flexible bipolar grasper system of any of claims 1-8, wherein: When the single-joint flexible bipolar grasper includes a first electrode and a second electrode that can be electrified, The control assembly is further electrically connected with an electrotome excitation assembly, and the electrotome excitation assembly is electrically connected with the first electrode and the second electrode respectively. The control assembly is further configured to receive an external signal and control the electrotome excitation assembly. The electrotome excitation assembly is configured to output corresponding excitation energy to the first electrode and / or the second electrode according to the control of the control assembly, so that the fixed tooth and / or the moving tooth realize bipolar coagulation or bipolar cutting.

10. A control method of a single-joint flexible dual-pole gripper system, applied to the single-joint flexible dual-pole gripper system according to any one of claims 1-9, characterized in that: The method comprises the following steps: Obtaining a control instruction; Converting the control instruction into expected posture of the single-joint flexible bipolar grasper and / or expected range of opening of the moving tooth and / or closing information of the moving tooth; Inputting the expected posture of the single-joint flexible bipolar grasper into a preset single-joint flexible bipolar grasper posture model to obtain posture control information of the power assembly controlling the jaw assembly posture; Inputting the expected range of opening of the moving tooth into a preset single-joint flexible bipolar grasper jaw model to obtain power control information of the power assembly controlling the flexible driving assembly; Controlling the posture change and / or opening and closing of the moving tooth of the single-joint flexible bipolar grasper according to the posture control information and / or the power control information and / or the closing information of the moving tooth.

11. An electronic device comprising a memory, a processor, and a program stored on the memory and executable on the processor, the program comprising: The processor executes the program to realize the control method of the single-joint flexible bipolar grasper system as claimed in claim 10.

12. A computer readable storage medium having stored thereon a program, the program comprising instructions which, when executed by a computer, cause the computer to carry out the method of any one of claims 1 to 11. The program is executed by the processor to realize the control method of the single-joint flexible bipolar grasper system as claimed in claim 11.

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