Electrosurgical operating instrument, medical instrument and surgical robot

Abstract

The invention relates to an electrosurgical operating instrument, a medical instrument and a surgical robot. The electrosurgical operating instrument comprises a pair of forceps arms, one tail end of each tweezer arm is connected to the mounting tube, and the other tail end of each tweezer arm is a free end; the retracting and releasing mechanism is connected between the pair of forceps arms; the moving assembly penetrates through the mounting pipe, one end of the moving assembly is connected to the retracting mechanism, the other end of the moving assembly is used for being connected with the operating end, the moving assembly drives the retracting mechanism to retract and selectively move towards the near end or the far end of the electrosurgical operating instrument under the action of external force applied by the operating end, and the forceps tips of the pair of forceps arms can be close to or away from each other. According to the electrosurgical operating instrument, the size of the electrosurgical operating instrument in the width direction of the electrosurgical operating instrument can be greatly reduced, so that the size of an opening in an operating area of a patient can be small, and damage to the patient can be reduced; in addition, the moving assembly is used for driving the retracting and releasing mechanism to retract and release at the operation end, operation is convenient, and the operation efficiency and the operation effect can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an electrosurgical instrument, a medical device, and a surgical robot. Background Art

[0002] Bipolar coagulation forceps are commonly used electrosurgical instruments in medical devices. They play a role in electrocoagulation and hemostasis in various surgical operations (such as gastrointestinal surgery, thoracic surgery, urinary tract surgery, lymph node dissection, etc.). They have the characteristics of rapid hemostasis, precise clamping, and little bleeding.

[0003] However, with the increasing popularity of minimally invasive surgery, the large size and limited control structure of traditional bipolar electrocoagulation forceps necessitate a larger incision in the surgical area to accommodate the procedure, which hinders patient recovery. Furthermore, the "chopstick effect" of thoracic surgical incisions means that the opening and closing of traditional electrocoagulation forceps is easily interfered with by other instruments within the incision, making it difficult to operate. Some forceps tip angles can even be difficult to adjust smoothly, resulting in prolonged surgeries. Summary of the Invention

[0004] The embodiments of the present application provide an electrosurgical instrument, a medical instrument, and a surgical robot to solve at least one problem existing in the background technology.

[0005] In a first aspect, an embodiment of the present application provides an electrosurgical instrument, comprising: A pair of tweezers arms, arranged opposite to each other and capable of forming positive and negative poles; A mounting tube, one end of the tweezers arm is connected to the mounting tube, and the other end is a free end; a retracting and extending mechanism connected between the pair of forceps arms; A movable component is inserted through the mounting tube, one end of the movable component is connected to the retracting mechanism, and the other end is used to connect to the operating end. Under the action of the external force applied by the operating end, the movable component drives the retracting mechanism to retract and selectively move toward the proximal end or distal end of the electrosurgical instrument, so that the tweezers tips of the pair of tweezers arms can move closer to or away from each other.

[0006] Rotation function, handle, In combination with the first aspect of the present application, in an optional embodiment, the moving assembly includes a first moving member and a second moving member, one end of the first moving member is connected to the second moving member, and the other end is connected to the retracting mechanism.

[0007] In combination with the first aspect of the present application, in an optional embodiment, the first moving member is a rigid structure, and the second moving member is a flexible structure or a rigid structure.

[0008] In conjunction with the first aspect of the present application, in an optional embodiment, the retractable mechanism includes a hinge module, and the hinge module includes: a first hinge assembly connected to one of the pair of forceps arms; a second hinge assembly connected to the other of the pair of forceps arms; a third hinge assembly, located between the first hinge assembly and the second hinge assembly, wherein the first hinge assembly and the second hinge assembly are both movably connected to the third hinge assembly, and the movable assembly is connected to the third hinge assembly; The moving component drives the third hinge component to move toward the proximal end or distal end of the electrosurgical instrument under the action of the external force applied by the operating end, so that the first hinge component and the second hinge component respectively drive the tweezers tips connected to the tweezers arms to move closer to or away from each other.

[0009] In combination with the first aspect of the present application, in an optional embodiment, the first hinge assembly and the second hinge assembly are symmetrically arranged with respect to a first plane where the central axis of the third hinge assembly is located, and the first plane is the plane where the axis of the first movable member is located.

[0010] In conjunction with the first aspect of the present application, in an optional embodiment, the first hinge assembly includes: a first rotating shaft connected to one of the pair of forceps arms; A first connecting shaft, one end of which is rotatably sleeved on the first rotating shaft; The second hinge assembly includes: a second rotating shaft connected to the other of the pair of forceps arms; a second connecting shaft, one end of which is rotatably sleeved on the second rotating shaft; The third hinge assembly includes: The third rotating shaft is located between the first rotating shaft and the second rotating shaft. The other end of the first connecting shaft and the other end of the second connecting shaft can be rotatably sleeved on the third rotating shaft.

[0011] In conjunction with the first aspect of the present application, in an optional embodiment, the retractable mechanism is capable of switching between at least a first state, a second state, and a third state under the action of the moving component; When the retractable mechanism is in the first state, the first connecting member and the second connecting member are collinear; When the retractable mechanism is in the second state, a first angle is formed between the first coupling member and the second coupling member, and the first angle is an acute angle; When the retractable mechanism is in the third state, a second angle is formed between the first connecting member and the second connecting member, and the second angle is smaller than the first angle.

[0012] In conjunction with the first aspect of the present application, in an optional embodiment, the hinge assembly further includes: a first isolating member, sleeved on the second rotating shaft member; A second isolation member is sleeved on the third rotating shaft member; The first isolating member and the second isolating member are both made of insulating material, and the second rotating shaft member and the third rotating shaft member are also made of insulating material.

[0013] In combination with the first aspect of the present application, in an optional embodiment, the first connecting member and the second connecting member are made of insulating material.

[0014] In conjunction with the first aspect of the present application, in an optional embodiment, the pair of tweezers arms includes a first tweezers arm and a second tweezers arm, a first shaft seat is protruding from a side of the first tweezers arm close to the second tweezers arm, and a second shaft seat is protruding from a side of the second tweezers arm close to the first tweezers arm and arranged opposite to the first shaft seat; The first rotating shaft component and the second rotating shaft component are respectively installed on the first shaft seat and the second shaft seat.

[0015] In conjunction with the first aspect of the present application, in an optional embodiment, the electrosurgical instrument further includes: The first guide member is connected to the inside of the mounting tube. The first guide member is provided with a first guide channel. The first movable member is inserted into the first guide channel. The first movable member moves toward the proximal end or distal end of the electrosurgical instrument under the guidance of the first guide member.

[0016] In conjunction with the first aspect of the present application, in an optional embodiment, the electrosurgical instrument further includes: The second guide member is connected to the inside of the mounting tube. The second guide member is provided with a second guide channel. The second movable member matches and is inserted into the second guide channel. The second movable member moves toward the proximal end or distal end of the electrosurgical instrument under the guidance of the second guide member.

[0017] In conjunction with the first aspect of the present application, in an optional embodiment, the electrosurgical instrument further includes: A first limiting member is connected to the inside of the mounting tube. The first limiting member is provided with a first limiting channel. The first limiting channel extends along the axial direction of the second guide member. The second movable member matches and penetrates the first limiting channel. One end of the second guide member is connected to the first limiting member, and the second guide channel of the second guide member is connected to the first limiting channel.

[0018] In conjunction with the first aspect of the present application, in an optional embodiment, the electrosurgical instrument further includes a negative pressure tube, a drip tube, and a pair of electrical cables, wherein the negative pressure tube, the drip tube, and the pair of electrical cables are all inserted through the mounting tube, and one end of the negative pressure tube is connected to the forceps arm, and the other end is connected to a suction device, so that under the action of the suction device, a negative pressure is formed at the end of the negative pressure tube near the free end of the forceps arm; One end of the dropper is connected to the forceps arm, and the other end is used to connect to the dripping device. Under the action of the dripping device, the irrigation fluid is delivered to the biological tissue through the dropper. One end of a pair of the cables is connected to a pair of the tweezers arms respectively, and the other end is connected to a power supply device respectively. Under the action of the power supply device, the pair of the tweezers arms form positive and negative poles.

[0019] In conjunction with the first aspect of the present application, in an optional embodiment, the first limiting member further includes at least a second limiting channel, a third limiting channel, and two fourth limiting channels, and the second limiting channel, the third limiting channel, and the two fourth limiting channels are circumferentially distributed around the axis of the first limiting channel; The negative pressure tube is matched with and inserted into the second limiting channel, the drip tube is matched with and inserted into the third limiting channel, and a pair of cables are matched with and inserted into the two fourth limiting channels respectively.

[0020] In conjunction with the first aspect of the present application, in an optional embodiment, the electrosurgical instrument further includes: A tensioning assembly, movably connected to the mounting tube and located at the operating end, for tensioning the second movable member; the tensioning assembly comprises: a first tensioning member connected to the end of the second movable member, wherein the outer wall of the first tensioning member is provided with an external thread; A second tensioning member is at least partially located outside the mounting tube, the second tensioning member is sleeved on the first tensioning member, and the inner wall of the second tensioning member is provided with an internal thread matching the external thread, and the second tensioning member is rotated so that the second movable member follows the first tensioning member to move toward the proximal end or distal end of the electrosurgical instrument.

[0021] In a second aspect, an embodiment of the present application provides a medical device, including the electrosurgical instrument provided according to any embodiment of the first aspect; and further comprising: The operating component is detachably connected to the electrosurgical instrument and is used to transmit the applied external force to the moving component.

[0022] In conjunction with the second aspect of the present application, in an optional implementation manner, the operating component includes: An operating handle is connected to the proximal end of the electrosurgical instrument and can drive the moving component of the electrosurgical instrument to move toward its proximal end or distal end by rotating the handle.

[0023] The rotating member is rotatably connected to the electrosurgical instrument and can drive the electrosurgical instrument to rotate relative to the operating handle.

[0024] In a third aspect, an embodiment of the present application further provides a surgical robot comprising the electrosurgical instrument provided according to any embodiment of the first aspect.

[0025] The electrosurgical instrument provided in the embodiment of the present application has a retracting mechanism connected between a pair of forceps arms, and a movable component is used to connect the retracting mechanism and the operating end. The movable component drives the retracting mechanism to retract and selectively move toward the proximal or distal end of the electrosurgical instrument under the action of an external force applied by the operating end, so that the tweezers tips of the pair of forceps arms can move closer to or away from each other; the retracting mechanism is located between the pair of forceps arms, which can greatly reduce the size of the electrosurgical instrument in its width direction, thereby enabling the opening in the patient's surgical area to have a smaller size, thereby reducing harm to the patient; in addition, the retracting mechanism is driven to be retracted and extended by the movable component at the operating end, which is easy to operate and can improve surgical efficiency and surgical results.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A side view of an electrosurgical instrument provided in an embodiment of the present application; Figure 2 A schematic diagram of a first state of a retractable mechanism of an electrosurgical instrument provided in an embodiment of the present application; Figure 3aA schematic diagram of the third state of the retractable mechanism of the electrosurgical instrument provided in an embodiment of the present application; Figure 3b A schematic diagram of a second state of the retractable mechanism of the electrosurgical instrument provided in an embodiment of the present application; Figure 4 A schematic cross-sectional view of an electrosurgical instrument provided in an embodiment of the present application; Figure 5a for Figure 2 Cross-sectional view at CC; Figure 5b A schematic diagram of the three-dimensional structure of a hinge module in an electrosurgical instrument provided in an embodiment of the present application; Figure 6 for Figure 3a Enlarged view of point B in the middle; Figure 7 for Figure 2 Enlarged view of point A in the middle; Figure 8 for Figure 3a Schematic cross-section diagram at EE; Figure 9 for Figure 3a Schematic cross-section diagram at FF; Figure 10 for Figure 4 Enlarged view of point D in the middle; Figure 11 A schematic diagram of the structure of the medical device provided in the embodiment of the present application; Figure 12 A schematic cross-sectional view of a medical device provided in an embodiment of the present application; Figure 13 for Figure 12 Enlarged view of point F in the middle; Figure 14 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application.

[0028] Reference numerals: 1. Medical device; 100. Electrosurgical instrument; 200. Operating assembly; 201. Rotating member; 202. Operating handle; 2021. Fixed handle; 2022. Rotating handle; 2. Surgical robot; 2a. Robotic arm; 10. Tweezers arm; 11. Tweezers tip; 12. First tweezers arm; 121. First shaft seat; 13. Second tweezers arm; 131. Second shaft seat; 20. Install the pipe; 30. Retractable mechanism; 31. Hinge module; 311. First hinge assembly; 3111. First rotating shaft; 3112. First connecting shaft; 312. Second hinge assembly; 3121. Second rotating shaft; 3122. Second connecting shaft; 313. Third hinge assembly; 3131. Third rotating shaft; 33. First spacer; 34. Second spacer; 35. Third spacer; 40. Moving assembly; 41. First moving member; 42. Second moving member; 51. First guide member; 52. Second guide member; 60. Tensioning assembly; 610. First tensioning member; 620. Second tensioning member; 70, first limiting member; 710, first limiting channel; 720, second limiting channel; 730, third limiting channel; 740, fourth limiting channel; 81. Negative pressure tube; 82. Dropper; 83. Cable. DETAILED DESCRIPTION

[0029] To make the technical solutions and beneficial effects of the present invention more clearly understood, the following detailed description is given by way of specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly illustrate the details of the local features. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0030] In the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplifying the description of the present invention, and do not indicate that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and should not be understood as a limitation to the present invention.

[0031] In this disclosure, the terms "first" and "second" are used solely for descriptive purposes and should not be construed as indicating the relative importance of the features indicated or the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, and "several" means at least one, such as one, two, or three, unless otherwise specifically defined.

[0032] In the present invention, unless otherwise expressly defined, the terms "installed," "connected," "connect," "fixed," and "disposed" should be understood broadly. For example, "connection" can mean fixed, removable, or integrated; it can mean mechanical or electrical; it can mean direct or indirect connection through an intermediary; it can also mean internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0033] In the present invention, unless otherwise clearly defined, when a first feature is “on,” “above,” “above,” “above,” “below,” “below,” or “below” a second feature, the first feature and the second feature may be in direct contact, or the first feature and the second feature may be in indirect contact via an intermediate medium. Moreover, when a first feature is “on,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0034] The electrosurgical instruments provided in the embodiments of the present application include but are not limited to bipolar coagulation forceps, which use high-frequency current to form a local electrothermal effect between the two forceps tips to achieve controllable coagulation of biological tissue without causing extensive damage to surrounding tissues.

[0035] However, traditional bipolar electrocoagulation forceps are large in size, and a larger opening in the patient's surgical area is required to meet the surgical needs, which causes greater harm to the patient and slows postoperative recovery.

[0036] Based on this, an embodiment of the present application provides an electrosurgical instrument, which can be used in the process of minimally invasive abdominal surgery. The electrosurgical instrument 100 is connected with a retracting mechanism 30 between a pair of forceps arms 10, and a moving component 40 is used to connect the retracting mechanism 30 and the operating end. The moving component 40 drives the retracting mechanism 30 to retract and selectively move toward the proximal end or distal end of the electrosurgical instrument 100 under the action of external force applied by the operating end, so that the tweezers tips of a pair of forceps arms 10 can move closer to or away from each other; the retracting mechanism 30 is located between a pair of forceps arms 10, which can greatly reduce the size of the electrosurgical instrument 100 in its width direction, thereby enabling the opening in the patient's surgical area to have a smaller size, thereby reducing damage to the patient; in addition, the moving component 40 is used at the operating end to drive the retracting mechanism 30 to retract and extend, which is easy to operate and can improve surgical efficiency and surgical results.

[0037] Specifically, please refer to Figure 1 、 Figure 2 、 Figure 3a and Figure 3b An electrosurgical instrument provided in an embodiment of the present application includes a pair of forceps arms 10, a mounting tube 20, a retracting mechanism 30 and a moving assembly 40.

[0038] A pair of forceps arms 10 are positioned opposite each other and, when powered, form positive and negative polarity, enabling electrocoagulation of localized tissue. A mounting tube 20 connects the pair of forceps arms 10 at one end, with the other end being connected to an operating end. One end of each forceps arm 10 is connected to the mounting tube 20, while the other end is free (i.e., the forceps tip 11 of the arm 10).

[0039] The retracting and extending mechanism 30 is connected between the pair of tweezers arms 10 and can perform a retracting and extending action under the action of the moving assembly 40 , thereby driving the tweezers tips of the pair of tweezers arms 10 to move closer to or away from each other.

[0040] The moving component 40 is inserted through the mounting tube 20, one end of the moving component 40 is connected to the retracting mechanism 30, and the other end is used to connect to the operating end. Under the action of the external force applied by the operating end, the moving component 40 drives the retracting mechanism 30 to retract and selectively move toward the proximal end or distal end of the electrosurgical instrument 100, so that the tweezers tips of a pair of tweezers arms 10 move closer to or away from each other.

[0041] In the above electrosurgical instruments, the operating end applies external force to the moving component, and the moving component transmits the force to the retraction mechanism. The retraction mechanism performs the retraction and extension action and transmits the force to a pair of forceps arms. The pair of forceps arms are deformed under the action of the force, thereby causing the tweezers tips to move closer or further away.

[0042] Figure 2 The moving direction of the moving assembly 40 is shown in FIG. Figure 2 The proximal end of the electrosurgical instrument 100 is the operating end, i.e., the end closer to the operator; the distal end of the electrosurgical instrument 100 is the tip 11 of the forceps arm 10, i.e., the end farther from the operator.

[0043] Figure 2 FIG. 2 shows a schematic diagram of a state where a pair of tweezers arms 10 are away from each other. Figure 3a FIG. 2 shows a schematic diagram of a state in which the tweezer tips 11 of a pair of tweezer arms 10 are in contact with each other. Figure 3b FIG. 3 is a schematic diagram showing a state in which the tweezer tips 11 of a pair of tweezer arms 10 are close to each other.

[0044] Figure 2 Also shown is a schematic diagram of the state when a pair of tweezers arms 10 are opened to the maximum. In this state, the retracting mechanism 30 is located in the direction of the connection line between it and the pair of tweezers arms 10 (that is, perpendicular to the axial direction of the moving component 40) and is in a straight line.

[0045] Figure 3a The tweezers tips 11 of the pair of tweezers arms 10 shown in FIG. 1 are in contact with each other and can clamp fine tissue without being powered. Figure 3b The tweezers tips 11 of a pair of tweezers arms 10 shown in the figure are close to each other. In this state, the tweezers tips 11 are in contact with the tissue to be coagulated. After power is turned on, the tissue in contact with the tweezers tips 11 can be coagulated.

[0046] It can be understood that the tweezers tips of a pair of tweezers arms 10 can clamp small tissues when not powered, and can also perform electrocoagulation on the contacted tissues when powered.

[0047] In an optional embodiment, along the axial direction of the mounting tube 20, the mounting tube 20 is composed of multiple sections of tube bodies, and adjacent tube bodies are connected by fasteners or welding. The splicing of multiple sections of tube bodies can improve the convenience of installing various components of the electrosurgical instrument 100.

[0048] In an alternative embodiment, please refer to Figure 4 The moving assembly 40 includes a first moving member 41 and a second moving member 42 . One end of the first moving member 41 is connected to the second moving member 42 , and the other end is connected to the retracting mechanism 30 .

[0049] The external force applied by the operating end acts on the second movable member 42, which transmits the force to the first movable member 41. The first movable member 41 then transmits the force to the retracting mechanism 30 and the pair of forceps arms 10 in sequence. Due to the long distance between the proximal and distal ends of the electrosurgical surgical instrument 100, it is difficult to ensure that the direction of force transmission between the first movable member 41 and the second movable member 42 is consistent during movement, which affects the clamping effect of the forceps arms 10.

[0050] Based on this, in the embodiment of the present application, the first movable member 41 is a rigid structure, and the second movable member 42 is a flexible structure. The short length of the rigid first movable member 41 can ensure the consistency of the force direction of the first movable member 41 during movement, thereby improving the retraction and extension effect of the retraction mechanism 30, and at the same time, improving the control force on the forceps arm 10, further improving the clamping effect of the forceps arm 10.

[0051] Exemplarily, the first moving member 41 is made of metal, and the second moving member 42 is a medical-grade steel wire rope.

[0052] In an optional embodiment, the first moving member and the second moving member are both rigid structures and are integrally formed.

[0053] In an alternative embodiment, please refer to Figure 4 、 Figure 5a 、 Figure 5b and Figure 6The retractable mechanism 30 further includes a hinge module 31 , and the hinge module 31 includes a first hinge component 311 , a second hinge component 312 and a third hinge component 313 .

[0054] The first hinge assembly 311 is connected to one of the pair of forceps arms 10, the second hinge assembly 312 is connected to the other of the pair of forceps arms 10, the third hinge assembly 313 is located between the first hinge assembly 311 and the second hinge assembly 312, and the first hinge assembly 311 and the second hinge assembly 312 are both movably connected to the third hinge assembly 313, and the first movable member 41 is connected to the third hinge assembly 313. Under the action of an external force applied by the operating end, the movable assembly 40 drives the third hinge assembly 313 to move toward the proximal end or distal end of the electrosurgical instrument 100, so that the first hinge assembly 311 and the second hinge assembly 312 respectively drive the forceps tips 11 of the forceps arms 10 connected thereto to move closer to or away from each other.

[0055] The hinge module 31 is used to allow the electrosurgical instrument 100 to be Figure 2 The pair of forceps arms 10 are shown in FIG. 1 , where the forceps tips 11 are spaced apart from each other. Figure 3a The state of the tweezers tips 11 of a pair of tweezers arms 10 being close to each other can be shown in the figure. The second movable member 42 can drive the first movable member 41 and the third hinge assembly 313 to move from the distal end toward the proximal end of the electrosurgical instrument 100 by operating the operating end. During the movement, the third hinge drives the first hinge assembly 311 and the second hinge assembly 312 to move close to each other. The first hinge assembly 311 and the second hinge assembly 312 drive the tweezers arms 10 connected thereto to move close to each other and deform until the tweezers tips 11 of the pair of tweezers arms 10 abut against each other.

[0056] The first hinge assembly 311, the second hinge assembly 312, the third hinge assembly 313 and the first movable member 41 are all rigidly connected, which can improve the force consistency between the first hinge assembly 311 and the second hinge assembly 312, thereby improving the force consistency of a pair of forceps arms 10, and at the same time improving the control force of the forceps arms 10 on biological tissue.

[0057] In an optional embodiment, the first hinge assembly 311 and the second hinge assembly 312 are symmetrically arranged about a first plane in which the central axis of the third hinge assembly 313 lies. The first plane is also the plane in which the axis of the first movable member lies. When the third hinge assembly 313 is moved by force, the first hinge assembly 311 and the second hinge assembly 312 are subjected to symmetrical forces, thereby enabling the pair of forceps arms 10 to be subjected to external forces of equal magnitude and symmetrical direction, thereby improving the uniformity of the force applied by the forceps tips 11 of the pair of forceps arms 10 to biological tissue.

[0058] In an alternative embodiment, the first hinge assembly 311 includes a first rotating shaft 3111 and a first connecting shaft 3112. The first rotating shaft 3111 is connected to one of the pair of forceps arms 10, and one end of the first connecting shaft 3112 is rotatably coupled to the first rotating shaft 3111. The second hinge assembly 312 includes a second rotating shaft 3121 and a second connecting shaft 3122. The second rotating shaft 3121 is connected to the other of the pair of forceps arms 10, and one end of the second connecting shaft 3122 is rotatably coupled to the second rotating shaft 3121. The third hinge assembly 313 includes a third rotating shaft 3131. The third rotating shaft 3131 is located between the first rotating shaft 3111 and the second rotating shaft 3121. The other ends of the first connecting shaft 3112 and the second connecting shaft 3122 are both rotatably coupled to the third rotating shaft 3131.

[0059] When the first movable member 41 is forced to move toward the proximal end, the third rotating shaft member 3131 follows the first movable member 41 to move toward the proximal end, and at the same time the first connecting member 3112 and the second connecting member 3122 rotate. The size of the rotation angle of the first connecting member 3112 and the second connecting member 3122 is not specifically limited in the embodiment of this application and can be set according to specific needs.

[0060] In an optional embodiment, the retractable mechanism 30 can be in at least the first state (ie, Figure 2 ), the second state (ie, Figure 3b ) and the third state (ie, Figure 3a ) between the status diagrams shown in the figure.

[0061] When the retractable mechanism 30 is in the first state, the axes of the first connecting shaft 3112 and the second connecting shaft 3122 are collinear. Figure 7 and Figure 2 .

[0062] When the retractable mechanism 30 is in the second state, a first angle is formed between the first coupling member 3112 and the second coupling member 3122 , and the first angle is an acute angle.

[0063] When the retractable mechanism 30 is in the third state, a second angle is formed between the first connecting member 3112 and the second connecting member 3122 (ie, Figure 6 , the second angle is smaller than the first angle.

[0064] When the retractable mechanism 30 is in the second state, the tweezer tips 11 of the corresponding tweezer arms 10 are at a certain distance from each other, so that a pair of tweezer tips can contact the tissue to be coagulated, and after power is turned on, the tissue can be coagulated.

[0065] When the retracting mechanism 30 is in the third state, the tweezers tips 11 of the corresponding tweezers arms 10 contact each other. In this state, a pair of tweezers tips can clamp and adjust the position and posture of some small tissues without power, so as to facilitate the electrocoagulation operation on the tissue that needs electrocoagulation.

[0066] In an optional embodiment, the first connecting member 3112 and the second connecting member 3122 are made of insulating materials.

[0067] Setting the first connecting member 3112 and the second connecting member 3122 to be made of insulating material can also prevent the pair of forceps arms 10 from being conductive, and can also ensure the safe use of the electrosurgical instrument 100.

[0068] For example, the first and second connecting members 3112, 3122 are made of ceramic, but are not limited thereto. Since the first and second connecting members 3112, 3122 are located between the pair of forceps arms 10 and are relatively small, the difficulty of manufacturing the first and second connecting members 3112, 3122, made of ceramic is greatly increased.

[0069] Based on this, a first isolating member 33 and a second isolating member 34 made of insulating material are used to achieve the same insulation effect. Specifically, the hinge assembly further includes a first isolating member 33 and a second isolating member 34. The first isolating member 33 is sleeved on the second rotating shaft, and the second isolating member 34 is sleeved on the third rotating shaft. The first isolating member 33 and the second isolating member 34 are both made of insulating material, and the second and third rotating shafts are also made of insulating material. This prevents the pair of forceps arms 10 from conducting, ensuring safe use of the electrosurgical instrument 100.

[0070] In an optional embodiment, the hinge assembly further includes a third isolating member 35, which is sleeved on the second rotating shaft 3121 and located between the first connecting member 3112 and the first movable member 41. When the first movable member 41 is made of a conductive material, the third isolating member 35, which is made of an insulating material, can prevent electrical conduction between the first movable member 41 and the first forceps arm 12.

[0071] In an alternative embodiment, please refer to Figure 5a 、 Figure 5b 、 Figure 6 and Figure 7 A pair of tweezers arms 10 includes a first tweezers arm 12 and a second tweezers arm 13. A first shaft seat 121 is protruded from one side of the first tweezers arm 12 close to the second tweezers arm 13, and a second shaft seat 131 is protruded from one side of the second tweezers arm 13 close to the first tweezers arm 12 and arranged opposite to the first shaft seat 121. The first rotating shaft component 3111 and the second rotating shaft component 3121 are respectively installed on the first shaft seat 121 and the second shaft seat 131.

[0072] The first shaft seat 121 and the second shaft seat 131 are respectively extended from the first forceps arm 12 and the second forceps arm 13 , and can ensure the firmness and stability of the connection between the first shaft seat 121 and the second shaft seat 131 and the pair of forceps arms 10 .

[0073] In an alternative embodiment, please refer to Figure 4 The electrosurgical instrument 100 also includes a first guide member 51, which is connected to the inside of the mounting tube 20. The first guide member 51 is provided with a first guide channel. The first movable member 41 matches and is inserted into the first guide channel. The first movable member 41 moves toward the proximal end or distal end of the electrosurgical instrument 100 under the guidance of the first guide member 51.

[0074] The first guide channel can limit the moving direction of the first moving member 41 , thereby improving the force consistency of the retracting and extending mechanism 30 and ensuring the force consistency of the pair of forceps arms 10 .

[0075] In an optional embodiment, the length of the first guide channel provided in the first guide member 51 along its axial direction is greater than or equal to 1 / 2 of the total length of the first moving member 41 to ensure the guiding effect of the first guide channel.

[0076] In an optional embodiment, the electrosurgical instrument 100 also includes a second guide member 52, which is connected to the inside of the mounting tube 20. The second guide member 52 is provided with a second guide channel. The second movable member 42 matches and is inserted into the second guide channel. The second movable member 42 moves toward the proximal end or distal end of the electrosurgical instrument 100 under the guidance of the second guide member 52.

[0077] The second guide passage provided on the second guide member 52 can guide the movement of the second movable member 42 on the one hand; on the other hand, it can prevent the second movable member 42 from damaging other components in the mounting tube 20 during the movement.

[0078] In an alternative embodiment, please refer to Figure 4 、 Figure 8 and Figure 9 The electrosurgical surgical instrument 100 also includes a first limiting member 70, which is connected to the inside of the mounting tube 20. The first limiting member 70 is provided with a first limiting channel 710. The first limiting channel 710 extends along the axial direction of the second guide member 52. The second movable member 42 matches and penetrates the first limiting channel 710. One end of the second guide member 52 is connected to the first limiting member 70, and the second guide channel of the second guide member 52 is connected to the first limiting channel 710.

[0079] In an optional embodiment, the electrosurgical instrument 100 also includes a second limit member, which is connected to the inside of the mounting tube 20. One end of the second guide member 52 is connected to the first limit member 70, and the other end is connected to the second limit member to improve the structural stability of the second guide member and thereby improve the guiding effect.

[0080] In an optional embodiment, the electrosurgical instrument 100 further includes a negative pressure tube 81, a dropper tube 82, and a pair of electrical cables 83. The negative pressure tube 81, the dropper tube 82, and the pair of electrical cables 83 are all inserted through the mounting tube 20. One end of the negative pressure tube 81 is connected to the forceps arm 10, and the other end is connected to a suction device (not shown). Under the action of the suction device, a negative pressure is generated at the distal end of the negative pressure tube 81 near the free end of the forceps arm 10. One end of the dropper tube 82 is connected to the forceps arm 10, and the other end is connected to a dropper device (not shown). Under the action of the dropper device, liquid is delivered through the dropper tube 82 to the forceps tip 11 of the forceps arm 10 to cool the forceps tip 11. One end of the pair of electrical cables 83 is respectively connected to the forceps arm 10, and the other end is respectively connected to a power supply device. Under the action of the power supply device, the forceps arm 10 forms a positive and negative polarity.

[0081] The axes of the first movable member 41 and the second movable member 42 are located on the central axis of the mounting tube 20. The negative pressure tube 81, the drip tube 82 and a pair of cables 83 can be arranged around the first movable member 41 and the second movable member 42 to achieve distal control through proximal operation.

[0082] Of course, the embodiment of the present application is not limited to the setting of the negative pressure tube 81 and the drip tube 82. In addition, the number of negative pressure tubes 81 and drip tubes 82 can be set according to specific needs. For example, the number of negative pressure tubes 81 and drip tubes 82 is two.

[0083] In addition, a channel for accommodating a negative pressure tube 81 and a dropper tube 82 is provided inside the forceps arm 10 , and the ends of the negative pressure tube 81 and the dropper tube 82 are close to the forceps tip 11 .

[0084] Furthermore, the negative pressure generated by the negative pressure tube 81 at the forceps tip 11 not only aspirates tissue fluid but also alters the position of the tissue, making it easier for the forceps tip 11 to act on the tissue, thereby enhancing the electrocoagulation effect on the tissue. The negative pressure tube 81 also aspirates fumes generated during tissue burning, minimizing harm to the patient.

[0085] In an optional embodiment, the first limiting member 70 further includes at least a second limiting channel 720, a third limiting channel 730, and two fourth limiting channels 740, which are circumferentially distributed around the axis of the first limiting channel 710. The negative pressure tube 81 is matched with and inserted through the second limiting channel 720, the drip tube 82 is matched with and inserted through the third limiting channel 730, and the pair of cables 83 are matched with and inserted through the two fourth limiting channels 740, respectively.

[0086] In the embodiment of the present application, the negative pressure tube 81, the drip tube 82 and the cable 83 are all installed in their respective limiting channels. Not only can the limiting channels be used to support and fix each component, but the force influence that the negative pressure tube 81, the drip tube 82 and the cable 83 may cause to the first movable part 41 and the second movable part 42 can also be greatly reduced, thereby ensuring the consistency of the force direction of the first movable part 41 and the second movable part 42, and thereby ensuring the clamping effect of a pair of tweezers arms 10.

[0087] In an alternative embodiment, please refer to Figure 4 and Figure 10 The electrosurgical instrument 100 further includes a tensioning assembly 60 , which is movably connected to the mounting tube 20 and located at the operating end. The tensioning assembly 60 is used to tension the second movable member 42 .

[0088] The tensioning assembly 60 includes a first tensioning member 610 and a second tensioning member 620. The first tensioning member 610 is connected to the end of the second movable member 42, and the outer wall of the first tensioning member 610 is provided with external threads. The second tensioning assembly 60 is at least partially located outside the mounting tube 20. The second tensioning member 620 is sleeved on the first tensioning member 610, and the inner wall of the second tensioning member 620 is provided with internal threads that match the external threads. Rotating the second tensioning member 620 causes the second movable member 42 to follow the first tensioning member 610 toward the proximal end or distal end of the electrosurgical instrument 100. Utilizing the tensioning assembly 60 can improve the manipulation of the forceps arm 10 by the operating end.

[0089] Please refer to Figure 11 、 Figure 12 and Figure 13 An embodiment of the present application also provides a medical device 1, which includes the electrosurgical instrument 100 provided in any of the above embodiments; and also includes an operating component 200, which is detachably connected to the operating end of the electrosurgical instrument 100.

[0090] In an optional embodiment, the operating assembly 200 includes a rotating member 201 and an operating handle 202. The operating handle 202 is connected to the proximal end of the electrosurgical instrument 100 and can rotate to drive the moving assembly 40 of the electrosurgical instrument 100 toward its proximal or distal end. The rotating member 201 is rotatably connected to the outer wall of the mounting tube 20 of the electrosurgical instrument and can drive the electrosurgical instrument to rotate relative to the operating handle 202, thereby adjusting the position and posture of the forceps tip 11 of the forceps arm 10.

[0091] In an optional embodiment, the operating handle 202 includes a fixed handle 2021 and a rotating handle 2022. The operator rotates the rotating handle 2022 so that the rotating handle 2022 drives the tensioning assembly 60 located at the proximal end of the mounting tube 20 to move along the axial direction of the mounting tube 20. The tensioning assembly 60 drives the second moving member 42 and the first moving member 41 to move along the axial direction of the mounting tube 20, thereby realizing the opening and closing operation of the tweezers tips 11 of a pair of tweezers arms 10.

[0092] In an optional embodiment, a first clamping member is provided inside the rotating member 201, and a second clamping member matching the first clamping member is provided on the outer wall of the mounting tube 20. The first clamping member matches the second clamping member so that the rotating member 201 can rotate with the electrosurgical instrument 100 when it rotates circumferentially around the axis of the mounting tube 20.

[0093] Illustratively, the first engaging member is a protrusion provided on the outer wall of the mounting tube 20, and the second engaging member is a groove provided within the rotating member 201 that matches the protrusion. Alternatively, the first engaging member is a groove provided on the outer wall of the mounting tube 20, and the second engaging member is a protrusion provided within the rotating member 201 that matches the groove. This embodiment of the application does not specifically limit the specific structure of the operating handle 202 and can be configured as required.

[0094] The present application also provides a surgical robot 2, please refer to Figure 14 The surgical robot 2 includes the electrosurgical instrument provided by any of the above-mentioned embodiments. The surgical robot 2 includes multiple robotic arms 2a and electrosurgical instruments 100 detachably connected to the robotic arms 2a. The electrosurgical instruments 100 are mounted on the robotic arms 2a to achieve automated operation. Furthermore, the surgical robot 2 can reduce surgical bleeding and shorten the patient's recovery time when performing surgery on the patient.

[0095] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments merely illustrate several implementations of the present application and do not limit the scope of protection of the patent application.

Claims

1. An electrosurgical instrument, characterized in that: The electrosurgical instrument (100) comprises: A pair of forceps arms (10) arranged opposite to each other and capable of forming positive and negative poles; A mounting tube (20), one end of the tweezers arm (10) being connected to the mounting tube (20), and the other end being a free end; a retracting and extending mechanism (30) connected between the pair of forceps arms (10); A moving component (40) is inserted through the mounting tube (20), one end of the moving component (40) is connected to the retracting mechanism (30), and the other end is used to connect to the operating end. Under the action of the external force applied by the operating end, the moving component (40) drives the retracting mechanism (30) to retract and selectively move toward the proximal end or distal end of the electrosurgical instrument (100), so that the tweezers tips of the pair of tweezers arms (10) can move closer to or away from each other.

2. The electrosurgical instrument according to claim 1, wherein: The moving assembly (40) comprises a first moving member (41) and a second moving member (42); one end of the first moving member (41) is connected to the second moving member (42), and the other end is connected to the retracting mechanism (30).

3. The electrosurgical instrument according to claim 2, wherein: The first moving member (41) is a rigid structure, and the second moving member (42) is a flexible structure or a rigid structure.

4. The electrosurgical instrument according to claim 1 or 2, characterized in that: The retractable mechanism (30) includes a hinge module (31), and the hinge module (31) includes: A first hinge assembly (311) connected to one of the pair of forceps arms (10); a second hinge assembly (312) connected to the other of the pair of forceps arms (10); A third hinge assembly (313) is located between the first hinge assembly (311) and the second hinge assembly (312), and the first hinge assembly (311) and the second hinge assembly (312) are both movably connected to the third hinge assembly (313), and the moving assembly (40) is connected to the third hinge assembly (313); The moving assembly (40) drives the third hinge assembly (313) to move toward the proximal end or distal end of the electrosurgical instrument (100) under the action of the external force applied by the operating end, so that the first hinge assembly (311) and the second hinge assembly (312) respectively drive the tweezers tips of the tweezers arms (10) connected thereto to move closer to or away from each other.

5. The electrosurgical instrument according to claim 4, wherein: The first hinge assembly (311) and the second hinge assembly (312) are symmetrically arranged on a first plane where the central axis of the third hinge assembly (313) is located, and the first plane is the plane where the axis of the first moving member is located.

6. The electrosurgical instrument according to claim 4, wherein: The first hinge assembly (311) comprises: A first rotating shaft (3111) connected to one of the pair of tweezers arms (10); A first connecting shaft (3112), one end of which is rotatably sleeved on the first rotating shaft (3111); The second hinge assembly (312) includes: a second rotating shaft (3121) connected to the other of the pair of forceps arms (10); A second connecting shaft (3122), one end of which is rotatably sleeved on the second rotating shaft (3121); The third hinge assembly (313) comprises: The third rotating shaft (3131) is located between the first rotating shaft (3111) and the second rotating shaft (3121), and the other end of the first connecting shaft (3112) and the other end of the second connecting shaft (3122) can both be rotatably sleeved on the third rotating shaft (3131).

7. The electrosurgical instrument according to claim 6, wherein: The retractable mechanism (30) is capable of switching between at least a first state, a second state, and a third state under the action of the moving component (40); When the retractable mechanism (30) is in a first state, the first connecting shaft (3112) and the second connecting shaft (3122) are collinear; When the retractable mechanism (30) is in the second state, a first angle is formed between the first connecting member (3112) and the second connecting member (3122), and the first angle is an acute angle; When the retractable mechanism (30) is in the third state, a second angle is formed between the first connecting member (3112) and the second connecting member (3122), and the second angle is smaller than the first angle.

8. The electrosurgical instrument according to claim 6, wherein: The hinge assembly further comprises: A first isolation member (33) is sleeved on the second rotating shaft member (3121); A second isolation member (34) is sleeved on the third rotating shaft member (3131); The first isolating member (33) and the second isolating member (34) are both made of insulating materials, and the second rotating shaft member (3121) and the third rotating shaft member (3131) are also made of insulating materials.

9. The electrosurgical instrument according to claim 6, wherein: The first connecting member (3112) and the second connecting member (3122) are made of insulating material.

10. The electrosurgical instrument according to claim 6, wherein: The pair of tweezers arms (10) comprises a first tweezers arm (12) and a second tweezers arm (13); a first shaft seat (121) is protruding from a side of the first tweezers arm (12) close to the second tweezers arm (13); and a second shaft seat (131) is protruding from a side of the second tweezers arm (13) close to the first tweezers arm (12) and arranged opposite to the first shaft seat (121). The first rotating shaft component (3111) and the second rotating shaft component (3121) are respectively mounted on the first shaft seat (121) and the second shaft seat (131).

11. The electrosurgical instrument according to claim 2, wherein: The electrosurgical instrument (100) further comprises: The first guide member (51) is connected to the inside of the mounting tube (20), and the first guide member (51) is provided with a first guide channel. The first movable member (41) is inserted into the first guide channel, and the first movable member (41) moves toward the proximal end or the distal end of the electrosurgical instrument (100) under the guidance of the first guide member (51).

12. The electrosurgical instrument according to claim 2, wherein: The electrosurgical instrument (100) further comprises: The second guide member (52) is connected to the inside of the mounting tube (20), and the second guide member (52) is provided with a second guide channel. The second movable member (42) matches and is inserted into the second guide channel. The second movable member (42) moves toward the proximal end or the distal end of the electrosurgical instrument (100) under the guidance of the second guide member (52).

13. The electrosurgical instrument according to claim 12, wherein: The electrosurgical instrument (100) further comprises: A first limiting member (70) is connected to the inside of the mounting tube (20), and the first limiting member (70) is provided with a first limiting channel (710), and the first limiting channel (710) extends along the axial direction of the second guide member (52), and the second movable member (42) matches and penetrates the first limiting channel (710), one end of the second guide member (52) is connected to the first limiting member (70), and the second guide channel of the second guide member (52) is connected to the first limiting channel (710).

14. The electrosurgical instrument according to claim 13, wherein: The electrosurgical instrument (100) further comprises a negative pressure tube (81), a dropper tube (82) and a pair of cables (83), wherein the negative pressure tube (81), the dropper tube (82) and the pair of cables (83) are all inserted into the mounting tube (20), and one end of the negative pressure tube (81) is connected to the forceps arm (10), and the other end is connected to an external suction device, and under the action of the suction device, a negative pressure is generated at a corresponding position of the forceps arm (10); so that a negative pressure is formed at the end of the negative pressure tube (81) close to the free end of the forceps arm (10); One end of the dripping tube (82) is connected to the tweezers arm (10), and the other end is connected to an external dripping device. Under the action of the dripping device, the liquid is transported to the tweezers tip (11) of the tweezers arm (10) through the dripping tube (82); One end of a pair of the cables (83) is connected to a pair of the tweezers arms (10), respectively, and the other end is connected to the high-frequency energy platform. Under the action of the power supply device, the tweezers arms (10) are connected to positive and negative poles through the pair of the cables (83).

15. The electrosurgical instrument according to claim 14, wherein The first limiting member (70) is further provided with at least a second limiting channel (720), a third limiting channel (730) and two fourth limiting channels (740), wherein the second limiting channel (720), the third limiting channel (730) and the two fourth limiting channels (740) are circumferentially distributed around the axis of the first limiting channel (710); The negative pressure tube (81) matches and is inserted into the second limiting channel (720), the drip tube (82) matches and is inserted into the third limiting channel (730), and a pair of cables (83) matches and is inserted into the two fourth limiting channels (740) respectively.

16. The electrosurgical instrument according to claim 2, wherein: The electrosurgical instrument (100) further comprises: A tensioning assembly (60) is movably connected to the mounting tube (20) and is located at the operating end, and is used to tension the second movable member (42); the tensioning assembly (60) includes: A first tensioning member (610) is connected to the end of the second moving member (42), and an outer wall of the first tensioning member (610) is provided with an external thread; The second tensioning member (620) is at least partially located outside the mounting tube (20), the second tensioning member (620) is sleeved on the first tensioning member (610), and the inner wall of the second tensioning member (620) is provided with an internal thread matching the external thread, and the second tensioning member (620) is rotated so that the second moving member (42) follows the first tensioning member (610) to move toward the proximal end or distal end of the electrosurgical instrument (100).

17. A medical device, characterized in that: The electrosurgical instrument according to any one of claims 1 to 16; further comprising: An operating assembly (200) is detachably connected to the electrosurgical instrument (100) and is used to transmit an applied external force to the moving assembly (40).

18. The medical device according to claim 17, characterized in that The operating component (200) includes: an operating handle (202) connected to the proximal end of the electrosurgical instrument (100) and capable of driving the moving component (40) of the electrosurgical instrument (100) to move toward its proximal end or distal end by rotating; The rotating member (201) is rotatably connected to the electrosurgical instrument (100) and can drive the electrosurgical instrument (100) to rotate relative to the operating handle (202).

19. A surgical robot, characterized in that: Comprising an electrosurgical instrument according to any one of claims 1 to 16.

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