Surgical instrument, control method thereof and surgical robot

Abstract

The embodiment of the invention provides a surgical instrument, a control method thereof and a surgical robot. The surgical instrument comprises a tail end tool, a driving unit and an instrument shaft, the driving unit is in transmission connection with the tail end tool through the instrument shaft, and the tail end tool comprises a first forceps head assembly, a second forceps head assembly and a cutting piece. The first forceps head assembly and the second forceps head assembly are both connected with the instrument shaft, a first electrode and a second electrode are arranged on the sides, facing each other, of the first forceps head assembly and the second forceps head assembly respectively, and the driving unit can drive the first forceps head assembly and the second forceps head assembly to be opened and closed oppositely. Contacting the first electrode and the second electrode with the human tissue to close the human tissue; the cutting piece can rotate in the opening and closing direction of the first forceps head assembly and the second forceps head assembly so as to cut closed human tissue. The sides, facing each other, of the first forcep head assembly and the second forcep head assembly are provided with a first containing groove and a second containing groove respectively to contain cutting pieces, closing and cutting of human tissue or blood vessels are achieved, and the efficiency of surgical operation is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical instrument and its control method, and a surgical robot. Background Technology

[0002] Bipolar vascular closure devices are widely used in surgical procedures, especially laparoscopic surgery. They mainly consist of a bipolar device and an energy generator. In the first stage, the energy generator outputs a specific form of bipolar high-frequency energy, which is applied to the blood vessels or tissues through the bipolar energy device, causing the blood vessels or tissues to close. In the second stage, a blade is used to cut the blood vessels or tissues.

[0003] In related technologies, mechanical structures are typically used to propel blades to cut blood vessels or tissues. This process involves a long instrument travel time, which also affects surgical efficiency. Summary of the Invention

[0004] This application provides a surgical instrument and its control method, as well as a surgical robot, which can achieve the closure and cutting of human tissues or blood vessels, thereby improving the efficiency of surgical operations.

[0005] This application provides a surgical instrument, including an end effector, a drive unit, and an instrument shaft. The drive unit is connected to the end effector via the instrument shaft. The end effector includes:

[0006] The first clamp head assembly is connected to the instrument shaft;

[0007] The second clamping head assembly is connected to the instrument shaft. The first clamping head assembly and the second clamping head assembly are respectively provided with a first electrode and a second electrode on one side facing each other. The driving unit can drive the first clamping head assembly and the second clamping head assembly to open and close relative to each other to clamp human tissue. The first electrode and the second electrode are used to contact human tissue to close human tissue.

[0008] The cutting component is rotatable along the opening and closing direction of the first and second jaw assemblies to cut closed human tissue; wherein the first and second jaw assemblies are respectively provided with a first receiving groove and a second receiving groove on their respective sides facing each other, for accommodating the cutting component.

[0009] In one feasible implementation, the cutting component includes a cutting section and a rotating wheel, and the surgical instrument also includes a cutting drive rope; the cutting drive rope is wound around the rotating wheel circumferentially and passes through the instrument shaft and is connected to the drive unit; the drive unit drives the cutting component to rotate by pulling the cutting drive rope; the cutting section is used to cut closed human tissue.

[0010] In one feasible implementation, the surgical instrument further includes a first limiting member connected to a rotating wheel; the first limiting member has a first through hole through which a cutting drive rope passes and is fixedly connected to the first limiting member.

[0011] In one feasible implementation, a first connecting groove is formed between the rotating wheel and the cutting part, and a first limiting member is embedded in the first connecting groove.

[0012] In one feasible implementation, the rotating wheel has a first recess, which is formed by the circumferential sidewall of the rotating wheel being recessed inward, and a first connecting groove is formed between the first recess and the cutting portion.

[0013] In one feasible implementation, the outline dimensions of the first receiving groove or the second receiving groove are matched with the outline dimensions of the cutting part, so that the cutting part can be accommodated in the first receiving groove or the second receiving groove.

[0014] In one feasible implementation, the side of the first clamping head assembly facing the second clamping head assembly has an insulating protrusion that protrudes from the surface of the first clamping head assembly facing the second clamping head assembly; or,

[0015] The second pliers assembly has an insulating protrusion on the side facing the first pliers assembly, and the insulating protrusion protrudes from the surface of the second pliers assembly facing the first pliers assembly.

[0016] In one feasible implementation, the surface of the first clamping head assembly is recessed inward toward the second clamping head assembly to form a first mounting portion, a first electrode is disposed within the first mounting portion, and an insulating protrusion is connected to the bottom wall of the first mounting portion; and / or

[0017] The second clamping head assembly is recessed inward toward the surface of the first clamping head assembly to form a second mounting part, the second electrode is disposed in the second mounting part, and the insulating protrusion is connected to the bottom wall of the second mounting part.

[0018] In one feasible implementation, the first jaw assembly forms a limiting segment, which is configured to extend from the end of the first jaw assembly away from the instrument axis toward one side of the second jaw assembly; or, the second jaw assembly forms a limiting segment, which is configured to extend from the end of the second jaw assembly away from the instrument axis toward one side of the first jaw assembly.

[0019] In one feasible implementation, a first clamping head assembly has a first rotating part, a second clamping head assembly has a second rotating part, and the surgical instrument also includes an opening and closing rotating shaft connected to the instrument shaft. The first rotating part and the second rotating part are sleeved on the opening and closing rotating shaft. A drive unit drives the first clamping head assembly and the second clamping head assembly to rotate around the axis of the opening and closing rotating shaft.

[0020] In one feasible implementation, the surgical instruments also include a first opening and closing rope and a second opening and closing rope;

[0021] The first rotating part is provided with a first transmission groove, which extends along the rotation direction of the first clamping head assembly. The first opening and closing rope is wound around a portion of the first transmission groove, passes through the instrument shaft and is connected to the drive unit. The drive unit drives the first clamping head assembly to rotate by pulling the first opening and closing rope.

[0022] The second rotating part is provided with a second transmission groove, which extends along the rotation direction of the second clamp head assembly. The second opening and closing rope is wound around a portion of the second transmission groove, passes through the instrument shaft and is connected to the drive unit. The drive unit drives the second clamp head assembly to rotate by pulling the second opening and closing rope.

[0023] In one feasible implementation, the surgical instrument further includes a second limiting member, which is connected to the first transmission groove, and the first opening and closing rope is threaded through the second limiting member and fixedly connected to the second limiting member.

[0024] The surgical instrument also includes a third limiting member, which is connected to the second transmission groove. The second opening and closing rope is threaded through the third limiting member and is fixedly connected to the third limiting member.

[0025] In one feasible implementation, the drive unit includes a cutting drive component, a first jaw drive component, and a second jaw drive component.

[0026] The cutting drive rope is connected to the cutting drive component, the first opening and closing rope is connected to the first clamping head drive component, and the second opening and closing rope is connected to the cutting drive component.

[0027] In one feasible implementation, the drive unit includes a first power supply circuit for supplying power to the cutting element so that the energized cutting element electrically cuts human tissue.

[0028] In one feasible implementation, the surgical instrument further includes a first electrode wire and a second electrode wire, and the driving unit further includes a second power supply circuit.

[0029] The first electrode has a first connecting portion located inside the first rotating portion. The first rotating portion has a first mounting groove connected to the first connecting portion. The first electrode wire is connected to the first connecting portion, and after being wound around a portion of the first mounting groove, it passes through the instrument shaft and connects to the second power supply circuit.

[0030] The second electrode has a second connecting portion located inside the second rotating portion. The second rotating portion has a second mounting groove connected to the second connecting portion. The second electrode wire is connected to the second connecting portion, and after being wound around a portion of the second mounting groove, it passes through the instrument shaft and is connected to the second power supply circuit.

[0031] The second power supply circuit is used to supply power to the first electrode and the second electrode.

[0032] In one feasible implementation, the second power supply circuit includes a first sub-circuit and a second sub-circuit, wherein the first sub-circuit is used to supply power to the first electrode through the first electrode line;

[0033] The second sub-circuit is used to supply power to the second electrode through the second electrode line.

[0034] In one feasible implementation, the surgical instrument further includes a wrist joint, which is rotatably connected to the instrument axis about a first direction, and an opening and closing rotation axis is rotatably connected to the wrist joint, the first direction being perpendicular to the axis of the opening and closing rotation axis.

[0035] In one feasible implementation, the surgical instrument further includes a swing drive rope, the wrist joint has an annular transmission part, the swing drive rope is wound around the annular transmission part and its two ends are connected to the drive unit, and the drive unit drives the swing drive rope to make the wrist joint swing around a first direction.

[0036] This application also provides a method for controlling surgical instruments, including:

[0037] The first and second pliers assemblies are opened and closed relative to each other by a pliers motor, and the cutting workpiece is driven to rotate synchronously with the second pliers assembly by a cutting motor.

[0038] Obtain the clamping force output by the first and second jaw assemblies;

[0039] When the clamping force is greater than or equal to the set value, electrical energy is supplied to the first electrode and the second electrode through the second power supply circuit. The electrical energy is used to close the clamped human tissue. The set value is determined based on the clamping of the human tissue by the first clamping head assembly and the second clamping head assembly.

[0040] When human tissue is closed, the cutting motor drives the cutting component to rotate toward the first jaw assembly along the opening and closing direction of the first jaw assembly and the second jaw assembly, thereby cutting the closed human tissue.

[0041] In one feasible implementation, obtaining the clamping force output by the first and second jaw assemblies includes:

[0042] Obtain the clamping current of the clamping head motor, which contains information used to characterize the clamping force;

[0043] When the clamping force is greater than or equal to a set value, electrical energy is supplied to the first and second electrodes through the second power supply circuit, including:

[0044] When the clamping head current is greater than or equal to the standard current, electrical energy is supplied to the first and second electrodes through the second power supply circuit. The standard current is obtained when the clamping force is equal to the set value.

[0045] In one feasible implementation, before supplying electrical energy to the first and second electrodes via the second power supply circuit, the method for controlling the surgical instrument further includes:

[0046] The cutting current of the cutting motor is obtained, and the cutting current contains information that characterizes the compressive force between the workpiece and the second jaw assembly;

[0047] When the cutting current is less than the target current, the actual compressive force between the cutting workpiece and the second jaw assembly is obtained. The target current is obtained when the cutting workpiece is located inside the second jaw assembly.

[0048] Based on the actual extrusion pressure and the target extrusion pressure, the rotation compensation parameters of the cutting part are determined. The target extrusion pressure is the extrusion pressure between the cutting part and the second jaw assembly when the cutting part is located inside the second jaw assembly.

[0049] Based on rotation compensation parameters, the cutting piece is driven by the cutting motor to rotate toward the second jaw assembly, so that the cutting piece rotates into the second jaw assembly.

[0050] In one feasible implementation, obtaining the actual compressive force between the cutting component and the second clamping head assembly includes:

[0051] The output torque of the cutting motor is determined based on the cutting current;

[0052] The actual extrusion force is obtained based on the output torque, the output shaft radius of the cutting motor, the rotation groove radius of the cutting part, and the distance between the physical center and the rotation center of the cutting part.

[0053] In one feasible implementation, rotation compensation parameters for the cut piece are determined based on the actual extrusion pressure and the target extrusion pressure, including:

[0054] The first elongation is obtained based on the actual compressive force and the elastic modulus of the driving rope.

[0055] The second elongation is obtained based on the target extrusion pressure and elastic modulus;

[0056] The difference between the first elongation and the second elongation is calculated to obtain the rotational compensation parameters.

[0057] This application also provides a surgical robot, including a main control console and the aforementioned surgical instruments. The main control console is used to receive input operation instructions to control the surgical instruments to perform surgical operations.

[0058] In one feasible implementation, the main control console is also used to execute the steps of the aforementioned surgical instrument control method, controlling the surgical instruments to clamp, close, or cut human tissue.

[0059] In a surgical instrument and its control method, and a surgical robot provided in this application embodiment, an end effector approaches the target human tissue, and a drive unit drives a first clamping head assembly and a second clamping head assembly to move away from each other so that the space between them can accommodate the target human tissue. As the end effector continues to approach the target human tissue until the target human tissue is located between the first clamping head assembly and the second clamping head assembly, the drive unit drives the first clamping head assembly and the second clamping head assembly to move closer together to clamp the target human tissue. At this time, the drive unit supplies power to the first electrode and the second electrode, causing the first electrode and the second electrode to transmit high-frequency energy to the human tissue. Under the action of high-frequency energy, the human tissue is closed at the target position, that is, the operation of electrocoagulating and closing the human tissue is realized. Then, the drive unit drives the cutting component to rotate to cut the target human tissue. Since the cutting component is accommodated in the first or second receiving groove, its rotation stroke for cutting the target human tissue is consistent with the cutting size, with almost no redundant stroke, short time consumption, and improved efficiency in cutting the target human tissue. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the overall structure of the surgical instrument provided in the embodiments of this application;

[0061] Figure 2 yes Figure 1 The diagram shows the structure of the end effector in the surgical instruments shown.

[0062] Figure 3 yes Figure 2 The diagram shows a partial structure of the end effector. Figure 1 ;

[0063] Figure 4 yes Figure 2 The diagram shows a partial structure of the end effector. Figure 2 ;

[0064] Figure 5 yes Figure 2 The diagram shows a partial structure of the end effector. Figure 3 The transmission structure of the cutting component is shown.

[0065] Figure 6 This is a schematic diagram of the structure of a cutting component in a surgical instrument provided in an embodiment of this application;

[0066] Figure 7 yes Figure 1 The diagram shows the structure of the cutting component in the first state of the surgical instrument. Figure 1 ;

[0067] Figure 8 yes Figure 1 The diagram shows the structure of the cutting component in the first state of the surgical instrument. Figure 2 ;

[0068] Figure 9 yes Figure 1 The diagram shows the structure of the cutting component in the second state of the surgical instrument. Figure 1 ;

[0069] Figure 10 yes Figure 1 The diagram shows the structure of the cutting component in the second state of the surgical instrument. Figure 2 ;

[0070] Figure 11 yes Figure 1 Schematic diagram of the structure of the second forceps assembly in the surgical instrument shown. Figure 1 ;

[0071] Figure 12 yes Figure 1 Schematic diagram of the structure of the second forceps assembly in the surgical instrument shown. Figure 2 ;

[0072] Figure 13 yes Figure 1 A schematic diagram of the second forceps assembly in the surgical instrument shown, with the second electrode removed;

[0073] Figure 14 yes Figure 1 The diagram shows the structure of the first pliers assembly in the end-effector tool.

[0074] Figure 15 yes Figure 1 The diagram shows the structure of the end effector with the two clamps in a closed state.

[0075] Figure 16 yes Figure 1 A schematic diagram of the end effector with the two clamps in the open position;

[0076] Figure 17 This is a schematic diagram of the structure of the first electrode in a surgical instrument provided in an embodiment of this application;

[0077] Figure 18 This is a schematic diagram of the structure of the first electrode in a surgical instrument provided in an embodiment of this application;

[0078] Figure 19 yes Figure 1 Schematic diagram of the drive unit in the surgical instrument shown. Figure 1 ;

[0079] Figure 20 yes Figure 1A schematic diagram of the cross-sectional structure of the wrist joint in the surgical instrument shown.

[0080] Figure 21 yes Figure 1 A schematic diagram of the wrist joint in the surgical instrument shown;

[0081] Figure 22 This is a flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application. Figure 1 ;

[0082] Figure 23 This is a flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application. Figure 2 ;

[0083] Figure 24 This is a flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application. Figure 3 ;

[0084] Figure 25 This is a flowchart illustrating step S60 of a surgical instrument control method provided in an embodiment of this application.

[0085] Figure 26 yes Figure 1 Schematic diagram of the drive unit in the surgical instrument shown. Figure 2 ;

[0086] Figure 27 This is a flowchart illustrating step S70 of a surgical instrument control method provided in an embodiment of this application.

[0087] Explanation of reference numerals in the attached figures:

[0088] 1000 - Surgical instruments; 100 - End-effectors; 200 - Instrument shaft; 300 - Drive unit; 500 - Wrist joint;

[0089] 110 - First clamping head assembly; 120 - Second clamping head assembly; 130 - First electrode; 140 - Second electrode; 150 - Cutting component; 111 - First receiving groove; 121 - Second receiving groove; 151 - Cutting electrode wire; 154 - Cutting drive rope; 152 - Cutting section; 153 - Rotating wheel; 154a - First part; 154b - Second part; 155 - First limiting member; 1531 - First connecting groove; 1532 - First recess; 101 - Insulating protrusion; 102 - Limiting section; 113 - First rotating part; 123 - Second rotating part; 103 - Opening and closing rotating shaft ; 201-First opening and closing rope; 202-Second opening and closing rope; 1131-First transmission groove; 1231-Second transmission groove; 1232-Second limiting member; 210-First electrode wire; 220-Second electrode wire; 131-First connecting part; 141-Second connecting part; 303-Cutting drive member; 301-First clamp head drive member; 302-Second clamp head drive member; 305-Rotating gear; m-First direction; 504-Swinging rotation shaft; 503-Swinging drive rope; 505-Annular transmission part; 501-Fixing member; 510-First sub-joint; 520-Second sub-joint. Detailed Implementation

[0090] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0091] In the description of the embodiments of this application, it should be noted that the terms "inner" and "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0092] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0093] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0094] Bipolar vascular closure devices are widely used in surgical procedures, especially laparoscopic surgery. They mainly consist of a bipolar device and an energy generator. In the first stage, the energy generator outputs a specific form of bipolar high-frequency energy, which is applied to the blood vessels or tissues through the bipolar energy device, causing the blood vessels or tissues to close. In the second stage, a blade is used to cut the blood vessels or tissues.

[0095] In related technologies, mechanical structures are typically used to propel blades to cut blood vessels or tissues. This process involves a long instrument travel time, which also affects surgical efficiency.

[0096] In view of the above problems, embodiments of this application provide a surgical instrument for closing and cutting human blood vessels or tissues to improve the efficiency of surgical operations.

[0097] The following is in conjunction with the appendix Figures 1 to 21 The structure of the surgical instruments in the embodiments of this application will be described in detail.

[0098] Figure 1 This is a schematic diagram of the overall structure of the surgical instrument provided in the embodiments of this application. For example... Figure 1 As shown in the embodiment of this application, the surgical instrument 1000 includes an end tool 100, an instrument shaft 200, and a drive unit 300. The drive unit 300 is connected to the end tool 100 via the instrument shaft 200 to drive the end tool 100 to perform actions and complete the surgical operation.

[0099] In some examples, the drive unit 300 drives the end tool 100 to perform opening and closing actions to clamp human blood vessels or tissues.

[0100] In some examples, the drive unit 300 drives the end-effector 100 to output high-frequency energy in a bipolar manner to close human tissue or blood vessels. The high-frequency energy can be a high-frequency current.

[0101] In some examples, the drive unit 300 drives the end tool 100 to perform a cutting action to separate or sever human blood vessels or tissues.

[0102] Figure 2 yes Figure 1 The diagram shows the structure of the end effector in the surgical instruments shown. Figure 3 yes Figure 2 The diagram shows a partial structure of the end effector. Figure 1 The diagram shows the first electrode, the second electrode, and the cutting element. (Example) Figure 2 and Figure 3 As shown in the embodiment of this application, the end effector 100 includes a first jaw assembly 110 and a second jaw assembly 120. Both the first jaw assembly 110 and the second jaw assembly 120 are connected to the instrument shaft 200, so that the drive unit 300 can drive the first jaw assembly 110 and the second jaw assembly 120 to open and close relative to each other.

[0103] The first clamping head assembly 110 and the second clamping head assembly 120 are respectively provided with a first electrode 130 and a second electrode 140 facing each other. That is, the first electrode 130 is located on the side of the first clamping head assembly 110 facing the second clamping head assembly 120, and the second electrode 140 is located on the side of the second clamping head assembly 120 facing the first clamping head assembly 110. The driving unit 300 can drive the first clamping head assembly 110 and the second clamping head assembly 120 to open and close relative to each other, so that the first electrode 130 and the second electrode 140 contact the human tissue and close it. The human tissue can be blood vessels or other human tissues.

[0104] In the above scheme, the end effector 100 approaches the target human tissue, and the drive unit 300 drives the first clamping head assembly 110 and the second clamping head assembly 120 to move away from each other, so that the space between them can accommodate the target human tissue. As the end effector 100 continues to approach the target human tissue until the target human tissue is located between the first clamping head assembly 110 and the second clamping head assembly 120, the drive unit 300 drives the first clamping head assembly 110 and the second clamping head assembly 120 to move closer together to clamp the target human tissue. At this time, the drive unit 300 supplies power to the first electrode 130 and the second electrode 140, causing the first electrode 130 and the second electrode 140 to transmit high-frequency energy to the human tissue. Under the action of high-frequency energy, the human tissue is closed at the target position, that is, the operation of electrocoagulating and closing the human tissue is achieved. Here, the target human tissue can be understood as: the human tissue that is to be closed during the surgical operation. The target position can also be understood similarly.

[0105] In this embodiment, the surgical instrument 1000 further includes a cutting member 150, which is rotatable along the opening and closing directions of the first clamping head assembly 110 and the second clamping head assembly 120 to cut closed human tissue; wherein, the first clamping head assembly 110 and the second clamping head assembly 120 are respectively provided with a first receiving groove 111 on their respective sides (see... Figure 7 ) and the second receiving slot 121 (see Figure 9 ), used to accommodate the cutting parts 150.

[0106] With the above scheme, the drive unit 300 drives the cutting component 150 to rotate in order to cut the target human tissue. Since the cutting component 150 is accommodated in the first accommodating groove 111 or the second accommodating groove 121, its rotation stroke for cutting the target human tissue is consistent with the cutting size, with almost no redundant stroke, short time consumption, and improved efficiency in cutting the target human tissue.

[0107] Figure 4 yes Figure 2 The diagram shows a partial structure of the end effector. Figure 2 This illustrates another implementation of the cutting element. For example... Figure 4 As shown, in order to improve the efficiency of cutting target human tissue, in some embodiments, the drive unit 300 includes a first power supply circuit (not shown), which supplies power to the cutting element 150. When the cutting element 150 is energized, it can electrically cut human tissue. In this way, the energized cutting element 150 uses high-frequency current to break the molecular chains of the target human tissue, effectively improving the cutting efficiency of the cutting element 150.

[0108] like Figure 4 As shown, in some embodiments, the drive unit 300 includes a first power supply circuit (not shown) for supplying power to the cutting element 150 so that the energized cutting element 150 electrically cuts human tissue.

[0109] In some embodiments, the surgical instrument 1000 further includes a cutting electrode wire 151, which is connected to the cutting element 150 and the first power supply circuit to achieve an electrical connection between the first power supply circuit and the cutting element 150. Accordingly, the electrical signal output by the first power supply circuit is transmitted to the cutting element 150 through the cutting electrode wire 151. By utilizing the contact between the cutting element 150 and human tissue, the electrical signal acts on the human tissue in the form of a high-frequency current to assist in cutting the human tissue, thereby improving the efficiency of the cutting element 150 in cutting human tissue.

[0110] In one embodiment, the cutting component 150 is provided with a connection hole, and one end of the cutting electrode wire 151 is pressed into the connection hole to realize the electrical connection between the cutting component 150 and the cutting electrode wire 151.

[0111] It should be noted that the above-mentioned crimping of the cutting element 150 and the cutting electrode wire 151 is only an example of the electrical connection between the cutting element 150 and the cutting electrode wire 151. Other electrical connections such as welding and bonding can also be used. This application does not limit the electrical connection method between the cutting element 150 and the cutting electrode wire 151.

[0112] Figure 5 yes Figure 2 The diagram shows a partial structure of the end effector. Figure 3 The transmission structure of the cutting element is shown. In order to enable the cutting element 150 to rotate in the opening and closing direction, in some embodiments, the surgical instrument 1000 further includes a cutting drive rope 154. The cutting element 150 includes a cutting part 152 and a rotating wheel 153. The cutting drive rope 154 is wound around the rotating wheel 153 in the circumference and passes through the instrument shaft 200 and is connected to the drive unit 300. The drive unit 300 pulls (tensions or releases) the cutting drive rope 154 to give the cutting drive rope 154 an axial force. Through the circumferential engagement between the rotating wheel 153 and the cutting drive rope 154, the axial force of the cutting drive rope 154 is converted into a rotational torque on the rotating wheel 153, thereby driving the cutting element 150 to rotate. Correspondingly, the cutting part 152 is used to cut closed human tissue.

[0113] In some examples, the drive unit 300 includes a cutting motor that causes the cutting element 150 to rotate in the opening and closing direction by tensioning or releasing the cutting drive rope.

[0114] In some embodiments, there may be two cutting drive ropes 154, referred to as the first cutting drive rope and the second cutting drive rope. The first cutting drive rope is wound around the circumferential surface of the rotating wheel 153 near the first jaw assembly 110; the second cutting drive rope is wound around the circumferential surface of the rotating wheel 153 near the second jaw assembly 120, and both cutting drive ropes 154 are fixed to the rotating wheel 153 at one point. The drive unit 300 rotates the cutting piece 150 towards the first jaw assembly 110 or the second jaw assembly 120 by tensioning the first or second cutting drive rope. In this driving method, the driving force in the two directions can be controlled independently, and both cutting drive ropes 154 can be tensioned simultaneously before the cutting piece 150 is rotated to achieve a pre-tensioning effect and improve transmission accuracy.

[0115] In some examples, the drive unit 300 includes a cutting motor that causes the cutting element 150 to rotate toward the first jaw assembly 110 or the second jaw assembly 120 by tensioning a first cutting drive rope or a second cutting drive rope.

[0116] like Figure 5As shown, in some embodiments, there is only one cutting drive rope 154. The cutting drive rope 154 is wound around a portion of the rotating wheel 153 along its circumference, and both ends pass through the instrument shaft 200 and are connected to the drive unit 300. The cutting drive rope 154 is fixed to the rotating wheel 153 at one point and is divided into a first part 154a and a second part 154b, corresponding to the two degrees of freedom of adjusting the cutting element 150 along the rotation direction, respectively. Based on the mechanical characteristics of rope transmission, the drive unit 300 realizes the rotation of the cutting element 150 in two degrees of freedom by tensioning the first part 154a or the second part 154b. In this way, the space occupied by the cutting drive rope 154 is reduced, which helps to achieve instrument miniaturization.

[0117] Here, when the drive unit 300 tensions the first part 154a, the second part 154b naturally relaxes, which can precisely drive the cutting piece 150 to rotate towards the first clamping head assembly 110. Figure 5 (The direction shown is clockwise). Conversely, when the drive unit 300 tensions the second part 154b, the first part 154a naturally relaxes, and the cutting piece 150 rotates towards the second clamping head assembly 120. Figure 5 (The direction shown is counterclockwise). This bidirectional tension control design utilizes the circumferential cooperation between the cutting drive rope 154 and the rotating wheel 153 to achieve the rotation of the cutting piece 150, improving the precision of rotation control, optimizing and shortening the energy transmission distance, reducing mechanical losses, and significantly improving the surgical efficiency of the surgical instrument 1000.

[0118] Depending on the initial position of the cutting element 150 (located in the first receiving groove 111 or the second receiving groove 121), the function performed after the cutting element 150 rotates differs. If the cutting element 150 is initially located in the first receiving groove 111, the drive unit 300 tensions the second part 154b, while the first part 154a naturally relaxes, causing the cutting element 150 to rotate towards the second clamping head assembly 120 to cut human tissue. After cutting, the drive unit 300 tensions the first part 154a, while the second part 154b naturally relaxes, precisely driving the cutting element 150 to rotate towards the first clamping head assembly 110, thus resetting the cutting element 150 to return to the bottom wall near the first receiving groove 111. If the cutting element 150 is initially located in the second receiving groove 121, the opposite occurs, which will not be elaborated further here.

[0119] In some embodiments, the cutting drive rope 154 may be fixedly connected to the rotating wheel 153 by adhesive, snap-fit ​​or other means. This application does not limit the way the cutting drive rope 154 is fixedly connected to the rotating wheel 153.

[0120] Continue reading Figure 5In one embodiment, the surgical instrument 1000 further includes a first limiting member 155, which is connected to the rotating wheel 153. The first limiting member 155 has a first through hole (not shown in the figure), through which the cutting drive rope 154 passes and is fixedly connected to the first limiting member 155. In this way, by fixing the cutting drive rope 154 to the rotating wheel 153 at one point through the first through hole of the first limiting member 155, the smooth transition of the cutting drive rope 154 along the rotating wheel 153 can be improved, stress concentration can be avoided, a uniform load effect can be achieved, and the service life of the cutting drive rope 154 can be extended.

[0121] In some embodiments, the first limiting member 155 is located at the center of the rotating wheel 153 along the opening and closing direction, so that the first part 154a and the second part 154b are symmetrically distributed about the rotating wheel 153, which is beneficial to achieving dynamic balance of force on the rotating wheel 153 and improving the stability of the rotation of the cutting part 150.

[0122] Figure 6 This is a schematic diagram of the structure of a cutting component in a surgical instrument provided in an embodiment of this application. For example... Figure 6 As shown, in some embodiments, a first connecting groove 1531 is formed between the rotating wheel 153 and the cutting part 152, and the first limiting member 155 is embedded in the first connecting groove 1531. The first limiting member 155 does not need to occupy additional space to arrange, which improves the space utilization rate and is conducive to the miniaturization of the end tool 100.

[0123] like Figure 6 As shown, in order to optimize the transmission accuracy between the cutting drive rope 154 and the circumferential surface of the rotating wheel 153, in some embodiments, the rotating wheel 153 is formed with a first recess 1532. The first recess 1532 is constructed by the circumferential sidewall of the rotating wheel 153 being recessed inward. A first connecting groove 1531 is formed between the first recess 1532 and the cutting part 152. In this way, the first through hole can be closer to the circumferential surface of the rotating wheel 153, so that after the cutting drive rope 154 passes through the first through hole, the extension direction of the cutting drive rope 154 can be more in line with the circumferential direction of the rotating wheel 153, thereby reducing the force loss when the axial force of the cutting drive rope 154 is converted into the rotational torque of the rotating wheel 153 and improving the transmission accuracy.

[0124] In some embodiments, the first limiting member 155 may be interference-fitted into the first connecting groove 1531. Specifically, the first limiting member 155 may be interference-fitted into the first connecting groove 1531 by pressing. It should be noted that the above-mentioned interference-fitting of the first limiting member 155 into the first connecting groove 1531 is only an example of the fixed connection between the first limiting member 155 and the rotating wheel 153. The first limiting member 155 may also be embedded into the first connecting groove 1531 by welding, bonding or other means, and this application does not limit this.

[0125] In some embodiments, the cutting drive rope 154 can be interference-fitted into the first through hole to achieve a rigid connection between the two. Specifically, the cutting drive rope 154 can be interference-fitted into the first through hole by pressing. It should be noted that the above-described interference-fitting of the cutting drive rope 154 into the first through hole is only an example of a fixed connection between the cutting drive rope 154 and the first through hole. The cutting drive rope 154 can also be fixedly connected to the first through hole by bonding or other methods, and this application does not limit this.

[0126] Figure 7 yes Figure 1 The diagram shows the structure of the cutting component in the first state of the surgical instrument. Figure 1 , Figure 8 yes Figure 1 The diagram shows the structure of the cutting component in the first state of the surgical instrument. Figure 2 ; Figure 9 yes Figure 1 The diagram shows the structure of the cutting component in the second state of the surgical instrument. Figure 1 , Figure 10 yes Figure 1 The diagram shows the structure of the cutting component in the second state of the surgical instrument. Figure 2 Combining Figures 7 to 10 In order to improve the reliability of the first clamping head assembly 110 and the second clamping head assembly 120 in clamping human tissue, in some embodiments, the outline size of the first receiving groove 111 or the second receiving groove 121 matches the outline size of the cutting part 152, and the cutting part 152 can be accommodated in the first receiving groove 111 or the second receiving groove 121.

[0127] Through the above scheme, in the first phase (see...) Figure 7 and Figure 8 The cutting part 152 is accommodated in the first receiving groove 111 or the second receiving groove 121, driving the cutting part 152 to move synchronously with the first clamping head assembly 110 or the second clamping head assembly 120, reducing the impact of the cutting part 152 on the first clamping head assembly 110 and the second clamping head assembly 120 in closing human tissue; so that the opposing surfaces of the first clamping head assembly 110 and the second clamping head assembly 120 can stably contact the human tissue, thereby improving the reliability of closing human tissue; in the second stage (see Figure 9 and Figure 10 The cutting element 150 is driven to rotate, causing the cutting part 152 to rotate from the first receiving groove 111 or the second receiving groove 121 to another receiving groove, so as to cut human tissue. Through this design, the functions of closing and cutting human tissue are integrated into the end tool 100, improving the ease of operation of the surgical instrument 1000.

[0128] like Figure 7 and Figure 8 As shown, in some embodiments, the outline dimensions of the second receiving groove 121 match the outline dimensions of the cutting portion 152 so that the cutting portion 152 can be accommodated within the second receiving groove 121.

[0129] The matching of the outline dimensions of the second receiving groove 121 with the outline dimensions of the cutting part 152 can be understood as follows: the shape of the second receiving groove 121 is consistent with the shape of the cutting part 152, and the structural dimensions of the second receiving groove 121 are consistent with the structural dimensions of the cutting part 152.

[0130] In some examples, the cutting part 152 is a sheet-like cuboid structure, and the second receiving groove 121 is also a sheet-like cuboid structure.

[0131] In some examples, the cutting part 152 is a sheet-like semi-elliptical structure, and the second receiving groove 121 can also be a sheet-like semi-elliptical structure.

[0132] In some embodiments, the depth dimension d2 of the second receiving groove 121 is consistent with the width dimension d1 of the cutting part 152, so that the cutting part 152 is retracted into the second receiving groove 121. Here, the depth dimension d2 is understood as the depth by which the second receiving groove 121 is recessed into the second clamping head assembly 120, and the width dimension d1 is understood as the dimension of the cutting part 152 along the rotation direction.

[0133] In some examples, the depth dimension d2 of the second receiving groove 121 is equal to the width dimension d1 of the cutting part 152, so that the cutting part 152 can be completely retracted into the second receiving groove 121, making the size of the second clamping head assembly 120 smaller.

[0134] like Figure 8 As shown, in some examples, the depth dimension d2 of the second receiving groove 121 is greater than the width dimension d1 of the cutting part 152, which improves the tolerance of the processing size and ensures that the cutting part 152 is retracted into the second receiving groove 121.

[0135] In some other examples, the depth dimension d2 of the second receiving groove 121 is smaller than the width dimension d1 of the cutting part 152. In this case, the cutting part 152 protrudes from the surface of the second clamping head assembly 120, which can support human tissue and prevent the first electrode 130 and the second electrode 140 from excessively squeezing human tissue and causing thermal damage.

[0136] It should be noted that the technical solution of matching the outline size of the first receiving groove 111 with the outline size of the cutting part 152 is similar to the implementation of matching the outline size of the second receiving groove 121 with the outline size of the cutting part 152. The implementation of matching the outline size of the second receiving groove 121 with the outline size of the cutting part 152 described above can be referred to, and will not be repeated here.

[0137] Figure 11 yes Figure 1 Schematic diagram of the structure of the second forceps assembly in the surgical instrument shown. Figure 1 , Figure 12 yes Figure 1 Schematic diagram of the structure of the second forceps assembly in the surgical instrument shown. Figure 2 ,like Figure 11 and Figure 12 As shown, in order to adjust the spacing between the first electrode 130 and the second electrode 140, in some embodiments, the end tool 100 further includes an insulating protrusion 101, which may be provided on the first jaw assembly 110 or the second jaw assembly 120. If the insulating protrusion 101 is provided on the first jaw assembly 110, then the insulating protrusion 101 is provided on the side of the first jaw assembly 110 facing the second jaw assembly 120, and the insulating protrusion 101 protrudes from the surface of the first jaw assembly 110 facing the second jaw assembly 120. If the insulating protrusion 101 is provided on the second jaw assembly 120, then the insulating protrusion 101 is provided on the side of the second jaw assembly 120 facing the first jaw assembly 110 (see...). Figure 11 An insulating protrusion 101 protrudes from the surface of the second clamping head assembly 120 facing the first clamping head assembly 110. In this way, the insulating protrusion 101 can provide support for the human tissue, adjust the distance between the first electrode 130 and the second electrode 140, and prevent excessive compression of the human tissue by the first clamping head assembly 110 and the second clamping head assembly 120, thus avoiding thermal damage. Furthermore, since the insulating protrusion 101 contacts the human tissue before other parts of the first clamping head assembly 110 or the second clamping head assembly 120, it can help determine the tightness of contact between the first clamping head assembly 110 and the second clamping head assembly 120 and the human tissue, thereby improving the reliability and safety of closing the human tissue using the first electrode 130 and the second electrode 140.

[0138] It should be noted that the insulating protrusion 101 has insulating properties, while the first electrode 130 or the second electrode 140 has conductive properties. In this way, when the insulating protrusion 101 is in closer contact with human tissue than the electrode (first electrode 130 or second electrode 140), high-frequency energy will not be transmitted to human tissue through the insulating protrusion 101 due to its insulating properties. This avoids the problem of human tissue burns caused by close contact between the insulating protrusion 101 and human tissue, and improves the safety of surgical procedures.

[0139] In some examples, the height of the insulating protrusion 101 protruding from the surface of the first clamping head assembly 110 or the second clamping head assembly 120 can be determined by comprehensively considering the heat resistance, elasticity, and high-frequency energy of human tissue. This application embodiment does not limit this height.

[0140] In some embodiments, the number of insulating protrusions 101 is 1. One insulating protrusion 101 is provided on the first clamping head assembly 110 or the second clamping head assembly 120. The degree of contact between the first clamping head assembly 110 or the second clamping head assembly 120 and human tissue can be determined based on the pressure applied to the insulating protrusion 101.

[0141] In order to achieve uniform clamping of human tissue and avoid local overheating or poor contact, in some embodiments, there are multiple insulating protrusions 101. The multiple insulating protrusions 101 are distributed at intervals on the first clamping head assembly 110 or the second clamping head assembly 120, so as to achieve uniform force application of the clamping head assembly to human tissue and improve the safety of surgical operation.

[0142] Figure 13 yes Figure 1 The schematic diagram shown is of the second clamp head assembly of the surgical instrument without the second electrode, as follows: Figure 13 As shown, to improve the reliability of the insulating protrusion 101, in some embodiments, the surface of the first jaw assembly 110 facing the second jaw assembly 120 is recessed inward to form a first mounting portion (not shown), the first electrode 130 is disposed within the first mounting portion, and the insulating protrusion 101 is connected to the bottom wall of the first mounting portion. In this way, the dimension of the insulating protrusion 101 in the opening and closing direction is increased to include the recessed dimension of the first mounting portion, preventing the insulating protrusion 101 from tipping over due to its small size, thus improving structural stability. Furthermore, the first electrode 130 being disposed within the first mounting portion helps to reduce the dimension of the first jaw assembly 110 in the opening and closing direction, which is beneficial for miniaturizing the end tool 100.

[0143] In some embodiments, the first electrode 130 is disposed within the first mounting portion, and the first electrode 130 has a through hole, through which the insulating protrusion 101 passes and connects to the bottom wall of the first mounting portion. In this case, the inner wall of the through hole can provide support for the insulating protrusion 101, preventing it from tipping over and improving its stability.

[0144] like Figure 13 As shown, in some embodiments, the second jaw assembly 120 is recessed inward toward the surface of the first jaw assembly 110 to form a second mounting portion 122, the second electrode 140 is disposed within the second mounting portion 122, and the insulating protrusion 101 is connected to the bottom wall of the second mounting portion 122. In this way, the dimension of the insulating protrusion 101 in the opening and closing direction is increased to include the recessed dimension of the second mounting portion 122, preventing the insulating protrusion 101 from tipping over due to its small size, thus improving structural stability. Furthermore, the placement of the second electrode 140 within the second mounting portion 122 helps reduce the dimension of the second jaw assembly 120 in the opening and closing direction, facilitating the miniaturization of the end tool 100.

[0145] In some embodiments, the second electrode 140 is disposed within the first mounting portion, and the second electrode 140 has a through hole 143 (see...). Figure 18 The insulating protrusion 101 passes through the through hole 143 and connects to the bottom wall of the first mounting part. At this time, the inner wall of the through hole 143 can provide support for the insulating protrusion 101, prevent it from tipping over, and improve its stability.

[0146] like Figures 11 to 13 As shown, in order to facilitate the clamping of human tissue and prevent it from slipping out, in some embodiments, the surgical instrument 1000 forms a limiting segment 102. The limiting segment 102 may be formed at the end of the first clamping head assembly 110 and / or the second clamping head assembly 120 away from the instrument axis 200, so as to hook the human tissue and prevent the human tissue from slipping out between the first clamping head assembly 110 and the second clamping head assembly 120, thereby improving the reliability and efficiency of clamping human tissue.

[0147] In some embodiments, the limiting segment 102 includes a first sub-limiting segment and a second sub-limiting segment. The first sub-limiting segment is configured to extend from the end of the first jaw assembly 110 away from the instrument axis 200 toward one side of the second jaw assembly 120. The second sub-limiting segment is configured to extend from the end of the second jaw assembly 120 away from the instrument axis 200 toward one side of the first jaw assembly 110. The first sub-limiting segment and the second sub-limiting segment are arranged opposite to each other along the axis of the end tool 100 so that both the first sub-limiting segment and the second limiting segment can be used to prevent human tissue from slipping out.

[0148] In some examples, the first and second sub-limiting segments abut against each other to hook human tissue within the area enclosed by the first clamping head assembly 110 and the second clamping head assembly 120. Furthermore, human tissue of any size can be confined within this enclosed area, offering high flexibility.

[0149] In some examples, there is a gap between the first sub-limiting segment and the second sub-limiting segment. When the first clamping head assembly 110 and the second clamping head assembly 120 are closed, the size of the gap is smaller than the width of the blood vessel to prevent the blood vessel from slipping out. Because of the gap, human tissue can be accommodated, which can avoid excessive compression of human tissue to a certain extent and improve the safety of surgical operation.

[0150] In some embodiments, the limiting segment 102 is formed in the first jaw assembly 110. The limiting segment 102 is configured to extend from the end of the first jaw assembly 110 away from the instrument axis 200 toward one side of the second jaw assembly 120, and the structure and size design are simple.

[0151] In some embodiments, the axial position of the limiting segment 102 in the axial direction of the end tool 100 falls on the side of the first jaw assembly 110 away from the instrument axis 200, so that the limiting segment 102 and the first jaw assembly 110 are arranged in the axial direction of the end tool 100, thereby reducing the size of the end tool 100 in the opening and closing direction.

[0152] In some embodiments, the limiting segment 102 is formed in the second jaw assembly 120. The limiting segment 102 is configured to extend from the end of the second jaw assembly 120 away from the instrument axis 200 toward one side of the first jaw assembly 110, and the structure and size design are simple.

[0153] It should be noted that the technical solution in which the limiting segment 102 is formed in the second jaw assembly 120 can refer to the implementation where the limiting segment 102 is formed in the first jaw assembly 110, and will not be repeated here.

[0154] Figure 14 yes Figure 1 The diagram shows the structure of the first pliers assembly in the end-effector tool. Figure 15 yes Figure 1 The diagram shows the structure of the end effector with the two clamps in a closed state. Figure 16 yes Figure 1 The diagram shows the structure of the end effector with the two clamps in the open position. (Combined with...) Figure 3 , Figures 11 to 16 In order to enable the first clamping head assembly 110 and the second clamping head assembly 120 to open and close relative to each other, in some embodiments, the first clamping head assembly 110 is formed with a first rotating part 113, and the second clamping head assembly 120 is formed with a second rotating part 123. The surgical instrument 1000 also includes an opening and closing rotating shaft 103, which is connected to the instrument shaft 200. The first rotating part 113 and the second rotating part 123 are sleeved on the opening and closing rotating shaft 103. The driving unit 300 drives the first clamping head assembly 110 and the second clamping head assembly 120 to rotate around the axis of the opening and closing rotating shaft 103.

[0155] Combination Figure 15 and Figure 16 It is readily apparent that the two clamp head assemblies rotate in opposite directions as they approach or move away from each other. With the above solution, there is no need to additionally arrange a reverse transmission structure on the opening / closing rotation shaft 103 to achieve opposite rotation of the two clamp head assemblies. The drive unit 300 directly drives the first clamp head assembly 110 and the second clamp head assembly 120 to rotate in opposite directions, simplifying the opening / closing transmission structure, reducing the space occupied by the surgical instrument 1000, and facilitating instrument miniaturization. Furthermore, since the opening / closing rotation shaft 103 does not need to rotate, serving as a common rotation reference for the first clamp head assembly 110 and the second clamp head assembly 120, it can reduce vibration during the opening and closing of the two clamp head assemblies, improving operational stability and surgical safety.

[0156] like Figure 3 , Figure 11 and Figure 14 As shown, in order to enable the drive unit 300 to drive the first clamping head assembly 110 and the second clamping head assembly 120 to open and close relative to each other, in some embodiments, the surgical instrument 1000 further includes a first opening and closing rope 201 and a second opening and closing rope 202. The first rotating part 113 is provided with a first transmission groove 1131, which extends along the rotation direction of the first clamping head assembly 110. The first opening and closing rope 201 is wound around a portion of the first transmission groove 1131 and then passes through the instrument shaft 200 to connect with the drive unit 300. The second rotating part 123 is provided with a second transmission groove 1231, which extends along the rotation direction of the second clamping head assembly 120. The second opening and closing rope 202 is wound around a portion of the second transmission groove 1231 and then passes through the instrument shaft 200 to connect with the drive unit 300. The drive unit 300 drives the first clamping head assembly 110 to rotate by pulling the first opening and closing rope 201; and drives the second clamping head assembly 120 to rotate by pulling the second opening and closing rope 202.

[0157] Through the above scheme, the drive unit 300 pulls the first opening and closing rope 201, giving it axial force. The circumferential engagement between the first rotating part 113 and the first opening and closing rope 201 converts this axial force into a rotational torque on the first rotating part 113, thereby driving the first clamping head assembly 110 to rotate. Similarly, the drive unit 300 pulls the second opening and closing rope 202, giving it axial force. The circumferential engagement between the second rotating part 123 and the second opening and closing rope 202 converts this axial force into a rotational torque on the second rotating part 123, thereby driving the second clamping head assembly 120 to rotate.

[0158] It should be noted that the transmission technology of the first opening and closing rope 201 and the first rotating part 113 can refer to the aforementioned transmission technology of the cutting drive rope 154 and the rotating wheel 153, and the transmission technology of the second opening and closing rope 202 and the second rotating part 123 can refer to the aforementioned transmission technology of the cutting drive rope 154 and the rotating wheel 153, and will not be repeated here.

[0159] like Figure 14 As shown, in some embodiments, the surgical instrument 1000 further includes a second limiting member (not shown). The second limiting member is connected to the first transmission groove 1131. The first opening and closing rope 201 passes through the second limiting member and is fixedly connected to the second limiting member. In this way, the first opening and closing rope 201 is fixedly connected to the first rotating part 113 through the second limiting member, which helps to improve the smoothness of the first opening and closing rope 201 extending circumferentially along the first transmission groove 1131, avoid stress concentration, achieve the effect of uniform load, and extend the service life of the first opening and closing rope 201.

[0160] It should be noted that the technical solution of the second limiting member can refer to the implementation of the first limiting member 155 mentioned above, and will not be repeated here.

[0161] like Figure 11 As shown, in some embodiments, the surgical instrument 1000 further includes a third limiting member 1232, which is connected to the second transmission groove 1231. The second opening and closing rope 202 passes through the third limiting member 1232 and is fixedly connected to it. In this way, the second opening and closing rope 202 is fixedly connected to the second rotating part 123 through the third limiting member 1232, which helps to improve the smoothness of the second opening and closing rope 202 extending circumferentially along the second transmission groove 1231, avoid stress concentration, achieve the effect of uniform load, and extend the service life of the second opening and closing rope 202.

[0162] It should be noted that the technical solution of the third limiting member 1232 can refer to the implementation of the first limiting member 155 mentioned above, and will not be repeated here.

[0163] Figure 17 This is a schematic diagram of the structure of the first electrode in a surgical instrument provided in an embodiment of this application; Figure 18 This is a schematic diagram of the structure of the second electrode in a surgical instrument provided in an embodiment of this application. Combined with... Figures 11 to 18 In some embodiments, the surgical instrument 1000 further includes a first electrode line 210 and a second electrode line 220, and the drive unit 300 further includes a second power supply circuit (not shown), which provides electrical energy to the first electrode 130 through the first electrode line 210 and to the second electrode 140 through the second electrode line 220. Accordingly, the first electrode 130 and the second electrode 140 apply electrical energy to the human tissue to close the tissue.

[0164] In some implementations, the electrical energy can be high-frequency energy.

[0165] The first electrode 130 has a first connecting portion 131 located within the first rotating portion 113. The first rotating portion 113 has a first mounting groove (not shown in the figure) connected to the first connecting portion 131. A first electrode wire 210 is connected to the first connecting portion 131, wound around a portion of the first mounting groove, and then passes through the instrument shaft 200 to connect to the second power supply circuit. The second electrode 140 has a second connecting portion 141 located within the second rotating portion 123. The second rotating portion 123 has a second mounting groove (not shown in the figure) connected to the second rotating portion 123. A second electrode wire 220 is connected to the second connecting portion 141, wound around a portion of the second mounting groove, and then passes through the instrument shaft 200 to connect to the second power supply circuit.

[0166] In some embodiments, the first connecting portion 131 is provided with a first stepped hole 1311 at the first mounting groove connection point (see...). Figure 17 The first electrode wire 210 extends into the first stepped hole 1311. It can be crimped into the first stepped hole 1311 using a crimping process, thus achieving a fixed connection between the first electrode wire 210 and the first connecting part 131. Since both the first electrode wire 210 and the first connecting part 131 are conductive, an electrical connection is formed between them.

[0167] In some embodiments, the second connecting portion 141 is provided with a second stepped hole 1411 at the second mounting groove connection point (see...). Figure 18 The second electrode wire 220 extends into the second stepped hole 1411. It can be crimped into the second stepped hole 1411 using a crimping process, thus achieving a fixed connection between the second electrode wire 220 and the second connecting part 141. Since both the second electrode wire 220 and the second connecting part 141 are conductive, an electrical connection is formed between them.

[0168] In some examples, the first mounting groove and the first transmission groove 1131 are spaced apart in the first rotating part 113, and the second mounting groove and the second transmission groove 1231 are spaced apart in the second rotating part 123.

[0169] Through the above scheme, the first mounting groove provides wiring space for the first electrode wire 210, and the second mounting groove provides wiring space for the second electrode wire 220, avoiding tangling of the electrode wires. Furthermore, the first connecting portion 131 is located within the first rotating portion 113, so that the first rotating portion 113 surrounds the first connecting portion 131, providing insulation and preventing electrical leakage from the first connecting portion 131. The second connecting portion 132 is located within the second rotating portion 123, so that the second rotating portion 123 surrounds the second connecting portion 141, providing insulation and preventing electrical leakage from the second connecting portion 141, thus improving the safety of the surgical instrument 1000.

[0170] In some embodiments, the second power supply circuit is configured to supply power to the first electrode 130 and the second electrode 140 together through the first electrode line 210 and the second electrode line 220. The power supply circuit that supplies power to the first electrode 130 and the second electrode 140 together is simple in design and has a low power supply cost.

[0171] In some embodiments, the second power supply circuit includes a first sub-circuit and a second sub-circuit. The first sub-circuit supplies power to the first electrode 130 via the first electrode line 210; the second sub-circuit supplies power to the second electrode 140 via the second electrode line 220. This allows for independent control of the energy parameters of the first electrode 130 and the second electrode 140 via the first and second sub-circuits, enabling more flexible high-frequency energy output and improving usability and electrocoagulation efficiency.

[0172] Figure 19 yes Figure 1 A schematic diagram of the drive unit in the surgical instrument shown. Figure 19 As shown, the drive unit 300 also includes a cutting drive component 303, a first pliers drive component 301 and a second pliers drive component 302, a cutting drive rope 154 connected to the cutting drive component 303, a first opening and closing rope 201 connected to the first pliers drive component 301, and a second opening and closing rope 202 connected to the cutting drive component 303.

[0173] In some embodiments, the two ends of the cutting drive rope 154 are wound around the cutting drive member 303 in opposite directions along the circumference, and the ends are fixedly connected to the cutting drive member 303. That is, the end of the first part 154a is wound around the cutting drive member 303 in a first clockwise direction, and the end of the second part 154b is wound around the cutting drive member 303 in a second clockwise direction. Accordingly, by controlling the cutting drive member 303 to rotate in the first clockwise direction or the second clockwise direction, the first part 154a or the second part 154b can be selectively tightened while the other part is released, thereby realizing bidirectional rotation of the cutting member 150. The first clockwise direction and the second clockwise direction are opposite directions.

[0174] When the cutting drive 303 is driven to rotate in the first clockwise direction, the first part 154a is tightened on the cutting drive 303, and the second part 154b is released on the cutting drive 303 to form a rotational torque acting on the rotating wheel 153 in the third clockwise direction; thus driving the cutting part 150 to rotate in the third clockwise direction.

[0175] When the cutting drive 303 is driven to rotate in the second clockwise direction, the second part 154b tightens on the cutting drive 303, and the first part 153a is released from the cutting drive 303, thereby forming a rotational torque acting on the rotating wheel 153 in the fourth clockwise direction; driving the cutting part 150 to rotate in the fourth clockwise direction. The third and fourth clockwise directions are opposite.

[0176] It should be noted that the technical solutions of the first clamp head drive member 301 pulling the first opening and closing rope 201 to drive the first clamp head assembly 110 to rotate, and the second clamp head drive member 302 pulling the second opening and closing rope 202 to drive the second clamp head assembly 120 to rotate can refer to the aforementioned implementation of the cutting drive member 303 pulling the cutting drive rope 154 to drive the cutting member 150 to rotate, and will not be repeated here.

[0177] In some embodiments, the drive unit 300 further includes a rotary gear 305, which is connected to the instrument shaft 200 for transmission. By driving the rotary gear 305 to rotate, the instrument shaft 200 is driven to rotate around its own axis. Since the instrument shaft 200 is connected to the end tool 100, the end tool 100 is driven to rotate around the axis of the instrument shaft 200, thereby realizing the degree of freedom adjustment of the end tool 100 along the axial direction of the instrument shaft 200.

[0178] Figure 20 yes Figure 1 A schematic cross-sectional view of the wrist joint in the surgical instrument shown. (Combined with...) Figure 20 In order to enable the rotation of the end effector, in some embodiments, the surgical instrument 1000 also includes a wrist joint 500, which is rotatably connected to the instrument shaft 200 about a first direction m, and the opening and closing rotation shaft 103 is rotatably connected to the wrist joint 500. The first direction m is perpendicular to the axis of the opening and closing rotation shaft, thereby realizing the adjustment of the rotational degree of freedom of the end effector along the first direction m.

[0179] In some embodiments, in order to enable the wrist joint 500 to rotate around the first direction m, the surgical instrument 1000 includes a swing rotation shaft 504, which passes through the instrument shaft 200 and the wrist joint 500 along the first direction m, so as to realize the rotatable connection between the wrist joint 500 and the instrument shaft 200.

[0180] In some embodiments, the surgical instrument 1000 further includes a swing drive rope 503, and the wrist joint 500 has an annular transmission part 505. The swing drive rope 503 is wound around the annular transmission part 505 and its two ends are connected to the drive unit 300. The drive unit 300 drives the swing drive rope 503 to drive the wrist joint 500 to swing around a first direction m.

[0181] In some examples, the drive unit 300 also includes a swing drive (not shown) that drives the wrist joint 500 to swing by pulling the swing drive rope 503.

[0182] In some embodiments, the swing drive rope 503 can achieve transmission in the following way: the end tool 100 also includes a fixing member 501, which is fixedly connected to the wrist joint 500. The swing drive rope 503 passes through the fixing member 501 and can move along its own axis. By utilizing the cooperation between the swing drive rope 503 and the circumferential surface of the annular transmission part 505, the axial direction of the swing drive rope 503 is consistent with the circumferential direction of the annular transmission part 505, thereby realizing the swing drive rope 503 moving along the circumferential direction of the annular transmission part 505. Since the fixing member 501 is fixedly connected to the wrist joint 500, it drives the wrist joint 500 to swing, thereby realizing the swing of the end tool 100.

[0183] Figure 21 yes Figure 1 A schematic diagram of the wrist joint structure in the surgical instrument shown. Figure 21 As shown, in some embodiments, the wrist joint 500 includes a first sub-joint 510 and a second sub-joint 520. The first sub-joint 510 and the second sub-joint 520 are respectively recessed inward on one side facing each other to form an arc surface. A receiving cavity is formed between the two arc surfaces. The fixing member 501 is interference-fitted into the receiving cavity to achieve a fixed connection between the fixing member 501 and the wrist joint 500.

[0184] Based on the same concept, this application also provides a surgical robot, which includes a main control console and the aforementioned surgical instrument 1000. The main control console is used to receive input operation instructions to control the surgical instrument 1000 to perform surgical operations.

[0185] The main control console can receive operation instructions input by doctors through human-computer interaction.

[0186] It should be noted that the surgical robot is conceived in relation to the aforementioned surgical instrument 1000 and has the same technical effects as the aforementioned surgical instrument 1000. Technical features and implementation methods not described in this embodiment can be referred to the technical solution of the aforementioned surgical instrument 1000, and will not be repeated here.

[0187] Based on the same concept, this application also provides a control method for a surgical instrument 1000, used to control the surgical instrument 1000 to perform actions of clamping, closing and cutting human tissue.

[0188] Figure 22 This is a flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application. Figure 1 .

[0189] like Figure 22 As shown, in some embodiments provided in this application, the control method of the surgical instrument 1000 includes at least steps S10 to S40.

[0190] Step S10: Drive the first plier assembly 110 and the second plier assembly 120 to open and close relative to each other via the plier head motor, and drive the cutting piece to rotate synchronously with the second plier head assembly 120 via the cutting motor.

[0191] Combination Figure 2 , Figure 3 and Figure 19As shown, the first jaw drive unit 301 is connected to the first jaw assembly 110 via the first opening and closing rope 201, and pulls the first opening and closing rope 201 to drive the first jaw assembly 110 to rotate. The second jaw drive unit 302 is connected to the second jaw assembly 120 via the second opening and closing rope 202, and pulls the second opening and closing rope 202 to drive the second jaw assembly 120 to rotate. Accordingly, by configuring the output torque and rotation direction of the first jaw drive unit 301 and the second jaw drive unit 302, the opening and closing direction and clamping force between the first jaw assembly 110 and the second jaw assembly 120 can be adjusted.

[0192] Here, both the first plier head drive component 301 and the second plier head drive component 302 are plier head motors.

[0193] In this embodiment, the position where the first jaw assembly 110 and the second jaw assembly 120 are relatively closed is recorded as the initial position. In the initial position, the cutting element 150 is located within the receiving cavity of the second jaw assembly 120. The cutting element 150 and the second jaw assembly 120 are driven to rotate synchronously by a cutting motor, so that the cutting element 150 is always located within the receiving groove of the second jaw assembly 120 during the relative opening and closing of the two jaw assemblies.

[0194] In some embodiments, the cutting motor is connected to the cutting component 150 via a cutting drive rope 154. The cutting motor drives the cutting drive rope 154 to tension or release, thereby achieving synchronous rotation of the cutting component 150 and the second clamping head assembly 120.

[0195] In the embodiments of this application, "the cutting element 150 is located within the second pliers assembly 120" can be understood as: the cutting element 150 is hidden within the receiving groove of the second pliers assembly 120.

[0196] It should be noted that, in the initial position and during the relative opening and closing of the two jaw assemblies, the cutting element 150 can always be located within the receiving cavity of the first jaw assembly 110, or it can always be located within the receiving cavity of the second jaw assembly 120. This embodiment of the application is only used as an example to illustrate the concept of "the cutting element 150 always being located within the receiving cavity of the second jaw assembly 120".

[0197] Step S20: Obtain the clamping force output by the first jaw assembly 110 and the second jaw assembly 120.

[0198] Here, the clamping force can be understood as the force exerted on the human tissue by the two clamping assemblies (first clamping assembly 110 and second clamping assembly 120) when both the first clamping head assembly 110 and the second clamping head assembly 120 are in contact with the human tissue. That is, the clamping force is the vector sum of the clamping forces of the first clamping head assembly 110 and the second clamping head assembly 120.

[0199] The first clamping head assembly 110 has a first clamping force, and the second clamping head assembly 120 has a second clamping force. During the opening and closing of the first clamping head assembly 110 and the second clamping head assembly 120 to clamp human tissue, the magnitudes of the first clamping force and the second clamping force remain consistent. Furthermore, the direction of the first clamping force and the direction of the second clamping force are symmetrical about the axis of the surgical instrument 1000.

[0200] Below are some examples of obtaining the first clamping force.

[0201] As an example, the surgical robot includes a force feedback mechanism (not shown) and an operating handle (not shown). The operating handle is used to input operating commands to the main control console, which receives the operating commands and controls the surgical instrument 1000 to perform surgical operations according to the operating commands. The force feedback mechanism is connected between the surgical instrument 1000 and the operating handle and is capable of simulating the magnitude of the contact force when the first forceps assembly 110 contacts human tissue.

[0202] Correspondingly, the surgical robot also includes force sensors, which detect contact forces and transmit their magnitudes to the main control panel. Based on the magnitude of the contact forces, the main control panel determines the magnitudes of the first clamping force and the second clamping force; then, combining the opening and closing positions of the first clamping head assembly 110 and the second clamping head assembly 120, it calculates the clamping force using the principle of force decomposition.

[0203] For example, if the magnitude of the contact force received by the main control panel is a, then the magnitudes of the first clamping force and the second clamping force are both a. Combined with the opening and closing positions of the first clamping head assembly 110 and the second clamping head assembly 120, the clamping force is calculated.

[0204] In this embodiment, the main control console obtains the rotation angle of the two clamping head assemblies based on the rotation direction of the clamping head motor and the clamping head current, and then updates the angular position of the two clamping head assemblies respectively; the main control console can obtain the opening and closing positions of the first clamping head assembly and the second clamping head assembly based on the updated angular position data, which will not be elaborated here.

[0205] As another example of obtaining the first clamping force, since the plier motor has a plier current during the rotation of the first plier assembly 110, the relationship curve between the plier current and the first clamping force can be obtained through simulation tools. Accordingly, the main control panel obtains the plier current of the plier motor, and can determine the first clamping force based on the relationship curve of the plier current.

[0206] As another example of obtaining the first clamping force of the first clamping head assembly 110, based on the transmission relationship between the clamping head motor and the first clamping head assembly 110, the first clamping force f1 can be calculated as follows:

[0207] f1 = T_m / R_1*R_2 / L1

[0208] in,

[0209] T_m is the output torque of the pliers motor;

[0210] R_1 is the radius of the output shaft of the pliers motor;

[0211] R_2 is the winding radius of the first opening and closing rope around the first clamping head assembly, that is, the transmission radius between the first opening and closing rope and the first clamping head assembly (reference). Figure 14 );

[0212] L1 is the distance from the rotation center O1 of the first jaw assembly to the center O2 of the first jaw assembly (reference). Figure 14 ).

[0213] In some implementations, T_m can be obtained based on the clamping head current of the clamping head motor combined with the parameters of the clamping head motor. R_1, R_2, and L1 can be obtained directly based on the transmission structure.

[0214] Here, the center O2 of the first clamping head assembly can be understood as the physical center of the first clamping head assembly, i.e., the center of gravity.

[0215] Step S30: When the clamping force is greater than or equal to the set value, electrical energy is supplied to the first electrode and the second electrode through the second power supply circuit. The electrical energy is used to close the clamped human tissue. The set value is determined based on the clamping of the human tissue by the first clamping head assembly and the second clamping head assembly.

[0216] Here, the magnitude of the clamping force is used to determine whether the two clamping head assemblies are holding human tissue. Specifically, the current clamping force is determined when the clamping head assembly is holding human tissue, and this current clamping force is set as a preset value. Correspondingly, if the clamping force is less than the preset value, it indicates that the clamping head assembly has not yet held human tissue; if the clamping force is greater than or equal to the preset value, it indicates that the clamping head assembly is holding human tissue.

[0217] Combination Figure 3 As shown, in some embodiments, the second power supply circuit includes a first electrode interface and a second electrode interface. A first electrode line 210 is connected between the first electrode interface and the first electrode 130 to provide electrical energy to the first electrode 130. A second electrode line 220 is connected between the second electrode interface and the second electrode 140 to provide electrical energy to the second electrode 140.

[0218] Step S40: With the human tissue closed, the cutting motor drives the cutting piece to rotate toward the first jaw assembly along the opening and closing direction of the first jaw assembly and the second jaw assembly, thereby cutting the closed human tissue.

[0219] Here, the closure of human tissue can be determined by the impedance of the human tissue, the time of electrical energy supply, the temperature distribution rendered in the surgical image, or the fluorescence contrast lamp method, which will not be elaborated further here.

[0220] In some embodiments, the technical solution of "the cutting motor drives the cutting component to rotate toward the first clamping assembly along the opening and closing direction of the first clamping head assembly and the second clamping head assembly" can refer to the aforementioned embodiment in which the driving unit 300 of the surgical instrument 1000 drives the cutting drive rope 154 to rotate the cutting component 150, and will not be repeated here.

[0221] According to the control method of the surgical instrument provided in this application, a clamping head motor drives a first clamping head assembly and a second clamping head assembly to open and close relative to each other to clamp the target human tissue. The relationship between the clamping force and a set value is used to determine whether the clamping head assembly has clamped the human tissue. When the clamping head assembly has clamped the human tissue, a second power supply circuit provides electrical energy to the first and second electrodes. Under the action of electrical energy, the human tissue closes at the clamped position. Then, a cutting motor drives a cutting element 150 to rotate, cutting the closed human tissue. By controlling the rotation of the cutting element 150, its rotational stroke for cutting the target human tissue is consistent with the cutting dimension, with almost no redundant stroke, which improves the efficiency of cutting the target human tissue.

[0222] Figure 23 This is a flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application. Figure 2 .

[0223] In some embodiments, the first jaw drive 301 drives the first jaw assembly 110 to rotate, and the second jaw drive 302 drives the second jaw assembly 120 to rotate. When the two jaw assemblies (the first jaw assembly 110 and the second jaw assembly 120) are engaged (i.e., gripping human tissue), the jaw assemblies are subjected to resistance from the human tissue, which can cause the jaw motor to stall, thus increasing the jaw current.

[0224] like Figure 23 As shown, based on the relationship between the clamping current and the human tissue being clamped, in some embodiments of this application, step S20 can be implemented by step S21:

[0225] Step S21: Obtain the clamping current of the clamping motor. The clamping current contains information used to characterize the clamping force.

[0226] When the jaw assembly (first jaw assembly or second jaw assembly) is not in contact with human tissue, the jaw current of the jaw motor is in the first current range, at which point the clamping force is relatively small. When the jaw assembly is in contact with human tissue, the jaw motor requires additional torque to overcome the resistance of the human tissue, causing the jaw current to increase to the second current range, at which point the clamping force is larger. Therefore, the jaw current can be used to characterize the clamping force.

[0227] In some implementations, the main control console can read the current clamp current through the motor driver of the clamp motor.

[0228] In some embodiments of this application, step S30 can be implemented by step S31:

[0229] Step S31: When the clamping head current is greater than or equal to the standard current, the first electrode and the second electrode are supplied with electrical energy through the second power supply circuit. The standard current is obtained when the clamping force is equal to the set value.

[0230] Here, the standard current can be the lower limit of the second current range. When the clamp current is greater than or equal to the standard current, it can be seen that the clamp current falls into the second current range, which indicates that the clamp assembly is holding the human tissue, that is, the clamping force is greater than or equal to the set value.

[0231] In some implementations, based on the characteristic that the clamping head current increases when the clamping head assembly comes into contact with human tissue, a standard current can be obtained by recording the current clamping head current while the clamping force is equal to a set value, and using this current as the standard current. Accordingly, by determining that the clamping head current is greater than the standard current, it can be determined that the clamping head assembly is clamping the human tissue.

[0232] In other embodiments of this application, the standard current can be obtained by simulating a stalled motor, acquiring the clamp head current of the clamp head motor when stalled, and using the minimum value of this clamp head current as the standard current. Accordingly, when the clamp head current is greater than the standard current, the motor stalls, indicating that the clamp head assembly is clamping human tissue, i.e., the clamping force is greater than or equal to the set value.

[0233] In some examples, the surgical instrument 1000 is used for vascular tissue. When the simulated motor is stalled, a standard current can be determined when the simulated clamping forceps assembly is holding the vascular tissue, thereby improving the accuracy of the standard current in vascular tissue scenarios.

[0234] The above scheme uses the relationship between the clamping current and the standard current to characterize the clamping force of the clamping head assembly, thereby indicating whether the two clamping head assemblies are clamping human tissue. This eliminates the need for complex calculations of the clamping force and simplifies the control method.

[0235] Figure 24This is a flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application. Figure 3 .

[0236] In some implementations, to prevent the cutting element 150 from accidentally cutting, it should always remain within the second jaw assembly 120 when not performing a cutting action. Specifically, the main control panel achieves synchronous rotation of the second jaw assembly 120 and the cutting element 150 by configuring the output torque and rotation direction of the jaw motor and the cutting motor, respectively. However, due to the difference between the elongation of the first opening and closing rope 201 connected between the jaw motor and the second jaw assembly 120 and the target elongation during transmission, and the difference between the elongation of the cutting drive rope 154 connected between the cutting motor and the cutting element 150 and the target elongation during transmission, the rotation angles of the cutting element 150 and the second jaw assembly 120 differ.

[0237] like Figure 24 As shown, in order to compensate for the difference in rotation angle between the cutting member 150 and the second clamping head assembly 120, in some embodiments of this application, the control method of the surgical instrument 1000 may further include steps S50 to S80 before step S30.

[0238] Step S50: Obtain the cutting current of the cutting motor, which includes information used to characterize the compressive force between the cutting workpiece and the second jaw assembly.

[0239] Combination Figure 7 As shown, when the cutting element 150 is located within the second jaw assembly 120, the cutting element 150 and the second jaw assembly 120 are pressed against each other. Because the cutting motor requires additional torque to overcome the resistance of the second jaw assembly 120, the cutting current is relatively large. When the cutting element 150 moves from the second jaw assembly 120 toward the first jaw assembly 110, the pressing between the cutting element 150 and the second jaw assembly 120 weakens, the resistance driving the cutting element 150 to rotate decreases, and the cutting current decreases. Therefore, the jaw current can be used to characterize the magnitude of the pressing force between the cutting element 150 and the second jaw assembly 120.

[0240] The phrase "the cutting element 150 is located within the second jaw assembly 120" can be understood as the cutting element 150 and the second jaw assembly 120 abutting against each other on one side of their surfaces along the opening and closing direction. The phrase "the cutting element 150 moves out of the second jaw assembly 120 toward the first jaw assembly 110" can be understood as the cutting element 150 and the second jaw assembly 120 separating from each other on their surfaces along the opening and closing direction and the distance between them increasing.

[0241] Step S60: When the cutting current is less than the target current, obtain the actual squeezing force between the cutting part and the second jaw assembly. The target current is obtained when the cutting part is located inside the second jaw assembly.

[0242] Here, if the cutting current is less than the target current, it indicates that there is a gap between the surfaces of the cutting element 150 and the second jaw assembly 120 facing each other in the opening and closing direction. Accordingly, the rotation angle of the cutting element 150 needs to be compensated to bring it closer to the inside of the second jaw assembly 120.

[0243] Figure 25 This is a flowchart illustrating step S60 of a surgical instrument control method provided in an embodiment of this application; Figure 26 yes Figure 1 Schematic diagram of the drive unit in the surgical instrument shown. Figure 2 .

[0244] In this embodiment, since the force exerted by the cutting element 150 on the second jaw assembly 120 is equal in magnitude and opposite in direction to the force exerted by the second jaw assembly 120 on the cutting element 150, the force transmitted from the cutting motor to the cutting element 150 can be used to obtain the force exerted by the cutting element 150 on the second jaw assembly 120; this force exerted by the cutting element 150 on the second jaw assembly 120 is the compressive force between the second jaw assembly 120 and the cutting element 150.

[0245] Based on this, combined Figure 25 and Figure 26 Step S60 can be achieved through steps S61 and S62.

[0246] Step S61: Determine the output torque T1 of the cutting motor based on the cutting current.

[0247] Here, the cutting current is obtained through step S40, and the main control console can calculate the output torque T1 based on the cutting current and the parameters of the clamp motor.

[0248] The parameters of the pliers motor can be determined based on the type and model of the pliers motor, and will not be elaborated here.

[0249] Step S62: Based on the output torque T1, the output shaft radius R1 of the cutting motor, the rotation groove radius R2 of the cutting part, and the distance L2 between the physical center of the cutting part and the rotation center of the cutting part, the actual extrusion force N1 is obtained.

[0250] Here, the output shaft radius R1, the rotating groove radius R2, and the distance L2 can be pre-stored in the main control console.

[0251] In some implementations, the actual extrusion pressure N1 can be calculated as follows:

[0252] N1 = T1 / R1*R2 / L2

[0253] in,

[0254] T1 is the output torque of the cutting motor;

[0255] R1 is the radius of the output shaft of the cutting motor;

[0256] R2 is the winding radius of the cutting drive rope around the cutting workpiece, i.e., the transmission radius between the cutting drive rope and the cutting workpiece (reference). Figure 5 );

[0257] L2 is the distance from the rotation center of the cutting workpiece to the center of the cutting workpiece (reference). Figure 5 ).

[0258] Here, the above formula for calculating the actual extrusion force N1 is based on the transmission structure from the cutting motor to the cutting workpiece.

[0259] Step S70: Based on the actual extrusion pressure and the target extrusion pressure, determine the rotation compensation parameters of the cutting part, wherein the target extrusion pressure is the extrusion pressure between the cutting part and the second jaw assembly when the cutting part is located inside the second jaw assembly.

[0260] Here, the actual extrusion pressure and the target extrusion pressure reflect the difference between the actual position and the target position of the workpiece. Therefore, the rotation compensation parameters are determined based on the actual extrusion pressure and the target extrusion pressure. The target position of the workpiece is located within the second clamping head assembly 120.

[0261] Figure 27 This is a flowchart illustrating step S70 of a surgical instrument control method provided in an embodiment of this application. (In conjunction with...) Figure 27 In some implementations, step S70 can be achieved according to steps S71 to S73.

[0262] Step S71: Based on the actual compressive force and the elastic modulus of the driving rope, the first elongation is obtained.

[0263] Here, since the actual compressive force is the interaction force between the second clamping head assembly and the cutting element, the actual compressive force is also the axial force exerted by the second opening and closing rope on the second clamping head assembly. Based on the relationship between force and elongation, the first elongation can be obtained based on the actual compressive force and the elastic modulus of the second opening and closing rope. The first elongation reflects the actual elongation of the second opening and closing rope.

[0264] In some examples, the first elongation can be the ratio of the actual extrusion force to the elastic modulus.

[0265] In some implementations, the elastic modulus of the drive rope can be the elastic modulus of the first opening and closing rope, the second opening and closing rope, or the cutting drive rope. It is understood that in a surgical robot, the elastic modulus of the first opening and closing rope, the second opening and closing rope, or the cutting drive rope is the same.

[0266] Step S72: Based on the target extrusion pressure and elastic modulus, obtain the second elongation.

[0267] Here, the target compressive force is the mutual compressive force between the cutting component and the second jaw assembly when the cutting component is located inside the second jaw assembly. The elongation of the second opening and closing rope corresponding to the target compressive force is the target elongation. Since the target causes the cutting component 150 and the second jaw assembly 120 to rotate synchronously, the target elongation of the second opening and closing rope is equal to the target elongation of the cutting drive rope.

[0268] In the embodiments of this application, the second elongation can be obtained based on the target extrusion pressure and elastic modulus according to the relationship between force and elongation.

[0269] In some examples, the second elongation can be the ratio of the target extrusion pressure to the elastic modulus.

[0270] Step S73: Calculate the difference between the first elongation and the second elongation to obtain the rotation compensation parameters.

[0271] Here, the difference between the first elongation and the second elongation represents whether the elongation of the cutting drive rope is insufficient or excessive in the actual transmission. By supplementing or subtracting this difference in elongation, the actual elongation can be made consistent with the target elongation, thereby achieving synchronous rotation of the cutting component 150 and the second clamping head assembly 120.

[0272] Step S80: Based on the rotation compensation parameters, drive the cutting piece to rotate towards the second jaw assembly via the cutting motor, so that the cutting piece rotates to be located inside the second jaw assembly.

[0273] In some implementations, when the surgical instrument 1000 is mounted on the mounting base of the surgical robot, the forceps assembly and the cutting component 150 are positioned in initial positions by the rotation of the forceps motor and the cutting motor, respectively. In the initial positions, the two forceps assemblies are closed relative to each other, and the cutting component 150 is located within the receiving cavity of the second forceps assembly 120. The surgical robot uses this initial position as the zero point position, i.e., the angular positions of the two forceps assemblies are 0, and the angular position of the cutting component 150 is also 0. When the main control console drives the two forceps assemblies to open and close via the forceps motor, the main control console updates the angular positions of the two forceps assemblies based on the rotation angle of the forceps motor; when the main control console drives the cutting component to rotate via the cutting motor, the main control console updates the angular position of the cutting component based on the rotation angle of the cutting motor. Accordingly, the main control console can determine which of the two forceps assemblies the cutting component is closer to based on the updated angular positions of the two forceps assemblies and the angular position of the cutting component.

[0274] Initially, the cutting piece 150 is located within the receiving cavity of the second jaw assembly 120. During the opening and closing of the two jaw assemblies, the main control console drives the cutting piece 150 to move synchronously with the second jaw assembly 120 via a cutting motor. Therefore, under normal circumstances, the cutting piece 150 is closer to the second jaw assembly 120. Thus, when a misalignment between the cutting piece 150 and the second jaw assembly 120 is detected, the cutting piece is driven to rotate towards the second jaw assembly 120 based on rotation compensation parameters, so that the cutting piece 150 is located within the receiving cavity of the second jaw assembly 120. Alternatively,

[0275] Based on the updated angular positions of the two clamping head assemblies and the updated angular position of the cutting piece, the main control console determines that the cutting piece 150 is closer to the first clamping head assembly 110 than to the second clamping head assembly 120. At this time, when it is detected that the cutting piece 150 and the second clamping head assembly 120 are not moving in sync, the first clamping head assembly 110 is used as the second clamping head assembly 120. Based on the rotation compensation parameters, the cutting piece is driven to rotate toward the second clamping head assembly 120, so that the cutting piece 11 is located in the receiving cavity of the second clamping head assembly 120.

[0276] Therefore, during the operation of the surgical instrument 1000, the main control console will determine which of the two clamping head assemblies the cutting part is closer to based on the angular position of the clamping head assembly and the cutting part. The closer clamping head assembly will be designated as the second clamping head assembly 120, thereby completing the angular displacement compensation operation—causing the cutting part to rotate to be located within the second clamping head assembly 120. Subsequently, the cutting part and the second clamping head assembly 120 will be controlled to rotate synchronously, so that the cutting part is always located within the second clamping head assembly 120 when no cutting operation is being performed.

[0277] In some specific implementations, the surgical robot will use the initial position as the zero point position, combined with... Figure 7 As shown, the zero-point angular position of the two clamping head assemblies is position p, and the zero-point angular position of the cutting piece 150 is position q. The angular difference c between position p and position q is the angular position difference between the cutting piece 150 and the first clamping head assembly 110. The main control console can update this angular position difference based on the updated angular positions of the two clamping head assemblies and the cutting piece, and then determine which clamping head assembly the cutting piece 150 is closer to based on the angular position difference.

[0278] Based on the control method of the surgical instrument provided in this application, during the relative opening and closing of the first clamping head assembly 110 and the second clamping head assembly 120, the cutting current of the cutting motor is obtained to determine whether the cutting piece 150 moves synchronously with the second clamping head assembly 120. Accordingly, when there is a difference in rotation angle between the cutting piece 150 and the second clamping head assembly 120, rotation compensation parameters are obtained using the actual extrusion force and the target extrusion force. The rotation compensation parameters are used to drive the cutting piece 150 to rotate into the second clamping head assembly 120, thereby avoiding the problem that the difference in rotation angle between the cutting piece 150 and the second clamping head assembly 120 may cause the cutting piece 150 to obstruct the rotation of the second clamping head assembly 120 or to accidentally cut human tissue, thus improving the synchronicity of the rotation of the cutting piece 150 and the second clamping head assembly 120.

[0279] In the surgical robot provided in the embodiments of this application, the main control console is also used to execute the steps of the control method in any of the aforementioned embodiments of the control method, and to control the surgical instrument 1000 to clamp, close, or cut human tissue.

[0280] It should be noted that the control method of the surgical instrument 1000 is conceived in accordance with the aforementioned surgical instrument 1000, and has the same technical effects as the aforementioned surgical instrument 1000. The technical features and implementation methods of this embodiment can refer to the technical solution of the aforementioned surgical instrument 1000, and will not be repeated here.

[0281] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0282] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A surgical instrument, characterized in that, The device includes an end-effector, a drive unit, and an instrument shaft. The drive unit is connected to the end-effector via the instrument shaft. The end-effector includes: The first clamp head assembly is connected to the instrument shaft; The second clamping head assembly is connected to the instrument shaft. The first clamping head assembly and the second clamping head assembly are respectively provided with a first electrode and a second electrode on the side facing each other. The driving unit can drive the first clamping head assembly and the second clamping head assembly to open and close relative to each other to clamp human tissue. The first electrode and the second electrode are used to contact human tissue to close human tissue. The cutting component is rotatable along the opening and closing directions of the first and second jaw assemblies to cut closed human tissue; wherein the first and second jaw assemblies are respectively provided with a first receiving groove and a second receiving groove on their respective sides facing each other, for accommodating the cutting component.

2. The surgical instrument according to claim 1, characterized in that, The cutting component includes a cutting section and a rotating wheel, and the surgical instrument also includes a cutting drive rope; the cutting drive rope is wound around the rotating wheel circumferentially and passes through the instrument shaft and is connected to the drive unit; the drive unit drives the cutting component to rotate by pulling the cutting drive rope; the cutting section is used to cut closed human tissue.

3. The surgical instrument according to claim 2, characterized in that, The surgical instrument further includes a first limiting member, which is connected to the rotating wheel; the first limiting member has a first through hole, through which the cutting drive rope passes and is fixedly connected to the first limiting member.

4. The surgical instrument according to claim 3, characterized in that, A first connecting groove is formed between the rotating wheel and the cutting part, and the first limiting member is embedded in the first connecting groove.

5. The surgical instrument according to claim 4, characterized in that, The rotating wheel has a first recess, which is formed by the circumferential sidewall of the rotating wheel being recessed inward, and the first connecting groove is formed between the first recess and the cutting part.

6. The surgical instrument according to claim 2, characterized in that, The outline dimensions of the first receiving groove or the second receiving groove match the outline dimensions of the cutting part, so that the cutting part can be accommodated in the first receiving groove or the second receiving groove.

7. The surgical instrument according to claim 1, characterized in that, The first pliers assembly has an insulating protrusion on the side facing the second pliers assembly, the insulating protrusion protruding from the surface of the first pliers assembly facing the second pliers assembly; or, The second pliers assembly has an insulating protrusion on the side facing the first pliers assembly, the insulating protrusion protruding from the surface of the second pliers assembly facing the first pliers assembly.

8. The surgical instrument according to claim 7, characterized in that, The surface of the first clamping head assembly is recessed inward toward the second clamping head assembly to form a first mounting portion, the first electrode is disposed within the first mounting portion, and the insulating protrusion is connected to the bottom wall of the first mounting portion; and / or The second clamping head assembly is recessed inward toward the surface of the first clamping head assembly to form a second mounting portion, the second electrode is disposed in the second mounting portion, and the insulating protrusion is connected to the bottom wall of the second mounting portion.

9. The surgical instrument according to claim 2, characterized in that, The first jaw assembly forms a limiting segment, the limiting segment being configured to extend from the end of the first jaw assembly away from the instrument axis toward one side of the second jaw assembly; or, the second jaw assembly forms a limiting segment, the limiting segment being configured to extend from the end of the second jaw assembly away from the instrument axis toward one side of the first jaw assembly.

10. The surgical instrument according to claim 9, characterized in that, The first clamp head assembly has a first rotating part, the second clamp head assembly has a second rotating part, the surgical instrument also includes an opening and closing rotating shaft, the opening and closing rotating shaft is connected to the instrument shaft, and the first rotating part and the second rotating part are sleeved on the opening and closing rotating shaft; the driving unit drives the first clamp head assembly and the second clamp head assembly to rotate around the axis of the opening and closing rotating shaft.

11. The surgical instrument according to claim 10, characterized in that, The surgical instruments also include a first opening and closing rope and a second opening and closing rope; The first rotating part is provided with a first transmission groove, which extends along the rotation direction of the first pliers assembly. The first opening and closing rope is wound around a portion of the first transmission groove, passes through the instrument shaft and is connected to the drive unit. The drive unit drives the first pliers assembly to rotate by pulling the first opening and closing rope. The second rotating part is provided with a second transmission groove, which extends along the rotation direction of the second clamp head assembly. The second opening and closing rope is wound around a portion of the second transmission groove, passes through the instrument shaft and is connected to the drive unit. The drive unit drives the second clamp head assembly to rotate by pulling the second opening and closing rope.

12. The surgical instrument according to claim 11, characterized in that, The surgical instrument further includes a second limiting member, which is connected to the first transmission groove. The first opening and closing rope passes through the second limiting member and is fixedly connected to the second limiting member. The surgical instrument also includes a third limiting member, which is connected to the second transmission groove. The second opening and closing rope passes through the third limiting member and is fixedly connected to the third limiting member.

13. The surgical instrument according to claim 11, characterized in that, The drive unit includes a cutting drive component, a first pliers drive component, and a second pliers drive component. The cutting drive rope is connected to the cutting drive component, the first opening and closing rope is connected to the first pliers drive component, and the second opening and closing rope is connected to the second pliers drive component.

14. The surgical instrument according to any one of claims 1 to 13, characterized in that, The drive unit includes a first power supply circuit for supplying power to the cutting element so that the energized cutting element electrically cuts the human tissue.

15. The surgical instrument according to claim 11, characterized in that, The surgical instrument also includes a first electrode wire and a second electrode wire, and the driving unit also includes a second power supply circuit. The first electrode has a first connecting portion located inside the first rotating portion. The first rotating portion has a first mounting groove connected to the first connecting portion. The first electrode wire is connected to the first connecting portion, and after being wound around a portion of the first mounting groove, it passes through the instrument shaft and is connected to the second power supply circuit. The second electrode has a second connecting portion located inside the second rotating portion. The second rotating portion has a second mounting groove connected to the second connecting portion. The second electrode wire is connected to the second connecting portion, and after being wound around a portion of the second mounting groove, it passes through the instrument shaft and is connected to the second power supply circuit. The second power supply circuit is used to supply power to the first electrode and the second electrode.

16. The surgical instrument according to claim 15, characterized in that, The second power supply circuit includes a first sub-circuit and a second sub-circuit, wherein the first sub-circuit is used to supply power to the first electrode through the first electrode line; The second sub-circuit is used to supply power to the second electrode through the second electrode line.

17. The surgical instrument according to claim 10, characterized in that, The surgical instrument also includes a wrist joint, which is rotatably connected to the instrument shaft about a first direction, and the opening and closing rotation shaft is rotatably connected to the wrist joint, wherein the first direction is perpendicular to the axis of the opening and closing rotation shaft.

18. The surgical instrument according to claim 17, characterized in that, The surgical instrument also includes a swing drive rope. The wrist joint has an annular transmission part. The swing drive rope is wound around the annular transmission part and its two ends are connected to the drive unit. The drive unit drives the swing drive rope to make the wrist joint swing around the first direction.

19. A method for controlling a surgical instrument, characterized in that, include: The first and second jaw assemblies are opened and closed relative to each other by a jaw motor, and the cutting piece is driven to rotate synchronously with the second jaw assembly by a cutting motor. Obtain the clamping force output by the first jaw assembly and the second jaw assembly; When the clamping force is greater than or equal to a set value, electrical energy is supplied to the first electrode and the second electrode through the second power supply circuit. The electrical energy is used to close the clamped human tissue. The set value is determined based on the clamping of the human tissue by the first clamping head assembly and the second clamping head assembly. When the human tissue is closed, the cutting motor drives the cutting element to rotate toward the first jaw assembly along the opening and closing direction of the first jaw assembly and the second jaw assembly, thereby cutting the closed human tissue.

20. The method for controlling surgical instruments according to claim 19, characterized in that, The step of obtaining the clamping force output by the first jaw assembly and the second jaw assembly includes: The clamping current of the clamping motor is obtained, and the clamping current contains information for characterizing the clamping force; When the clamping force is greater than or equal to a set value, supplying electrical energy to the first and second electrodes through the second power supply circuit includes: When the clamping current is greater than or equal to the standard current, electrical energy is supplied to the first electrode and the second electrode through the second power supply circuit. The standard current is obtained when the clamping force is equal to the set value.

21. The method for controlling surgical instruments according to claim 19, characterized in that, Before supplying electrical energy to the first and second electrodes via the second power supply circuit, the control method for the surgical instrument further includes: The cutting current of the cutting motor is obtained, and the cutting current includes information for characterizing the compressive force between the cutting workpiece and the second clamping head assembly; When the cutting current is less than the target current, the actual compressive force between the cutting element and the second jaw assembly is obtained, wherein the target current is obtained when the cutting element is located inside the second jaw assembly; Based on the actual extrusion pressure and the target extrusion pressure, the rotation compensation parameters of the cutting component are determined, wherein the target extrusion pressure is the extrusion pressure between the cutting component and the second jaw assembly when the cutting component is located inside the second jaw assembly; Based on the rotation compensation parameters, the cutting piece is driven by the cutting motor to rotate toward the second jaw assembly, so that the cutting piece rotates to be located inside the second jaw assembly.

22. The method for controlling surgical instruments according to claim 21, characterized in that, The step of obtaining the actual compressive force between the cutting component and the second clamping head assembly includes: The output torque of the cutting motor is determined based on the cutting current; The actual extrusion force is obtained based on the output torque, the output shaft radius of the cutting motor, the rotation groove radius of the cutting piece, and the distance between the physical center of the cutting piece and the rotation center of the cutting piece.

23. The method for controlling surgical instruments according to claim 21, characterized in that, The determination of the rotation compensation parameters for the cut piece based on the actual extrusion pressure and the target extrusion pressure includes: The first elongation is obtained based on the actual compressive force and the elastic modulus of the drive rope. Based on the target extrusion pressure and the elastic modulus, the second elongation is obtained; The difference between the first elongation and the second elongation is calculated to obtain the rotation compensation parameters.

24. A surgical robot, characterized in that, The surgical robot includes a main control console and surgical instruments according to any one of claims 1 to 18, wherein the main control console is used to receive input operation instructions to control the surgical instruments to perform surgical operations.

25. The surgical robot according to claim 24, characterized in that, The main control console is also used to perform the steps of the control method for surgical instruments according to any one of claims 19 to 23, controlling the surgical instruments to clamp, close, or cut human tissue.

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