Intelligent bipolar tissue closer, operation method and system thereof

Abstract

The invention discloses an intelligent bipolar tissue closer, an operation method and a system thereof. The intelligent bipolar tissue closer comprises a cutter bar, a first electrode and a second electrode, wherein the cutter bar is provided with a hollow inner cavity penetrating through the cutter bar in the length direction; the hinging part is arranged in the hollow inner cavity in a penetrating manner and is fixed at the far end of the cutter bar; the tong head assembly comprises a first jaw part and a second jaw part, the first jaw part is rotatably installed at the far end of the hinge part in the first direction, and the second jaw part is rotatably installed on the first jaw part in the second direction; the angle adjusting assembly is arranged in the hollow inner cavity in a penetrating mode and is in transmission connection with the first jaw part and the second jaw part so as to drive the first jaw part and the second jaw part to rotate. The driving part is arranged at the near end of the cutter bar and connected with the angle adjusting assembly so as to be used for providing driving force. The jaw assembly not only can be freely opened and closed, but also can rotate left and right in the horizontal plane, so that the jaw assembly can move in a larger range, and the convenience of surgical operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to an intelligent bipolar tissue closer, and also relates to a method for operating the intelligent bipolar tissue closer, and further relates to a corresponding intelligent bipolar tissue closer system, and belongs to the technical field of electrosurgical instruments. BACKGROUND

[0002] Technical progress in laparoscopic surgery has led to new developments in laparoscopic surgery. However, the surgery requires a high level of skill, and when resecting a tumor and suturing a wound, a vascular occlusion clamp is used to temporarily block the renal artery to reduce the amount of bleeding, provide a clear surgical field, and reopen the arterial blood flow after the surgery is completed. This surgical step places the kidney in a warm ischemic state, which severely affects kidney function, so the resection of the tumor and the suturing of the wound must be completed within a limited time.

[0003] With the increasing requirements of endoscopic surgery for surgical instruments, the practicality of surgical instruments is also increasingly high. Furthermore, with the continuous application of mechanical arm technology in medical devices, surgical robots have become the mainstream direction of laparoscopic surgery. The laparoscopic surgical robot in the prior art includes a plurality of mechanical arms and instruments and endoscopes arranged on the mechanical arms. Due to the small degree of freedom of the mechanical arms, when performing a small range of surgery, the instruments and endoscopes can only enter the human body through each incision to the place to be operated, thereby causing greater damage to the patient.

[0004] In addition, surgical robots are generally large in size, and the rotation angle of the robot itself is limited, so the head end needs to be adjustable when performing surgical operations under a laparoscope. However, the surgical instrument of the laparoscopic surgical robot in the prior art has only one degree of freedom at the head end, which prevents it from completing complex surgical operations and limits the application environment of minimally invasive surgery. For example, a Chinese patent for invention with publication number CN 105578980B discloses an end effector assembly. The jaw structure of the assembly can only rotate in the axial direction, and the operating channel of the laparoscopic surgery is relatively small, which makes the device very inconvenient to use.

[0005] Therefore, how to enable the surgical robot to adjust a larger angle range during laparoscopic surgery is still a problem to be solved. SUMMARY

[0006] The primary technical problem to be solved by the present application is to provide an intelligent bipolar tissue closer.

[0007] Another technical problem to be solved by the present application is to provide a method for operating the intelligent bipolar tissue closer.

[0008] Another technical problem to be solved by the present application is to provide an intelligent bipolar tissue closer system.

[0009] To achieve the above technical purposes, the present application adopts the following technical solutions:

[0010] According to a first aspect of the embodiments of the present application, an intelligent bipolar tissue closure device is provided, comprising:

[0011] a knife rod, the knife rod having a hollow inner cavity penetrating through the knife rod along a length direction;

[0012] a hinged part, a proximal end of the hinged part being rotatably mounted at a distal end of the knife rod in a first direction, wherein the first direction is perpendicular to the length direction of the knife rod;

[0013] a jaw assembly, the jaw assembly comprising a first jaw part and a second jaw part, the first jaw part being rotatably mounted at a distal end of the hinged part in the first direction, the second jaw part being rotatably mounted on the first jaw part in a second direction, wherein the second direction is perpendicular to the first direction and perpendicular to the length direction of the knife rod;

[0014] an angle adjusting assembly, the angle adjusting assembly being arranged in the hollow inner cavity and being in driving connection with the first jaw part and the second jaw part respectively, so as to drive the first jaw part to rotate relative to the knife rod in the first direction and drive the second jaw part to rotate relative to the first jaw part in the second direction;

[0015] a driving part, the driving part being arranged at a proximal end of the knife rod and being in connection with the angle adjusting assembly, so as to provide a driving force.

[0016] Preferably, the angle adjusting assembly comprises:

[0017] a first adjusting assembly, the first adjusting assembly being arranged in the hollow inner cavity and being in driving connection with the first jaw part, so as to drive the first jaw part to rotate relative to the knife rod in the first direction;

[0018] a second adjusting assembly, the second adjusting assembly being arranged in the hollow inner cavity and being in driving connection with the second jaw part, so as to drive the second jaw part to rotate relative to the first jaw part in the second direction.

[0019] Preferably, the first adjusting assembly comprises:

[0020] a first transmission part, the first transmission part being movably arranged in the hollow inner cavity, a proximal end of the first transmission part being in connection with the driving part, and a distal end of the first transmission part being provided with a hinged hole in the first direction;

[0021] a first hinged shaft, the first hinged shaft being arranged in the hinged hole and being hinged with a proximal end of the first jaw part;

[0022] The driving part drives the first transmission member to move in the length direction of the knife rod, so as to drive the first jaw part to rotate relative to the knife rod around the first direction through the first hinge shaft.

[0023] Preferably, the first transmission member and the first hinge shaft are both two, the two first transmission members are movably arranged in the hollow inner cavity and are respectively connected with the driving part, the two first hinge shafts are respectively arranged in the hinge holes of the two first transmission members and are respectively hinged with the proximal end of the first jaw part.

[0024] Preferably, the two first transmission members are symmetrically arranged about the central axis of the knife rod, and the driving part drives the two first transmission members to move synchronously and reversely.

[0025] Preferably, the second adjusting assembly comprises:

[0026] A second transmission member movably arranged in the hollow inner cavity, and the proximal end of the second transmission member is connected with the driving part;

[0027] A bendable connecting member, the proximal end of the bendable connecting member is fixed to the distal end of the second transmission member;

[0028] A second hinge shaft arranged at the distal end of the bendable connecting member and hinged with the proximal end of the second jaw part;

[0029] Preferably, the middle part of the second jaw part is hinged to the middle part of the first jaw part through a third hinge shaft, and the axis of the third hinge shaft is parallel to the second direction; the driving part drives the second transmission member to move in the length direction of the knife rod, so as to drive the distal end of the second jaw part to move close to or away from the distal end of the first jaw part through the bendable connecting member and the second hinge shaft.

[0030] Preferably, the intelligent bipolar tissue closer further comprises:

[0031] A limiting snap ring, a first limiting groove and a second limiting groove are formed on the inner wall of the limiting snap ring, the limiting snap ring is sleeved on the first transmission member and the bendable connecting member, and the first transmission member is clamped in the first limiting groove, and the bendable connecting member is clamped in the second limiting groove.

[0032] Preferably, the intelligent bipolar tissue closer further comprises:

[0033] A flexible sheath, the proximal end of the flexible sheath is sleeved on the knife rod, and the distal end of the flexible sheath is sleeved on the first jaw part to cover the relative rotation area of the first jaw part and the knife rod.

[0034] Preferably, the first jaw portion comprises a first holder, a first closing electrode and a first cutting electrode, the first holder is rotatably mounted on the distal end of the hinge portion around a first direction, the first closing electrode is arranged on the inner end face of the first holder, and the first cutting electrode is arranged on the first closing electrode;

[0035] The second jaw portion comprises a second holder, a second closing electrode and a second cutting electrode, the second holder is rotatably mounted on the first holder around a second direction, the second closing electrode is arranged on the inner end face of the second holder and corresponds to the first closing electrode, and the second cutting electrode is arranged on the second closing electrode and corresponds to the first cutting electrode.

[0036] According to the second aspect of the embodiment of the present application, a method for operating the intelligent bipolar tissue closer is provided, comprising the following steps:

[0037] Adjusting the jaw assembly to a target position through the angle adjusting assembly;

[0038] Driving the second jaw portion to rotate relative to the first jaw portion through the driving portion, so that the second jaw portion is closed with the first jaw portion, thereby clamping the tissue to be closed;

[0039] Pressing the energy triggering component, so that the electric energy is output to the clamped tissue through the metal electrodes on the jaw assembly, heat energy is generated on the tissue, and the protein is denatured to block the blood vessels to complete the closure through the heat energy;

[0040] Turning off the electric energy output;

[0041] Outputting high-frequency and high-voltage alternating current energy, and making the tissue gasify and coagulate through the heat effect generated by the high-frequency and high-voltage alternating current when passing through the tissue, so as to realize the cutting and coagulation of the tissue.

[0042] According to the third aspect of the embodiment of the present application, an intelligent bipolar tissue closing system is provided, comprising a control module, an interaction module, a temperature feedback module and the intelligent bipolar tissue closer;

[0043] The interaction module comprises a display screen, a key touch screen and a foot switch, and the interaction module is electrically connected with the control module;

[0044] The temperature feedback module comprises a temperature sampling circuit, and the temperature feedback module is electrically connected with the control module and the intelligent bipolar tissue closer respectively;

[0045] The control module comprises a CPU, a signal processing module and a radio frequency signal module;

[0046] The signal processing module comprises a signal generator module, a power amplification module, a voltage and current sampling circuit, a phase monitoring circuit and a resonance matching circuit connected in sequence, and the resonance matching circuit is electrically connected with the intelligent bipolar tissue closure device.

[0047] The radio frequency signal module comprises a radio frequency signal generator module, a radio frequency power amplification module and a radio frequency voltage and current sampling circuit connected in sequence, and the radio frequency voltage and current sampling circuit is electrically connected with the metal electrode.

[0048] Compared with the prior art, the present application has the following technical characteristics:

[0049] (1) By setting the angle adjusting assembly at the head end, the jaw assembly can bend and rotate in a narrow space, greatly improving the operation efficiency and enabling more delicate operations in endoscopic surgery.

[0050] (2) Compared with the jaw structure in the prior art, in addition to the second jaw part being movable, the first jaw part and the second jaw part can also move left and right together in the horizontal plane, greatly improving the controllable range of the jaw assembly.

[0051] (3) The present application sets the closing electrode in the jaw, and outputs electric energy during work, and completes the blood vessel closure by local heating of the metal electrode, and then closes the electric energy output; then, the cutting electrode is used to deliver high-frequency and high-voltage alternating current energy, realizing minimally invasive cutting of bleeding in situ, greatly reducing the bleeding rate and greatly improving the success rate of surgery.

[0052] (4) The present application outputs energy through the closing electrode and the cutting electrode, instead of the blade cutting in the prior art, and through the heat effect generated by high-frequency and high-voltage alternating current passing through the tissue, the tissue is gasified and coagulated to achieve the purpose of cutting and coagulation. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The present application provides an overall schematic diagram of an intelligent bipolar tissue closure device;

[0054] Figure 2 The present application provides a split structure schematic diagram of an intelligent bipolar tissue closure device;

[0055] Figure 3 The present application provides a structure schematic diagram of the hinge part;

[0056] Figure 4 The present application provides a structure schematic diagram of the jaw assembly;

[0057] Figure 5 The present application provides a split structure schematic diagram of the jaw head assembly;

[0058] Figure 6 A partial structure schematic view of the intelligent bipolar tissue closer from another angle;

[0059] Figure 7 A partial structure schematic view of the jaw steering knob and the first adjusting assembly;

[0060] Figure 8 A whole structure schematic view of another intelligent bipolar tissue closer provided by the embodiment of the present application;

[0061] Figure 9 A structure schematic view of the limiting snap ring;

[0062] Figure 10 A flow chart of the operation method of the intelligent bipolar tissue closer provided by the embodiment of the present application;

[0063] Figure 11 A flow chart of the disturbance observation method in the above operation method;

[0064] Figure 12 A flow chart of the electric energy control method in the above operation method;

[0065] Figure 13 A working flow chart of the intelligent bipolar tissue closer with adjustable head end angle provided by the embodiment of the present application.

[0066] Reference signs:

[0067] 1, knife bar; 101, hollow inner cavity; 102, first engaging part;

[0068] 2, hinged part; 21, hinged column;

[0069] 3, jaw assembly; 31, first jaw part; 32, second jaw part; 33, rotating shaft; 310, second engaging part; 311, first support; 312, first closing electrode; 313, first cutting electrode; 321, second support; 322, second closing electrode; 323, second cutting electrode;

[0070] 4, angle adjusting assembly; 41, first adjusting assembly; 42, second adjusting assembly; 411, first transmission member; 412, first hinged shaft; 4111, hinged hole; 4112, engaging rack; 421, second transmission member; 422, bendable connecting member; 423, second hinged shaft;

[0071] 5, driving part; 501, trigger; 502, jaw steering knob; 503, slider transmission assembly; 5021, engaging gear;

[0072] 6, limiting snap ring; 61, first limiting groove; 62, second limiting groove;

[0073] 7. The flexible sheath. DETAILED DESCRIPTION

[0074] The technical content of the present application will be described in detail below in combination with the drawings and specific embodiments.

[0075] The intelligent bipolar tissue closure device provided by the embodiment of the present application can be applied in, but is not limited to, endoscopic surgery. The device is provided with an angle adjusting assembly at the head end, so that the jaw assembly can bend and rotate in a narrow space, greatly improving the surgical efficiency and allowing relatively fine operation in endoscopic surgery. Specifically, in the prior art, only the upper jaw component can move, and the lower jaw component is fixed. In the technical solution of the present application, in addition to the upper jaw component, the upper jaw component and the lower jaw component can also rotate left and right in the horizontal direction, so that the controllable range of the jaw assembly is greatly improved.

[0076] First embodiment

[0077] As shown in Figure 1 and Figure 2 , the intelligent bipolar tissue closure device provided by the first embodiment of the present application includes a knife rod 1, a hinged part 2, a jaw assembly 3, an angle adjusting assembly 4, and a driving part 5. Specifically, the knife rod 1 has a hollow inner cavity 101 penetrating the knife rod in the length direction (i.e. the X direction in Figure 1 , and the X direction is used for description hereinafter). The proximal end of the hinged part 2 (i.e. the right end of the hinged part 2 in Figure 1 ) is hinged to the distal end of the catheter 1 (i.e. the left end of the catheter 1 in Figure 1 ). The jaw assembly 3 includes a first jaw part 31 and a second jaw part 32. The first jaw part 31 is rotatably installed at the distal end of the hinged part 2 in the first direction (i.e. the Y direction in Figure 1 , and the Y direction is used for description hereinafter). The second jaw part 32 is rotatably installed on the first jaw part 31 in the second direction (i.e. the Z direction in Figure 1 , and the Z direction is used for description hereinafter). The angle adjusting assembly 4 is arranged in the hollow inner cavity 101 and is in transmission connection with the first jaw part 31 and the second jaw part 32, so as to drive the first jaw part 31 to rotate relative to the knife rod 1 in the Y direction and drive the second jaw part 32 to rotate relative to the first jaw part 31 in the Z direction. The driving part 5 is arranged at the proximal end of the knife rod 1 and is connected with the angle adjusting assembly 4, so as to provide driving force. In this embodiment, the proximal end of each component is the end close to the operator during endoscopic surgery, and the distal end is the end away from the operator during endoscopic surgery.

[0078] It can be understood that, in the embodiment, when the blood vessel tissue needs to be closed by the intelligent bipolar tissue closure device, the driving part 5 provides a driving force to drive the first jaw part 31 and the second jaw part 32 to rotate together around the Y direction through the angle adjusting assembly 4, so as to adjust the position of the jaw assembly 3 in the patient's body. When the position of the jaw assembly 3 is adjusted, the driving part 5 provides a driving force again to drive the second jaw part 32 to rotate and close relative to the first jaw part 31 through the angle adjusting assembly 4, so as to clamp the blood vessel tissue. Finally, the energy (which can be electric energy or ultrasonic energy) is excited to complete the closure or cutting of the tissue. In addition, it should be noted that the jaw assembly 3 in the embodiment can also rotate together with the knife rod 1 around the X direction, which is a conventional technology and will not be described in detail here.

[0079] In the above embodiment, specifically, the knife rod 1 is in a circular tube shape, the knife rod 1 is formed with a hollow cavity 101 in the length direction, and the distal end of the knife rod 1 is formed with a first engaging part 102. Correspondingly, the proximal end of the first jaw part 31 is formed with a second engaging part 310, the first jaw part 31 is hinged to the knife rod 1 through the hinge part 2, and the second engaging part 310 is engaged with the first engaging part 102, so that the rotation of the first jaw part 31 is limited, and the position of the first jaw part 31 is prevented from changing during continuous rotation, thereby affecting the position adjustment accuracy.

[0080] As shown in Figure 3 In the above embodiment, the hinge part 2 is in the form of a connecting plate, and both ends of the top surface of the connecting plate are formed with hinge columns 21. Thus, the hinge column 21 at the proximal end of the hinge part 2 can be hinged to the distal end of the knife rod 1, and the hinge column 21 at the distal end of the hinge part 2 can be hinged to the proximal end of the first jaw part 31, so that the first jaw part 31 can rotate relative to the knife rod 1 around the Y direction by using the hinge part 2. Preferably, the hinge part 2 is two, and the two hinge parts 2 are symmetrically arranged relative to the center axis of the knife rod 1, so as to improve the stability of the hinge of the first jaw part 31 and the knife rod 1.

[0081] As shown in Figure 4As shown, in the above embodiment, the first jaw portion 31 includes a first support 311, a first closed electrode 312, and a first cutting electrode 313. The proximal end of the first support 311 is rotatably mounted on the hinge shaft 21 at the distal end of the hinge portion 2 about the Y direction. The first closed electrode 312 is disposed on the inner end face of the first support 311, and the first cutting electrode 313 is disposed on the first closed electrode 312. Similarly, the second jaw portion 32 includes a second support 321, a second closed electrode 322, and a second cutting electrode 323. The second support 321 is rotatably mounted on the first support 311 about the Z direction. The second closed electrode 322 is disposed on the inner end face of the second support 321 and corresponds to the first closed electrode 312. The second cutting electrode 323 is disposed on the second closed electrode 322 and corresponds to the first cutting electrode 313. It can be understood that in this embodiment, the first cutting electrode 313 and the second cutting electrode 323 can be used to perform tissue cutting operations by electro-cutting. In another embodiment, the first cutting electrode 313 and the second cutting electrode 323 can be replaced with a first ultrasonic cutting guide wire and a second ultrasonic cutting guide wire, thereby achieving tissue cutting operation by ultrasonic cutting.

[0082] like Figure 5 As shown, in the above embodiment, the angle adjustment component 4 includes a first adjustment component 41 and a second adjustment component 42. The first adjustment component 41 is disposed within the hollow inner cavity 101 and is tractively connected to the first jaw portion 31 to drive the first jaw portion 31 to rotate relative to the tool holder 1 around the Y direction. The second adjustment component 42 is disposed within the hollow inner cavity 101 and is tractively connected to the second jaw portion 32 to drive the second jaw portion 32 to rotate relative to the first jaw portion 31 around the Z direction.

[0083] like Figure 5 As shown, the first adjustment assembly 41 includes a first transmission member 411 and a first hinge shaft 412. The first transmission member 411 is movably inserted into the hollow inner cavity 101, and its proximal end is connected to the drive unit 5, allowing the drive unit 5 to drive the first transmission member 411 to extend and retract in the X direction. Furthermore, the distal end of the first transmission member 411 has a hinge hole 4111 in the Y direction, and the first hinge shaft 412 passes through this hinge hole 4111 and is hinged to the proximal end of the first jaw portion 31. In practical use, the drive unit 5 provides driving force to drive the first transmission member 411 to extend and retract in the X direction of the blade, thereby causing the first jaw portion 31 to rotate relative to the blade shank 1 about the Y direction via the first hinge shaft 412, thus realizing the left-right swinging of the jaw assembly 3 in the horizontal plane (see reference). Figure 6 (As shown).

[0084] In the above embodiment, preferably, the first transmission members 411 and the first hinge shafts 412 are both two, the two first transmission members 411 are movably arranged in the hollow cavity 101 and are connected with the driving part 5 respectively, and the two first hinge shafts 412 are arranged in the hinge holes 4111 of the two first transmission members respectively and are hingedly connected with the proximal end of the first jaw part 31. In the embodiment, the two first transmission members 411 are symmetrically arranged about the central axis of the blade bar 1, and the driving part 5 drives the two first transmission members 411 to move synchronously and reversely. Specifically, as shown in Figure 7 the embodiment, the driving part 5 includes a jaw turning knob 502, the jaw turning knob 502 is provided with a meshing gear 5021, and the proximal end of each of the two transmission members 411 is formed with a meshing rack 4112. The two transmission members 411 are parallel to each other and are located on the two sides of the meshing gear 5021 respectively to be engaged with the meshing rack 4112 and the meshing gear 5021 respectively. Thus, when the jaw turning knob 502 is turned clockwise or counterclockwise, the two first transmission members 411 can be driven to move synchronously and reversely through the engagement of the gear and the rack, so that the first jaw part 31 is more uniform in stress when the rotation angle of the jaw assembly 3 about the Y direction is adjusted, and the convenience of rotation is improved.

[0085] As shown in Figure 5 the embodiment, the second adjusting assembly 42 includes a second transmission member 421, a bendable connecting member 422 and a second hinge shaft 423. The second transmission member 421 is movably arranged in the hollow cavity 101, the proximal end of the second transmission member 421 is connected with the driving part 5, the proximal end of the bendable connecting member 422 is fixed to the distal end of the second transmission member 421, the second hinge shaft 423 is arranged at the distal end of the bendable connecting member 422 and is hingedly connected with the proximal end of the second jaw part 32. In the embodiment, the middle part of the second jaw part 32 is hingedly connected to the middle part of the first jaw part 31 through the rotating shaft 33, and the axis of the rotating shaft 33 is parallel to the Z direction. Thus, in specific use, the second transmission member 421 can be driven to move in the X direction by the driving part 5 to drive the distal end of the second jaw part 32 to move close to or away from the distal end of the first jaw part 31 through the bendable connecting member 422 and the second hinge shaft 423, so as to realize the opening and closing movement of the first jaw part 31 and the second jaw part 32 in the vertical plane.

[0086] Further, it needs to be noted that the adjustment process of the first adjustment assembly 41 and the second adjustment assembly 42 are independent of each other, and do not affect each other, which depends on how the driving part 5 provides driving force and the sequence of providing driving force. For example, driving the first adjustment assembly 41 first and then driving the second adjustment assembly 42, the jaw assembly 3 will swing left and right first, and then the jaw will open and close. For another example, driving the second adjustment assembly 42 first and then driving the first adjustment assembly 41, the jaw assembly 3 will open and close the jaw first, and then swing left and right. For another example, driving the first adjustment assembly 41 and the second adjustment assembly 42 at the same time, the jaw assembly 3 not only swings left and right, but also opens and closes the jaw. And it can be understood that based on the design of the bendable connecting piece 422 in the second adjustment assembly 42, the jaw assembly 3 can realize the swing left and right of the jaw assembly 3 without affecting the opening and closing of the jaw.

[0087] As shown in Figure 1 and Figure 2 in the above embodiment, the driving part 5 is a driving handle, which includes a trigger 501 and a jaw turning knob 502. Among them, the trigger 501 is connected with the second transmission member 421 through the slider transmission assembly 503, so as to drive the second transmission member 421 to move along the X direction through pulling the trigger 501. The jaw turning knob 502 is connected with the first transmission member 411 through the gear and rack structure, so as to convert the rotary motion of the jaw turning knob 502 into the extension and retraction movement of the first transmission member 411 along the X direction.

[0088] It can be understood that in the embodiment, the driving part 5 is set as a driving handle, which is only one embodiment. In another embodiment, the driving part 5 can also be set as a mechanical arm (as shown in Figure 8 ), so as to automatically control the opening and closing and turning of the jaw assembly 3 by the mechanical arm.

[0089] As shown in Figure 2 in the above embodiment, the intelligent bipolar tissue closure device can further include a limiting snap ring 6. Specifically, as shown in Figure 9 , a first limiting groove 61 and a second limiting groove 62 are formed on the inner wall of the limiting snap ring 6, the limiting snap ring 6 is sleeved on the first transmission member 411 and the bendable connecting piece 421, and the first transmission member 411 is clamped in the first limiting groove 61, and the bendable connecting piece 421 is clamped in the second limiting groove 62. Thus, the limiting snap ring 6 can limit the movement of the first transmission member 411 and the bendable connecting piece 421, avoiding the displacement of the two during reciprocating movement, on the one hand, the movement of the two can be guided, and on the other hand, the movement interference of the two can be avoided.

[0090] As shown in Figure 1As shown in the above embodiment, preferably, the intelligent bipolar tissue closure device further comprises a flexible sheath 7. The proximal end of the flexible sheath 7 is sleeved on the blade rod 1, and the distal end of the flexible sheath 7 is sleeved on the first jaw portion 31 to cover the relative rotation area of the first jaw portion 31 and the blade rod 1. In this way, on the one hand, the flexible sheath 7 can protect the relative rotation area of the first jaw portion 31 and the blade rod 1, and on the other hand, it can avoid the influence of dust and other sundries falling into the relative rotation area on the sensitivity of the jaw assembly 3 during the standby process.

[0091] Second embodiment

[0092] The second embodiment of the present application also provides an operation method of the above intelligent bipolar tissue closure device. As shown in the above embodiment, the operation method is divided into two stages, the first stage is the self-checking stage, and the second stage is the normal working stage. During the self-checking stage, the fan self-checking and the foot pedal and handle switch self-checking are sequentially performed, and only if it is confirmed that there is no error, the normal working stage will be entered. Figure 10

[0093] During the normal working stage, the specific steps are as follows:

[0094] S1: adjusting the first jaw portion 31 and the second jaw portion 32 to the target position through the angle adjusting assembly;

[0095] S2: driving the second jaw portion 32 to rotate relative to the first jaw portion 31 through the driving portion 5, so that the second jaw portion 32 is closed with the first jaw portion 31, thereby clamping the tissue to be closed;

[0096] S3: pressing the energy excitation component;

[0097] S4: outputting the electric energy on the clamped tissue through the first closing electrode 312 and the second closing electrode 322 on the jaw assembly 3 to generate heat energy on the tissue, and completing the closure by denaturing the protein to block the blood vessels through the heat energy; wherein the first closing electrode 312 and the second closing electrode 322 form a closing circuit together for closing the tissue; the first cutting electrode 313 and the second cutting electrode 323 form a cutting circuit together for cutting the tissue;

[0098] S5: closing the electric energy output;

[0099] S6: outputting high-frequency and high-voltage alternating current energy, and making the tissue gasify and coagulate through the heat effect of the high-frequency and high-voltage alternating current when passing through the tissue, so as to achieve the purpose of cutting and coagulating blood.

[0100] ​In actual use, first open the jaw assembly 3, adjust the first adjusting assembly 41 according to the actual situation to adapt to the actual need to adjust the rotation angle of the jaw assembly 3 in the horizontal plane. After adjusting the angle, put the tissue to be closed into the jaw assembly. Then hold the trigger 501 to tightly clamp the tissue on the jaw assembly 3. Confirm that it has been clamped tightly, then press the energy excitation part to release electric energy, and after closing, automatically excite high-frequency and high-voltage alternating current energy to complete the cutting of the tissue. After completion, release the energy excitation part to stop energy output, and finally release the trigger 501.

[0101] It should be noted that in actual work, the energy output is divided into two separate processes. The first process outputs electric energy, which is output to the clamped tissue through the closed electrode on the jaw assembly 3 to generate heat on the tissue. The heat denatures the protein to block the blood vessels to complete the closure. The second process outputs high-frequency and high-voltage alternating current energy. This process mainly cuts the closed blood vessels. The high-frequency and high-voltage alternating current is transmitted to the jaw assembly through the high-frequency and high-voltage alternating current cutting electrode, and the heat generated by the high-frequency and high-voltage alternating current passing through the tissue causes the tissue to gasify and coagulate, so as to achieve the purpose of cutting and coagulation. By setting the closed electrode and the high-frequency and high-voltage alternating current cutting electrode in the jaw, the heat generated by the high-frequency and high-voltage alternating current passing through the tissue causes the tissue to gasify and coagulate, and then cut, so as to achieve the purpose of cutting and coagulation. By setting the closed electrode and the high-frequency and high-voltage alternating current cutting electrode in the jaw, the heat generated by the high-frequency and high-voltage alternating current passing through the tissue causes the tissue to gasify and coagulate, and then cut, so as to achieve the purpose of cutting and coagulation.

[0102] In the above operation method, according to the actual situation, the step S4 in the operation method further includes outputting the maximum power of electric energy by disturbance observation method, such as Figure 11 As shown, every other preset fixed time, increase a preset fixed disturbance voltage for forward disturbance, and calculate the power after disturbance. If the power increases, continue to perform forward disturbance; otherwise, perform reverse disturbance, every other preset fixed time, reduce a preset fixed disturbance voltage. Cycle until the maximum power of electric energy is found.

[0103] In the above operation method, preferably, according to the actual situation, the step S6 in the operation method further includes: outputting alternating voltage at frequencies f1, f2 respectively. As shown, specifically, including steps S61-S66: Figure 12

[0104] S61: sample the duty cycles D1, D2 of the phase difference of the power output voltage and current corresponding to the power output frequencies f1, f2 respectively;

[0105] S62: calculate the resonance frequency fs;

[0106] S63: output alternating voltage at the resonance frequency fs;

[0107] ​S64: read the voltage, current signal phase relationship θ;

[0108] S65: determine the size relationship between θ and the preset phase difference threshold φ: when θ>φ, the difference between the power output frequency and the resonance frequency fs is large, a large step is used for frequency search, and step=10Hz; when θ<φ, the difference between the power output frequency and the resonance frequency fs is small, a small step is used for frequency search, and step=0.01Hz;

[0109] S66: determine whether the power output voltage leads the current: when the power output voltage leads the current, the output frequency f=f-step; when the power output voltage lags the current, the output frequency f=f+step.

[0110] Third embodiment

[0111] The third embodiment of the application also provides a running method of a surgical robot using the above-mentioned intelligent bipolar tissue closer. The running method includes two stages, a self-checking stage and a normal working stage. In the self-checking stage, fan self-checking and foot pedal and handle switch self-checking are sequentially performed, and only when no error is found, the normal working stage is entered.

[0112] In the normal working stage, the specific steps are as follows:

[0113] S1': driving force is applied to the angle adjusting assembly 4 through the control handle on the surgical robot to adjust the first jaw part 31 and the second jaw part 32 to the target position through the angle adjusting assembly;

[0114] S2': the second jaw part 32 is driven to rotate relative to the first jaw part 31 through the control handle on the surgical robot, so that the second jaw part 32 is closed with the first jaw part 31, thereby clamping the tissue to be closed;

[0115] S3': the energy exciting part on the control handle is pressed;

[0116] S4': electric energy is output to the clamped tissue through the first closing electrode 312 and the second closing electrode 322 on the jaw assembly 3, heat energy is generated on the tissue, and the protein is denatured to block the blood vessels to complete the closure; wherein the first closing electrode 312 and the second closing electrode 322 form a closing circuit together for closing the tissue; the first cutting electrode 313 and the second cutting electrode 323 form a cutting circuit together for cutting the tissue;

[0117] S5': the electric energy output is turned off through the control handle;

[0118] S6': the energy output form is switched by the control handle to output high-frequency and high-voltage alternating current energy, and the tissue is gasified and coagulated by the heat effect generated when the high-frequency and high-voltage alternating current passes through the tissue, so as to achieve the purposes of cutting and coagulating.

[0119] Fourth embodiment

[0120] On the basis of the intelligent bipolar tissue closer disclosed in the first embodiment, the fourth embodiment of the present application further provides an angle-adjustable intelligent bipolar tissue closing system. Figure 13 The working flowchart of the intelligent bipolar tissue closing system is shown, which comprises a control module, an interaction module, a temperature feedback module and the intelligent bipolar tissue closer.

[0121] The interaction module comprises a display screen, a key touch screen and a foot switch, and is electrically connected with the control module. The display screen is used for displaying setting information, process information, self-checking state, alarm state, real-time temperature, etc.; the key touch screen is used for setting output parameters, starting and stopping loading cutting and closing energy through the keys or the touch screen; and the foot switch is used for starting and stopping loading cutting and closing energy.

[0122] The temperature feedback module comprises a temperature sampling circuit, and is electrically connected with the control module and the jaw assembly. The temperature sampling circuit is provided with a jaw thermocouple or thermistor, which is used for monitoring temperature and outputting corresponding digital signals to the CPU.

[0123] The control module comprises a CPU, a signal processing module and a radio frequency signal module. The CPU is used as a central processor for processing system logic, signal acquisition, data operation, algorithm execution, energy control, screen display, information input and other data logic work.

[0124] The signal processing module comprises a signal generator module, a power amplification module, a voltage and current sampling circuit, a phase monitoring circuit and a resonance matching circuit which are electrically connected in sequence. The resonance matching circuit is electrically connected with the high-frequency and high-voltage alternating current cutting electrode. The signal generator module is used for receiving CPU instructions to generate sine waves, pulses or triangular waves, and the frequency of the generated sine waves, pulses or triangular waves is controlled at 1Khz-10Mhz optimally.

[0125] The power amplification module is used for amplifying the signal generated by the signal generator module, and the generated signal power is amplified to 5-300W optimally.

[0126] The voltage and current sampling circuit is used for sampling the output voltage and current of the power amplification circuit and transmitting the digital signals to the CPU for calculation.

[0127] Phase monitoring circuit is used for output voltage current phase monitoring, and is transmitted to CPU calculation through digital signal;

[0128] Resonance matching circuit is used for matching output signal with high frequency, high voltage alternating current cutting electrode impedance, so that it works in the best state;

[0129] RF signal module includes RF signal generator module, RF power amplifier module and RF voltage current sampling circuit connected in sequence, and the RF voltage current sampling circuit is electrically connected with the metal electrode. RF signal generator module is used for receiving CPU instruction to generate sine wave, pulse or triangle wave, and the frequency of the generated sine wave, pulse or triangle wave is controlled at 100Khz~5Mhz;

[0130] RF power amplifier module is used for amplifying the signal generated by the RF signal generator module, and the generated RF signal power is amplified to 5~300W best;

[0131] RF voltage current sampling circuit is used for sampling RF output voltage and current of RF power amplifier module, and transmitting to CPU calculation through digital signal.

[0132] The intelligent bipolar tissue closure system can further include: AC / DC power module, fan and self-checking circuit

[0133] AC / DC power module is used for power conversion to supply power for each module of the machine;

[0134] The fan is used for heat dissipation in the machine to ensure normal work of the system.

[0135] In one embodiment of the present application, the specific working process of the intelligent bipolar tissue closure system is as follows:

[0136] S1: clamp the jaw assembly 3 by pulling the trigger 501, and control the start of RF energy output by button or foot pedal;

[0137] S2: after the switch signal of the button or foot pedal is transmitted to the CPU, the CPU controls the RF signal generator module to generate RF signal;

[0138] S3: after the RF signal is amplified by the RF power amplifier module, it is output to the closing electrode on the intelligent bipolar tissue closure device through the RF voltage current sampling circuit;

[0139] S4: the CPU outputs signal power gradually increasing according to the voltage and current fed back by the radio frequency voltage and current sampling circuit and the temperature and other data according to the operation method of the intelligent bipolar tissue closure device described above, so that the radio frequency energy passing through the tissue gradually rises, the ions in the tissue produce high-speed movement and heat under the action of the alternating electric field, when the temperature rises to 100℃, the tissue produces coagulation degeneration and fusion together, and the blood vessels below 7mm can be closed, and the impedance change and temperature change are monitored to ensure that the tissue after dehydration during the loading process is safe and does not appear high temperature, scabbing and carbonization and other phenomena;

[0140] S5: after the blood vessels and tissues are closed, the working mode is switched, the high-frequency and high-voltage alternating current cutting electrode works, the CPU controls the signal generator module to generate a signal, the signal is amplified through the power amplifier module, and then output to the high-frequency and high-voltage alternating current cutting electrode through the voltage and current sampling circuit, the phase monitoring circuit and the resonant matching circuit to make it work, and the high-frequency and high-voltage alternating current cutting electrode transmits high-frequency and high-voltage alternating current to the cutting part of the jaw, and cuts the closed tissue and blood vessels under the working of the high-frequency and high-voltage alternating current cutting electrode.

[0141] It should be noted that the above multiple embodiments are only examples, and the technical solutions of each embodiment can be combined, which are all within the protection scope of the present application.

[0142] It should be noted that the terms "upper", "lower", "left", "right", "horizontal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0143] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0144] The intelligent bipolar tissue closure device, operation method and system thereof provided by the present application are described in detail above. Any obvious modification made by a person skilled in the art without departing from the essential content of the present application will constitute an infringement of the patent right of the present application and will bear the corresponding legal responsibility.

Claims

1. An intelligent bipolar tissue closer, characterized in that The intelligent bipolar tissue closer comprises: a blade rod having a hollow inner cavity extending through the blade rod along a length direction of the blade rod; a hinged part, a proximal end of the hinged part being rotatably mounted at a distal end of the blade rod in a first direction, wherein the first direction is perpendicular to the length direction of the blade rod; a jaw assembly, the jaw assembly comprising a first jaw part and a second jaw part, the first jaw part being rotatably mounted at a distal end of the hinged part in the first direction, the second jaw part being rotatably mounted on the first jaw part in a second direction, wherein the second direction is perpendicular to the first direction and perpendicular to the length direction of the blade rod; an angle adjusting assembly, the angle adjusting assembly being arranged in the hollow inner cavity and being in driving connection with the first jaw part and the second jaw part respectively, so as to drive the first jaw part to rotate relative to the blade rod in the first direction and drive the second jaw part to rotate relative to the first jaw part in the second direction; a driving part, the driving part being arranged at a proximal end of the blade rod and being in connection with the angle adjusting assembly, so as to provide a driving force.

2. The intelligent bipolar tissue closer of claim 1, wherein The angle adjusting assembly comprises: a first adjusting assembly, the first adjusting assembly being arranged in the hollow inner cavity and being in driving connection with the first jaw part, so as to drive the first jaw part to rotate relative to the blade rod in the first direction; a second adjusting assembly, the second adjusting assembly being arranged in the hollow inner cavity and being in driving connection with the second jaw part, so as to drive the second jaw part to rotate relative to the first jaw part in the second direction.

3. The intelligent bipolar tissue closer of claim 2, wherein The first adjusting assembly comprises: a first transmission member, the first transmission member being movably arranged in the hollow inner cavity, a proximal end of the first transmission member being in connection with the driving part, and a distal end of the first transmission member being provided with a hinged hole in the first direction; a first hinged shaft, the first hinged shaft being arranged in the hinged hole and being hinged with a proximal end of the first jaw part; wherein the driving part drives the first transmission member to move in the length direction of the blade rod, so as to drive the first jaw part to rotate relative to the blade rod in the first direction through the first hinged shaft.

4. The intelligent bipolar tissue closer according to claim 3, wherein: the first transmission member and the first hinged shaft are both two, the two first transmission members are movably arranged in the hollow inner cavity and are in connection with the driving part respectively, and the two first hinged shafts are arranged in the hinged holes of the two first transmission members and are hinged with the proximal end of the first jaw part respectively; wherein the two first transmission members are symmetrically arranged about a central axis of the blade rod, and the driving part drives the two first transmission members to move synchronously and reversely.

5. The intelligent bipolar tissue closer of claim 3, wherein The second adjusting assembly comprises: a second transmission member, the second transmission member being movably arranged in the hollow inner cavity, and a proximal end of the second transmission member being in connection with the driving part; a bendable connecting member, a proximal end of the bendable connecting member being fixed to a distal end of the second transmission member; a second hinged shaft, the second hinged shaft being arranged at a distal end of the bendable connecting member and being hinged with a proximal end of the second jaw part. The middle part of the second jaw part is hinged to the middle part of the first jaw part through a third hinge shaft, and the axis of the third hinge shaft is parallel to the second direction; the driving part drives the second transmission member to move in the length direction of the blade rod, so as to drive the distal end of the second jaw part to move close to or away from the distal end of the first jaw part through the bendable connecting member and the second hinge shaft.

6. The intelligent bipolar tissue closer of claim 5, wherein Further comprising: A limiting snap ring is formed with a first limiting groove and a second limiting groove on the inner wall of the limiting snap ring, the limiting snap ring is sleeved on the first transmission member and the bendable connecting member, and the first transmission member is clamped in the first limiting groove, and the bendable connecting member is clamped in the second limiting groove.

7. The intelligent bipolar tissue closer of claim 1, wherein Further comprising: A flexible sheath is sleeved on the blade rod at the proximal end, and is sleeved on the first jaw part at the distal end to cover the relative rotation area of the first jaw part and the blade rod.

8. The intelligent bipolar tissue closer according to claim 1, wherein: The first jaw part comprises a first support, a first closing electrode and a first cutting electrode, the first support is rotatably mounted on the distal end of the hinge part around the first direction, the first closing electrode is arranged on the inner end face of the first support, and the first cutting electrode is arranged on the first closing electrode; The second jaw part comprises a second support, a second closing electrode and a second cutting electrode, the second support is rotatably mounted on the first support around the second direction, the second closing electrode is arranged on the inner end face of the second support and corresponds to the first closing electrode, and the second cutting electrode is arranged on the second closing electrode and corresponds to the first cutting electrode.

9. A method of operating the intelligent bipolar tissue closure device of any one of claims 1 to 8, characterized in that The steps include: Adjusting the jaw assembly to a target position through the angle adjusting assembly; Rotating the second jaw part relative to the first jaw part through the driving part to close the second jaw part and the first jaw part, so as to clamp the tissue to be closed; Pressing the energy triggering part to output electric energy to the clamped tissue through the metal electrodes on the jaw assembly, generate heat energy on the tissue, denature protein to block blood vessels through heat energy, and complete closure; Turning off the electric energy output; Outputting high-frequency and high-voltage alternating current energy, and making the tissue gasify and coagulate through the heat effect of high-frequency and high-voltage alternating current passing through the tissue, so as to realize cutting and coagulation of the tissue.

10. An intelligent bipolar tissue closure system characterized by It comprises: A control module, an interaction module, a temperature feedback module and the intelligent bipolar tissue closer according to any one of claims 1-8; wherein The interaction module comprises a display screen, a key touch screen and a foot switch, and the interaction module is electrically connected with the control module; The temperature feedback module comprises a temperature sampling circuit, and the temperature feedback module is electrically connected with the control module and the intelligent bipolar tissue closer respectively; The control module comprises a CPU, a signal processing module and a radio frequency signal module; The signal processing module comprises a signal generator module, a power amplification module, a voltage and current sampling circuit, a phase monitoring circuit and a resonance matching circuit connected in sequence, and the resonance matching circuit is electrically connected with the intelligent bipolar tissue closer. The radio frequency signal module comprises a radio frequency signal generator module, a radio frequency power amplification module and a radio frequency voltage and current sampling circuit connected in sequence, and the radio frequency voltage and current sampling circuit is electrically connected with the metal electrode.

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