Intelligent bipolar tissue closer and operation method and system thereof

Abstract

The invention discloses an intelligent bipolar tissue closer and an operation method and 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 cutter bar steering bearing 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 cutter bar steering bearing 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] This invention relates to an intelligent bipolar tissue closure device, a method for operating the intelligent bipolar tissue closure device, and a corresponding intelligent bipolar tissue closure system, belonging to the field of electrosurgical instrument technology. Background Technology

[0002] Advances in laparoscopic surgery have led to new developments in the field. However, this procedure is demanding. During tumor resection and wound closure, vascular clamps are used to temporarily occlude the renal artery to reduce bleeding, provide a clear surgical field, and restore arterial blood flow after surgery. This step exposes the kidney to warm ischemia, severely impacting renal function. Therefore, tumor resection and wound closure must be completed within a limited timeframe.

[0003] As the requirements for surgical instruments in laparoscopic surgery become increasingly sophisticated, the practicality of these instruments also demands greater precision. Furthermore, with the continuous application of robotic arm technology in medical equipment, surgical robots have become the mainstream approach for laparoscopic surgery. Current laparoscopic surgical robots consist of multiple robotic arms and instruments and endoscopes mounted on these arms. Due to the limited degrees of freedom of the robotic arms, during small-scale surgeries, these instruments and endoscopes can only enter the surgical site through various incisions, potentially causing significant trauma to the patient.

[0004] Furthermore, surgical robots are generally large in size, and their rotation angle is limited. Therefore, an adjustable tip is required when performing laparoscopic surgery. However, the surgical instruments of existing laparoscopic surgical robots have only one degree of freedom at their tip, which prevents them from performing complex surgical procedures and limits their application in minimally invasive surgery. For example, Chinese invention patent CN 105578980B discloses an end effector accessory. The clamping head structure of this accessory can only rotate axially, while the operating channel in laparoscopic surgery is small, making the device very inconvenient to use.

[0005] Therefore, how to enable surgical robots to adjust to a wider range of angles during laparoscopic surgery remains an urgent problem to be solved. Summary of the Invention

[0006] The primary technical problem to be solved by this invention is to provide an intelligent bipolar tissue closure device.

[0007] Another technical problem to be solved by the present invention is to provide a method for operating an intelligent bipolar tissue closure device.

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

[0009] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0010] According to a first aspect of the present invention, a smart bipolar tissue closure device is provided, comprising:

[0011] A tool holder having a hollow inner cavity extending through the tool holder along its length;

[0012] A tool holder steering bearing is inserted into the hollow inner cavity and fixed to the distal end of the tool holder;

[0013] A jaw assembly comprising a first jaw portion and a second jaw portion, wherein the first jaw portion is rotatably mounted on the distal end of the tool holder steering bearing about a first direction, and the second jaw portion is rotatably mounted on the first jaw portion about a second direction; wherein the first direction is perpendicular to the length direction of the tool holder, and the second direction is perpendicular to both the first direction and the length direction of the tool holder.

[0014] An angle adjustment component is inserted into the hollow inner cavity and is connected to the first jaw portion and the second jaw portion respectively for driving the first jaw portion to rotate relative to the tool bar steering bearing around the first direction, and for driving the second jaw portion to rotate relative to the first jaw portion around the second direction.

[0015] A drive unit is disposed at the proximal end of the tool holder and connected to the angle adjustment assembly to provide driving force.

[0016] Preferably, the angle adjustment component includes:

[0017] The first adjustment component is inserted into the hollow inner cavity and is connected to the first jaw portion for driving the first jaw portion to rotate relative to the tool bar steering bearing around the first direction.

[0018] The second adjustment component is inserted into the hollow inner cavity and is connected to the second jaw portion for driving the second jaw portion to rotate relative to the first jaw portion around the second direction.

[0019] Preferably, the first adjustment component includes:

[0020] A first transmission member is movably disposed within the hollow inner cavity, and the proximal end of the first transmission member is connected to the driving part;

[0021] An arc-shaped steering linkage, the proximal end of which is rotatably connected to the distal end of the first transmission member about the first direction, and the distal end of which is hinged to the proximal end of the first jaw portion;

[0022] The drive unit drives the first transmission member to extend and retract along the length direction of the tool bar, so as to drive the first jaw portion to rotate relative to the tool bar steering bearing around the first direction via the arc-shaped steering linkage.

[0023] Preferably, the second adjustment component includes:

[0024] The second transmission member is movably inserted into the hollow inner cavity, and the proximal end of the second transmission member is connected to the drive unit;

[0025] The opening and closing hinge is hinged at its proximal end to the distal end of the second transmission member, and at its distal end to the proximal end of the second jaw portion;

[0026] The middle part of the second jaw is hinged to the middle part of the first jaw via a hinge shaft, and the axis of the hinge shaft is parallel to the second direction; the driving part drives the second transmission member to extend and retract along the length direction of the tool bar, so as to drive the distal end of the second jaw to move closer to or away from the distal end of the first jaw via the opening and closing hinge member.

[0027] Preferably, the intelligent bipolar tissue closure device further includes:

[0028] A jaw bearing, the distal end of which is detachably connected to the second jaw portion, and the proximal end of which is hinged to the distal end of the tool holder steering bearing via a rotating shaft;

[0029] The axis of the rotation shaft is parallel to the first direction.

[0030] Preferably, the first jaw portion includes a first bracket, a first closed electrode, and a first cutting electrode. The first bracket is rotatably mounted on the far end of the tool holder steering bearing about a first direction. The first closed electrode is disposed on the inner end face of the first bracket, and the first cutting electrode is disposed on the first closed electrode.

[0031] The second jaw includes a second bracket, a second closed electrode, and a second cutting electrode. The second bracket is rotatably mounted on the first bracket in a second direction. The second closed electrode is disposed on the inner end face of the second bracket and corresponds to the first closed electrode. The second cutting electrode is disposed on the second closed electrode and corresponds to the first cutting electrode.

[0032] Preferably, the first jaw portion includes a first bracket, a first closed electrode, and a first ultrasonic cutting guide wire; the first bracket is rotatably mounted on the distal end of the tool holder steering bearing about a first direction, the first closed electrode is disposed on the inner end face of the first bracket, and the first ultrasonic cutting guide wire is disposed on the first closed electrode;

[0033] The second jaw includes a second bracket, a second closed electrode, and a second ultrasonic cutting guide wire. The second bracket is rotatably mounted on the first bracket around the second direction. The second closed electrode is disposed on the inner end face of the second bracket and corresponds to the first closed electrode. The second ultrasonic cutting guide wire is disposed on the second closed electrode and corresponds to the first ultrasonic cutting guide wire.

[0034] Preferably, the driving unit is a driving handle or a driving robotic arm.

[0035] According to a second aspect of the present invention, a method for operating the above-described intelligent bipolar tissue closure device is provided, comprising the following steps:

[0036] Adjust the pliers assembly to the target position using the angle adjustment component;

[0037] The driving part drives the second jaw part to rotate relative to the first jaw part, so that the second jaw part closes with the first jaw part, thereby clamping the tissue to be closed;

[0038] Press the energy activation component to output electrical energy through the metal electrodes on the clamp head assembly to the clamped tissue, generating heat energy on the tissue. The heat energy denatures the proteins and blocks the blood vessels, thus completing the closure.

[0039] Turn off power output;

[0040] It outputs high-frequency, high-voltage alternating current energy. The heat generated when the high-frequency, high-voltage alternating current passes through the tissue causes the tissue to vaporize and coagulate, thereby achieving tissue cutting and coagulation.

[0041] According to a third aspect of the present invention, an intelligent bipolar tissue closure system is provided, comprising: a control module, an interaction module, a temperature feedback module, and the aforementioned intelligent bipolar tissue closure device;

[0042] The interaction module includes a display screen, a touchscreen with buttons, and a foot switch, and the interaction module is electrically connected to the control module.

[0043] The temperature feedback module includes a temperature sampling circuit, and the temperature feedback module is electrically connected to the control module and the intelligent bipolar tissue closure device, respectively.

[0044] The control module includes a CPU, a signal processing module, and a radio frequency signal module;

[0045] The signal processing module includes a signal generator module, a power amplifier module, a voltage and current sampling circuit, a phase monitoring circuit, and a resonant matching circuit connected in sequence. The resonant matching circuit is electrically connected to the intelligent bipolar tissue closure device.

[0046] The radio frequency signal module includes a radio frequency signal generator module, a radio frequency power amplifier module, and a radio frequency voltage and current sampling circuit that are electrically connected in sequence. The radio frequency voltage and current sampling circuit is electrically connected to a metal electrode.

[0047] Compared with the prior art, the present invention has the following technical features:

[0048] (1) By setting an angle adjustment component at the tip, the jaw assembly can bend and rotate in a narrow space, which greatly improves the efficiency of the operation and allows for more precise operation in laparoscopic surgery.

[0049] (2) Compared with the jaw structure in the prior art, in this invention, in addition to the second jaw part being able to move arbitrarily, the first jaw part and the second jaw part can also move left and right together in the horizontal plane, which greatly improves the controllable range of the jaw assembly.

[0050] (3) The present invention sets the closing electrode in the jaws. When working, it first outputs electrical energy, and after the blood vessel is closed by local heating through the metal electrode, the electrical energy output is turned off. Then, the cutting electrode is used to deliver high-frequency and high-voltage AC energy, which realizes minimally invasive cutting with reduced bleeding in the in situ of the tissue, greatly reducing the bleeding rate and greatly improving the success rate of the operation.

[0051] (4) The present invention outputs energy by setting closed electrodes and cutting electrodes, replacing the blade cutting in the prior art. The heat effect generated when high frequency and high voltage alternating current passes through the tissue causes the tissue to vaporize and coagulate, so as to achieve the purpose of cutting and coagulation. Attached Figure Description

[0052] Figure 1 This is an overall schematic diagram of an intelligent bipolar tissue closure device provided in the first embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the disassembled structure of an intelligent bipolar tissue closure device provided in the first embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the tool holder steering bearing.

[0055] Figure 4 This is a schematic diagram of the jaw assembly.

[0056] Figure 5 This is a schematic diagram showing the disassembled structure of the angle adjustment component and the clamp head component;

[0057] Figure 6 This is a schematic diagram of the overall structure of an intelligent bipolar tissue closure device from another angle, as provided in the first embodiment of the present invention.

[0058] Figure 7 This is a schematic diagram of the overall structure of another intelligent bipolar tissue closure device provided in the first embodiment of the present invention;

[0059] Figure 8 A flowchart illustrating the operation method of an intelligent bipolar tissue closure device provided in the second embodiment of the present invention;

[0060] Figure 9 The flowchart for the perturbation-observation method in the above operating procedure is shown below;

[0061] Figure 10 The flowchart for the electrical energy control method in the above operating procedure is shown below.

[0062] Figure 11 The flowchart illustrates the operation of an intelligent bipolar tissue closure system with adjustable head angle, as provided in the fourth embodiment of the present invention.

[0063] Figure label:

[0064] 1. Tool holder; 101. Hollow inner cavity; 102. Positioning port;

[0065] 2. Tool holder guide bearing; 21. Positioning protrusion; 22. Rotary shaft mounting hole; 23. Rotary shaft; 24. Clearance hole;

[0066] 3. Clamping head assembly; 31. First jaw portion; 32. Second jaw portion; 33. Hinge shaft; 311. First support; 312. First closed electrode; 313. First cutting electrode; 321. Second support; 322. Second closed electrode; 323. Second cutting electrode;

[0067] 4. Angle adjustment assembly; 41. First adjustment assembly; 42. Second adjustment assembly; 411. First transmission component; 412. Arc-shaped steering linkage; 413. Rotating shaft; 421. Second transmission component; 422. Opening and closing hinge component; 4211. Flexible transmission rod; 4212. Jaw transmission rod;

[0068] 5. Drive unit; 501. Trigger; 502. Jaw directional knob; 503. Slider transmission assembly; 504. Lead screw;

[0069] 6. Jaw bearing; 61. Upper jaw steering bearing; 62. Lower jaw steering bearing; 63. Bearing retaining ring. Detailed Implementation

[0070] The technical content of the present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0071] This invention provides an intelligent bipolar tissue closure device, applicable, but not limited to, laparoscopic surgery. By incorporating an angle-adjustable accessory at its tip, it allows the jaw assembly to bend and rotate within confined spaces, significantly improving surgical efficiency and enabling more precise manipulation during laparoscopic surgery. Specifically, in existing technologies, only the upper jaw component is movable, while the lower jaw component is fixed. In this invention, in addition to the upper jaw component being freely movable, both the upper and lower jaw components can rotate horizontally together, thereby greatly increasing the controllable range of the jaw assembly.

[0072] First Embodiment

[0073] like Figure 1 and Figure 2 As shown, the first embodiment of the present invention provides an intelligent bipolar tissue closure device, including a blade 1, a blade shank steering bearing 2, a clamp head assembly 3, an angle adjustment assembly 4, and a drive unit 5. Specifically, the blade 1 has a length-direction (i.e., Figure 1 The X-direction (and the X-direction will be used for all descriptions below) penetrates the hollow inner cavity 101 of the tool holder. The tool holder guide bearing 2 passes through the hollow inner cavity 101 and is fixed to the distal end of the tool holder 1 (i.e., Figure 2 (Left end of the middle). The pliers assembly 3 includes a first jaw portion 31 and a second jaw portion 32, the first jaw portion 31 being oriented around a first direction (i.e. Figure 1 The second jaw portion 32 is rotatably mounted at the distal end of the tool holder guide bearing 2 in the Y direction (and will be described in the following text as the Y direction). Figure 1 The angle adjustment assembly 4 (located in the Z direction, and described below in the Z direction) is rotatably mounted on the first jaw portion 31. The angle adjustment assembly 4 passes through the hollow inner cavity 101 and is drively connected to both the first jaw portion 31 and the second jaw portion 32, respectively, to drive the first jaw portion 31 to rotate relative to the tool holder steering bearing 2 about a first direction, and to drive the second jaw portion 32 to rotate relative to the first jaw portion 31 about a second direction. The drive unit 5 is located at the proximal end of the tool holder 1 and is connected to the angle adjustment assembly 4 to provide driving force.

[0074] It is understood that in this embodiment, when the intelligent bipolar tissue closure device is needed to close vascular tissue, the driving unit 5 provides driving force to drive the first jaw 31 and the second jaw 32 to rotate together around the first direction via the angle adjustment component 4, thereby adjusting the position of the clamp head assembly 3 in the patient's body. After the position of the clamp head assembly 3 is adjusted, the driving unit 5 provides driving force again to drive the second jaw 32 to rotate relative to the first jaw 31 and close, thereby clamping the vascular tissue. Finally, the closure or cutting of the tissue is completed by activating energy (which can be electrical energy or ultrasonic energy). In addition, it should be noted that the clamp head assembly 3 in this embodiment can also rotate together with the blade 1 around the X direction, which is a conventional technology and will not be described in detail here.

[0075] In the above embodiment, specifically, the tool holder 1 is in the shape of a cylindrical tube, and a hollow inner cavity 101 is formed along the length direction of the tool holder 1. Furthermore, a positioning port 102 is provided on the outer wall of the distal end of the tool holder 1 (e.g., Figure 4 (As shown). Accordingly, a positioning protrusion 21 is formed on the outer wall of the tool holder swivel bearing 2. The tool holder swivel bearing 2 passes through the hollow inner cavity 101, and the positioning protrusion 21 engages with the positioning port 102, thereby fixing the relative position of the tool holder 1 and the tool holder swivel bearing 2.

[0076] like Figure 3 As shown, in the above embodiment, preferably, a rotating shaft mounting hole 22 is formed at the distal end of the tool holder reversing bearing 2. The axis of the rotating shaft mounting hole 22 is parallel to the first direction for mounting a rotating shaft 23. The pliers assembly 3 can be rotatably mounted around the first direction at the distal end of the tool holder reversing bearing 2 via this rotating shaft 23. Furthermore, a clearance hole 24 is also formed on the tool holder reversing bearing 2 so that the angle adjustment assembly 4 can pass through the clearance hole 24 and connect to the pliers assembly 3.

[0077] like Figure 4As shown in the above embodiment, specifically, the first jaw portion 31 includes a first support 311, a first closed electrode 312, and a first cutting electrode 313. The first support 311 is rotatably mounted on the distal end of the tool holder steering bearing 2 about a first 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 a second 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, and 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.

[0078] like Figure 5 As shown in the above embodiment, specifically, 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 steering bearing 2 about a first 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 about a second direction.

[0079] like Figure 5 As shown, the first adjustment assembly 41 includes a first transmission member 411 and an arc-shaped steering linkage 412. The first transmission member 411 is movably inserted into the hollow inner cavity 101, allowing it to be extended and retracted in the X direction via the drive unit 5. The proximal end of the arc-shaped steering linkage 412 (i.e., Figure 5 The right end of the first transmission member 411 is rotatably connected to the distal end of the first transmission member 411 via a pivot 413 about the Y direction. The distal end of the arc-shaped steering link 412 is hinged to the proximal end of the first jaw portion 31. In actual use, the driving unit 5 provides driving force to drive the first transmission member 411 to extend and retract along the X direction of the blade, thereby driving the proximal end of the arc-shaped steering link 412 (i.e., the right end of the first transmission member 411) to extend and retract along the X direction of the blade. Figure 5 The right end of the arc-shaped steering link 412 moves along the X direction, thereby causing the distal end of the arc-shaped steering link 412 (i.e., the right end of the arc-shaped steering link 412) to extend and retract in the X direction. Figure 5The left end of the jaws drives the first jaw section 31 to rotate relative to the tool holder steering bearing 2 around the Y direction, thereby realizing the left and right swing of the jaw assembly 3 in the horizontal plane (refer to...). Figure 6 (As shown).

[0080] like Figure 5 As shown, the second adjustment assembly 42 includes a second transmission member 421 and an opening / closing hinge member 422. The second transmission member 421 is formed by connecting a flexible transmission rod 4211 and a jaw transmission rod 4212. The jaw transmission rod 4212 is movably inserted into the hollow inner cavity 101, and the proximal end of the jaw transmission rod 4212 (i.e., Figure 5 The right end of the flexible transmission rod 4211 is connected to the drive unit 5, and the proximal end of the flexible transmission rod 4211 is fixedly connected to the distal end of the jaw transmission rod 4212 by a snap-fit ​​mechanism. The proximal end of the opening and closing hinge 422 is hinged to the distal end of the flexible transmission rod 4211, and the distal end of the opening and closing hinge 422 is hinged to the proximal end of the second jaw portion 32. In this embodiment, the middle part of the second jaw portion 32 is hinged to the middle part of the first jaw portion 31 via a hinge shaft 33, and the axis of the hinge shaft 33 is parallel to the Z direction. Therefore, in practical use, the drive unit 5 can drive the second transmission member 421 to extend and retract in the X direction, so that the opening and closing hinge 422 can drive the distal end of the second jaw portion 32 to move closer to or away from the distal end of the first jaw portion 31, thereby realizing the opening and closing movement of the first jaw portion 31 and the second jaw portion 32 in the vertical plane.

[0081] Furthermore, it should be noted that the adjustment processes of the first adjustment component 41 and the second adjustment component 42 are independent of each other and do not affect each other. The specific adjustment depends on how the driving unit 5 provides the driving force and the order in which the driving force is provided. For example, if the first adjustment component 41 is driven first and then the second adjustment component 42, the jaw assembly 3 will swing left and right first, and then the jaws will open and close. As another example, if the second adjustment component 42 is driven first and then the first adjustment component 41, the jaw assembly 3 will open and close first, and then swing left and right. Yet another example, if the first adjustment component 41 and the second adjustment component 42 are driven simultaneously, the jaw assembly 3 will not only swing left and right, but also open and close its jaws. Moreover, it can be understood that the design of the flexible transmission rod 4211 in the second adjustment component 42 allows the jaw assembly 3 to swing left and right without affecting the opening and closing of the jaws.

[0082] like Figure 1 and Figure 2As shown, in the above embodiment, the driving unit 5 is a driving handle, which includes a trigger 501 and a jaw steering knob 502. The trigger 501 is connected to the second transmission member 421 via a slider transmission assembly 503, so that pulling the trigger 501 drives the second transmission member 421 to extend and retract in the X direction. The jaw steering knob 502 is connected to the first transmission member 411 via a lead screw 504, so that the rotational movement of the jaw steering knob 502 is converted into the extension and retraction movement of the first transmission member 411 in the X direction.

[0083] It is understood that, in this embodiment, configuring the drive unit 5 as a drive handle is only one implementation method. In another embodiment, the drive unit 5 may also be configured as a robotic arm (e.g., Figure 7 As shown in the figure, the opening, closing and turning of the jaw assembly 3 are automatically controlled by the robotic arm.

[0084] like Figure 1 and Figure 3 As shown, in the above embodiment, the intelligent bipolar tissue closure device further includes a jaw bearing 6. The jaw bearing 6 includes an upper jaw steering bearing 61, a lower jaw steering bearing 62, and a bearing retaining ring 63. The upper jaw steering bearing 61 and the lower jaw steering bearing 62 are interlocked and pass through the bearing retaining ring 63. Furthermore, the inner walls of both the upper jaw steering bearing 61 and the lower jaw steering bearing 62 are formed with internal threads for threaded connection with the second jaw portion 32. Thus, the distal end of the jaw bearing 6 is detachably connected to the second jaw portion 32, and the proximal end of the jaw bearing 6 is hinged to the distal end of the tool holder steering bearing 2 via a rotating shaft 23. The axis of the rotating shaft 23 is parallel to the Y direction, thereby facilitating the connection between the jaw assembly 3 and the tool holder steering bearing 2 using the jaw bearing 6. In a preferred embodiment, the lower jaw steering bearing 62 can be integrally formed with the arc-shaped steering linkage 412 to facilitate power transmission.

[0085] Second Embodiment

[0086] The second embodiment of the present invention also provides a method for operating the above-mentioned intelligent bipolar tissue closure device, such as... Figure 8 As shown, the operating method can be divided into two main stages: the first stage is the self-test stage, and the second stage is the normal operation stage. During the self-test stage, the fan, foot pedal, and handle switch are self-tested in sequence. Only if everything is confirmed to be correct will the normal operation stage begin.

[0087] During the normal operation phase, the specific steps are as follows:

[0088] S1: Adjust the first jaw 31 and the second jaw 32 to the target position using the angle adjustment component;

[0089] S2: The driving part 5 drives the second jaw part 32 to rotate relative to the first jaw part 31, so that the second jaw part 32 and the first jaw part 31 are closed, thereby clamping the tissue to be closed;

[0090] S3: Press the energy activation component;

[0091] S4: Electrical energy is output to the clamped tissue through the first closing electrode 312 and the second closing electrode 322 on the jaw assembly 3, generating heat energy on the tissue. The heat energy denatures the proteins and blocks the blood vessels to complete the closure. The first closing electrode 312 and the second closing electrode 322 form a group to form a closure circuit for closing the tissue. The first cutting electrode 313 and the second cutting electrode 323 form a group to form a cutting circuit for cutting the tissue.

[0092] S5: Turn off power output;

[0093] S6: Outputs high-frequency, high-voltage alternating current energy. The heat generated when the high-frequency, high-voltage alternating current passes through the tissue causes the tissue to vaporize and coagulate, thereby achieving the purpose of cutting and coagulation.

[0094] In actual use, first open the jaw assembly 3, and adjust the first adjustment component 41 according to the actual situation to adapt the rotation angle of the jaw assembly 3 in the horizontal plane to the actual needs. After the angle is adjusted, place the tissue to be closed into the jaw assembly. Then, grip the trigger 501 to firmly clamp the tissue onto the jaw assembly 3. After confirming that it is firmly clamped, press the energy excitation component to release electrical energy. After closing, it automatically excites high-frequency, high-voltage AC energy to complete the cutting of the tissue. After completion, release the energy excitation component to stop the energy output, and finally release the trigger 501.

[0095] It is important to note that in actual operation, energy output is divided into two separate processes. The first process outputs electrical energy, which is delivered to the clamped tissue through the closed electrode on the jaw assembly 3, generating heat energy on the tissue. This heat energy denatures proteins and blocks blood vessels, completing the closure. The second process outputs high-frequency, high-voltage alternating current energy. This process mainly involves cutting the closed blood vessels. The high-frequency, high-voltage alternating current is transmitted to the jaw assembly through the high-frequency, high-voltage alternating current cutting electrode. The thermal effect generated when the high-frequency, high-voltage alternating current passes through the tissue causes the tissue to vaporize and coagulate, achieving the purpose of cutting and coagulation. By placing the closed electrode and the high-frequency, high-voltage alternating current cutting electrode in the jaw, and by using the thermal effect generated when the high-frequency, high-voltage alternating current passes through the tissue first to vaporize and coagulate the tissue before cutting, minimally invasive cutting with reduced bleeding is achieved in situ within the tissue.

[0096] In the above operating method, depending on actual needs, step S4 may also include outputting the maximum power of electrical energy through a perturbation observation method, such as... Figure 9 As shown, a preset fixed perturbation voltage is added at preset fixed time intervals to perform a positive perturbation, and the power after the perturbation is calculated. If the power increases, the positive perturbation continues; otherwise, a reverse perturbation is performed, and the preset fixed perturbation voltage is reduced at preset fixed time intervals. This cycle is repeated until the maximum power of the electrical energy is found.

[0097] In the above operating method, preferably, according to actual needs, step S6 further includes: outputting alternating voltages at frequencies f1 and f2 respectively. For example... Figure 10 As shown, specifically, steps S61 to S66 are included:

[0098] S61: When the power supply output frequencies are f1 and f2, the duty cycles D1 and D2 of the phase difference between the power supply output voltage and current are respectively.

[0099] S62: Calculate the resonant frequency fs;

[0100] S63: Outputs alternating voltage at resonant frequency fs;

[0101] S64: Read the phase relationship θ of voltage and current signals;

[0102] S65: Determine the relationship between θ and the preset phase difference threshold φ: When θ>φ, the difference between the power supply output frequency and the resonant frequency fs is large, so a large step size is used for frequency search, let step=10Hz; when θ<φ, the difference between the power supply output frequency and the resonant frequency fs is small, so a small step size is used for frequency search, let step=0.01Hz.

[0103] S66: Determine whether the power supply output voltage leads the current: When the power supply output voltage leads the current, the output frequency f = f - step; when the power supply output voltage lags the current, the output frequency f = f + step.

[0104] Third Embodiment

[0105] The third embodiment of the present invention also provides a method for operating a surgical robot using the above-mentioned intelligent bipolar tissue closure device. This method consists of two main stages: a self-test stage and a normal operation stage. During the self-test stage, the fan, foot pedal, and handle switches are tested sequentially. Only if all checks are successful will the robot enter the normal operation stage. Specifically, the self-test involves the host computer performing a self-test on the function of each module, including the power supply, display, and radio frequency circuits. Furthermore, the connection status of the foot pedal and handle is checked when the host computer completes its self-test and enters standby mode.

[0106] During the normal operation phase, the specific steps are as follows:

[0107] S1': Apply driving force to the angle adjustment assembly 4 through the control handle on the surgical robot to adjust the first jaw 31 and the second jaw 32 to the target position through the angle adjustment assembly;

[0108] S2': By using the control handle on the surgical robot, the second jaw 32 is rotated relative to the first jaw 31, so that the second jaw 32 and the first jaw 31 are closed, thereby clamping the tissue to be closed;

[0109] S3': Press the energy activation component on the control handle;

[0110] S4': Electrical energy is output to the clamped tissue through the first closing electrode 312 and the second closing electrode 322 on the jaw assembly 3, generating heat energy on the tissue. The heat energy denatures the proteins and blocks the blood vessels to complete the closure. The first closing electrode 312 and the second closing electrode 322 form a group to form a closure circuit for closing the tissue. The first cutting electrode 313 and the second cutting electrode 323 form a group to form a cutting circuit for cutting the tissue.

[0111] S5': Turn off power output by controlling the handle;

[0112] S6': Switch the energy output mode by controlling the handle to output high-frequency, high-voltage alternating current energy. The heat effect generated when the high-frequency, high-voltage alternating current passes through the tissue causes the tissue to vaporize and coagulate, thereby achieving the purpose of cutting and coagulation.

[0113] Fourth embodiment

[0114] Based on the intelligent bipolar tissue closure device disclosed in the first embodiment above, the fourth embodiment of the present invention also provides an angle-adjustable intelligent bipolar tissue closure system. Figure 11 A flowchart illustrating the operation of the intelligent bipolar tissue closure system is shown. The intelligent bipolar tissue closure system includes: a control module, an interaction module, a temperature feedback module, and the aforementioned intelligent bipolar tissue closure device.

[0115] The interaction module includes a display screen, a touchscreen with buttons, and a foot switch, and is electrically connected to the control module. The display screen shows setting information, process information, self-test status, alarm status, real-time temperature, etc.; the touchscreen with buttons is used to set output parameters and start / stop loading the cutting closing energy via buttons or the touchscreen; the foot switch is used to start / stop loading the cutting closing energy.

[0116] The temperature feedback module includes a temperature sampling circuit, which is electrically connected to the control module and the jaw assembly respectively. The temperature sampling circuit is equipped with a jaw thermocouple or thermistor, which is used to monitor the temperature and output a corresponding digital signal to the CPU.

[0117] The control module includes a CPU, a signal processing module, and a radio frequency signal module. The CPU, as the central processing unit, is used to handle system logic, signal acquisition, data processing, algorithm execution, energy control, screen display, information input, and other data logic tasks.

[0118] The signal processing module includes a signal generator module, a power amplifier module, a voltage and current sampling circuit, a phase monitoring circuit, and a resonant matching circuit, which are connected in sequence. The resonant matching circuit is electrically connected to the high-frequency and high-voltage AC cutting electrodes. The signal generator module is used to receive CPU instructions to generate sine waves, pulses, or triangular waves. The frequency of the generated sine waves, pulses, or triangular waves is optimally controlled between 1kHz and 10MHz.

[0119] The power amplifier module is used to amplify the signal generated by the signal generator module, with the optimal signal power being 5-300W.

[0120] The voltage and current sampling circuit is used to sample the output voltage and current of the power amplifier circuit and transmit them to the CPU for calculation via digital signals;

[0121] The phase monitoring circuit is used to monitor the phase of the output voltage and current, and transmits the digital signal to the CPU for calculation.

[0122] The resonant matching circuit is used to match the impedance of the output signal with that of the high-frequency, high-voltage AC cutting electrode, so that it works in the best condition.

[0123] The radio frequency (RF) signal module includes an RF signal generator module, an RF power amplifier module, and an RF voltage and current sampling circuit connected in sequence. The RF voltage and current sampling circuit is electrically connected to metal electrodes. The RF signal generator module is used to receive CPU instructions to generate sine waves, pulses, or triangular waves, and the frequency of the generated sine waves, pulses, or triangular waves is controlled between 100kHz and 5MHz.

[0124] The radio frequency power amplifier module is used to amplify the signal generated by the radio frequency signal generator module, with the optimal power amplification of the generated radio frequency signal being 5 to 300W.

[0125] The RF voltage and current sampling circuit is used to sample the RF output voltage and current of the RF power amplifier module and transmit them to the CPU for calculation via digital signals.

[0126] This intelligent bipolar tissue closure system may also include: an AC / DC power module, a fan, and a self-test circuit.

[0127] AC / DC power modules are used for power conversion to supply power to all modules of the machine.

[0128] The fan is used to dissipate heat from the internal components, ensuring the system functions properly.

[0129] In one embodiment of the present invention, the specific workflow of the intelligent bipolar tissue closure system is as follows:

[0130] S1: Clamp the jaw assembly 3 by pulling the trigger 501, and start the radio frequency energy output by pressing the button or foot pedal;

[0131] S2: After the switch signal from the button or foot pedal is transmitted to the CPU, the CPU controls the RF signal generation module to generate an RF signal;

[0132] S3: After being amplified by the radio frequency power amplifier module, the radio frequency signal is output to the closing electrode on the intelligent bipolar tissue closure device after passing through the radio frequency voltage and current sampling circuit.

[0133] S4: Based on the voltage, current, and temperature data fed back by the RF voltage and current sampling circuit, the CPU gradually increases the output signal power according to the operation method of the intelligent bipolar tissue closure device described above. This causes the RF energy passing through the tissue to gradually increase. Under the action of the alternating electric field, the ions in the tissue generate high-speed friction and heat. When the temperature rises to 100℃, the tissue coagulates and denatures and fuses together. This can close blood vessels smaller than 7mm. During the process, impedance changes and temperature changes are monitored to ensure the safety of the tissue after dehydration during loading and prevent phenomena such as high temperature, scab formation, and carbonization.

[0134] S5: After the blood vessels and tissues are closed, the working mode is switched to enable the high-frequency, high-voltage AC cutting electrode to work. The CPU control signal generator module generates a signal, which is amplified by the power amplifier module and then output to the high-frequency, high-voltage AC cutting electrode through the voltage and current sampling circuit, phase monitoring circuit, and resonant matching circuit to enable it to work. The high-frequency, high-voltage AC cutting electrode transmits high-frequency, high-voltage AC power to the jaw cutting part, and the closed tissue and blood vessels are cut under the operation of the high-frequency, high-voltage AC cutting electrode.

[0135] It should be noted that the above embodiments are merely examples, and the technical solutions of each embodiment can be combined, all of which are within the protection scope of this invention.

[0136] It should be noted that the terms "upper", "lower", "left", "right", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention 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. Therefore, they should not be construed as limiting the present invention.

[0137] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0138] The intelligent bipolar tissue closure device and its operating method and system provided by this invention have been described in detail above. Any obvious modifications made by those skilled in the art without departing from the essence of this invention will constitute an infringement of the patent rights of this invention and will incur corresponding legal liability.

Claims

1. An intelligent bipolar tissue closure device, characterized in that... include: A tool holder having a hollow inner cavity extending through the tool holder along its length; A tool holder steering bearing is inserted into the hollow inner cavity and fixed to the distal end of the tool holder; A jaw assembly comprising a first jaw portion and a second jaw portion, wherein the first jaw portion is rotatably mounted on the distal end of the tool holder steering bearing about a first direction, and the second jaw portion is rotatably mounted on the first jaw portion about a second direction; wherein the first direction is perpendicular to the length direction of the tool holder, and the second direction is perpendicular to both the first direction and the length direction of the tool holder. An angle adjustment component is inserted into the hollow inner cavity and is connected to the first jaw portion and the second jaw portion respectively for driving the first jaw portion to rotate relative to the tool bar steering bearing around the first direction, and for driving the second jaw portion to rotate relative to the first jaw portion around the second direction. A drive unit is disposed at the proximal end of the tool holder and connected to the angle adjustment assembly to provide driving force.

2. The intelligent bipolar tissue closure device as described in claim 1, characterized in that... The angle adjustment component includes: The first adjustment component is inserted into the hollow inner cavity and is connected to the first jaw portion for driving the first jaw portion to rotate relative to the tool bar steering bearing around the first direction. The second adjustment component is inserted into the hollow inner cavity and is connected to the second jaw portion for driving the second jaw portion to rotate relative to the first jaw portion around the second direction.

3. The intelligent bipolar tissue closure device as described in claim 2, characterized in that... The first adjustment component includes: A first transmission member is movably disposed within the hollow inner cavity, and the proximal end of the first transmission member is connected to the driving part; An arc-shaped steering linkage, the proximal end of which is rotatably connected to the distal end of the first transmission member about the first direction, and the distal end of which is hinged to the proximal end of the first jaw portion; The drive unit drives the first transmission member to extend and retract along the length direction of the tool bar, so as to drive the first jaw portion to rotate relative to the tool bar steering bearing around the first direction via the arc-shaped steering linkage.

4. The intelligent bipolar tissue closure device as described in claim 2, characterized in that... The second adjustment component includes: The second transmission member is movably inserted into the hollow inner cavity, and the proximal end of the second transmission member is connected to the drive unit; The opening and closing hinge is hinged at its proximal end to the distal end of the second transmission member, and at its distal end to the proximal end of the second jaw portion; The middle part of the second jaw is hinged to the middle part of the first jaw via a hinge shaft, and the axis of the hinge shaft is parallel to the second direction; the driving part drives the second transmission member to extend and retract along the length direction of the tool bar, so as to drive the distal end of the second jaw to move closer to or away from the distal end of the first jaw via the opening and closing hinge member.

5. The intelligent bipolar tissue closure device as described in claim 1, characterized in that... Also includes: A jaw bearing, the distal end of which is detachably connected to the second jaw portion, and the proximal end of which is hinged to the distal end of the tool holder steering bearing via a rotating shaft; The axis of the rotation shaft is parallel to the first direction.

6. The intelligent bipolar tissue closure device as described in claim 1, characterized in that: The first jaw portion includes a first bracket, a first closed electrode, and a first cutting electrode. The first bracket is rotatably mounted on the far end of the tool holder steering bearing about a first direction. The first closed electrode is disposed on the inner end face of the first bracket, and the first cutting electrode is disposed on the first closed electrode. The second jaw includes a second bracket, a second closed electrode, and a second cutting electrode. The second bracket is rotatably mounted on the first bracket in a second direction. The second closed electrode is disposed on the inner end face of the second bracket and corresponds to the first closed electrode. The second cutting electrode is disposed on the second closed electrode and corresponds to the first cutting electrode.

7. The intelligent bipolar tissue closure device as described in claim 1, characterized in that: The first jaw includes a first bracket, a first closed electrode, and a first ultrasonic cutting guide wire; the first bracket is rotatably mounted on the distal end of the tool holder steering bearing about a first direction, the first closed electrode is disposed on the inner end face of the first bracket, and the first ultrasonic cutting guide wire is disposed on the first closed electrode; The second jaw includes a second bracket, a second closed electrode, and a second ultrasonic cutting guide wire. The second bracket is rotatably mounted on the first bracket around the second direction. The second closed electrode is disposed on the inner end face of the second bracket and corresponds to the first closed electrode. The second ultrasonic cutting guide wire is disposed on the second closed electrode and corresponds to the first ultrasonic cutting guide wire.

8. The intelligent bipolar tissue closure device as described in claim 1, characterized in that: The drive unit is a drive handle or a drive robotic arm.

9. A method for operating the intelligent bipolar tissue closure device according to any one of claims 1 to 8, characterized in that... Includes the following steps: Adjust the pliers assembly to the target position using the angle adjustment component; The driving part drives the second jaw part to rotate relative to the first jaw part, so that the second jaw part closes with the first jaw part, thereby clamping the tissue to be closed; Press the energy activation component to output electrical energy through the metal electrodes on the clamp head assembly to the clamped tissue, generating heat energy on the tissue. The heat energy denatures the proteins and blocks the blood vessels, thus completing the closure. Turn off power output; It outputs high-frequency, high-voltage alternating current energy. The heat generated when the high-frequency, high-voltage alternating current passes through the tissue causes the tissue to vaporize and coagulate, thereby achieving tissue cutting and coagulation.

10. An intelligent bipolar tissue closure system, characterized in that... include: The control module, the interaction module, the temperature feedback module, and the intelligent bipolar tissue closure device according to any one of claims 1 to 8; wherein, The interaction module includes a display screen, a touchscreen with buttons, and a foot switch, and the interaction module is electrically connected to the control module. The temperature feedback module includes a temperature sampling circuit, and the temperature feedback module is electrically connected to the control module and the intelligent bipolar tissue closure device, respectively. The control module includes a CPU, a signal processing module, and a radio frequency signal module; The signal processing module includes a signal generator module, a power amplifier module, a voltage and current sampling circuit, a phase monitoring circuit, and a resonant matching circuit connected in sequence. The resonant matching circuit is electrically connected to the intelligent bipolar tissue closure device. The radio frequency signal module includes a radio frequency signal generator module, a radio frequency power amplifier module, and a radio frequency voltage and current sampling circuit that are electrically connected in sequence. The radio frequency voltage and current sampling circuit is electrically connected to a metal electrode.

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