Surgical jaw portion tool, surgical instrument, and robotic surgical instrument system

Abstract

The invention provides a bipolar surgical jaw portion tool and a bipolar surgical instrument realized thereby. The jaw portion tool has two pivotably supported branches with electrically conductive material and force transmission means in operative connection with the branches. Furthermore, the jaw portion tool has a jaw portion core made of electrically insulating material and two recesses separated from one another by a core wall. Here, each branch has a bearing section between the jaw portion and an operating section. The jaw portion tool has two control flaps connected with the force transmission means and respectively extending into an operating pivot region of the recesses and there engaging with the operating section of the respective branch. A robotic surgical instrument system is also disclosed.

Description

Technical Field

[0001] This invention relates to a bipolar surgical jaw tool for use in bipolar surgical instruments and a bipolar surgical instrument having such a jaw tool. Furthermore, this invention relates to a robotic surgical instrument system having such a bipolar surgical instrument. Background Technology

[0002] Bipolar surgical instruments are known in the prior art, which have a jaw portion tool (e.g., treatment forceps, clamping forceps, and scissors) composed of movable branches. This jaw portion tool has treatment, clamping, or cutting functions depending on the shape and size of the branches, and also has a coagulation function at the branches when bipolar current is applied. To position the tool at the distal end of a lever connected to an actuating instrument (e.g., a handle, actuator, or interface with a robotic system), the instrument has a tool insert with a jaw portion mechanism for opening and closing the branches. This jaw portion mechanism includes at least one hinge, allowing at least one of the two branches to move about its hinge axis. Jaw portion tools are categorized as those that open on one side (where only one branch moves) and those that open on both sides (where both branches move). In application, jaw portion tools that open on both sides are preferred. When using bipolar energy, current can be manipulated to flow between the two branches, thereby coagulating the tissue located between the branches. Since the branches also function as electrodes, they have a conductive material to form electrodes.

[0003] To prevent short circuits between branches, they are typically not made entirely of conductive materials, but rather have an insulating layer at least in the hinge area, or are constructed as multiple insulating sections. These insulators, made of non-conductive plastic or ceramic, mostly have a breakdown strength of 10 to 50 kV / mm, thus direct breakdown through the insulator is almost impossible, as a layer thickness of only 0.1 mm is sufficient to achieve a separation of at least 1000 V between them, while mechanical strength and manufacturing processes already largely require a wall thickness of at least 0.2 mm.

[0004] However, another type of failure is also critical for bipolar devices: breakdown along the surface of the insulator along the so-called creepage distance. This can be remedied by increasing the geometric distance between the branches to design the creepage distance along the insulator surface to be as long as possible, so that breakdown only occurs at higher voltages. However, the problem of internal creepage distances is more prominent because conductive fluids (blood, saline, etc.) in application can promote breakdown, and these fluids tend to accumulate, especially in the covered areas of the jaw mechanism. In addition to spacing, the material of the insulator also affects the susceptibility to creepage path formation. In this case, the so-called CTI value (Comparative Tracking Index) is used to determine the Kriechstromfestigkeit of the insulator material. To do this, 50 drops of standardized electrolyte solution are dropped between the two electrodes at a predetermined spacing on the insulator surface, and the voltage on the insulator surface is measured with the electrodes until the insulator no longer exhibits tracking or becomes conductive.

[0005] A high CTI value for the insulating material is advantageous for good leakage current strength. However, there are mechanical requirements for the material, so plastics with lower CTI values ​​(100 to 150), such as PEEK, are used as insulating materials in part. Plastics with high CTI values ​​tend to be too soft for mechanical requirements, while ceramics are too brittle.

[0006] A jaw mechanism for a medical forceps is known from DE 102 36 070 A1. The proximal end of the movable jaw portion has a hinged arm that is guided in a guide rail.

[0007] Publication US 2006 / 0173452 A1 discloses a bipolar surgical instrument for closing blood vessels. A stop ensures minimal spacing between the two movable jaw portions.

[0008] To date, none of the known bipolar jaw instruments for surgical applications have fully met the requirements, which include high application voltage, mechanical strength, durability, good cleanability, and ultimately, low component and manufacturing costs. Summary of the Invention

[0009] Based on the prior art, the object of the present invention is to provide an improved jaw tool for bipolar surgical instruments.

[0010] This objective is achieved by a bipolar surgical clamp tool with the features described below.

[0011] Another objective of providing correspondingly improved bipolar surgical instruments is achieved through bipolar surgical instruments having the features of the following technical solution.

[0012] Another objective is to provide a correspondingly improved robotic surgical instrument system with bipolar surgical instruments, which is achieved by a robotic surgical instrument system having the features of the following technical solution.

[0013] Implement the improved solution or preferred implementation method in the subordinate technical solution.

[0014] According to a first embodiment, the bipolar surgical jaw portion tool according to the invention is configured to provide a bipolar surgical instrument by connection with an instrument bar and an actuating device. The bipolar surgical jaw portion tool has two pivotally supported branches for opening and closing, and a force transmission device. When the two branches form a bipolar surgical instrument, they can be arranged at the distal end of the instrument bar, having a conductive material to provide electrodes. They are operatively connected with the force transmission device for mechanical and electrical manipulation. In this instrument configuration, the force transmission device can be movably arranged in the instrument bar along a common longitudinal axis and engages with the actuating device at the proximal end of the instrument bar. According to the invention, the jaw portion tool has a jaw portion core made of an electrically insulating material and having two openings separated from each other by a core wall. The two openings are configured to provide hinge axes for the branches, dividing the openings into an exit pivoting region and an operating pivoting region, respectively. Furthermore, each branch has a support section between the jaw section and the operating section, at which each branch is supported in a corresponding open space in a pivotable manner about a hinge axis. Here, the jaw section extends out of the open space away from the pivoting area, while the operating section is arranged in the operating pivoting area of ​​the open space. Additionally, the jaw tool has two control plates that serve as elongated, flat connectors to provide an operative connection between the branch and the force transmission device. For this purpose, the control plates are connected to the force transmission device at one end, and extend to the operating pivoting area of ​​the open space at the other end, engaging with the operating section of the corresponding branch therein.

[0015] In the jaw tool according to the invention, the jaw core not only ensures mechanical support for the two branches that open on both sides, but also ensures reliable electrical isolation between the two branches. Furthermore, the functions for mechanical and electrical control of the two branches are integrated into the control plate. Here, through the combined action of the branches supported in the jaw core and connected to the control plate, the jaw tool achieves high mechanical stability within the limited mounting space for surgical tools (especially for tool diameters of 5.5 mm or smaller, such as 3.5 mm).

[0016] The mechanical structure provided by the jaw portion of the core has a beneficial energy flow, which makes it possible to use non-conductive materials with high CTI values, especially ceramics or plastics, such as polybutylene terephthalate (PBT) with a CTI of 500 and the following with CTIs of 600 respectively: namely, polyethylene (PE-LD, PE-HD), polyester resin, polytetrafluoroethylene (PTFE), and polyvinylidene fluoride (PVDF).

[0017] "Force transmission device" is understood as an elongating mechanism suitable for transmitting translational force or motion generated by a proximal operating instrument through an instrument bar to a distal jaw portion, such as a rigid or flexible push-pull rod. In the case of a flexible force transmission device, the longitudinal axis is associated with the extension arrangement of the force transmission device. The direction indication of this longitudinal axis applies not only to the extension arrangement of the flexible force transmission device but also, in a correspondingly adjusted manner, to the bending arrangement of the flexible force transmission device. For example, the movement of the force transmission device along the longitudinal axis is broadly understood as the reciprocating motion of the force transmission device within the instrument bar, as well as in the case of a bending direction.

[0018] Surgical instruments can be operated by a manually operable handle, actuator, or alternatively, a robotic manipulator.

[0019] Regarding the conductive and electrically insulating materials of different components of the jaw tool according to the present invention, it should be noted that: the conductive material of electrically attached components (such as the aforementioned branches, control plates, and force transmission devices) and all electrically attached components mentioned below can be the same conductive material, or different conductive materials selected by those skilled in the art according to corresponding requirements. Correspondingly, the electrically insulating materials of the aforementioned jaw core and all electrically insulating components mentioned below are applied in a similar manner. That is, different electrically insulating components can have the same electrically insulating material, or different electrically insulating materials can be used according to the requirements of the respective components.

[0020] According to another embodiment, the jaw tool according to the invention may have a fork-shaped retaining portion for securing the branch at the jaw core to prevent loosening. The fork-shaped retaining portion is made of an electrically insulating material and has at least one tubular section on the proximal side, the tubular section being arranged and configured to be disposed on at least one tubular section of the jaw core. The fork-shaped retaining portion has two retaining sections on the distal side, the retaining sections being configured to clamp the jaw core in a form-fitting manner around the clearance, and securing the engagement of the control plate with the operating section of the branch and its hinged support in the respective clearance at the support section.

[0021] To achieve the form-fitting clamping of the jaw core, a retaining section restricts the inner contour, which corresponds to the outer contour of the jaw core. This inner contour, along with the branch section and control plate, is formed together in the area surrounding the void. The form fit operates through contact between the inner surfaces of the two retaining sections, orthogonal to the hinge axis, and the outwardly pointing surfaces of the jaw core, branch, and control plate in the area surrounding the void. In this way, the retaining sections can lock the branch and control plate from disengaging from the void in a direction parallel to the hinge axis and away from the longitudinal axis.

[0022] According to another embodiment of the jaw tool according to the invention, the hinge axes of the branches are formed in the open portion of the jaw core by hinge pins supported in a manner rotatable in the hinge socket. Preferably, the hinge socket is constructed in the open portion, and the hinge pin is constructed at the branch, so that the hinge socket can extend into the core wall and the branch can be advantageously integrally formed with the hinge pin. However, alternatively, it is also possible for the hinge pin to be connected to the branch as a separate shaft element, or for the hinge pin to be constructed as a protrusion at the open portion in the core wall, and the hinge socket to be constructed in the branch. Again, the hinge pin can be integrally formed with the jaw core or as a separate shaft element.

[0023] Here, the open portion is preferably constructed together with the hinged socket (or alternatively with the hinged pin) on the opposite side of the core wall at the jaw portion core in a rotationally symmetrical manner with reference to the longitudinal axis, so that the two branches can be made in the same way. The two hinge axes extending orthogonally to the longitudinal axis are radially spaced apart from each other, so that they cannot be aligned with each other in the rotationally symmetrical arrangement of the open portion, and a connection cannot be established between the open portions.

[0024] Alternatively, one of the open sections may have a hinged socket, while the other open section has a hinged pin for forming a hinge axis, so that one branch has a hinged pin and the second has a hinged socket. While this embodiment leads to more complex manufacturing, it can be advantageous in cases where tools have different branches, since each branch can only be arranged in the corresponding fitted open section.

[0025] According to another embodiment of the jaw tool according to the invention, engagement between the control plate and the operating section of the branch is provided by an operating pin received in a support opening, the operating pin defining an operating axis spaced apart from and parallel to the hinge axis. Also in this case, it is preferred that the operating pin is constructed at the operating section of the branch, and the support opening is constructed in the control plate. Also in this case, integral manufacturing of the operating pin and the branch is preferred, but a separate shaft element connected to the branch can also be used as the operating pin. Alternatively, the support opening can be constructed in the operating section of the branch, and the operating pin can be constructed at the control plate.

[0026] The engagement of the operating pin in the support opening ensures the opening and closing of the jaw section of the branch, while simultaneously ensuring the transfer of electrical potential. The distance between the operating axis and the hinge axis determines the torque required for the branch to rotate about the hinge axis, and this distance is chosen to be as large as possible relative to the beneficial lever arm ratio of the jaw section. Maximizing the distance between the operating pin and the hinge axis in the operating section is achieved within the available installation space by placing the hinge axis as close as possible to the edge of the jaw core within the clearance.

[0027] Therefore, in a preferred embodiment of the jaw tool according to the invention, the operating pins at the operating sections of the corresponding branches and the hinge pins at the support sections are arranged in opposite directions.

[0028] According to another embodiment of the jaw section tool according to the invention, each branch can be made of conductive material in one piece without the need for an insulating layer or insulating body section. Here, the jaw section has at least one functional surface for handling, clamping, or cutting, as well as for electrocoagulation. Furthermore, the operating section is configured to make planar contact with the planar contact section of the control plate made of conductive material. Here, the corresponding contact surfaces of the operating section and the contact section are orthogonal to the hinge axis, so that they can be pressed together by the holding section of the fork-shaped retainer with particularly low transition resistance.

[0029] It is also specified that, according to another embodiment, the force transmission device of the jaw tool according to the invention has a sleeve for connection with a control plate. Here, the force transmission device is divided into a first section and a second circumferentially isolated section. The first section is a distal, non-isolated end section, and the second circumferentially isolated section is attached to the distal end section and forms a step in diameter with a third circumferentially isolated section of the force transmission device on the proximal side. The sleeve is arranged in the second section, thereby electrically isolating the sleeve from the force transmission device by circumferential isolation, and extends into the third section, wherein the sleeve is mechanically connected to the force transmission device. Here, the first control plate is electrically and mechanically connected to the distal, non-isolated end section. A second control plate, longer than the first control plate, is electrically and mechanically connected to the sleeve.

[0030] According to another embodiment of the jaw portion tool according to the invention, at least one tubular section of the jaw portion core may have a longitudinal hole, into which a force transmission device extends in a longitudinally movable manner, such that the distal end section of the force transmission device is located in the longitudinal hole.

[0031] In an improved embodiment, the jaw portion core of the jaw tool according to the invention has a guide profile for each control plate, in which one of the control plates is guided and moves from the force transmission device in a direction that lies in a plane with the longitudinal axis. Here, a first guide profile is configured to guide a first control plate connected to the distal end section of the force transmission device. For this purpose, the first guide profile extends from the operating pivot region of one of the open portions along at least one tubular section. The first guide profile terminates before the proximal end of the at least one tubular section and passes into a longitudinal hole. A second guide profile is configured to guide a second control plate connected to a sleeve, extending from the operating pivot region of another open portion to the proximal end of the at least one tubular section.

[0032] According to another embodiment, the jaw portion tool according to the invention has a rod connector sleeve that is connected to the jaw portion core on the proximal side and has at least one rod connector element for connection with the instrument rod.

[0033] In a preferred improvement of the jaw tool according to the invention, the rod connector sleeve is configured to be arranged on a tubular section proximal to the fork-shaped retainer, which in turn is arranged on a tubular section proximal to the jaw core. Here, the rod connector sleeve and the tubular sections proximal to the fork-shaped retainer and jaw core each have radially oriented, mutually aligned locking openings, in which locking elements are arranged to connect the rod connector sleeve and the fork-shaped retainer and jaw core.

[0034] Other embodiments of the jaw tool according to the invention relate to a fastening variation of the fork-shaped retainer: thus, in one embodiment, the two retaining sections of the fork-shaped retainer may each have an opening corresponding in shape and external dimensions to a flange constructed at the jaw core adjacent to a corresponding clearance for long creepage distances, preferably constructed on the distal side adjacent to a clearance. To allow the retaining section to open via the flange when pushed onto the jaw core until it snaps into place with the opening, the retaining section can be elastically deformable in the radial direction relative to the longitudinal axis L. For this purpose, an electrically insulating material for the fork-shaped retainer can be provided at least in the region of the retaining section by an elastically deformable plastic material, and / or each retaining section may have a section with reduced wall thickness. Alternatively, when using a non-elastic material, such as ceramic, the fork-shaped retainer may consist of two identical retaining shells, or be longitudinally divided into two retaining shells by one of the respective retaining sections. These two form-fitting retaining shells surrounding the jaw portion of the core can be held together on the proximal side by a sleeve, such as a rod connector sleeve. The gap between the two retaining shells is electrically insignificant because it extends in the longitudinal direction transverse to the relevant creepage distance.

[0035] To keep the two retaining shells together at their distal ends, or to secure the elastically deformable retaining section of the integrated fork-shaped retainer, in other embodiments, the fork-shaped retainer may be connected to the jaw portion core at the two retaining sections by at least one cylindrical connecting element or by a material-fitting (plastic-) welded-or bonded connection. Another alternative or additional embodiment involves a material-fitting connection between at least one tubular section of the fork-shaped retainer and the jaw portion core via a (plastic-) welded-or bonded connection.

[0036] The safety of the connecting elements (one or more) can advantageously be designed to be detachable, allowing the jaw portion of the tool to be completely removed after use and reused after cleaning and disinfection. The material-fit connection between the fork-shaped retainer and the jaw core advantageously ensures a wide range of sealing isolation of the opening. This significantly reduces creepage distances between control plates.

[0037] Preferably, the distal side of the fork-shaped retainer is secured at the two retaining sections using one or two cylindrical connecting elements at the flange, the flange surrounding the retaining sections with its opening. The flange then restricts a continuous hole for a continuous cylindrical connecting element, such as a rivet, or restricts blind holes for two separate connecting elements, such as screws.

[0038] Since continuous connecting elements are related to the formation of creepage distance, a sealing isolation portion can be additionally provided to prevent the infiltration of conductive fluids. Securement using individual connecting elements, such as screws, does not require continuous holes, and therefore avoids the formation of such creepage distance even without a sealing isolation portion. Furthermore, screws advantageously allow for enhanced holding force of the retaining section and selection of tightening torque to improve lateral retention of branches, which is particularly important in the case of scissor-like tools, where the jaw section must be laterally tightly guided for neat separation of tissues.

[0039] In another embodiment, the connecting element may be specified to close together with the outer surface of the retaining section on the head side to ensure that the outer diameter of the jaw portion of the tool is not exceeded. For this purpose, the opening in the retaining section may have a recessed step, and the head of the connecting element rests against this recessed step within the opening. Alternatively or additionally, the head of the connecting element may be machined, for example, by cutting, to close flush with the outer surface of the fork-shaped retainer. This avoids lateral protrusions in the jaw portion of the tool that could cause tissue snagging or damage when applied to a patient.

[0040] According to another embodiment of the jaw section tool according to the invention, the pivoting area of ​​each jaw section segment relative to the longitudinal axis can be limited by a limiting wall of each clearance, wherein the opening angle of each jaw section segment relative to the longitudinal axis is within a range extending from 0° (for a closed jaw section) to at least 15° and at most 45°, preferably 30°, and the total opening angle formed between two jaw sections is at least 30°, at most 90°, and preferably 60°. The preferred total opening angle of 60° is perfectly adequate for most applications and avoids the disadvantages associated with larger opening angles, namely, poor force transmission in cases of increased installation space requirements.

[0041] Another embodiment of the jaw tool according to the invention relates to a support opening in the control plate for an operating pin located at the operating section of a branch. According to one embodiment, the support opening may be elongated in a direction orthogonal to the longitudinal axis and have parallel sides spaced according to the diameter of the operating pin. This elongated support opening is configured to allow compensating movement of the operating pin in the support opening in a direction orthogonal to the longitudinal axis. Compensating movement is required when the control plate moves in its longitudinal direction in a plane together with the longitudinal axis because the operating pin follows a circular trajectory about the hinge axis.

[0042] Instead of an elongated support opening for compensating the movement of the operating pin, the jaw portion core can be configured to allow compensating movement of the control plate in a direction orthogonal to the longitudinal axis. For this purpose, the control plate is preferably configured to be elastically deformable in a direction orthogonal to the longitudinal axis to avoid additional hinges at the connection with the force transmission device. The guide profile can be sized with a corresponding clearance for the compensating movement of the control plate. Therefore, it is possible that the support opening is configured to be at least partially cylindrical and has a diameter corresponding to the diameter of the operating pin. In this case, high pressure is avoided during force transmission in the longitudinal direction, which, for example, occurs during linear contact of the operating pin in the elongated support opening. In the case of a partially cylindrical support hole, the cylindrical shape is interrupted on the side away from the hinge axis, i.e., the support opening is open there, to save space and allow the operating axis to be positioned as far as possible from the hinge axis.

[0043] As another aspect of the invention, a bipolar surgical instrument comprises an actuating instrument, an instrument bar, and a jaw portion tool having two pivotally supported branches and a force transmission device. A branch having a conductive material is arranged at the distal end of the instrument bar. The force transmission device extends movably along a longitudinal axis through the instrument bar and is coupled to an actuating instrument arranged at the proximal end of the instrument bar. According to the invention, the jaw portion tool of the bipolar surgical instrument is a bipolar surgical jaw portion tool according to at least one of the foregoing embodiments.

[0044] In one embodiment, the manipulator of the bipolar surgical instrument may be a manually operable handle, and in another embodiment, it may be a robotically operable manipulator.

[0045] Another subject of the invention is a robotic surgical instrument system having at least one control unit, an electrosurgical generator, and a robotic arm connected to the control unit and having a bipolar surgical instrument according to the invention, which is connected to the electrosurgical generator.

[0046] Other embodiments and some of the advantages associated with these and other embodiments will become clearer and more readily understood through the following detailed description with reference to the accompanying drawings. Essentially the same or similar subject matter or portions thereof may be provided with the same reference numerals. The drawings are merely schematic illustrations of one embodiment of the invention. The drawings, description, and claims contain a number of features in combination. It should be understood that the foregoing features, and those further elaborated below, can be used not only in the correspondingly given combinations, but also in other combinations or individually, without departing from the framework of the invention. Attached Figure Description

[0047] This is shown here:

[0048] Figure 1 A perspective view of a jaw tool according to an embodiment of the present invention is shown.

[0049] Figure 2 A side view of a bipolar surgical instrument according to the invention is shown, the instrument having a jaw portion tool according to the invention.

[0050] Figure 3 A perspective view of the jaw portion core of the jaw portion tool according to the present invention, viewed from a first side, is shown.

[0051] Figure 4 It shows Figure 3 A three-dimensional view of the jaws of the core as seen from the other side.

[0052] Figure 5 It shows Figure 3 A perspective view of the jaw portion core, which has branches and a distal end of a force transmission device.

[0053] Figure 6 It shows Figure 1 A cross-sectional view of the jaws of the tool, having a cutting plane orthogonal to the longitudinal axis L and passing through the hinge axes A and A'.

[0054] Figure 7 It shows Figure 3 A perspective view of the jaw core, which has a branch in a closed position, a first control plate, and a distal end of a force transmission device.

[0055] Figure 8 It shows the corresponding Figure 7 The 3D diagram has branches in an open position.

[0056] Figure 9 It shows Figure 1 A partial exploded 3D view of the jaws of the tool.

[0057] Figure 10 A perspective detail view of the jaw portion core is shown, featuring a control plate according to an alternative embodiment of the jaw portion tool according to the present invention.

[0058] Figure 11 It shows Figure 4 A perspective view of the jaws, core, two branches, second control plate, and force transmission device with sleeve.

[0059] Figure 12 It shows the corresponding Figure 11 A perspective view of a fork-shaped retaining part.

[0060] Figure 13 It shows the corresponding Figure 12 A perspective view of a sleeve with a rod connector.

[0061] Figure 14 It shows Figure 13 A longitudinal sectional view of the jaws of the tool, having cutting planes parallel to the hinge axes A and A' passing through the longitudinal axis.

[0062] Figure 15 A perspective view of a robotic surgical instrument system having bipolar surgical instruments according to the present invention is shown. Detailed Implementation

[0063] This invention relates to a jaw portion tool for bipolar surgical instruments, having two branches that can move relative to each other, such as forceps and scissors that open on both sides. Furthermore, the invention relates to a bipolar surgical instrument equipped with a corresponding jaw portion tool. The jaw portion mechanism has a specialized, dual-function jaw portion core made of an electrically insulated, i.e., non-conductive material, serving both for the electrical isolation of the branches and for their mechanical support. This ensures that no additional isolators are required at the branches.

[0064] exist Figures 1 to 14 The jaw portion tool 8 shown is configured as an insert for the bipolar surgical instrument 50, such as in Figure 2 As exemplarily shown in the diagram. The jaw portion tool 8 is disposed at the distal end of the instrument bar 51, and its two branches 2, 2' are pivotally supported and are made of conductive material. The force transmission device 9 of the jaw portion tool 8 is operatively connected to the branches 2, 2' and extends longitudinally movable through the instrument bar 51 along a common longitudinal axis L. The instrument bar is connected at its proximal end to an operating device 52, which in the illustrated example is a manually operable handle 52. The handle has a movable handle portion 53, which is mechanically connected to the force transmission device 9 to open and close the branches 2, 2', indicated by dashed lines. Furthermore, the handle 52 is equipped with an attachment port 54 for attaching a bipolar surgical instrument 50 to a generator (not shown) to supply electrical power. An electrical connection is established between the attachment port 54 and the force transmission device 9 via the handle 52, indicated by dashed lines, so that the branches 2, 2' can be used as electrodes for electrocoagulation when current is applied. Instead of the exemplary manually operable handle, the bipolar surgical instrument according to the invention may also have a robotic operating unit controlled by means of an input device.

[0065] The two branches 2, 2' of the jaw tool 8 are supported at the jaw core 1, which is made of an electrically insulating material. For this purpose, a plastic or ceramic material with a high CTI value is preferably selected. For example, the jaw core 1 can be made of a plastic with a high CTI value, such as polyvinylidene fluoride (PVDF) (CTI value 600), for example, by milling or mass injection molding. However, it is also advantageous that the jaw core 1 can be mass-produced from ceramic, thereby obtaining optimal mechanical, chemical, and electrical properties.

[0066] exist Figure 3 and Figure 4 The jaw portion core 1 is shown from both sides, which has two open portions 10, 10' separated from each other by the core wall 1' for supporting branches 2, 2'. Figure 3 A first recess 10 at the jaw portion core 1 is shown, used to support the first branch 2 in a manner rotatable about the first hinge axis A. Figure 4 The image shows one side of the jaw portion core 1 with a second open portion 10', which supports the second branch 2' in a manner that allows it to rotate about the second hinge axis A'.

[0067] The two open sections 10, 10' are constructed as rotationally symmetrical on opposite sides of the core wall 1' with reference to the longitudinal axis L, so that the two branches 2, 2' are shaped identically in the example shown. And since the branches 2, 2' are completely electrically isolated from each other through the jaw portion of the core 1, the branches 2, 2' can be integrally made of conductive material without additional insulating bodies.

[0068] For each of the two hinge axes A and A', a corresponding hinge socket 11 is constructed in the core wall 1'. These hinge axes divide each open portion 10, 10' into a departure pivot region 13 and an operating pivot region 14. They do not intrude into the core wall 1', thus there is no connection between the two open portions 10, 10'. The two hinge axes A and A' extend orthogonally to the longitudinal axis L and are spaced apart from it in the radial direction with reference to the longitudinal axis L. This also allows for... Figure 6 As seen in the image, a hinge pin 20 is rotatably received in the hinge socket 11, and each branch 2, 2' has this hinge pin. Figure 5The concealed hinge pin 20 of the first branch 2 is shown in dashed lines. Here, the hinge pin 20 and the resulting hinge axis A can be seen at the curved support section 23. This separates the jaw section 21 of branch 2 from the operating section 22 of branch 2, which extends through the exit pivot region 13 of the clearance 10, and the operating section 22 is arranged in the operating pivot region 14 of the clearance 10. The jaw section 21 of each branch 2, 2' has at least one functional surface 26 for clamping, handling, or cutting, and for electrocoagulation. Correspondingly, this also applies to the rotatable support of the second branch 2' in the second clearance 10'.

[0069] exist Figures 7 to 11 and Figure 14 As can be seen, the operating section 22 of each branch 2, 2' is used to engage with the control plate 3, 3' connected to the force transmission device 9 to perform mechanical and electrical control on the branch 2, 2'. That is, the control plate 3, 3' ensures, on the one hand, the mechanical transmission of motion of the force transmission device 9 to the branch 2, 2', and on the other hand, the transmission of electrical energy. Therefore, the control plate 3, 3' is preferably also integrally made of conductive material.

[0070] like Figure 5 and Figure 6 As shown, in order to mechanically engage the control plates 3, 3' with the operating section 22, an operating pin 24 is constructed at the operating section 22 in the direction opposite to the hinge pin 20. This operating pin 24 is received in the support opening 30 of the control plates 3, 3'. Therefore, the operating pin 24 defines the operating axis B, which is spaced apart from and extends parallel to the hinge axes A, A'. Electrical engagement between the control plates 3, 3' and the operating section 22 is achieved via planar contact; for this purpose, the contact section 31 of the control plates 3, 3' is constructed as planar in the region surrounding the support opening 30. Correspondingly, the operating section 22 is also constructed as planar in the region surrounding the hinge pin 20, thereby maximizing the contact surface to achieve low transition resistance or contact resistance. Here, the corresponding contact surfaces of the operating section 22 and the contact section 31 are orthogonal to the hinge axes A, A'.

[0071] The operating pin 24 is moved by the control plates 3, 3' to open and close the jaw section 21. The farther the hinge pin 20 is from the operating pin 24, and consequently the farther the hinge axes A, A' and the operating axis B are from each other, the better the leverage ratio acting on the jaw section 21. In other words, the distance between the operating axis B, the mechanical engagement point of the control plates 3, 3', and the hinge axes A, A' determines the lever arm for the torque by which branches 2, 2' move about the hinge axes A, A'. Therefore, the maximum possible distance between the operating pin 24 and the hinge pin 20 is selected by arranging the operating pin 24 at the edge of the operating section 22, as far away from the hinge axes A, A' as possible. With a larger lever arm between the operating pin 24 and the hinge pin 20, the opening and closing of the jaw section 21 can be more precisely controlled in application, and a higher closing force between the jaw sections 21 can be achieved when the same force is applied to the force transmission device 9.

[0072] Electrical contact and mechanical engagement can be optimized through the planar shape of the operating section 22 and the spacing between the hinge axes A, A' and the operating axis B. Therefore, the shape and dimensions of the operating section 22 are adapted to the shape and dimensions of the operating pivot area 14 of the open portions 10, 10', such that the operating pivot area 14 allows the operating section 22 to move within a certain angular range around the hinge axes A, A' to open and close the jaw section 21 of the same branch 2, 2'. It should be considered that in the jaw tool 8 for surgical instruments 50, the available mounting space for the open portions 10, 10' is typically limited to a diameter of only a few millimeters. Therefore, the operating section and open portion of the jaw tool 8 according to the invention may deviate from the illustrated example in terms of shape and dimensions, and this deviation depends not only on the available mounting space but also on the function of the branch and its opening angle, wherein efforts are made to achieve the largest possible lever arm between the operating axis B and the hinge axes A, A' within the existing mounting space.

[0073] The open portions 10, 10' are currently shaped together with the limiting wall 15 such that the opening angles α, α' of each of the two (symmetrical) branches 2, 2', which are 0° when the jaw section 21 is closed, can be extended to 30° with reference to the longitudinal axis L. Thus, the maximum combined opening angle between the two jaw sections 21 is 60°. This angle is sufficient and common for most jaw tools. While larger angles could be achieved, this would require more installation space and be associated with poorer force transmission, offering no additional value in most applications.

[0074] To ensure the rotatable support of branches 2 and 2' in the open portions 10 and 10' and the engagement of the control plates 3 and 3' with branches 2 and 2', the jaw tool 8 has a fork-shaped retaining portion 4, such as in Figure 1 , Figure 6 , Figure 9 , Figures 12 to 14 What I saw in the video.

[0075] The fork-shaped retaining portion 4 is made of an electrically insulating material and has two retaining sections 41, 41' on the distal side, which extend from the tubular section 44 and form a step with the tubular section 43 on the proximal side. The retaining sections 41, 41' are configured to be rotationally symmetrical for form-fitting clamping of the jaw portion core 1 around the empty portion 10, 10'. The retaining sections 41, 41' have an inner surface parallel to the core wall 1', which holds the branches 2, 2' and the control plates 3, 3' in the empty portion 10, 10'. Since the control plates 3, 3' are pressed planarly against the operating section 22 of the branches 2, 2' by their contact section 31, the transition resistance is advantageously particularly low. The retaining sections 41, 41' are closed flush with the jaw portion core 1 on the distal side.

[0076] The fork-shaped retaining portion 4 is arranged in a shape-fitting manner on the jaw portion core 1, supplemented by tubular sections 43 and 44, which are arranged on correspondingly formed tubular sections 19 and 19' of the jaw portion core 1. That is, the inner diameter of the stepped tubular section 44 of the fork-shaped retaining portion 4 corresponds to the outer diameter of the stepped tubular section 19 of the jaw portion core 1, and the inner diameter of the proximal tubular section 43 of the fork-shaped retaining portion 4 corresponds to the outer diameter of the proximal tubular section 19' of the jaw portion core 1. Furthermore, the stepped sections 44 and 19 and the proximal sections 43 and 19' are respectively constructed with corresponding lengths.

[0077] To achieve a long creepage distance, the fork-shaped retaining portion 4 has an opening 40 at its free distal end in each retaining section 41, 41'. When the fork-shaped retaining portion 4 is positioned at the jaw portion core 1, this opening receives a flange 12 corresponding in shape and size, which is configured to be adjacent to the recesses 10, 10' at the distal end of the jaw portion core 1. To allow the retaining sections 41, 41' to slightly open when the fork-shaped retaining portion 4 is pushed onto the jaw portion core 1 until they snap into place around the flange 12 with the opening 40, the fork-shaped retaining portion 4 is made of plastic that allows for elastic deformation of the retaining sections 41, 41'. Thus, the fork-shaped retaining portion 4, arranged in a form-fitting manner at the jaw portion core 1, forms a stable unit even without other connectors, and secures the branches 2, 2' to prevent loosening. However, the fork-shaped retaining part 4 is not relevant to the opening mechanism of branches 2, 2', jaw core 1, and control plates 3, 3'.

[0078] To further improve the lateral retention of branches 2 and 2', columnar connecting elements 5, here threaded, are used to secure the retaining sections 41 and 41'. This is particularly important in the case of scissor-like tools, where the jaw section 21 must be tightly guided laterally so that the tissue does not slip between the cutting edges but is neatly separated. The threaded element 5 is inserted into the flange 12 through the opening 40, such that the stepped head of the threaded element 5 covers the opening 40 and secures the retaining sections 41 and 41' to the jaw core 1. To close the threaded element 5 together with the outer surface of the retaining sections 41 and 41' on the head side, a recessed step 40' is constructed in the opening 40. Figure 9 , Figure 14 As can be seen in the image. Alternatively or alternatively, the head of the screw connector 5 may be machined by cutting, for example, grinding, so as to close together with the surfaces of the retaining sections 41, 41'.

[0079] Furthermore, the fork-shaped retainer 4 has a radially oriented locking opening 42 in the tubular section 43 on the proximal side, which, when arranged in a form-fitting manner on the jaw portion core 1, aligns with a corresponding locking opening 18 in the tubular section 19' on the proximal side of the jaw portion core 1. The locking openings 18, 42 are configured to receive a locking element 5', here a locking bolt 5', which is particularly used for fastening the rod connector sleeve 6. The rod connector sleeve 6 is configured to be mounted on the tubular section 43 on the proximal side of the fork-shaped retainer 4, and correspondingly has a locking opening 60, which, in a conventional arrangement, aligns with the locking openings 42, 18 of the fork-shaped retainer 4 and the jaw portion core 1. Furthermore, the rod connector sleeve 6 here has two bayonet protrusions 61 serving as rod connecting elements for connection to the instrument rod 51, which for this purpose has two bayonet grooves (not shown) at its distal end. Alternative connecting elements for attaching the jaw portion tool 8 (detachably) according to the invention to the instrument bar 51 by means of the rod connector sleeve 6 include, for example, screw connections, plug connections, and locking connections.

[0080] Furthermore, the jaw tool 8 according to the invention can have a fork-shaped retaining portion that deviates from the example shown. For example, the fork-shaped retaining portion can be composed of two identical retaining shells, which are made of non-elastically deformable plastic material or ceramic. The half-shells, each having one of the retaining sections, shaped to fit around the jaw core 1 in a corresponding manner, and are held together at the distal end by a cylindrical connecting element 5 and at the proximal end by a sleeve, such as a rod connecting sleeve 6. The remaining gap between the retaining shells is not electrically significant because the gap extends in the longitudinal direction, i.e., laterally to the relevant creepage distance between the operating sections 22 of the control plates 3, 3' or branches 2, 2'.

[0081] Another alternative specifies a continuous cylindrical connecting element (e.g., a rivet) instead of two threaded parts 5. Since the through hole between the flanges 12 extends transversely to the longitudinal axis L through the jaw portion core 1, to reduce the risk of creepage distance, a continuous connecting element made of a non-conductive material can be selected, and / or the spacing between the flanges and thus the through hole and the clearance can be increased.

[0082] As a supplementary or further alternative, a material-fit connection can be considered between the retaining sections 41, 41' and / or the tubular sections 43, 44 of the fork-shaped retaining portion 4 and the jaw portion core 1, such as a connection via plastic welding or bonding. This material fit completely blocks any creepage distance between the control plate or the operating section, preventing liquid from seeping into the jaw portion tool. In the case of a pure form-fit fastening, the tightening torque or compression fit of the connecting elements ensures that gaps are prevented or minimized between the retaining section and the jaw portion core, thereby preventing and minimizing liquid ingress.

[0083] For the electrical isolation connection between each control plate 3, 3' and the force transmission device 9 made of conductive material, the jaw tool 8 has a sleeve 7 as a second electrical conductor, which in... Figure 1 , Figure 6 The central part of the map is shown, and especially in Figures 11 to 14 The diagram is shown in its entirety. Here, the first control plate 3 is mechanically and electrically connected to the force transmission device 9 at a first distal end section 91 that is not isolated. The second control plate 3' is mechanically and electrically connected to the sleeve 7, which is arranged at the second section 92 of the force transmission device 9 on the proximal side facing the jaw portion core 1. Therefore, the second control plate 3' is implemented to be longer than the first control plate 3. The second section 92, which is attached to the distal end section 91, is covered with an insulating layer 90, for example, by heat shrink tubing. Through the insulating layer 90 and the distance from the distal end section 91, the sleeve 7 is electrically isolated from the force transmission device 9. Thus, the sleeve 7 and the force transmission device 9 ensure conductivity between the control plates 3, 3' and the operating device 52 with the electrical attachment portion 54 passing through the instrument rod 51.

[0084] The sleeve 7 is mechanically connected to the force transmission device 9 and extends proximally to a third section 93 of the force transmission device 9. This third section forms a step with the second section 92, thereby transmitting the movement of the force transmission device 9 along the longitudinal axis L via two control plates 3, 3' to open and close the jaw section 21. In the example shown, the sleeve 7 has a distal longitudinal opening 70, the size of which is set to receive the proximal connection section 32 of the second control plate 3'.

[0085] The force transmission device 9 extends longitudinally and movably into the longitudinal hole 17 of the jaw portion core 1 with its distal end section 91. This longitudinal hole extends through the tubular section 19' on the proximal side and into the stepped tubular section 19. The distal end section 91, which is connected to the first control plate 3, is therefore located within the longitudinal hole 17 in the region of the tubular sections 19, 19'. A perforation is required to allow the first control plate 3 to extend from the recess 10 into the longitudinal hole 17. For example, in Figure 3 , Figure 7 , Figure 8 , Figure 10 and Figure 14 As can be seen, a first guide profile 16 is constructed at the jaw portion core 1 to guide the first control plate 3. This first guide profile extends from the operating pivot region 14 of the first recess 10 along the stepped tubular section 19 and passes through a longitudinal hole 17 in the transition region of the tubular section 19' leading to the proximal end. For the second control plate 3', the second guide profile 16' extends from the operating pivot region 14 of the second recess 10' along the two tubular sections 19, 19' to guide the second control plate 3' in the direction of the sleeve 7. Figure 4 , Figure 11 , Figure 14 The guiding directions of the two guide profiles 16 and 16' are in the same plane as the longitudinal axis L, so that the control plates 3 and 3' move in a direction approximately parallel to the longitudinal axis L.

[0086] The operating pin 24, moved by the corresponding control plates 3, 3', follows a circular trajectory around the hinge axes A, A', and therefore, when the jaw section 21 opens and closes, it also generates a motion component in a direction orthogonal to the longitudinal axis L relative to the control plates 3, 3' which move parallel to the longitudinal axis L. Therefore, the support opening 30 in the control plates 3, 3' is implemented as elongated in the direction orthogonal to the longitudinal axis L, allowing the operating pin 24 to slide up and down, as in... Figure 7 and Figure 8 As can be seen, the elongated support opening 30, which opens outward, i.e., on the side away from the longitudinal axis L, has parallel side planes, the spacing of which corresponds to the diameter of the operating pin 24. Here, force transmission in the longitudinal direction is achieved between the side planes of the elongated support opening 30 and the cylindrical surface of the operating pin 24.

[0087] To avoid increased pressure associated with this linear contact, the support opening 30 of the control plates 3, 3' can be... Figure 10 In the alternative embodiment shown, the operating pin 24 is implemented as a columnar shape, thereby enabling planar, circumferential force transmission. In this case, the support opening 30 can be opened outwards, i.e., on the side away from the longitudinal axis L, so that the columnar shape of the support opening 30 is partially interrupted, allowing the operating pin 24 to be arranged in the available installation space as far away from the hinge axes A, A' as possible. Since the operating pin 24 cannot perform compensating movement in a direction orthogonal to the longitudinal axis L within the at least partially columnar support opening 30, whose diameter corresponds to the diameter of the operating pin 24, the guide profiles 16, 16' in the jaw portion core 1 are configured with lateral clearances for the control plates 3, 3'. Therefore, the control plates 3, 3' can perform compensating movement together with the operating pin 24 in a direction orthogonal to the longitudinal axis L. This compensating movement is small relative to the length of the control plates 3, 3', allowing the control plates to elastically pre-deform and eliminating the need for a hinge for connection with the force transmission device 9. Due to the presence of gaps in the guide profiles 16 and 16', when the operating pin 24 is located at the upper reversal point of the circular trajectory around the hinge axes A and A' (as shown in the illustration), the lower edge of the control plates 3 and 3' will generate [something]. Figure 10 The visible gap Δ. Conversely, if the jaw section 21 is opened or closed to its maximum extent (not shown), the operating pin 24 is located at the reference point of its circular trajectory. Figure 10At the lowest point of the diagram, the control plates 3, 3' move downwards and create a gap at the upper edge of the control plates 3, 3' in the guide profiles 16, 16'.

[0088] Figure 15 A robotic surgical instrument system 100 is shown, which has a bipolar surgical instrument 50. It is located at the end of a robotic arm 101, which provides an actuating tool 52 for the bipolar surgical instrument 50. The robotic arm 101 is connected to a control unit 102 and provides an electrical connection between an electrosurgical generator 103 and the bipolar surgical instrument 50.

[0089] The accompanying drawings, description, and claims contain a number of features in combination. It should be understood that the above features can be used not only in the correspondingly given combinations, but also in other combinations or individually, without departing from the framework of the invention.

[0090] The present invention provides a bipolar surgical jaw tool 8 and a bipolar surgical instrument 50 therefrom. The jaw tool 8 has two pivotally supported branches 2, 2' (which are made of conductive material) and a force transmission device 9 operatively connected to the branches 2, 2', and is configured to provide the instrument 50 via connection to an instrument bar 51 and an operating device 52. The branches 2, 2' are arranged distally to the instrument bar 51, and the force transmission device 9 is arranged movably in the instrument bar 51 along a longitudinal axis L and is engageable with the operating device 52 proximal to the instrument bar 51. The jaw tool 8 has a jaw core 1 made of an electrically insulating material and two recesses 10, 10' separated from each other by a core wall 1'. These recesses are provided with hinge axes A, A', which divide the recesses 10, 10' into an exit pivot region 13 and an operating pivot region 14, respectively. Here, each branch 2, 2' has a support section 23 between the jaw portion 21 and the operating section 22, at which the branch 2, 2' is supported in the open portions 10, 10' in a pivotable manner about corresponding hinge axes A, A', wherein the jaw portion section 21 extends out of the open portions 10, 10' by exiting the pivot region 13, and the operating section 22 is arranged in the operating pivot region 14 of the open portions 10, 10'. The jaw portion tool 8 has two control plates 3, 3' connected to the force transmission device 9, and extends into the operating pivot region 14 of the open portions 10, 10', respectively, and engages with the operating section 22 of the corresponding branch 2, 2' there. A robotic surgical instrument system is also disclosed.

[0091] Explanation of reference numerals in the attached figures

[0092] 1. Jaw section core

[0093] 1 core wall

[0094] 2, 2' branch

[0095] 3' Control Panel

[0096] 4 fork holding parts

[0097] 5. 5' cylindrical connecting elements and locking elements

[0098] 6-bar connector sleeve

[0099] 7 sleeves

[0100] 8. Jaw tool

[0101] 9 Force Transmission Devices

[0102] 10, 10' blank space

[0103] 11 Hinged Socket

[0104] 12 Fastening flanges

[0105] 13. Leaving the pivot area

[0106] 14 Operating Pivot Area

[0107] 15 Restriction Wall

[0108] 16' and 16' guide profiles

[0109] 17 longitudinal holes

[0110] 18 locking openings

[0111] 19, 19' forming a stepped tubular section, and the proximal tubular section

[0112] 20 hinge pins

[0113] 21 jaw section

[0114] 22 operating sections

[0115] 23 Support Section

[0116] 24 operating pins

[0117] 25 Restricted Steps

[0118] 26 functional surfaces

[0119] 30 Support opening for operating pin

[0120] 31 contact section

[0121] 32 connecting sections

[0122] 33 Extended Section

[0123] 40' and 40' are receiving openings and settling steps.

[0124] 41, 41' Maintaining Section

[0125] 42 Locking opening

[0126] 43, 44 Proximal tubular segments, tubular segments forming steps

[0127] 50 bipolar surgical instruments

[0128] 51 instrument rod

[0129] 52 operating utensils / handles

[0130] 53 movable handle parts

[0131] 54 Attachment Ports

[0132] 60 Locking Opening

[0133] 61-bar connecting element / bayonet protrusion

[0134] 70 Longitudinal opening at the distal end

[0135] 71 Longitudinal joint plate at the proximal end

[0136] 90' insulation layer

[0137] 91, 92, 93 Distal end sections / First section, Second section, Third section / Sections forming steps

[0138] 100 Robotic Surgical Instrument System

[0139] 101 robotic arm

[0140] 102 control unit

[0141] 103 Electrosurgical Generator

[0142] A, A' hinge axis

[0143] B operating axis

[0144] L longitudinal axis

[0145] α, α' opening angle

[0146] Δ gap

Claims

1. A bipolar surgical jaw tool (8) having two pivotally supported branches (2, 2') and a force transmission device (9), the branches having a conductive material, the force transmission device being operatively connected to the branches (2, 2'), wherein the jaw tool (8) is configured to provide a bipolar surgical instrument (50) through connection with an instrument bar (51) and an operating device (52), wherein the branches (2, 2') are arrangable at the distal end of the instrument bar (51), and the force transmission device (9) is movably arranged in the instrument bar (51) along a common longitudinal axis (L), and is operatively engaged with the operating device (52) at the proximal end of the instrument bar (51). Its features are, The jaw tool (8) has a jaw core (1) made of an electrically insulating material and has two open portions (10, 10') separated from each other by a core wall (1'). The open portions are configured to provide hinge axes (A, A') that divide the open portions (10, 10') into an exit pivot region (13) and an operating pivot region (14), respectively. Each branch (2, 2') has a support section (23) between the jaw section (21) and the operating section (22), the branch (2, 2') being supported in the open portion (10, 10') at the support section in a manner that allows it to pivot about the corresponding hinge axis (A, A'), wherein the jaw section (21) extends out of the open portion (10, 10') through the exit pivot area (13), and the operating section (22) is arranged in the operating pivot area (14) of the open portion (10, 10'), wherein the jaw tool (8) has two control plates (3, 3') connected to the force transmission device (9) and extending into the operating pivot area (14) of the open portion (10, 10'), and engaging therewith the operating section (22) of the corresponding branch (2, 2').

2. The jaw tool (8) according to claim 1. Its features are, The jaw tool (8) has a fork-shaped retaining portion (4) made of an electrically insulating material, the fork-shaped retaining portion having at least one tubular section (43, 44) on the proximal side for placement on at least one tubular section (19, 19') of the jaw core (1) and two retaining sections (41, 41') on the distal side, the retaining sections being configured to clamp the jaw core (1) in a form-fitting manner around the vacant portion (10, 10').

3. The jaw tool (8) according to claim 1 or 2. Its features are, The hinge axes (A, A') of the branches (2, 2') are respectively formed in the open portions (10, 10') of the jaw portion core (1) by hinge pins (20), the hinge pins (20) being supported in a manner that allows rotation in a hinge socket (11), wherein the hinge socket (11) is constructed in the open portion (10, 10') and the hinge pins (20) are constructed at the branches (2, 2'), or the hinge pins are constructed at the open portion (10, 10') and the hinge sockets are constructed at the branches (2, 2'). Furthermore, the empty portion (10, 10') is constructed on the opposite side of the core wall (1') at the jaw portion core (1) in a rotationally symmetrical manner with respect to the longitudinal axis (L), and the two hinge axes (A, A') extend orthogonally to the longitudinal axis (L) and are radially spaced from it.

4. The jaw tool (8) according to any one of claims 1 to 3. Its features are, The engagement of the control plate (3, 3') with the operating section (22) is provided by an operating pin (24) received in a support opening (30), the operating pin defining an operating axis (B) spaced apart from and parallel to the hinge axis (A, A'), wherein the operating pin (24) is located in the operating section (22) and the support opening (30) is located in the control plate (3, 3'), or the support opening is located in the operating section (22) and the operating pin is located in the control plate.

5. The jaw tool (8) according to any one of claims 1 to 4. Its features are, Each branch (2, 2') is made of conductive material in one piece, wherein the jaw section (21) has at least one functional surface (26), and the operating section (22) is configured to make planar contact with the planar contact section (31) of the control plate (3, 3') made of conductive material, wherein the corresponding contact surfaces of the operating section (22) and the contact section (31) are orthogonal to the hinge axis (A, A').

6. The jaw tool (8) according to any one of claims 1 to 5. Its features are, The force transmission device (9) has a sleeve (7) for connection with the control plate (3, 3') and is divided into a first section (91) and a second circumferentially isolated section (92). The first section is a distal, non-isolated end section (91). The second circumferentially isolated section is attached to the distal end section (91) and forms a step with the third circumferentially isolated section (93) of the force transmission device (9) on the proximal side. The sleeve (7) is arranged in the second section (92) and extends to the third section (93), and The first control plate (3) is electrically and mechanically connected to the non-isolated end section (91) at the distal end, and The second control plate (3'), which is longer than the first control plate (3), is electrically and mechanically connected to the sleeve (7).

7. The jaw tool (8) according to any one of claims 2 to 6. Its features are, At least one of the tubular sections (19, 19') of the jaw portion core (1) has a longitudinal hole (17), and the force transmission device (9) extends into the longitudinal hole in a longitudinally active manner.

8. The jaw tool (8) according to claim 7. Its features are, The jaw portion core (1) has guide profiles (16, 16') for each control plate (3, 3'), in which the corresponding control plate (3, 3') can be guided to move in a direction that lies in the same plane as the longitudinal axis (L), wherein... A first guide profile (16) is configured to guide the first control plate (3) connected to the distal end section (91). The first guide profile extends from the operating pivot region (14) of the first recess (10) along at least one of the tubular sections (19, 19') and terminates before the proximal end of at least one of the tubular sections (19, 19') and leads to the longitudinal hole (17). The second guide profile (16') is configured to guide the second control plate (3') connected to the sleeve (7), the second guide profile extending from the operation pivot region (14) of the second recess (10') to the proximal end of at least one of the tubular sections (19, 19').

9. The jaw tool (8) according to any one of claims 1 to 8. Its features are, The jaw portion tool (8) has a rod connector sleeve (6) that is connected to the jaw portion core (1) on the proximal side and has at least one rod connection element (61) configured to connect to the instrument rod (51).

10. The jaw tool (8) according to claim 9. Its features are, The rod connector sleeve (6) is configured to be arranged on a tubular section (43) at the proximal end of the fork retainer (4), the tubular section (43) being arranged on a tubular section (19') at the proximal end of the jaw portion core (1), wherein the rod connector sleeve (6), the tubular section (43) at the proximal end of the fork retainer (4), and the tubular section (19') at the proximal end of the jaw portion core (1) each have radially oriented, mutually aligned locking openings (60, 42, 18), and a locking element (5') is arranged in the locking opening, the locking element connecting the rod connector sleeve (6), the fork retainer (4), and the jaw portion core (1).

11. The jaw tool (8) according to any one of claims 2 to 10. Its features are, The two retaining sections (41, 41') of the fork-shaped retaining portion (4) each have an opening (40) corresponding to a flange (12) in shape and external dimensions. The flange is constructed at the jaw portion core (1) adjacent to the corresponding empty portion (10, 10'), wherein... The retaining sections (41, 41') are elastically deformable, or The fork-shaped retaining portion (4) is longitudinally divided into two retaining shells, each retaining shell having one of the retaining sections (41, 41') and being held together by a sleeve on the proximal side.

12. The jaw tool (8) according to any one of claims 2 to 11. Its features are, The fork-shaped retaining part (4) is connected to the jaw portion core (1) at the two retaining sections (41, 41') by at least one cylindrical connecting element (5), or The two retaining sections (41, 41') and / or at least one of the tubular sections (43, 44) are connected to the jaw portion core (1) by welding or bonding in a material-fit manner.

13. The jaw tool (8) according to any one of claims 1 to 12. Its features are, The pivoting region of the jaw section (21) of each branch (2, 2') relative to the longitudinal axis (L) is limited by the limiting wall (15) of each clearance (10, 10'), wherein the opening angle (α, α') of each jaw section (21) relative to the longitudinal axis (L) is within the range of 0° to at least 15° and at most 45°, preferably to 30°.

14. The jaw tool (8) according to any one of claims 4 to 13. Its features are, The support opening (30) for the operating pin (24). - is an elongated support opening (30) with parallel sides in a direction orthogonal to the longitudinal axis (L), the spacing of the sides corresponding to the diameter of the operating pin (24), wherein the elongated support opening (30) is configured to allow compensating movement of the operating pin (24) in the support opening (30) in a direction orthogonal to the longitudinal axis (L), or - is at least partially cylindrical support opening (30), the diameter of which corresponds to the diameter of the operating pin (24), wherein the jaw portion core (1) is configured to allow the control plate (3, 3') to compensate for movement in a direction orthogonal to the longitudinal axis (L), wherein the control plate (3, 3') is preferably configured to be elastically deformable in a direction orthogonal to the longitudinal axis (L).

15. A bipolar surgical instrument (50) comprising an actuating instrument (52), an instrument bar (51), and a jaw portion tool (8) having two pivotally supported branches (2, 2') and a force transmission device (9), wherein the branches (2, 2') having a conductive material are disposed at the distal end of the instrument bar (51), and the force transmission device (9) extends movably through the instrument bar (51) along the longitudinal axis (L) and is coupled to the actuating instrument (52) disposed at the proximal end of the instrument bar (51). Its features are, The jaw portion tool (8) is a bipolar surgical jaw portion tool (8) according to at least one of claims 1 to 14.

16. A robotic surgical instrument system (100) having at least one control unit (102), an electrosurgical generator (103), and a robotic arm (101), the robotic arm being connected to the control unit (102) and having a bipolar surgical instrument (50), the bipolar surgical instrument being connected to the electrosurgical generator (103). Its features are, The bipolar surgical instrument (50) is the bipolar surgical instrument (50) according to claim 15.

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