Energy sheaths, electrosurgical instruments and laparoscopic surgical robots

Abstract

The present application provides an energy sheath, an electrosurgical instrument and a laparoscopic surgical robot. The energy sheath includes an insulating portion and an anti-slip portion. A hole is provided at the first end of the insulating portion so that the actuator of the electrosurgical instrument can extend from the first end of the insulating portion. The second end of the insulating portion extends at least to a position that completely covers the joint seat of the electrosurgical instrument. The anti-slip portion is sleeved on the matching portion of the electrosurgical instrument, and the matching portion is connected to the joint seat. The first end of the anti-slip portion extends to the connection between the matching portion and the main body of the electrosurgical instrument, and the second end of the anti-slip portion extends at most to the connection between the joint seat and the elbow structure of the electrosurgical instrument, and at least one layer of coating covers at least part of the outer surface of the insulating portion and the anti-slip portion. The insulating portion and the anti-slip portion overlap at the joint seat, which will not affect the flexibility of the elbow structure and can provide insulation to prevent current leakage. Providing a coating on the outer surface of the insulating portion and the anti-slip portion can reduce the probability of damage to the energy sheath, thereby improving the safety of the operation.

Description

Technical Field

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

[0002] The minimally invasive surgical robot includes a main console and a robotic arm. The robotic arm can drive the matching surgical instruments to perform surgical operations according to the control signals sent by the main console. The surgical instruments can be electrosurgical instruments such as monopolar arc shears and monopolar electric knives. When performing surgical operations, electrosurgical instruments can use the heat energy generated by high-frequency current to cut tissue. Therefore, it is necessary to prevent high-frequency current from leaking from electrosurgical instruments to improve surgical safety.

[0003] In order to improve surgical safety, an energy sheath can be placed on the electrosurgical instrument to isolate high-frequency current, that is, the energy sheath has insulation. In addition, the protective sheath must also have flexibility to cooperate with the actuator and elbow structure of the electrosurgical instrument to perform bending actions. In addition, in order to prevent the energy sheath from falling off the electrosurgical instrument, the energy sheath must also have anti-slip properties.

[0004] Putting an energy sheath on an electrosurgical instrument can isolate the high-frequency current generated during the operation, thereby improving the safety of the operation. However, during the process of putting on the energy sheath and the electrosurgical instrument performing the operation, the energy sheath will frequently come into contact with the actuator, elbow structure and other parts of the electrosurgical instrument. In this way, the energy sheath will be worn out or even damaged during use, which will weaken the insulation function of the energy sheath and increase the probability of the energy sheath falling off the electrosurgical instrument, thereby reducing the safety of the operation. Utility Model Content

[0005] The present application provides an energy sheath, an electrosurgical instrument and a surgical robot to solve the problem that the energy sheath mounted on the electrosurgical instrument is damaged due to frequent contact with an actuator and a toggle structure during surgery, thereby reducing the safety of the surgery.

[0006] In a first aspect, the present application provides an energy sheath for use in an electrosurgical instrument, the energy sheath comprising: an insulating portion and an anti-slip portion; the insulating portion is sleeved on the electrosurgical instrument; wherein a hole is provided at the first end of the insulating portion so that the actuator of the electrosurgical instrument extends from the first end of the insulating portion; the second end of the insulating portion at least extends to a position that completely covers a joint seat of the electrosurgical instrument; the anti-slip portion is sleeved on a mating portion of the electrosurgical instrument, and the mating portion is connected to the joint seat; wherein the first end of the anti-slip portion extends to a connection between the mating portion and a main body of the electrosurgical instrument, the second end of the anti-slip portion extends at most to a connection between the joint seat and an elbow structure of the electrosurgical instrument, and at least one layer of coating is configured to cover at least a portion of the surface of the insulating portion and / or the anti-slip portion.

[0007] In some feasible embodiments, the protective coating includes a first coating and a second coating; the thickness of the first coating is greater than or equal to the thickness of the second coating; the first coating covers from the first end of the insulating part to the connection between the elbow structure and the joint seat; the second coating covers from the connection between the elbow structure and the joint seat to the connection between the joint seat and the mating part.

[0008] In some feasible embodiments, the thickness of the first coating layer is 5-10 μm; the thickness of the second coating layer is 1-5 μm.

[0009] In some feasible embodiments, the inner surface of the energy sheath is provided with a third coating; the third coating covers from the first end of the insulating portion to the connection between the elbow structure and the joint seat.

[0010] In some feasible embodiments, the coating includes at least one of a fluorocarbon coating and an organic polymer coating.

[0011] In some feasible embodiments, the hardness of the coating is greater than or equal to 90A, and the tear strength of the protective coating is greater than or equal to 60KN / m.

[0012] In some feasible embodiments, the insulating portion and the anti-slip portion form an overlapping area from the connection between the joint seat and the elbow structure to the connection between the matching portion and the joint seat; in the overlapping area, the insulating portion wraps the anti-slip portion.

[0013] In some feasible embodiments, the thickness of the insulating portion located in the non-overlapping area is greater than the thickness of the insulating portion located in the overlapping area; the non-overlapping area includes the area between the connection between the toggle structure and the joint seat and the hole.

[0014] In some feasible embodiments, the second end of the insulating part extends to the connection between the matching part and the main body; the first end of the anti-slip part extends to the connection between the matching part and the main body, and the second end of the anti-slip part extends to the connection between the joint seat and the elbow structure.

[0015] In a second aspect, the present application provides another energy sheath for use in electrosurgical instruments, characterized in that at least one layer of coating is provided on the surface of the energy sheath; the energy sheath is arranged on the mating part of the electrosurgical instrument; a hole is provided at the first end of the energy sheath to allow the actuator of the electrosurgical instrument to extend from the first end of the energy sheath; the second end of the energy sheath extends at most to the connection between the mating part and the main body of the electrosurgical instrument.

[0016] In some feasible embodiments, the thickness of the protective coating covering from the first end of the energy sheath to the connection between the elbow structure and the joint seat is greater than or equal to the thickness of the coating covering from the connection between the elbow structure and the joint seat to the connection between the joint seat and the mating part.

[0017] In a third aspect, the present application provides an electrosurgical instrument, comprising the energy sheath described in the first aspect and the second aspect, wherein the energy sheath is sleeved on the electrosurgical instrument.

[0018] In a fourth aspect, the present application provides a laparoscopic surgical robot, comprising: a robotic arm, an instrument box, an electrosurgical instrument, and the energy sheath described in the first aspect or the second aspect; the electrosurgical instrument comprises a connecting shaft; the instrument box is arranged at the driving end of the robotic arm, and the electrosurgical instrument is connected to the instrument box via the connecting shaft; the energy sheath is mounted on the electrosurgical instrument and the connecting shaft.

[0019] It can be known from the above technical content that the present application provides an energy sheath, an electrosurgical instrument and a laparoscopic surgical robot. The energy sheath includes an insulating portion and an anti-slip portion. A hole is provided at the first end of the insulating portion so that the actuator of the electrosurgical instrument can extend from the first end of the insulating portion. The second end of the insulating portion extends at least to a position that completely covers the joint seat of the electrosurgical instrument. The anti-slip portion is sleeved on the matching portion of the electrosurgical instrument, and the matching portion is connected to the joint seat. The first end of the anti-slip portion extends to the connection between the matching portion and the main body of the electrosurgical instrument, and the second end of the anti-slip portion extends at most to the connection between the joint seat and the elbow structure of the electrosurgical instrument, and at least one layer of coating covers at least part of the outer surface of the insulating portion and the anti-slip portion. The insulating portion and the anti-slip portion overlap at the joint seat, which will not affect the flexibility of the elbow structure and can provide insulation to prevent current leakage. Providing a coating on the outer surface of the insulating portion and the anti-slip portion can reduce the probability of damage to the energy sheath, thereby improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 It is a schematic diagram of the structural connection of an electrosurgical instrument;

[0022] Figure 2 It is a schematic diagram of the structure of an electrosurgical instrument;

[0023] Figure 3 A schematic diagram of the energy sheath coated with a coating provided in an embodiment of the present application;

[0024] Figure 4 A schematic diagram of the energy sheath arrangement of an insulating portion wrapping an anti-slip portion provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the arrangement of an energy sheath made of the same material provided in an embodiment of the present application;

[0026] Figure 6 A schematic diagram of an explosion when the energy sheath provided in an embodiment of the present application is set on an electrosurgical instrument.

[0027] Illustration Description:

[0028] 1-actuator; 2-elbow structure; 3-joint seat; 4-slender shaft; 41-matching part; 42-main body; 5-instrument box; 51-transmission interface; 6-energy sheath; 61-insulating part; 62-anti-slip part; 63-coating; 7-wire guide wheel. DETAILED DESCRIPTION

[0029] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0030] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0031] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0032] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0033] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. As used herein, "several", the singular forms "one", and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of the features, steps, operations, elements and / or parts, without excluding the presence of one or more other features, steps, operations, elements, parts and / or groups thereof.

[0034] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0035] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0036] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0037] Overview of master-slave teleoperated laparoscopic surgical robots.

[0038] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0039] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0040] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0041] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0042] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

[0043] Among them, an instrument box can be set on the robotic arm of the patient's surgical platform, and the instrument box can be equipped with surgical instruments matching the minimally invasive surgical robot. Then, when the robotic arm receives the control signal sent by the main control console, it can drive the surgical instruments to perform surgical operations.

[0044] Some surgical instruments can use the heat energy generated by high-frequency current to cut, seal tissue or stop bleeding to complete surgical operations. Such surgical instruments can be called electrosurgical instruments. Electrosurgical instruments mainly include monopolar and bipolar types. The instrument execution end of a monopolar instrument has only one pole, such as monopolar arc shears (monopolar curved scissors). The other pole of the monopolar arc shears execution end is an electrode plate attached to the patient's body. In this way, when the monopolar arc shears perform surgical operations, high-frequency current flows out from the high-frequency generator, passes through the monopolar instrument, patient tissue, and electrode plate partially located in the patient's body, and then flows back to the high-frequency generator to form a closed loop. Therefore, when the monopolar arc shears perform surgical operations, it is necessary to prevent the high-frequency current from leaking from other conductive parts of the monopolar arc shears to surrounding tissues that are not related to the surgical operation, causing tissue damage.

[0045] In order to prevent surrounding tissue damage unrelated to the surgical operation caused by high-frequency current leakage, an energy sheath can be used to wrap the electrosurgical instrument, and then the high-frequency current leakage can be organized through the insulation performance of the energy sheath to improve the safety of the operation.

[0046] like Figure 1-Figure 3 As shown, taking the monopolar arc shears as an example, the monopolar arc shears include an actuator 1, an elbow structure 2, a joint seat 3, a slender shaft 4, an instrument box 5, an energy sheath 6 and a guide wire wheel 7. Among them, the elbow structure 2 and the joint seat 3 can move. During the installation stage of the monopolar arc shears, the actuator 1 is arranged on the joint seat 3, so the actuator 1 can rotate with the elbow structure 2 to achieve bending operation. The joint seat 3 is connected to the instrument box 5 through the slender shaft 4, and the instrument box 5 can be connected to the power box equipped on the robotic arm, and then the monopolar arc shears can be driven to perform surgical operations by controlling the robotic arm. Among them, the slender shaft includes a mating portion 41 and a main body portion 42.

[0047] The slender shaft 4 can be a glass fiber tube, and a hollow structure similar to a glass fiber tube. A metal wire can be arranged inside the slender shaft 4, one end of the metal wire is connected to the joint seat 3 and the actuator 1 (scissor head), and the other end of the metal wire is connected to the instrument box 5, so that the joint seat 3 can be firmly connected to the slender shaft 4 by tightening the metal wire at one end of the instrument box 5. The actuator 1 can also be switched between a closed state and a separated state by tightening the metal wire on one side (correspondingly stretching the metal wire on the other side). In addition, the guide wire wheel 2 can be used to guide the metal wire as a whole, and cooperate with the metal wire to drive the actuator 1 to open and close. Among them, the metal wire can be selected from tungsten wire.

[0048] The instrument box 5 is also provided with a transmission interface so as to be connected to the high-frequency generator through the transmission cable and the transmission interface 51. The high-frequency generator can transmit the high-frequency current to the transmission interface 51 through the transmission cable, and then the high-frequency current is transmitted to the execution end of the electrosurgical instrument by the conductor arranged in the slender shaft 4. Among them, the conductor in the slender shaft 4 can be connected to the rotary rivet pin (not shown in the figure) arranged at the joint seat 3, and then the high-frequency current is transmitted to the joint seat 3 and the conductive structure connected to the joint seat, such as the actuator 1, through the rotary rivet pin. The actuator 1 can perform the surgical action with the help of the heat energy generated by the high-frequency current. However, when the high-frequency generator transmits the high-frequency current to the execution end of the electrosurgical instrument, the high-frequency current is easily leaked from the joint seat 3 or the conductive structure connected to the joint seat 3 to the outside of the patient's body, causing tissue damage to the patient.

[0049] In order to prevent high-frequency current from leaking out of the patient's body, an energy sheath can be placed on the electrosurgical instrument to block high-frequency current leakage based on the insulation of the energy sheath. However, during the operation of the electrosurgical instrument, the energy sheath frequently contacts the actuator, elbow structure and other parts, which is prone to wear due to friction and is easily scratched by sharp parts, which will cause the performance of the energy sheath to deteriorate and create surgical risks.

[0050] like Figure 2 As shown, an embodiment of the present application provides an energy sheath 6, and the energy sheath 6 includes an insulating portion 61 and an anti-slip portion 62. The insulating portion 61 is sleeved on the electrosurgical instrument, and a hole is provided at the first end of the insulating portion 61 so that the actuator 1 of the electrosurgical instrument can extend from the first end of the insulating portion 61. The second end of the insulating portion 61 at least extends to a position that completely covers the joint seat 3 of the electrosurgical instrument. The anti-slip portion 62 is sleeved on the matching portion 41 of the electrosurgical instrument, and the matching portion 41 is connected to the joint seat 3. The first end of the anti-slip portion 62 extends to the connection between the matching portion 41 and the main body of the electrosurgical instrument, and the second end of the anti-slip portion 62 extends at most to the connection between the joint seat 3 and the elbow structure 2 of the electrosurgical instrument.

[0051] In some embodiments, the insulating portion 61 is made of an insulating material, which may be silicone. The actuator 1 of the electrosurgical instrument extends from the first end of the insulating portion 61 to perform a surgical operation, and when the second end of the insulating portion 61 covers the joint seat 3, the high-frequency current generated by the actuator 1 will be blocked by the insulating portion 61 covering the joint seat 3, thereby preventing the high-frequency current from leaking to surrounding tissues unrelated to the surgical operation.

[0052] The anti-slip portion 62 is made of an anti-slip material, especially a material with a high wet friction coefficient, to solve the problem that the energy sheath 6 may slip off the electrosurgical instrument due to splashing of blood or other liquids into the gap between the energy sheath 6 and the electrosurgical instrument during surgery. The anti-slip material may be TPU (Thermoplast ic Urethane).

[0053] In some embodiments, since a hole is provided at one end of the insulating portion 61 and the actuator 1 extends out of the hole, liquids such as blood can easily splash from the hole to the gap between the insulating portion 61 and the actuator 1, the joint seat 3, and the elbow structure 2, thereby causing the insulating portion 61 to slip off. However, the insulating portion 61 and the anti-slip portion 62 of the energy sheath 6 can be processed based on a designed mold and a melting process to obtain an energy sheath 6 including the insulating portion 61 and the anti-slip portion 62. Furthermore, the anti-slip portion 62 made of an anti-slip material with a high friction coefficient can provide friction so that the insulating portion 61 and the anti-slip portion 62 are stably mounted on the electrosurgical instrument.

[0054] In some embodiments, the actuator 1 cooperates with the elbow structure 2 to perform bending, clamping and other actions, and thus the actuator 1 and the elbow structure 2 will frequently contact the energy sheath 6. In this way, the energy sheath 6 will be strained due to frequent contact and bending with the actuator 1 and the elbow structure 2; in addition, the actuator 1, especially the sharper parts of the elbow structure 2, will also cause scratches to the energy sheath 6 when performing surgical actions. Moreover, since the live instrument is in operation, the temperature of the actuator 1 will remain very high. For example, the temperature of the actuator 1 of the monopolar arc shears is generally around 150°C during excitation, which is also a loss to the energy sheath 6 (and high temperature will reduce the insulation performance). As the use time increases, the probability of damage to the energy sheath 6 increases, resulting in reduced surgical safety.

[0055] like Figure 2 As shown, in order to solve the problem that the actuator 1 and the elbow structure 2 will cause loss to the energy sheath 6 and cause damage to the energy sheath 6. In the embodiment of the present application, at least one layer of coating 63 is provided on at least part of the surface of the insulating portion 61 and / or the anti-slip portion 62. Among them, the specific number of layers of the coating 63 can be set according to actual needs. In the case where multiple layers of coating 63 are provided on the outer surface of the energy sheath 6, the properties of each coating 63 may also be different. Furthermore, the characteristics of the combined coating 63 can fully protect the energy sheath 6 and prevent the energy sheath 6 from being damaged during surgery. Even in the case of loss inside the energy sheath, sufficient insulation performance can be provided by the coating 63 to prevent high-frequency current leakage.

[0056] The coating 63 may have the characteristics of being hydrophobic, low friction, high insulation and high temperature resistant. The hydrophobic property can make the liquid quickly detach from the outer surface when blood or other liquid splashes onto the outer surface of the energy sheath 6; for example, it can prevent blood from remaining on the surface of the energy sheath, thereby solving the problem of reduced insulation of the energy sheath due to residual blood, and solving the problem of reduced image quality of the endoscope due to residual blood affecting the white balance effect of the endoscope.

[0057] The low friction property can reduce surface loss when the energy sheath 6 contacts or moves relative to other objects; for example, by providing a coating 63 with low friction properties on the surface of the energy sheath 6, the energy sheath 6 can be prevented from being scratched when the actuator 1 enters the card. The high insulation property can block high-frequency current, and the high temperature resistance property can withstand the heat generated by high-frequency current. In addition, the coating 63 should be made of a material whose insulation properties are not sensitive to temperature to prevent the insulation performance of the coating 63 from decreasing due to the heat generated by the high-frequency current during the operation, thereby increasing the probability of leakage.

[0058] Based on the high insulation properties of the coating 63, the energy sheath 6 can better block high-frequency currents. And based on the hydrophobic and low-friction properties of the coating 63, the energy sheath 6 can be protected, so that the energy sheath 6 is not easily damaged during the operation of the electrosurgical instrument, which is conducive to improving the safety of the operation. In this way, the coating 63 is provided on the outer surface of the energy sheath 6, which can block the high-frequency current in combination with the high insulation properties of the energy sheath 6 and the coating 63, and can also improve the durability of the energy sheath 6 in combination with the hydrophobic and low-friction properties of the coating 63, thereby improving the safety of the operation.

[0059] In some embodiments, coatings 63 of different thicknesses may be provided according to the distance between the energy sheath 6 and the actuator 1, and the coating 63 may include a first coating and a second coating. The thickness of the first coating is greater than the thickness of the second coating, and the first coating covers from the first end of the insulating portion 61 to the connection between the toggle structure 2 and the joint seat 3. The second coating covers from the connection between the toggle structure 2 and the joint seat 3 to the connection between the joint seat 3 and the matching portion 41.

[0060] The first coating and the second coating can be coatings made of the same material, the only difference being the thickness of the coating. Taking the first interval as an example, the portion covered by the first coating and the second interval as an example, the first interval includes charged structures such as actuator 1 and toggle structure 2, so the impact of high-frequency current on the first interval is more obvious, and the first interval is more likely to have high-frequency current leakage problems. The second interval is relatively far away from the actuator 1 and toggle structure 2, so it is relatively less threatened by high-frequency current. Therefore, the coating thickness of the first coating can be greater than the coating thickness of the second coating, so that the first coating located in the first interval has better insulation, high temperature resistance and other characteristics, and timely blocks the leaked high-frequency current. And the leaked high-frequency current can also be blocked by the second coating located in the second interval to improve the insulation effect of the coating.

[0061] In some embodiments, the first coating layer has a thickness of 5-10 μm, and the second coating layer has a thickness of 1-5 μm.

[0062] It is understandable that the coating 63 has a certain influence on the flexibility of the energy sheath 6. For example, the coating thickness of the first coating is 10 μm, and the coating thickness of the second coating is 5 μm. At this time, the first coating and the second coating have greater insulation and wear resistance due to their greater coating thickness. However, the greater thickness of the coating 63 will increase the process difficulty and manufacturing cost, and will also reduce the flexibility of the energy sheath 6, which will easily affect the flexibility of the joint seat 3 and the elbow structure 2.

[0063] In other embodiments, the first coating layer has a thickness of 5 μm and the second coating layer has a thickness of 1 μm. In this case, the coating layer 63 has a smaller thickness and has a smaller effect on the flexibility of the energy sheath 6, but its insulation and wear resistance are relatively reduced.

[0064] Therefore, on the basis of being divided into the first coating layer and the second coating layer, different coating thicknesses are set for the first coating layer and the second coating layer, so as to supplement the insulation and wear resistance of the energy sheath 6. In addition, when setting the coating thickness, the coating thickness of the coating layer 63 can be flexibly adjusted in combination with the flexibility, insulation, friction and wear resistance of the energy sheath 6, so as to prevent the flexibility of the joint seat 3, the elbow structure 2 and other parts from being affected on the basis that the energy sheath 6 can effectively block the high-frequency current.

[0065] In some embodiments, the inner surface of the energy sheath 6 may be provided with a third coating, and the third coating covers from the first end of the insulating portion 61 to the connection between the elbow structure 2 and the joint seat 3. The third coating has the characteristics of low friction, high insulation, high temperature resistance, and wear resistance, thereby preventing the elbow from scratching the inner side of the protective sheath. In this way, during the operation performed by the electrosurgical instrument, the inner surface of the energy sheath 6 frequently contacts the elbow structure 2, and the inner surface of the energy sheath 6 can be protected by the third coating, thereby preventing the energy sheath 6 from being damaged to improve the safety of the operation.

[0066] The third coating layer can be made of the same material as the first coating layer and the second coating layer. In addition, the thickness of the third coating layer can be set in accordance with actual needs, that is, in accordance with the flexibility, insulation, and wear resistance of the energy sheath 6, so as to fully protect the energy sheath 6 without affecting the flexibility of the toggle structure 2, the joint seat 3, and other parts.

[0067] In some embodiments, the coating 63 may be at least one of a fluorocarbon coating and an organic polymer coating. The fluorocarbon coating includes but is not limited to PTFE (polytetrafluoroethylene), PFA (perfluoroalkyl), FEP (fluorinated ethylene propylene copolymer); the organic polymer coating includes but is not limited to PI (polyimide), PDMS (polydimethylsiloxane).

[0068] It is understandable that the coating 63 disposed on the outer surface of the energy sheath 6 can be multi-layered, so as to protect the energy sheath 6 and provide insulation in combination with the characteristics of the multi-layer coating 63. It is also possible to modify the fluorocarbon coating and the organic polymer coating to be suitable for the energy sheath 6 mounted on the electrosurgical instrument. For example, TMC (trimethylenediamine chloride) is added to PDMS to make the coating 63 have self-healing properties, thereby avoiding the problem of the coating 63 being broken due to frequent contact with the elbow structure 2 and the actuator 1 during the operation.

[0069] In some embodiments, the coating 63 made of materials such as PTFE and PFA has wear resistance and toughness, so that the coating 63 is not easily damaged during bending, stretching, and contact with the actuator 1 and the toggle structure 2 during surgery. For example, the hardness of the coating 63 can be set to at least 90A, and the tear strength of the coating 63 can be set to at least 60KN / m.

[0070] The hardness unit "A" here refers to the Shore hardness, which is used to describe the hardness of rubber-like coatings. Setting the hardness of the coating 63 to at least 90A can provide the coating 63 with better protection to protect the energy sheath 6 during the operation.

[0071] The tear resistance unit "KN / m" here represents the tear resistance per unit length of the coating 63. The stronger the tear resistance, the better the coating 63 is adapted to the bending, stretching and other actions performed by the electrosurgical instrument during the operation, and thus can fully protect the energy sheath 6.

[0072] like Figure 4 As shown, in some embodiments, the insulating portion 61 and the anti-slip portion 62 form an overlapping area from the connection between the joint seat 3 and the elbow structure 2 to the connection between the matching portion 41 and the joint seat 3. In the overlapping area, the insulating portion 61 wraps the anti-slip portion 62. In this way, the joint seat 3 is covered with the insulating portion 61 and the anti-slip portion 62, which can fully block the high-frequency current. And when the overlapping area is not set at the elbow structure 2, it is beneficial to improve the flexibility of the elbow structure 2.

[0073] Furthermore, the insulating portion 61 wraps the anti-slip portion 62, and based on the high wet friction coefficient of the anti-slip portion 62, when liquid splashes into the gap between the energy sheath 6 and the electrosurgical instrument, the anti-slip portion 62 provides friction to prevent the energy sheath 6 from slipping off the electrosurgical instrument, which is beneficial to improving surgical safety.

[0074] In some embodiments, the thickness of the insulating portion 61 located in the non-overlapping area is greater than the thickness of the insulating portion 61 located in the overlapping area. The non-overlapping area includes the area between the connection between the elbow structure 2 and the joint seat 3 and the hole. The overlapping area is arranged at the joint seat 3, so when the thickness of the overlapping area is large, the flexibility of the joint seat 3 will be reduced. Therefore, the thickness of the insulating portion 61 at the joint seat 3 and the thickness of the anti-slip portion 62 can be appropriately adjusted. That is, the thickness of the insulating portion 61 located in the non-overlapping area is greater than the thickness of the insulating portion 61 located in the overlapping area. In this way, the thickness of the insulating portion 61 in the non-overlapping area is larger and has better insulation performance; and the overlapping area also has insulation capacity based on the stacking of the insulating portion 61 and the anti-slip portion 62, and the flexibility of the joint seat 3 will not be affected by the adjustment of the thickness of the insulating portion 61.

[0075] like Figure 4 As shown, in some embodiments, the second end of the insulating portion 61 extends to the connection between the matching portion 41 and the main body, the first end of the anti-slip portion 62 extends to the connection between the matching portion 41 and the main body, and the second end of the anti-slip portion 62 extends to the connection between the joint seat 3 and the elbow structure 2. In an embodiment, the second end of the insulating portion 61 can extend to the connection between the matching portion 41 and the main body to enhance the insulation capacity of the energy sheath 6 and better block high-frequency current to prevent high-frequency current leakage. The second end of the anti-slip portion 62 can extend to the connection between the joint seat 3 and the elbow structure 2, so that an overlapping area can be formed at the joint seat 3.

[0076] It should be noted that when the insulating portion 61 and the anti-slip portion 62 are arranged in this way, the anti-slip portion 62 needs to be wrapped with the insulating portion 61, so that the anti-slip portion 62 contacts the electrosurgical instrument in the portion from the joint seat 3 to the main body 42. In this way, based on the high wet friction coefficient of the anti-slip portion 62, the energy sheath 6 can be prevented from slipping off the electrosurgical instrument due to liquid splashing into the gap.

[0077] like Figure 5 and Figure 6 As shown, in some embodiments, the present application provides another energy sheath 6, which is applied to an electrosurgical instrument. The surface of the energy sheath 6 is provided with at least one protective coating 63. The energy sheath 6 is sleeved on the matching portion 41 of the electrosurgical instrument, and a hole is provided at the first end of the energy sheath 6 so that the actuator 1 of the electrosurgical instrument extends from the first end of the energy sheath 6. The second end of the energy sheath 6 extends at most to the connection between the matching portion 41 and the main body of the electrosurgical instrument.

[0078] The energy sheath 6 is not specifically divided into an insulating portion 61 and an anti-slip portion 62, that is, the energy sheath 6 is made of the same material or composite material. The energy sheath 6 can be mounted on an electrosurgical instrument to prevent high-frequency current leakage from damaging surrounding components not related to the operation.

[0079] In some embodiments, the surface of the energy sheath 6 is provided with a coating 63. The coating 63 has properties such as wear resistance, hydrophobicity, insulation, and high temperature resistance. Among them, wear resistance can be used to protect the energy sheath 6 to prevent the energy sheath 6 from being damaged due to repeated contact with electrosurgical instruments during surgery. Hydrophobicity can make the liquid splashed to the energy sheath 6 fall off quickly. Insulation can increase the insulation capacity of the energy sheath 6 and enhance the isolation capacity of high-frequency current.

[0080] High temperature resistance means that the coating 63 is not affected by the heat generated by the high-frequency current, and its physical state does not change under high temperature conditions, and thus it can still play the role of protecting the energy sheath 6 under high temperature conditions. High temperature resistance can also mean that the insulation, wear resistance, and hydrophobicity of the coating 63 will not change due to high temperature, and thus the coating 63 can still provide insulation, hydrophobicity, protection and other functions under high temperature conditions.

[0081] In some embodiments, the surface of the energy sheath 6 made of the same material or the same composite material can also be provided with a coating 63. That is, the thickness of the coating 63 covering from the first end of the energy sheath 6 to the connection between the toggle structure 2 and the joint seat 3 is greater than or equal to the thickness of the protective coating 63 covering from the connection between the toggle structure 2 and the joint seat 3 to the connection between the joint seat 3 and the matching portion 41.

[0082] The thickness of the coating 63 disposed on the outer surface of the energy sheath 6 can still be set according to the distance from the actuator 1, the elbow structure 2, the joint seat 3 and other dotted parts. That is, the thickness of the coating 63 closer to the actuator 1, the elbow structure 2, and the joint seat 3 can be larger, for example, 10 μm; the thickness of the coating 63 farther from the actuator 1, the elbow structure 2, and the joint seat 3 can be set smaller, for example, 5 μm. In this way, the coating 63 that frequently contacts the actuator 1, the elbow structure 2, and the joint seat 3 can be fully protected, so that the coating 63 is not easily scratched by sharp parts such as the actuator 1.

[0083] It is understandable that the coating thickness of this type of energy sheath 6 can also be adjusted in combination with the flexibility, insulation, wear resistance and other characteristics of the energy sheath 6. Based on the combination of the coating 63 and the energy sheath 6, high-frequency current is blocked to improve surgical safety. The coating 63 can also be stacked in one or more layers so that the coating 63 can fully protect the energy sheath 6.

[0084] In addition, the inner surface of this type of energy sheath 6 may also be provided with a coating 63 that is the same as the outer surface to protect the energy sheath 6. In particular, in the connection between the energy sheath 6 and the joint seat 3 and the toggle structure 2, the inner surface provided with the coating 63 can remain intact when in contact with the actuator 1 and the toggle structure 2, thereby reducing the probability of damage to the energy sheath 6.

[0085] In some embodiments, the present application provides an electrosurgical instrument, which is used to perform laparoscopic surgery. The electrosurgical instrument includes an energy sheath 6 with a coating 63 on the surface. Furthermore, in the preparation stage of laparoscopic surgery, or the assembly stage of the electrosurgical instrument, the energy sheath 6 coated with the coating 63 can be put on the electrosurgical instrument. In this way, during the operation performed by the electrosurgical instrument, the coating 63 with insulating properties can block the leaked high-frequency current together with the energy sheath 6 to improve the safety of the operation. In addition, when the energy sheath 6 contacts or rubs against the actuator 1 or the elbow structure 2, the coating 63 can protect the energy sheath 6 to prevent the energy sheath 6 from being damaged.

[0086] In some embodiments, the present application provides a laparoscopic surgical robot, which may include a robotic arm, an instrument box, an electrosurgical instrument, and an energy sheath 6 with an outer surface coated with a coating 63. The electrosurgical instrument includes a connecting shaft, the instrument box 5 is arranged at the driving end of the robotic arm, the electrosurgical instrument is connected to the instrument box 5 via the connecting shaft, and the energy sheath 6 is sleeved on the electrosurgical instrument.

[0087] In the embodiment, the energy sheath 6 can block the high-frequency current generated by the actuator 1 of the electrosurgical instrument when the electrosurgical instrument performs a surgical operation to prevent the high-frequency current from leaking to surrounding tissues that are not related to the surgery. In addition, the coating 63 coated on the surface of the energy sheath 6 can protect the energy sheath 6 so that the energy sheath 6 will not be scratched by sharp parts such as the actuator 1 during the operation. In addition, the coating 63 can provide hydrophobic and insulating properties to assist the normal operation of the electrosurgical instrument.

[0088] It can be known from the above technical content that the present application provides an energy sheath, an electrosurgical instrument and a laparoscopic surgical robot. The energy sheath includes an insulating portion and an anti-slip portion. A hole is provided at the first end of the insulating portion so that the actuator of the electrosurgical instrument can extend from the first end of the insulating portion. The second end of the insulating portion extends at least to a position that completely covers the joint seat of the electrosurgical instrument. The anti-slip portion is sleeved on the matching portion of the electrosurgical instrument, and the matching portion is connected to the joint seat. The first end of the anti-slip portion extends to the connection between the matching portion and the main body of the electrosurgical instrument, and the second end of the anti-slip portion extends at most to the connection between the joint seat and the elbow structure of the electrosurgical instrument, and at least one layer of coating covers at least part of the outer surface of the insulating portion and the anti-slip portion. The insulating portion and the anti-slip portion overlap at the joint seat, which will not affect the flexibility of the elbow structure and can provide insulation to prevent current leakage. Providing a coating on the outer surface of the insulating portion and the anti-slip portion can reduce the probability of damage to the energy sheath, thereby improving the safety of the operation.

[0089] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. An energy sheath, applied to an electrosurgical instrument, characterized in that: The energy sheath comprises: an insulating portion and an anti-slip portion; the insulating portion is sleeved on the electrosurgical instrument; wherein a hole is provided at the first end of the insulating portion so that the actuator of the electrosurgical instrument extends out from the first end of the insulating portion; the second end of the insulating portion at least extends to a position that completely covers the joint seat of the electrosurgical instrument; the anti-slip portion is sleeved on the matching portion of the electrosurgical instrument, and the matching portion is connected to the joint seat; wherein the first end of the anti-slip portion extends to the connection between the matching portion and the main body of the electrosurgical instrument, and the second end of the anti-slip portion extends at most to the connection between the joint seat and the elbow structure of the electrosurgical instrument, and at least one layer of coating is configured to cover at least a portion of the surface of the insulating portion and / or the anti-slip portion.

2. The energy sheath according to claim 1, characterized in that: The coating comprises a first coating and a second coating; the thickness of the first coating is greater than or equal to the thickness of the second coating; the first coating covers from the first end of the insulating portion to the connection between the toggle structure and the joint seat; The second coating covers from the connection between the toggle structure and the joint seat to the connection between the joint seat and the matching portion.

3. The energy sheath according to claim 2, characterized in that: The thickness of the first coating layer is 5-10 μm; the thickness of the second coating layer is 1-5 μm.

4. The energy sheath according to claim 1, characterized in that: The inner surface of the energy sheath is provided with a third coating; the third coating covers from the first end of the insulating portion to the connection between the toggle structure and the joint seat.

5. The energy sheath according to claim 1, characterized in that: The coating includes at least one of a fluorocarbon coating and an organic polymer coating.

6. The energy sheath according to claim 1, characterized in that: The hardness of the coating is greater than or equal to 90A, and the tear strength of the coating is greater than or equal to 60KN / m.

7. The energy sheath according to claim 1, characterized in that The insulating portion and the anti-slip portion form an overlapping area from the connection between the joint seat and the elbow structure to the connection between the matching portion and the joint seat; in the overlapping area, the insulating portion wraps the anti-slip portion.

8. The energy sheath according to claim 7, characterized in that The thickness of the insulating part located in the non-overlapping area is greater than the thickness of the insulating part located in the overlapping area; the non-overlapping area includes the area between the connection between the toggle structure and the joint seat and the hole.

9. The energy sheath according to claim 1, characterized in that: The second end of the insulating portion extends to the connection between the matching portion and the main body; the first end of the anti-slip portion extends to the connection between the matching portion and the main body, and the second end of the anti-slip portion extends to the connection between the joint seat and the elbow structure.

10. An energy sheath, applied to an electrosurgical instrument, characterized in that: The surface of the energy sheath is provided with at least one coating; the energy sheath is sleeved on the matching part of the electrosurgical instrument; a hole is provided at the first end of the energy sheath so that the actuator of the electrosurgical instrument extends from the first end of the energy sheath; the second end of the energy sheath extends at most to the connection between the matching part and the main body of the electrosurgical instrument.

11. The energy sheath according to claim 10, characterized in that The thickness of the coating covering from the first end of the energy sheath to the connection between the elbow structure and the joint seat is greater than or equal to the thickness of the coating covering from the connection between the elbow structure and the joint seat to the connection between the joint seat and the matching part.

12. An electrosurgical instrument, characterized in that: include: The energy sheath according to any one of claims 1 to 11, wherein the energy sheath is sleeved on the electrosurgical instrument.

13. A laparoscopic surgical robot, characterized in that: include: A robotic arm, an instrument box, an electrosurgical instrument, and an energy sheath as described in any one of claims 1 to 11; The electrosurgical instrument comprises a connecting shaft; the instrument box is arranged at the driving end of the mechanical arm, and the electrosurgical instrument is connected to the instrument box via the connecting shaft; and the energy sheath is sleeved on the electrosurgical instrument.

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