Surgical actuator, surgical tool and surgical robot

Abstract

The utility model relates to the field of medical instruments, and discloses a surgical actuator, a surgical tool and a surgical robotic.The surgical actuator comprises a first forceps component, a second forceps component and a driving part, the first forceps component comprises a tissue separation component arranged at the far end, and the first forceps component is configured to achieve the monopolar function; the second clamp component is configured to be matched with the first clamp component to realize a bipolar function, and the driving part is connected with the near end of the second clamp component to drive the second clamp component to move. By selectively carrying out monopolar operation or bipolar operation on the same surgical actuator, a doctor can be prevented from frequently switching between a monopolar tool and a bipolar tool in the surgical operation process, and the surgical time is shortened.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a surgical actuator, surgical tool, and surgical robot. Background Technology

[0002] Minimally invasive surgery offers numerous advantages, including less trauma, less bleeding, and faster recovery, and has been increasingly widely used in clinical surgery in recent years. Various surgical tools are typically used in minimally invasive surgery, such as tissue grasping forceps, dissecting forceps, curved scissors, bipolar grasping forceps, monopolar scissors, electrocautery hooks, or needle holders. These tools are inserted directly or through a cannula into the patient's small incision or natural orifice to perform the corresponding surgical procedure. A single surgical tool often has only one function; for example, it may only have bipolar functionality (e.g., grasping and electrocoagulation) and no monopolar functionality (e.g., electrocautery), or only have monopolar functionality and no grasping function. For tissue dissection, surgical tools cannot possess both bipolar and monopolar functions.

[0003] During surgery, it is often necessary to use a variety of surgical tools with different functions alternately. For example, the surgeon may need to switch between bipolar and monopolar tools, or between grasping forceps and monopolar tools. Frequent switching of surgical tools will prolong the operation time and increase or decrease the cost of the operation. Summary of the Invention

[0004] In view of the above problems, the purpose of this disclosure is to provide a surgical actuator, comprising:

[0005] The first clamp member includes a tissue separation member disposed at a distal end, and the first clamp member is configured to perform a unipolar function;

[0006] The second clamping member is configured to cooperate with the first clamping member to achieve bipolar functionality; and

[0007] The driving part is connected to the proximal end of the second clamping member to drive the second clamping member to move.

[0008] In some embodiments, the proximal end of the first clamp member is connected to the first cable and can form a first conductive path with the first cable;

[0009] The drive unit includes a drive wire, the distal end of which is connected to the second clamping member, and the proximal end of which is used to connect to a second cable to form a second conductive path between the second clamping member and the drive wire. The second conductive path and the first conductive path are mutually insulated.

[0010] In some embodiments, the proximal end of the first cable is used to connect a monopolar energy generator and a bipolar energy generator, and the proximal end of the second cable is used to connect the bipolar energy generator.

[0011] In some embodiments, the length of the first clamping member is greater than the length of the second clamping member.

[0012] In some embodiments, the first clamping member includes a first clamping portion disposed in the middle, the tissue separating member is disposed at the distal end of the first clamping portion, and the tissue separating member protrudes from the distal end face of the second clamping member;

[0013] The second clamping member includes a second clamping portion disposed at the distal end, which is used to cooperate with the first clamping portion to achieve clamping.

[0014] In some embodiments, the first clamping portion includes a first tooth structure, and the second clamping portion includes a second tooth structure, wherein the first tooth structure is used to mesh with the second tooth structure.

[0015] In some embodiments, a plier head base includes an internal cavity, a first plier member and a second plier member are respectively disposed on the plier head base, and a drive portion is slidably disposed in the internal cavity of the plier head base and connected to the proximal end of the second plier member.

[0016] In some embodiments, the first clamping member is fixedly disposed on the clamping head base, and the second clamping member is pivotally connected to the clamping head base.

[0017] In some embodiments, it also includes:

[0018] An insulating element is disposed at the distal end of the plier head base, and the first plier component is fixedly disposed on the insulating element.

[0019] In some embodiments, the outer peripheral surface of the clamp base includes a groove extending axially;

[0020] The insulating component includes an axially arranged mounting groove and a radial channel communicating with the mounting groove. The proximal end of the first clamping member extends into the mounting groove and connects to the insulating component. The first cable is connected to the proximal end of the first clamping member through the groove and the radial channel.

[0021] In some embodiments, the seal has a distal end forming a first end and a proximal end forming a second end, the seal being sealed to the drive unit at the first end and sealed to the pliers base at the second end, and at least a portion of the seal being deformable.

[0022] In some embodiments, the seal is cylindrical, including an inner cylinder portion, an outer cylinder portion, and a transition portion connecting the inner cylinder portion and the outer cylinder portion, wherein the distal end of the inner cylinder portion forms the first end, and the distal end of the outer cylinder portion forms the second end.

[0023] In some embodiments, the seal covers the distal periphery of the drive wire at a first end; and / or

[0024] The seal is sealed at the second end to the proximal outer periphery of the pliers base; or the seal is sealed at the second end to the inner wall of the pliers base.

[0025] In some embodiments, the drive unit further includes:

[0026] A slider is slidably disposed in the internal cavity of the pliers head base, and the slider is connected to the proximal end of the second pliers member by a sliding pin;

[0027] The distal end of the drive wire is connected to the proximal end of the slider, and the proximal end of the drive wire is used to receive push or pull motion to drive the slider to reciprocate within the pliers base.

[0028] In some embodiments, the clamp base includes a pair of base grooves;

[0029] The second clamping member further includes support portions symmetrically arranged on both sides of the proximal end of the second clamping member, the support portions being pivotally connected to the clamping head base;

[0030] The support includes a pair of plier head grooves, and the sliding pin is slidably inserted into the pair of base grooves and the pair of plier head grooves.

[0031] In some embodiments, the second cable, the drive wire, the slider, the sliding pin, and the second clamping member form the second conductive path.

[0032] This disclosure also provides a surgical tool, including:

[0033] Surgical instrument arm;

[0034] A surgical actuator as described in any embodiment of this disclosure, the surgical actuator being disposed at the distal end of the surgical tool arm, the drive wire of the surgical actuator extending through the surgical tool arm; and

[0035] A transmission unit is disposed at the proximal end of the surgical tool arm and connected to the surgical tool arm and the drive wire. The transmission unit is used to drive the movement of the surgical tool arm and / or the surgical actuator.

[0036] This disclosure also provides a surgical robot, including:

[0037] At least one robotic arm;

[0038] At least one surgical tool as described in any embodiment of this disclosure is disposed at the distal end of the at least one robotic arm; and

[0039] At least one control device, connected to the at least one robotic arm, is used to control the movement of the at least one robotic arm, the arm of the surgical tool, and / or the surgical actuator.

[0040] Some embodiments of this disclosure have one or more of the following beneficial effects: 1. By selectively performing monopolar or bipolar operations on the same surgical actuator, the surgeon can avoid frequent switching between monopolar and bipolar tools during the surgical procedure, reducing surgical time; 2. The length of the first clamp member is greater than the length of the second clamp member, exposing the tissue separation component of the first clamp member, which facilitates monopolar electrocautery of the first clamp member for tissue separation; 3. By fixing the first clamp member to the clamp head base and pivotally connecting the second clamp member to the clamp head base, the drive structure can be simplified, and the surgical actuator can be miniaturized; 4. At least a portion of the seal is deformable, achieving a seal without affecting the relative movement between the drive unit and the clamp head base, thus forming a sealed isolation between the interior of the drive unit and the external surgical environment, preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator through the pores during the surgical procedure, facilitating repeated cleaning and disinfection of the surgical actuator. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0042] Figure 1 A front view schematic diagram of a surgical actuator in an open state according to some embodiments of the present disclosure is shown;

[0043] Figure 2 A top view schematic diagram of the surgical actuator in an open state according to some embodiments of the present disclosure is shown;

[0044] Figure 3 A front view schematic diagram of a surgical actuator in a closed state according to some embodiments of the present disclosure is shown;

[0045] Figure 4 A three-dimensional structural schematic diagram of a surgical actuator according to some embodiments of the present disclosure is shown;

[0046] Figure 5 This diagram shows a structural schematic of a pliers base according to some embodiments of the present disclosure;

[0047] Figure 6 A longitudinal cross-sectional schematic diagram of a surgical actuator according to some embodiments of the present disclosure in an open state is shown;

[0048] Figure 7 A longitudinal cross-sectional schematic diagram of a surgical actuator according to some embodiments of the present disclosure in a closed state is shown;

[0049] Figure 8 This diagram illustrates the structural schematic of the mating of a seal and a drive unit according to some embodiments of the present disclosure;

[0050] Figure 9 This diagram illustrates the structure of a surgical tool according to some embodiments of the present disclosure;

[0051] Figure 10 A schematic diagram of the structure of a surgical robot according to some embodiments of the present disclosure is shown.

[0052] List of reference numerals in the attached diagram:

[0053] 100. Surgical actuator; 110. First clamping component; 111. Tissue separation component; 112. First clamping part;

[0054] 120. Second clamping component; 122. Second clamping part; 123, 123a, 123b. Support part; 1231. Clamping head.

[0055] Slide groove; 124; pin;

[0056] 130. Drive unit; 131. Drive wire; 132. Slider; 133. Sliding pin;

[0057] 140. Clamping head base; 141. Support connector; 1411. Internal cavity; 142, 142a, 142b. Support components;

[0058] 1421, Base groove; 143, 1431, 1432, Cable groove; 144, Proximal connection base; 1441, Proximal section;

[0059] 1442. Long section; 145. Pipeline;

[0060] 150. Seal; 151. Inner cylinder section; 152. Outer cylinder section; 153. Transition section;

[0061] 161. First cable; 170. Insulation component; 171. Mounting groove; 172. Radial channel; 180. Hoop;

[0062] 1000. Surgical instrument; 200. Surgical instrument arm; 300. Transmission unit; 11. Surgical trolley; 101. Robotic arm; 102. Drive unit; 12. Main control trolley; 201. Main operator; 202. Foot switch. Detailed Implementation

[0063] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0064] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal portion, or rear end, or rear portion, and the end opposite to the proximal end, proximal portion, or rear end, or rear portion is defined as the distal end, distal portion, or front end, or front portion. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal portion, or front end, or front portion, and the end opposite to the distal end, distal portion, or front end, or front portion is defined as the proximal end, proximal portion, or rear end, or rear portion. Those skilled in the art will understand that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0066] This disclosure provides a surgical actuator. Figure 1 This diagram shows a front view of a surgical actuator 100 in an open state according to some embodiments of the present disclosure. Figure 2 This diagram shows a top view of a surgical actuator 100 in an open state according to some embodiments of the present disclosure. Figure 3 A front view schematic diagram of a surgical actuator 100 in a closed state according to some embodiments of the present disclosure is shown. Figures 1-3 As shown, the surgical actuator 100 may include a first clamp member 110, a second clamp member 120, and a drive unit 130.

[0067] like Figures 1-3 As shown, the first clamp member 110 may include a tissue separation member 111 disposed at its distal end. The first clamp member 110 is configured to perform a unipolar function. It should be understood that the tissue separation member 111 may include various suitable shapes and materials. For example, the tissue separation member 111 may be a rod-shaped, sheet-shaped, block-shaped, column-shaped, cone-shaped, hook-shaped, etc., made of conductive material. For example, in this disclosure, the conductive material may be a metallic material, a hard material containing a conductive coating, or other conductive materials. The second clamp member 120 is configured to cooperate with the first clamp member 110 to perform a bipolar function. It should be understood that the unipolar function refers to the ability to perform unipolar electrocautery or electrocoagulation operations by connecting to a high-frequency energy generator. The bipolar function refers to the ability to perform bipolar electrocoagulation operations by connecting to a high-frequency energy generator. The drive unit 130 is connected to the proximal end of the second clamp member 120 to drive the second clamp member 120 to move, so that the second clamp member 120 moves closer to or further away from the first clamp member 110.

[0068] When performing a unipolar function (e.g., tissue cutting) during surgery, the first clamp member 110 acts as the positive electrode, and the plate in contact with the human body acts as the negative electrode. The human tissue acts as a conductor, connecting the positive and negative electrodes to form a high-frequency current loop. When performing a bipolar function (e.g., tissue electrocoagulation), the first clamp member 110 and the second clamp member 120 act as opposite electrodes, one as the positive electrode and the other as the negative electrode. The human tissue held between the first clamp member 110 and the second clamp member 120 connects the positive and negative electrodes, forming a high-frequency current loop. By selectively performing unipolar or bipolar operations on the same surgical actuator, surgeons can avoid frequent switching between unipolar and bipolar tools during surgery, reducing surgical time.

[0069] In some embodiments, such as Figure 1 and Figure 3As shown, the proximal end of the first clamping member 110 is connected to the first cable 161 and can form a first conductive path with the first cable 161. The driving part 130 may include a driving wire 131. The distal end of the driving wire 131 is connected to the second clamping member 120, and the proximal end of the driving wire 131 is used to connect to a second cable (not shown) to form a second conductive path between the second clamping member 120 and the driving wire 131. The second conductive path and the first conductive path are insulated from each other. It should be understood that the driving wire 131 can be a nickel-titanium alloy wire or a steel wire. The second clamping member 120 can be driven, for example, by pushing and pulling the driving wire 131, so that the first clamping member 110 and the second clamping member 120 can perform a clamping action. The first clamping member 110 and the second clamping member 120 can be made of conductive material. In the open state, the first clamping member 110 and the second clamping member 120 are insulated from each other so that the first conductive path and the second conductive path are insulated from each other.

[0070] In some embodiments, the proximal end of the first cable 161 is used to connect a monopolar energy generator and a bipolar energy generator, and the proximal end of the second cable is used to connect the bipolar energy generator. It should be understood that the monopolar energy generator can be controlled to operate to implement a monopolar function, and the bipolar energy generator can be controlled to operate to implement a bipolar function. In some embodiments, the implementation of monopolar or bipolar manipulation can be controlled by setting a foot switch (e.g., foot switch 202). For example, the foot switch may include at least one monopolar switch (e.g., an electrocautery switch) and at least one bipolar switch (e.g., an electrocoagulation switch). A physician can use a foot pedal to trigger the monopolar or bipolar switch to perform monopolar electrocautery or bipolar electrocoagulation.

[0071] For example, when the surgeon operates the surgical instrument with the surgical actuator 100 using their left hand, they can press the single-pole or double-pole switch on the left. When the surgeon operates the surgical instrument with the surgical actuator 100 using their right hand, they can press the single-pole or double-pole switch on the right. This frees up the fingers and eliminates the need to switch between different tools, allowing the surgeon to focus more intently on operating the surgical instruments during surgery.

[0072] In some embodiments, such as Figure 3 As shown, the length of the first clamp member 110 is greater than the length of the second clamp member 120. This exposes the tissue separation member 111 of the first clamp member 110, facilitating the first clamp member 110 to perform monopolar electrocautery for tissue separation.

[0073] In some embodiments, such as Figures 1-3As shown, the first clamping member 110 includes a first clamping portion 112 disposed in the middle, and a tissue separating member 111 disposed at the distal end of the first clamping portion 112. The tissue separating member 111 protrudes from the distal end face of the second clamping member 120. It should be understood that the tissue separating member 111 and the first clamping portion 112 can be fixedly connected or integrally formed. The second clamping member 120 includes a second clamping portion 122 disposed at the distal end, which is used to cooperate with the first clamping portion 112 to achieve clamping. For example, the second clamping portion 122 is disposed corresponding to the first clamping portion 112, and the second clamping portion 122 moves towards or away from the first clamping portion 112 under the drive of the drive wire 131 to achieve closing or opening.

[0074] In some embodiments, the first clamping portion 112 may include a first tooth structure, and the second clamping portion 122 may include a second tooth structure, wherein the first tooth structure is used to mesh with the second tooth structure, such as... Figure 3 As shown. For example, the first tooth structure and the second tooth structure can be respectively provided inside the first clamping part 112 and the second clamping part 122. When the first clamping part 112 and the second clamping part 122 are completely closed, the first tooth structure and the second tooth structure mesh with each other. By providing the tooth structure, the frictional force of the first clamping part 112 and the second clamping part 122 when clamping tissue can be increased, so as to prevent tissue slippage.

[0075] In some embodiments, such as Figures 1-3 As shown, the surgical actuator 100 may further include a clamp base 140. The clamp base 140 includes an internal cavity 1411. A first clamp member 110 and a second clamp member 120 are respectively disposed on the clamp base 140. A drive unit 130 is slidably disposed in the internal cavity 1411 of the clamp base 140 and connected to the proximal end of the second clamp member 120. In some embodiments, the proximal end of the clamp base 140 may be cylindrical or similarly cylindrical, with the internal cavity 1411 formed within the cylindrical shape. The drive unit 130 may slide along the internal cavity 1411. The first clamp member 110 is fixedly disposed at the distal end of the clamp base 140, and the second clamp member 120 may be hinged to the distal end of the clamp base 140 via a pivot (e.g., pin 124). The distal end of the clamp base 140 is shaped to engage with the second clamp member 120 to facilitate actuation of the drive unit 130. It should be understood that the second clamping member 120 can also be connected to the far end of the clamping head base 140 in other ways, as long as its opening and closing movement can be realized by the drive unit 130.

[0076] By fixing the first clamping member 110 to the clamping head base 140 and pivotally connecting the second clamping member 120 to the clamping head base 140, the drive structure can be simplified, and the surgical actuator 100 can be miniaturized. Therefore, it can be widely used in various minimally invasive surgeries, especially in minimally invasive surgical robots, such as laparoscopic surgical robots.

[0077] In some embodiments, such as Figure 2 As shown, the drive unit 130 may further include a slider 132. The slider 132 is slidably disposed in the internal cavity 1411 of the jaw base 140. The slider 132 is slidably connected to the groove (e.g., jaw groove 1231) of the proximal end (e.g., support portions 123a and 123b) of the second jaw member 120 via a sliding pin 133. The distal end of the drive wire 131 is connected to the proximal end of the slider 132, and the proximal end of the drive wire 131 is used to receive pushing or pulling motion to drive the slider 132 to reciprocate within the jaw base 140. It should be understood that the drive wire 131 and the slider 132 can be connected by welding, snap-fitting, adapter connection or other means, which are not limited herein. In some embodiments, the slider 132 may be cylindrical, cubic, polyhedral or irregularly shaped, and the sliding pin 133 may be fixedly inserted into the slider 132 radially.

[0078] It should be understood that the slider 132 and the sliding pin 133 can be made of metal. The proximal end of the drive wire 131 is connected to a second cable, which is connected to a bipolar energy generator to form a conductive path between the second clamp member 120 and the drive wire 131. For example, the second clamp member 120 forms a conductive path through the sliding pin 133, the slider 132, and the drive wire 131 to form one electrode circuit of the bipolar function. In some embodiments, the clamp base 140 can also be conductive; for example, the distal portion of the clamp base 140 (e.g., the support member 142) can also be made of metal. This can improve the conductivity. Those skilled in the art should understand that the slider 132, the sliding pin 133, and the distal portion of the clamp base 140 (e.g., the support member 142) can also be plated with a conductive layer on their surfaces to achieve the conductive function.

[0079] Figure 4 This diagram shows a three-dimensional structural schematic of a surgical actuator 100 according to some embodiments of the present disclosure. Figure 5 A schematic diagram of the structure of a pliers base 140 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 4 and Figure 5 As shown, the clamp base 140 may include a pair of base grooves 1421. (As indicated...) Figures 1-4 As shown, the second clamping member 120 may further include support portions 123 symmetrically arranged on both sides of the proximal end of the second clamping member 120 (e.g., Figure 2The support portions 123a and 123b shown are pivotally connected to the jaw base 140, for example, via a pin 124. It should be understood that the support portion 123 and the second clamping portion 122 can be fixedly connected or integrally formed. The support portion 123 includes a pair of jaw grooves 1231, and a sliding pin 133 slidably passes through a pair of base grooves 1421 and a pair of jaw grooves 1231. It should be understood that the pair of base grooves 1421 can be radially opposite each other and axially extended, and the pair of jaw grooves 1231 are opposite each other and correspond to the circumferential and radial positions of the pair of base grooves 1421.

[0080] In some embodiments, the base groove 1421 can be a longitudinal groove, and the clamp head groove 1231 can be an arc-shaped groove. The sliding pin 133 can be radially inserted into the slider 132, with its two ends respectively inserted into the vertical groove and the arc-shaped groove, and can reciprocate along the vertical groove and the arc-shaped groove. The drive wire 131 pushes the slider 132 to move to the distal end, and the slider 132 drives the sliding pin 133 to move from the vertical groove and the arc-shaped groove to the distal end, so that the second clamp member 120 rotates about the pivot axis (e.g., pin 124) to realize the opening and closing of the second clamp member 120 relative to the first clamp member 110.

[0081] In some embodiments, the arc-shaped groove of the second clamping member 120 may be composed of one or more arc-shaped contour lines. By adjusting the curvature angle of the arc-shaped contour lines, the surgical actuator 100 can output a larger clamping force so that the first clamping part 112 and the second clamping part 122 can achieve clamping.

[0082] In some embodiments, such as Figures 1-5 As shown, the clamp base 140 may include a support connector 141 located at the proximal end and at least one support member 142 circumferentially spaced at the distal end of the support connector 141 (e.g., Figure 2The pair of support members 142a and 142b shown are illustrated. The support connector 141 can be cylindrical, with a cross-section that is circular, elliptical, rectangular, or polygonal, etc. Alternatively, the support connector 141 can be annular. An axially oriented channel is formed within the support connector 141, and the support connector 141 and the pair of support members 142a and 142b form an axially oriented internal cavity 1411. Support members 142a and 142b can be disposed opposite to each other, and a pair of base grooves 1421 can be formed oppositely on support members 142a and 142b, for example, on the sidewalls of support members 142a and 142b. Support members 142 (e.g., support members 142a and 142b) and the support connector 141 can be fixedly connected or integrally formed. In some embodiments, the support member 142 of the clamp base 140 can be cylindrical or a portion of a cylindrical shape, with a cross-section that is circular, elliptical, rectangular, polygonal, etc. By setting circumferentially spaced support members 142, the hollow structure at the distal end of the forceps base 140 is increased, reducing internal gaps and shielding area, so as to facilitate cleaning of the surgical actuator 100.

[0083] like Figures 1-4 As shown, a pair of support portions 123 (e.g., support portions 123a and 123b) of the second clamp member 120 can be pivotally connected to a pair of support members 142 (e.g., support members 142a and 142b) of the clamp head base 140 via pins 124. The pair of support portions 123 are located inside the pair of support members 142. For example, a pair of connecting holes can be provided at the distal ends of the pair of support portions 123, and a pair of connecting holes are correspondingly provided on the pair of support members 142. The pin 124 passes through the connecting holes on the support portions 123 and the support members 142, so that the pair of support portions 123 are pivotally connected to the pair of support members 142. The first clamp member 110 is fixedly connected to or integrally formed with at least one support member 142. It should be understood that the first clamp member 110 can be fixedly connected to or integrally formed with one support member 142, or the first clamp member 110 can be fixedly connected to a pair of support members 142 (e.g., 142a and 142b), such as Figure 4 As shown.

[0084] In some embodiments, such as Figures 1-5As shown, the pliers base 140 may further include a proximal connecting base 144. The proximal connecting base 144 and the support connector 141 can be connected by threads, interference fit, welding, bonding, or integral molding. It should be understood that the proximal connecting base 144 may also form an internal cavity 1411. In some embodiments, the proximal connecting base 144 and the support connector 141 can be made of different materials; for example, the proximal connecting base 144 can be an insulating material such as rubber, plastic, or ceramic. The support connector 141 can be a conductive material such as metal. It should be understood that the proximal connecting base 144 and the support connector 141 can be sealed together, for example, by bonding, thermoplasticizing, welding, etc.

[0085] It should be understood that the proximal connection base 144 is made of insulating material to prevent the proximal end of the surgical actuator 100 from becoming electrified and burning the patient during surgery. It also insulates the surgical actuator 100 from the surgical tool arm, preventing contaminants from entering the surgical tool and causing cleaning difficulties.

[0086] In some embodiments, such as Figures 3-5 As shown, the surgical actuator 100 may also include an insulating member 170. The insulating member 170 is disposed at the distal end of the forceps base 140 (e.g., at the distal end of a pair of supports 142), and the first forceps member 110 is fixedly disposed on the insulating member 170.

[0087] In some embodiments, such as Figure 4 and Figure 5 As shown, the outer peripheral surface of the clamp base 140 may include an axially extending groove 143. In some embodiments, the groove 143 may include a groove 1431 disposed along the outer peripheral surface of the proximal connecting base 144 and a groove 1432 disposed along the outer peripheral surfaces of the support connector 141 and the support member 142. The grooves 1431 and 1432 are correspondingly disposed. For example, the outer peripheral surface of the proximal connecting base 144 may be recessed inward to form the axially extending groove 1431. In some embodiments, a conduit 145 may also be provided between the support connector 141 and the insulator 170. The conduit 145 communicates with the groove 1432. By providing the conduit, the first cable 161 can be prevented from being exposed on the outside.

[0088] Figure 6 A longitudinal cross-sectional schematic diagram of a surgical actuator 100 according to some embodiments of the present disclosure in an open state is shown; Figure 7 A longitudinal cross-sectional schematic diagram of a surgical actuator 100 in a closed state, according to some embodiments of the present disclosure, is shown. In some embodiments, such as Figure 6 and Figure 7 As shown, the insulating member 170 may include an axially oriented mounting groove 171 and a radial channel 172 communicating with the mounting groove 171. In some embodiments, such as Figures 4-7As shown, the groove 1432 on the support 142 communicates with the radial channel 172. In some embodiments, the conduit 145 is disposed within the groove 1432 and communicates with the radial channel 172. The proximal end of the first clamping member 110 extends into the mounting groove 171 and connects to the insulator 170. The first cable 161 is connected to the proximal end of the first clamping member 110 through the groove 143 (or the groove 143 and the conduit 145) and the radial channel 172. For example, the connection can be made by welding, interference fit, etc., to prevent the distal end of the first cable 161 from detaching from the proximal end of the first clamping member 110, thus affecting the conductivity. In this way, the first clamping member 110 can form another electrode circuit of a bipolar function or a unipolar electrode circuit through the first cable 161.

[0089] Figure 8 A schematic diagram showing the structure of the seal 150 and the drive portion 130 cooperating according to some embodiments of the present disclosure is provided. In some embodiments, such as Figures 6-8 As shown, the surgical actuator 100 may also include a seal 150. The seal 150 is located at a first end (e.g., proximal end or such as...). Figure 6 The distal end (as shown) is sealed to the drive unit 130, and at the second end (e.g., the distal end or such as Figure 6 The seal 150 is sealed to the forceps base 140 (e.g., proximal connection base 144) at the proximal end, and at least a portion of the seal 150 is deformable. Thus, the seal 150 can adaptively deform as the drive unit 130 moves relative to it within the forceps base 140. The seal 150 creates a sealed isolation between the interior of the drive unit 130 (e.g., slider 132 and drive wire 131) and the external surgical environment (including the distal end of the forceps base 140 and the first forceps member 110 and the second forceps member 120), preventing bodily fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 100 (e.g., the drive unit 130) through pores during surgery, facilitating repeated cleaning and disinfection of the surgical actuator 100.

[0090] In some embodiments, the seal 150 may be made of a stretchable elastic material, such as rubber or a thermoplastic elastomer. It should be understood that at least a portion of the seal 150 between the first and second ends is stretchable, or the seal 150 as a whole is stretchable. In some embodiments, at least a portion of the seal 150 is flexible, for example, it may be plastic or nonwoven fabric. This allows the seal 150 to adapt to deformation during the reciprocating motion of the drive wire 131.

[0091] In some embodiments, such as Figures 6-8As shown, the seal 150 seals over the distal outer periphery of the drive wire 131 at its first end. It should be understood that the distal outer periphery of the drive wire 131 can be broadly interpreted; for example, it may include the distal outer periphery of the drive wire 131, or the outer periphery of the slider 132 connected to the distal end of the drive wire 131. The seal 150 seals over the proximal outer periphery of the pliers base 140 (e.g., the support connector 141) at its second end. Alternatively, the seal 150 seals against the inner wall of the pliers base 140 (e.g., the inner wall of the pliers base 140) at its second end. Figure 6 (The inner wall of the proximal connection base 144 shown). For example, the seal 150 can be sealed to the drive wire 131 or the clamp base 140 by means of adhesive, thermoplastic, clamp, etc.

[0092] In some embodiments, the seal 150 may be cylindrical, with the distal end of the seal 150 forming a first end and the proximal end of the seal 150 forming a second end. In some embodiments, such as Figure 6 and Figure 7 As shown, the seal 150 may include an inner cylinder portion 151, an outer cylinder portion 152, and a transition portion 153 connecting the inner cylinder portion 151 and the outer cylinder portion 152. The distal end of the inner cylinder portion 151 forms a first end, and the distal end of the outer cylinder portion 152 forms a second end. The inner cylinder portion 151 may be sleeved on the distal outer periphery of the drive wire 131 and located in the internal cavity 1411 of the support connector 141 and the proximal connecting base 144. The inner cylinder portion 151 may extend and retract along the internal cavity 1411 under the action of the slider 132. The outer cylinder portion 152 is fitted outside the inner cylinder portion 151 and is also located in the internal cavity 1411 of the connector (e.g., the cavity portion formed by the distal section 1442 of the base 144). The outer wall of the outer cylinder portion 152 is tightly connected to the inner wall of the proximal connecting base 144 (it should be understood that it can also be configured such that the outer cylinder portion 152 tightly wraps around the proximal connecting base 144). The outer cylinder portion 152 is integrally connected to the inner cylinder portion 151 through a bent transition portion 153. At least a portion of the transition portion 153 may include a flexible material, or at least a portion of the transition portion 153 may include a pleated portion that can be extended or contracted. In this way, when the drive portion 130 slides relative to the jaw base 140, the seal 150 can adaptively deform, thereby achieving a seal without affecting the relative movement between the drive portion 130 and the jaw base 140. It should be understood that the inner cylinder portion 151, the outer cylinder portion 152, and the transition portion 153 of the seal 150 can form a continuous sealing surface, resulting in a better sealing effect.

[0093] Thus, the seal 150 forms an integral sealing structure between the slider 132 and the drive wire 131, isolating the drive wire 131 from the surgical interface. This prevents bodily fluids from penetrating the surgical actuator 100 or surgical instruments during the operation. During cleaning and disinfection, only the outer surface of the surgical actuator 100 needs to be cleaned. Since there are no difficult-to-clean crevices or cavities, it is not necessary to disassemble the surgical actuator 100 for cleaning. This not only makes disinfection easier and more thorough but also avoids secondary infection.

[0094] In some embodiments, such as Figures 6-8 As shown, a sleeve 180 can be fitted over the outer side of the inner cylinder portion 151 of the seal 150 to ensure a tight and sealed connection between the seal 150 and the slider 132 or the drive wire 131. The sleeve 180 further ensures the sealing performance between the seal 150 and the drive wire 131. The risk of the seal 150 slipping during telescopic movement is reduced.

[0095] In some embodiments, such as Figure 2 , Figure 6 and Figure 7 As shown, the proximal connecting base 144 may include a proximal segment 1441 and a distal segment 1442, wherein the radial dimension of the distal segment 1442 is larger than the radial dimension of the proximal segment 1441. The proximal segment 1441 and the distal segment 1442 may be integrally formed and interconnected. The radial dimension of the support connector 141 may be the same as the radial dimension of the distal segment 1442 to facilitate the connection between the support connector 11 and the distal segment 1442. The distal segment 1442 of the proximal connecting base 144 may include a receiving groove forming part of the internal cavity 1411 for receiving the proximal portion of the seal 150, for example, the outer cylindrical portion 152 of the seal 150 may be sealed to the inner wall of the receiving groove. The proximal segment 1441 of the proximal connecting base 144 receives the drive wire 131. The end of the proximal segment 1441 of the proximal connecting base 144 may be provided with a through hole for the drive wire 131 to pass through. In some embodiments, the proximal segment 1441 of the proximal connecting base 144 is used for fixed connection to the surgical tool arm body. The drive wire 131 can pass through the through hole and extend through the surgical tool arm.

[0096] This disclosure also provides a surgical tool. Figure 9 A schematic diagram of the structure of a surgical tool 1000 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 9As shown, the surgical tool 1000 may include a surgical tool arm 200, a surgical actuator 100 as in any embodiment of this disclosure, and a transmission unit 300. The surgical actuator 100 may be disposed at the distal end of the surgical tool arm 200, and a drive wire 131 of the surgical actuator 100 extends through the surgical tool arm 200. The transmission unit 300 is disposed at the proximal end of the surgical tool arm 200 and connected to the surgical tool arm 200 and the drive wire 131. The transmission unit 300 is used to receive external driving force to drive the movement of the surgical tool arm 200 and / or the surgical actuator 100.

[0097] In some embodiments, the surgical tool arm 200 may include a deformable arm or a rigid arm or a combination of both. In some embodiments, the deformable arm may include at least one of an articulated arm, a serpentine arm, or a continuous arm. The surgical tool arm 200 may bend under the drive of the transmission unit 300, thereby adjusting the position of the distal surgical actuator 100.

[0098] In some embodiments, the transmission unit 300 may include a transmission unit for connection to an external motor drive device (e.g., drive device 102) to drive the drive wire 131 of the surgical actuator 100 or the surgical tool arm 200. It should be understood that the transmission unit may include any mechanism that converts rotary motion into linear motion. For example, the transmission unit may include, but is not limited to, a lead screw and nut mechanism, a rack and pinion mechanism, a wire pulley mechanism, a worm gear mechanism, etc., and is not limited thereto. In some embodiments, the transmission unit 300 may further include a motor drive unit that drives the transmission unit, thereby enabling the drive of the drive wire 131 or the surgical tool arm 200.

[0099] This disclosure also provides a surgical robot. Figure 10 A schematic diagram of the structure of a surgical robot 10 according to some embodiments of the present disclosure is shown. For example... Figure 10 As shown, the surgical robot 10 may include at least one robotic arm 101, at least one surgical tool 1000 (or endoscope), at least one surgical actuator 100 in any embodiment of this disclosure, and at least one control device. The surgical tool 1000 or endoscope is disposed at the distal end of at least one robotic arm 101, and the control device is communicatively connected to at least one robotic arm 101 and the surgical tool 1000 or endoscope for controlling the movement of the robotic arm 101, the surgical tool arm 200, and / or the opening and closing of the surgical actuator 100.

[0100] In some embodiments, such as Figure 10As shown, the surgical robot 10 may include a surgical cart 11, which may include at least one robotic arm 101. At least one surgical tool 1000 (or endoscope) is disposed at the distal end of the at least one robotic arm 101, and at least one surgical actuator 100 may be disposed at the distal end of the at least one surgical tool 1000. A control device may be used to remotely control the movement of the robotic arm 101, the surgical tool arm 200 of the at least one surgical tool 1000, and / or the at least one surgical actuator 100.

[0101] It should be understood that the robotic arm 101 may include multiple movable joints and links, having multiple degrees of freedom. The surgical tool 1000 is detachably disposed at the distal end of the robotic arm 101. The robotic arm 101 is used to adjust the position and orientation of the end effector (e.g., surgical actuator 100) of the surgical tool 1000, or a drive device (e.g., drive device 102) disposed on the robotic arm 101 is used to drive the surgical tool arm 200 to adjust the position and orientation of the end effector (e.g., surgical actuator 100).

[0102] During the procedure, the robotic arm 101 can remain stationary outside the body, and the position and orientation of the surgical actuator 100 can be adjusted by controlling the movement of the surgical tool 1000 (e.g., surgical tool arm 200). By keeping the robotic arm 101 stationary outside the body and performing surgical operations solely by controlling the movement of the surgical tool arm 200 or the surgical actuator 100, the safety of the surgery is improved. It should be understood that in some embodiments, the robotic arm 101 can also be controlled to move the surgical tool 1000 during the procedure to perform surgical operations.

[0103] In some embodiments, the surgical trolley 11 of the surgical robot 10 may further include at least one drive unit 102. The at least one drive unit 102 may be disposed between at least one surgical instrument (e.g., surgical instrument 1000) and at least one robotic arm 101. The drive unit 102 may be coupled to a transmission 300 at the proximal end of the surgical instrument 1000 to convert the rotational motion of the drive unit 102 into linear motion, such as pushing or pulling motion, to drive the surgical instrument arm 200 or the surgical actuator 100. Figure 10 As shown, the surgical cart 11 may include a single robotic arm 101, and multiple independent drive devices 102 may be mounted on the robotic arm 101 (e.g., the end of the robotic arm 101). Those skilled in the art will understand that the surgical cart 11 may also include multiple robotic arms 101, and the multiple drive devices 102 may be respectively mounted on multiple robotic arms 101; no specific limitation is made here. Those skilled in the art will understand that the surgical robot 10 provided in this embodiment may be any suitable surgical robot, including laparoscopic surgical robots.

[0104] In some embodiments, the surgical robot 10 may further include a main control carriage 12. The surgical carriage 11 and the main control carriage 12 can be connected via wired or wireless transmission. In some embodiments, at least one control device may be mounted on the main control carriage 12 or the surgical carriage 11.

[0105] In some embodiments, the main control carriage 12 may include at least one main operator 201. The at least one main operator 201 may be symmetrically arranged on the main control carriage 12 for operation by the operator's left and right hands respectively. The at least one main operator 201 can be used to receive operations from the operator. In some embodiments, the main control carriage 12 may also include a plurality of foot switches 202. It should be understood that the foot switches 202 may include single-pole foot switches and double-pole foot switches. The foot switches 202 are communicatively connected to the control device.

[0106] During surgery, the operator can control the surgical instruments (e.g., surgical tools 1000 or endoscopes) included in the operating carriage 11 to perform surgical procedures by operating at least one master manipulator 201. The operating carriage 11 is typically located on the patient side and performs surgical procedures on the patient in response to control commands from the master manipulator 12. In some embodiments, the operator can control the movement of the surgical tools 1000 (e.g., bending or clamping) via the master manipulator 201. The surgical tools 1000 can perform a unipolar function, such as electrocautery, by pressing a single-pole foot switch. The surgical tools 1000 can perform a bipolar function, such as electrocoagulation, by pressing a bipolar foot switch.

[0107] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A surgical actuator, characterized in that, include: The first clamp member includes a tissue separation member disposed at a distal end, and the first clamp member is configured to perform a unipolar function; The second clamping member is configured to cooperate with the first clamping member to achieve bipolar functionality; as well as The driving part is connected to the proximal end of the second clamping member to drive the second clamping member to move.

2. The surgical actuator according to claim 1, characterized in that, The proximal end of the first clamping member is connected to the first cable and can form a first conductive path with the first cable; The drive unit includes a drive wire, the distal end of which is connected to the second clamping member, and the proximal end of which is used to connect to a second cable to form a second conductive path between the second clamping member and the drive wire. The second conductive path and the first conductive path are mutually insulated.

3. The surgical actuator according to claim 2, characterized in that, The proximal end of the first cable is used to connect the monopolar energy generator and the bipolar energy generator, and the proximal end of the second cable is used to connect the bipolar energy generator.

4. The surgical actuator according to claim 1, characterized in that, The length of the first clamping member is greater than the length of the second clamping member.

5. The surgical actuator according to claim 4, characterized in that, The first clamping member includes a first clamping portion disposed in the middle, the tissue separating member is disposed at the distal end of the first clamping portion, and the tissue separating member protrudes from the distal end face of the second clamping member; The second clamping member includes a second clamping portion disposed at the distal end, which is used to cooperate with the first clamping portion to achieve clamping.

6. The surgical actuator according to claim 5, characterized in that, The first clamping part includes a first tooth structure, and the second clamping part includes a second tooth structure, wherein the first tooth structure is used to mesh with the second tooth structure.

7. The surgical actuator according to claim 2, characterized in that, Also includes: A plier head base, the plier head base including an internal cavity, a first plier member and a second plier member respectively disposed on the plier head base, and a drive unit slidably disposed in the internal cavity of the plier head base and connected to the proximal end of the second plier member.

8. The surgical actuator according to claim 7, characterized in that, The first clamping member is fixedly mounted on the clamping head base, and the second clamping member is pivotally connected to the clamping head base.

9. The surgical actuator according to claim 8, characterized in that, Also includes: An insulating element is disposed at the distal end of the plier head base, and the first plier component is fixedly disposed on the insulating element.

10. The surgical actuator according to claim 9, characterized in that, The outer peripheral surface of the clamp base includes a groove extending along the axial direction; The insulating component includes an axially arranged mounting groove and a radial channel communicating with the mounting groove. The proximal end of the first clamping member extends into the mounting groove and connects to the insulating component. The first cable is connected to the proximal end of the first clamping member through the groove and the radial channel.

11. The surgical actuator according to claim 7, characterized in that, Also includes: A seal having a distal end forming a first end and a proximal end forming a second end, the seal being sealed to the drive unit at the first end and sealed to the pliers base at the second end, at least a portion of the seal being deformable.

12. The surgical actuator according to claim 11, characterized in that, The sealing element is cylindrical, including an inner cylinder portion, an outer cylinder portion, and a transition portion connecting the inner cylinder portion and the outer cylinder portion. The distal end of the inner cylinder portion forms the first end, and the distal end of the outer cylinder portion forms the second end.

13. The surgical actuator according to claim 12, characterized in that, The seal at the first end seals over the distal outer periphery of the drive wire; and / or The seal is sealed at the second end to the proximal outer periphery of the pliers base; or the seal is sealed at the second end to the inner wall of the pliers base.

14. The surgical actuator according to claim 13, characterized in that, The drive unit also includes: A slider is slidably disposed in the internal cavity of the pliers head base, and the slider is connected to the proximal end of the second pliers member by a sliding pin; The distal end of the drive wire is connected to the proximal end of the slider, and the proximal end of the drive wire is used to receive push or pull motion to drive the slider to reciprocate within the pliers base.

15. The surgical actuator according to claim 14, characterized in that, The clamp base includes a pair of base grooves; The second clamping member further includes support portions symmetrically arranged on both sides of the proximal end of the second clamping member, the support portions being pivotally connected to the clamping head base; The support includes a pair of plier head grooves, and the sliding pin is slidably inserted into the pair of base grooves and the pair of plier head grooves.

16. The surgical actuator according to claim 14, characterized in that, The second cable, the drive wire, the slider, the sliding pin, and the second clamping member form the second conductive path.

17. A surgical instrument, characterized in that, include: Surgical instrument arm; The surgical actuator as described in any one of claims 1-16, wherein the surgical actuator is disposed at the distal end of the surgical tool arm, and the drive wire of the surgical actuator extends through the surgical tool arm; as well as A transmission unit is disposed at the proximal end of the surgical tool arm and connected to the surgical tool arm and the drive wire. The transmission unit is used to drive the movement of the surgical tool arm and / or the surgical actuator.

18. A surgical robot, characterized in that, include: At least one robotic arm; At least one surgical tool as described in claim 17 is disposed at the distal end of the at least one robotic arm; as well as At least one control device, connected to the at least one robotic arm, is used to control the movement of the at least one robotic arm, the arm of the surgical tool, and / or the surgical actuator.

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