Surgical jaw tool, surgical instrument and robotic surgical instrument system

Abstract

The present invention provides a bipolar surgical jaw tool (8) and a bipolar surgical instrument (50) created therewith. The jaw tool (8) has two pivotably mounted jaws (2, 2') made of an electrically conductive material and a force transmission means (9) which is operatively connected to the jaws (2, 2'), and is configured to provide the instrument (50) by coupling it to an instrument shaft (51) and to an actuating means (52), wherein the jaws (2, 2') are arranged distally on the instrument shaft (51) and the force transmission means (9) is movably arranged in the instrument shaft (51) along a longitudinal axis (L) and can be brought into engagement with the actuating means (52) proximally on the instrument shaft (51).The jaw tool (8) has a jaw core (1) made of an electrically insulating material and two recesses (10, 10') separated from each other by a core wall (1'), each providing a pivot axis (A, A') that divides the recesses (10, 10') into an exit and an actuation pivot area (13, 14). Each branch (2, 2') has a bearing section (23) between a jaw section and an actuating section (21, 22), on which the branch (2, 2') is pivotably mounted about the respective pivot axis (A, A') in the recess (10, 10'), wherein the jaw section (21) extends through the exit pivot area (13) from the recess (10, 10') and the actuating section (22) is arranged in the actuating pivot area (14) of the recess (10, 10').The jaw-shaped tool (8) has two actuation tabs (3, 3') which are connected to the force transmission means (9) and each extend into the actuation pivot area (14) of the recesses (10, 10') and engage there with the actuation section (22) of the respective branch (2, 2'). Furthermore, a robotic surgical instrument system is disclosed.

Description

[0001] The invention relates to a bipolar surgical jaw tool for a bipolar surgical instrument and to a bipolar surgical instrument with such a jaw tool. The invention further relates to a robotic surgical instrument system with such a bipolar surgical instrument.

[0002] It is known from the prior art to use bipolar surgical instruments with a jaw-like tool consisting of movable jaws, such as dissecting forceps, grasping forceps, and scissors. Depending on the shape and size of the jaws, these instruments have a dissecting, grasping, or cutting function, and, when a bipolar current is applied to the jaws, a coagulation function. To position the tool at a distal end of a shaft connected to an actuating device (e.g., handle, actuator, or interface to a robotic system), the instrument has a tool insert with a jaw-like mechanism for opening and closing the jaws. The jaw-like mechanism includes at least one joint about whose axis at least one of the two jaws can be moved. A distinction is made between unilaterally opening jaw-like tools, in which only one jaw is moved, and bilaterally opening jaw-like tools, in which both jaws are moved.In this application, double-ended jaw-type instruments are preferred. Using bipolar energy, a controlled current can be applied between the two jaws, causing tissue located between them to coagulate. Since the jaws also function as electrodes, they incorporate an electrically conductive material to form these electrodes.

[0003] To prevent short circuits between the branches, these insulators are usually not made entirely of electrically conductive material, but rather have an insulating layer, at least in the joint area, or are constructed in multiple parts with insulating sections. Such insulators, made of electrically non-conductive plastics or ceramics, typically have a dielectric strength of 10 to 50 kV / mm, so a direct breakdown through the insulator is rare, since a layer thickness of just one-tenth of a millimeter is sufficient to isolate at least 1,000 V, and mechanical strength and manufacturing requirements usually necessitate wall thicknesses of at least two-tenths of a millimeter anyway.

[0004] However, another failure mode is critical for bipolar instruments: breakdown along the surface of the insulator along a so-called creepage distance. This can be mitigated by increasing the geometric distance between the branches to maximize the creepage distance along the insulator surface, thus delaying breakdown until higher voltages occur. However, because conductive fluids (blood, saline, etc.) promote breakdown in applications and tend to accumulate in covered areas of the jaw mechanism, internal creepage distances are even more problematic. Aside from the distance, the insulator material influences the susceptibility to creepage formation. The tracking resistance of an insulator material is determined using the so-called CTI value (Comparative Tracking Index).For this purpose, 50 drops of standardized electrolyte solution are placed between two electrodes at a predetermined distance onto the insulator surface, and the voltage is measured with the electrodes on the insulator surface up to which the insulator shows no tracking or at which it becomes conductive.

[0005] High CTI values ​​of the insulator material are advantageous for good tracking resistance. However, this contrasts with the mechanical requirements placed on the material, which is why plastics with a low CTI value of 100 to 150, such as PEEK, are sometimes used as insulators. This is because plastics with a higher CTI value are often too soft for the mechanical requirements, and ceramics are too brittle.

[0006] From DE 102 36 070 A1, a jaw mechanism of medical forceps is known. The proximal end of the movable jaw parts has an articulated arm at its proximal end, which is guided in a guide track.

[0007] Patent application US 2006 / 0173452 A1 discloses a bipolar surgical instrument for closing vessels. A stop ensures a minimum distance between the two movable jaw sections.

[0008] To date, none of the known bipolar jaw instruments for surgical applications meet all the requirements, which include high application stress, mechanical strength, durability, good cleanability and ultimately low component and manufacturing costs.

[0009] Starting from this prior art, the object of the present invention is to provide an improved jaw tool for a bipolar surgical instrument. This object is achieved by a bipolar surgical jaw tool with the features of claim 1.

[0010] The further problem of providing a correspondingly improved bipolar surgical instrument is solved by the bipolar surgical instrument with the features of independent claim 15.

[0011] The further task of providing a correspondingly improved robotic surgical instrument system with a bipolar surgical instrument is solved by the robotic surgical instrument system with the features of independent claim 16.

[0012] Further developments or preferred embodiments are described in the dependent claims.

[0013] According to a first embodiment, a bipolar surgical jaw tool according to the invention, designed to provide a bipolar surgical instrument by coupling it to an instrument shaft and an actuating means, comprises two pivotably mounted jaws for opening and closing and a force transmission means. The two jaws, which can be arranged at a distal end of the instrument shaft when forming the bipolar surgical instrument, have an electrically conductive material to provide electrodes. They are operatively connected to the force transmission means for mechanical and electrical actuation. The force transmission means can be movably arranged in the instrument shaft along a common longitudinal axis during the instrument's formation and can be engaged with the actuating means at a proximal end of the instrument shaft.According to the invention, the jaw-shaped tool has a jaw core made of an electrically insulating material and two recesses separated by a core wall. Both recesses are designed to provide a pivot axis for the jaws, dividing each recess into an exit pivot area and an actuation pivot area. Furthermore, each jaw has a bearing section between a jaw section and an actuation section, on which each jaw is pivotably mounted about the pivot axis in the respective recess. The jaw section extends through the exit pivot area from the recess, and the actuation section is arranged in the actuation pivot area of ​​the recess. The jaw-shaped tool also has two actuation tabs, which, as elongated, flat connecting pieces, provide the operative connection between the jaws and the power transmission means.For this purpose, the control tabs are connected at one end to the power transmission means and extend at the other end into the actuation pivot area of ​​the recesses and engage with the actuation section of the respective branch arranged therein.

[0014] In the jaw-shaped tool according to the invention, the jaw core not only provides mechanical support for the two double-opening jaws, but also ensures reliable electrical insulation of both jaws. Furthermore, the functions for the mechanical and electrical control of both jaws are integrated into the control tabs. Within the limited installation space required for surgical instruments, and particularly for tool diameters of 5.5 mm or less, e.g., 3.5 mm, the jaw-shaped tool achieves high mechanical stability through the combined action of the jaws supported in the jaw core and connected to the control tabs.

[0015] The mechanics provided by the jaw core have favorable force flows that allow the use of electrically non-conductive materials with high CTI values, especially ceramics or plastics such as polybutylene terephthalate (PBT) with a CTI of 500, polyethylene (PE-LD, PE-HD), polyester resin, polytetrafluoroethylene (PTFE), polyvinylidene fluoride (PVDF), each with a CTI of 600.

[0016] A "force transmission element" is understood to be an elongated device suitable for transmitting a translational force or movement generated by the proximal actuating element through the instrument shaft to the distal jaw mechanism, such as rigid or flexible push-pull rods. In the case of a flexible force transmission element, the longitudinal axis refers to an extended arrangement of the force transmission element. Directional specifications relating to the longitudinal axis apply to flexible force transmission elements not only to the extended arrangement but also, in a correspondingly modified manner, to a curved arrangement. For example, movements of the force transmission element along the longitudinal axis are generally understood as reciprocating movements of the force transmission element within the instrument shaft, even in the case of a curved arrangement.

[0017] Manually operated handles, actuators, or alternatively robotic actuation units can be used as the actuating means of a surgical instrument.

[0018] Regarding the electrically conductive and electrically insulating materials of the various components of the jaw tool according to the invention, the following should be noted: The electrically conductive materials of the electrically connected components, such as the aforementioned branches, control tabs, and power transmission means, as well as all electrically connected components listed below, may be the same electrically conductive material or different electrically conductive materials, which the person skilled in the art knows how to select according to the respective requirements. The same applies similarly to the electrically insulating materials of the aforementioned jaw core and all electrically insulating components listed below. That is to say,The various electrically insulating components can have the same electrically insulating material, or different electrically insulating materials can be used depending on the requirements of the respective component.

[0019] According to a further embodiment, the jaw tool according to the invention can have a fork-shaped holder that secures the bearing of the jaws against loosening on the jaw core. The fork-shaped holder is made of electrically insulating material and has at least one tube section on its proximal side, which is designed and configured for placement on at least one tube section of the jaw core. On its distal side, the fork-shaped holder has two retaining sections designed to positively engage the jaw core around the recesses and to secure the engagement of the actuating tabs with the actuating sections of the jaws, as well as their articulated mounting on the bearing sections in the respective recesses.

[0020] For the positive locking of the jaw core, the retaining sections define an inner contour that corresponds to the outer contour of the jaw core, with the sections of the jaws and actuation tabs arranged within it, in an area around the recesses. The positive locking is achieved through contact between the inner surfaces of the two retaining sections, which are orthogonal to the joint axes, and the outwardly facing surfaces of the jaw core, the jaws, and the actuation tabs in the area around the recesses. In this way, the retaining sections prevent the jaws and actuation tabs from disengaging from the recesses in a direction parallel to the joint axis and away from the longitudinal axis.

[0021] In a further embodiment of the jaw-shaped tool according to the invention, the pivot axes of the jaws in the recesses of the jaw core are each formed by a pivot pin rotatably mounted in a pivot bushing. Preferably, the pivot bushings are formed in the recesses and the pivot pins on the jaws, such that the pivot bushings project into the core wall and the jaws can advantageously be manufactured integrally with the pivot pins. Alternatively, however, it is also possible for the pivot pins to be connected to the jaws as separate axis elements, or for the pivot pins to be formed on the recesses as projections on the core wall, and the pivot bushings in the jaws. In both cases, the pivot pins can be integrally formed with the jaw core or as separate axis elements.

[0022] The recesses, preferably including the joint bushings (alternatively joint pins), are rotationally symmetrical with respect to the longitudinal axis on opposite sides of the core wall of the jaw section, so that both jaws can be manufactured identically. The two joint axes, which run orthogonally to the longitudinal axis, are radially spaced from it, so that they do not align with each other in the rotationally symmetrical arrangement of the recesses and cannot form a connection between them.

[0023] Alternatively, one of the recesses can have a pivot bushing and the other a pivot pin to form the joint axes, so that one branch has a pivot pin and the other a pivot bushing. While this design requires more complex manufacturing, it can be advantageous for a tool with different branches if each branch can only be positioned in its corresponding recess.

[0024] According to a further embodiment of the jaw tool according to the invention, the engagement of the actuating tab with the actuating section of the jaw is provided by an actuating pin received in a bearing opening, which defines an actuating axis that is spaced apart from and parallel to the pivot axis. Preferably, here too, the actuating pin is formed on the actuating section of the jaw and the bearing opening in the actuating tab. Here too, a one-piece manufacturing of the actuating pin with the jaw is preferred; however, the use of a separate axis element as the actuating pin, which is connected to the jaw, is also possible. Alternatively, the bearing opening can be formed in the actuating section of the jaw and the actuating pin on the actuating tab.

[0025] The engagement of the actuating pin in the bearing opening provides the movement to open and close the jaw sections of the jaws and simultaneously transmits the electrical potential. The distance of the actuating axis from the pivot axis determines the torque required to rotate the jaw around the pivot axis and is chosen to be as large as possible to achieve a favorable lever arm ratio to the jaw section. Positioning the pivot axis in the recess as close as possible to the edge of the jaw core maximizes the distance of the actuating pin on the actuating section from the pivot axis within the available installation space.

[0026] Therefore, in a preferred embodiment of the jaw tool according to the invention, the actuating pin on the actuating section and the pivot pin on the bearing section of the respective branch can be arranged pointing in opposite directions.

[0027] In yet another embodiment of the jaw-shaped tool according to the invention, each jaw section can be manufactured in one piece from the electrically conductive material without insulating layers or insulator sections. The jaw section has at least one functional surface for preparing, gripping, or cutting, and for electrocoagulation. The actuating section is designed for planar contact with a planar contact section of the actuating tab, also made of an electrically conductive material. The respective contact surfaces of the actuating section and the contact section are orthogonal to the pivot axis, so that they are pressed together by the retaining sections of the fork holder, resulting in a particularly low electrical contact resistance.

[0028] Furthermore, it is provided that the force transmission element of a jaw-type tool according to the invention, in a further embodiment, has a sleeve for connection to the actuating lugs. The force transmission element is divided into a first section, which is a distal, uninsulated end section, and a second, fully insulated section, which adjoins the distal end section and is set off in diameter proximally from a third, fully insulated section of the force transmission element. The sleeve is arranged on the second section, such that the sleeve is electrically separated from the force transmission element by the full insulation, and extends to the third section, with the sleeve being mechanically connected to the force transmission element. A first actuating lug is electrically and mechanically connected to the distal, uninsulated end section.The second control tab, which is longer than the first control tab, is electrically and mechanically connected to the sleeve.

[0029] According to yet another embodiment of the jaw tool according to the invention, at least one pipe section of the jaw core can have a longitudinal bore into which the force transmission means extends longitudinally, so that the distal end section of the force transmission means lies in the longitudinal bore.

[0030] In a further development thereof, the jaw core of a jaw tool according to the invention has a guide profile for each actuating tab, in which each actuating tab is guided and moved by the force transmission means in a direction that lies in a plane with the longitudinal axis. A first guide profile is formed for guiding the first actuating tab, which is connected to the distal end section of the force transmission means. For this purpose, the first guide profile extends from the actuating pivot area of ​​one of the recesses along the at least one pipe section. The first guide profile terminates before a proximal end of the at least one pipe section and opens into the longitudinal bore.The second guide profile, designed to guide the second actuating tab connected to the sleeve, extends from the actuating pivot area of ​​the other recess to the proximal end of at least one pipe section.

[0031] According to yet another embodiment, the jaw tool according to the invention has a shaft connector sleeve which is connected to the jaw core on the proximal side and has at least one shaft connecting element for connection to the instrument shaft.

[0032] In a preferred embodiment of this jaw tool according to the invention, the shaft connector sleeve can be designed for arrangement on a proximal tube section of the fork holder, which is arranged on a proximal tube section of the jaw core. The shaft connector sleeve and the proximal tube sections of the fork holder and the jaw core each have a radially oriented, mutually aligned locking opening in which a locking element is arranged that connects the shaft connector sleeve and the fork holder to the jaw core.

[0033] Further embodiments of the jaw-part tool according to the invention relate to fastening variants of the fork holder: In one embodiment, the two retaining sections of the fork holder can each have an opening whose shape and dimensions correspond to a collar. This collar is formed on the jaw core adjacent to the respective recess, preferably distally adjacent to the recess, to allow for long creepage distances. To enable the retaining sections to spread out over the collars when slid onto the jaw core until they snap into place with the openings on the collars, the retaining sections are elastically deformable in the radial direction to the longitudinal axis L. For this purpose, the electrically insulating material of the fork holder can, for example, be provided by an elastically deformable plastic material, at least in the area of ​​the retaining sections, and / or each retaining section can have a section with reduced wall thickness.Alternatively, when using a non-elastic material such as ceramic, the fork mount can be composed of two identical mounting shells, or divided lengthwise into two mounting shells, each containing one of the mounting sections. The two mounting shells, which form-fittingly enclose the jaw core, can be held together proximally by a sleeve, for example, the shank connector sleeve. The gap between the two mounting shells is electrically uncritical, as it runs longitudinally perpendicular to the relevant creepage distances.

[0034] To hold the two mounting shells together distally as well, or to secure the elastically deformable mounting sections of a one-piece fork mount, the fork mount can, in further embodiments, be connected to the jaw core at the two mounting sections by at least one cylindrical connecting element or by a (plastic) weld or adhesive bond. A further alternative or additional embodiment relates to a material-bonded connection of the at least one tube section of the fork mount to the jaw core by a (plastic) weld or adhesive bond.

[0035] A securing mechanism using connecting element(s) can advantageously be designed to be detachable, allowing the jaw tool to be completely disassembled after use and reused after cleaning and disinfection. The bonded connections between the fork holder and the jaw core advantageously ensure a largely complete seal of the recesses. This largely prevents creepage distances between the actuation lugs.

[0036] The distal-side securing of the fork bracket to the two retaining sections with one or two cylindrical connecting elements is preferably achieved at the collars that encompass the retaining sections with their opening. The collars then define either a through hole for a continuous cylindrical connecting element, such as a rivet, or a blind hole for two individual connecting elements, such as screws.

[0037] Since a continuous connecting element creates a creepage gap, a seal may be required to prevent the ingress of conductive fluids. Securing with separate connecting elements such as screws eliminates the need for a through hole and therefore avoids the formation of such a creepage gap, even without a seal. Furthermore, screws advantageously allow for increased holding force of the retaining sections and the selection of a tightening torque to improve the lateral grip of the jaws, which is particularly important for shear tools whose jaw sections must be guided tightly laterally for a clean cut of fabric.

[0038] Furthermore, in another embodiment, the connecting elements can be designed to be flush with the outer surface of the retaining sections at their heads, in order to avoid exceeding a predetermined outer diameter for the jaw-type tool. For this purpose, the opening in the retaining sections can have a recessed shoulder against which the head of the connecting element rests within the opening. Additionally or alternatively, the head of the connecting element can be machined, e.g., ground down, to be flush with the outer surface of the fork holder. This avoids lateral protrusions on the jaw-type tool that could cause snagging or tissue injury during use in patients.

[0039] In yet another embodiment of the jaw tool according to the invention, the pivoting range of the jaw section of each branch with respect to the longitudinal axis can be limited by a boundary wall of each recess, wherein the opening angle of each jaw section with respect to the longitudinal axis lies in a range extending from 0° (for closed jaw sections) to at least 15° and at most 45°, preferably to 30°, which sum to a total opening angle between both jaw sections of at least 30°, at most 90°, preferably 60°. The preferred total opening angle of 60° is perfectly adequate for most applications and avoids the disadvantages associated with a larger opening angle, which consist of an increased installation space requirement and poorer force transmission.

[0040] Further embodiments of the jaw-shaped tool according to the invention relate to the bearing opening formed in the actuating tab for the actuating pin, which is located on the actuating section of the jaw. According to one embodiment, the bearing opening can be elongated in a direction orthogonal to the longitudinal axis and have parallel side surfaces whose spacing corresponds to the diameter of the actuating pin. This elongated bearing opening is designed to allow compensating movement of the actuating pin within the bearing opening in the direction orthogonal to the longitudinal axis. This compensating movement is necessary when the actuating tab is moved longitudinally in a plane with the longitudinal axis, since the actuating pin follows a circular path around the pivot axis.

[0041] As an alternative to an elongated bearing opening for compensating movement of the actuating pin, the jaw core can be designed to allow compensating movement of the actuating tab in a direction orthogonal to the longitudinal axis. For this purpose, the actuating tab can preferably be designed to be elastically deformable in the direction orthogonal to the longitudinal axis in order to avoid an additional joint at the connection with the force transmission element. The guide profile can be dimensioned with appropriate clearance to accommodate the compensating movement of the actuating tab. In this case, the bearing opening can be at least partially cylindrical with a diameter corresponding to the diameter of the actuating pin. This avoids high contact pressure during force transmission in the longitudinal direction, such as occurs when the actuating pin makes line contact in the elongated bearing opening.In a partially cylindrical bearing bore, the cylindrical shape is interrupted on a side pointing away from the joint axis, i.e., the bearing opening is open there in order to save space and to be able to place the actuating axis as far away from the joint axis as possible.

[0042] A bipolar surgical instrument, as a further object of the invention, comprises an actuating means, an instrument shaft, and a jaw-shaped tool with two pivotably mounted jaws and a force transmission means. The jaws, which have an electrically conductive material, are arranged at a distal end of the instrument shaft. The force transmission means extends movably along the longitudinal axis through the instrument shaft and is coupled to the actuating means, which is arranged at a proximal end of the instrument shaft. According to the invention, the jaw-shaped tool of the bipolar surgical instrument is a bipolar surgical jaw-shaped tool according to the invention, based on at least one of the embodiments described above.

[0043] In one embodiment, the actuating means of the bipolar surgical instrument can be a manually operated handle, and in another embodiment, a robotically operated handle.

[0044] Another object according to the invention is a robotic surgical instrument system comprising at least one control unit, an electrosurgical generator and a robot arm connected to the control unit and a bipolar surgical instrument according to the invention connected to the electrosurgical generator.

[0045] Further embodiments, as well as some of the advantages associated with these and other embodiments, will become clearer and more easily understood through the following detailed description with reference to the accompanying figures. Objects or parts thereof that are essentially the same or similar may be provided with the same reference numerals. The figures are merely a schematic representation of one embodiment of the invention.

[0046] This shows: Fig. 1 a perspective view of a jaw tool according to an embodiment of the invention, Fig. 2 a side view of a bipolar surgical instrument according to the invention with a jaw-part tool according to the invention, Fig. 3 a perspective view of the jaw core of a jaw tool according to the invention from a first side, Fig. 4 a perspective view of the jaw core from Fig. 3 from the other side, Fig. 5 a perspective view of the jaw core from Fig. 3 with a branch and the distal end of the power transmission means, Fig. 6 a cross-sectional view through the jaw tool Fig. 1 with a cutting plane orthogonal to the longitudinal axis L through the joint axes A, A', Fig. 7 a perspective view of the jaw core from Fig. 3 with a branch in the closed position, a first actuation tab and the distal end of the force transmission means, Fig. 8 a perspective view accordingly Fig. 7 with the industry in open position, Fig. 9 a perspective partial exploded view of the jaw tool Fig. 1, Fig. 10 a perspective detail view of the jaw core with a first control tab according to an alternative embodiment of a jaw tool according to the invention, Fig. 11 a perspective view of the jaw core from Fig. 4 with two branches, a second control tab and the power transmission means with sleeve, Fig. 12 a perspective view accordingly Fig. 11 with fork mount, Fig. 13 a perspective view accordingly Fig. 12 with shaft connector sleeve, Fig. 14 a longitudinal section view through the jaw tool Fig. 13 with a cutting plane parallel to the joint axes A, A' through the longitudinal axis and Fig. 15 a perspective view of a robotic surgical instrument system with a bipolar surgical instrument according to the invention.

[0047] The invention relates to a jaw-type tool for bipolar surgical instruments with two jaws movable relative to each other, such as double-ended forceps and scissors. The invention further relates to a bipolar surgical instrument equipped with a corresponding jaw-type tool. The jaw mechanism, with its special, bifunctional jaw core made of electrically insulating, i.e., non-conductive, material, serves simultaneously to electrically isolate the jaws and to mechanically support them. This eliminates the need for additional insulators on the jaws.

[0048] The in the Fig. The jaw-part tool 8 shown in Figures 1 to 14 is designed as an insert for a bipolar surgical instrument 50, as exemplified in Figure 1. Fig. Figure 2 shows the jaw-shaped tool 8, whose two jaws 2, 2' are pivotally mounted and made of an electrically conductive material, is arranged at the distal end of an instrument shaft 51. A force transmission element 9 of the jaw-shaped tool 8 is operatively connected to the jaws 2, 2' and extends longitudinally along a common longitudinal axis L through the instrument shaft 51, which is connected at its proximal end to an actuating element 52, in the illustrated example being a manually operated handle 52. This handle has a movable grip part 53, which is mechanically connected to the force transmission element 9 for opening and closing the jaws 2, 2', as indicated by the dashed line. Furthermore, the handle 52 is equipped with a connection socket 54 for connecting the bipolar surgical instrument 50 to a generator (not shown) for electrical power supply.The handle 52 establishes an electrical connection between the connector 54 and the power transmission means 9, as indicated by the dotted lines, in order to use the branches 2, 2' as electrodes for electrocoagulation when current is applied. As an alternative to the exemplary manually operated handle, it is also possible for a bipolar surgical instrument according to the invention to have a robotic actuation unit that is controlled by means of an input device.

[0049] The two jaws 2, 2' of the jaw tool 8 are mounted on a jaw core 1 made of an electrically insulating material. A plastic or ceramic material with a high CTI value is preferably selected for this purpose. For example, the jaw core 1 can be made of a plastic with a high CTI value, such as polyvinylidene fluoride (PVDF) (CTI value 600), e.g., milled or mass-produced by injection molding. However, it is also advantageous to mass-produce the jaw core 1 from ceramic, thereby achieving optimal mechanical, chemical, and electrical properties.

[0050] In Fig. 3 and Fig. Figure 4 shows the jaw core 1 from both sides, which has two recesses 10, 10' separated from each other by a core wall 1' for the storage of the branches 2, 2'. Fig. Figure 3 shows a first recess 10 on the jaw core 1 for the rotatable mounting of a first branch 2 about a first pivot axis A. Fig. 4 shows the side of the jaw core 1 with the second recess 10', designed for the rotatable bearing of a second branch 2' around a second joint axis A'.

[0051] The two recesses 10, 10' are rotationally symmetrical with respect to the longitudinal axis L and are formed on opposite sides of the core wall 1', so that the two branches 2, 2' are identically shaped in the example shown. And because the branches 2, 2' are completely electrically insulated from each other by the jaw-shaped core 1, they can be manufactured in one piece from an electrically conductive material without additional insulators.

[0052] For the two pivot axes A, A', which divide each recess 10, 10' into an exit pivot area 13 and an actuating pivot area 14, a pivot bushing 11 is formed in the core wall 1'. This bushing does not penetrate the core wall 1', so no connection is formed between the two recesses 10, 10'. The two pivot axes A, A' run orthogonally to the longitudinal axis L and are spaced radially apart from the longitudinal axis L, which is also reflected in Fig. 6 can be seen. A pivot pin 20 is rotatably mounted in the joint bushing 11, which each branch 2, 2' has. In Fig. Figure 5 shows the pivot pin 20 of the first branch 2, which is hidden in the illustration and depicted with a dashed line. It can be seen that the pivot pin 20, or rather the pivot axis A formed by it, is located on an angled bearing section 23. This section separates a jaw section 21 of branch 2, which extends through the exit pivot area 13 of the recess 10, from an actuating section 22 of branch 2, which is arranged in the actuating pivot area 14 of the recess 10. The jaw section 21 of each branch 2, 2' has at least one functional surface 26, on the one hand for gripping, preparing, or cutting, and on the other hand for electrocoagulation. The same applies to the rotatable bearing of the second branch 2' in the second recess 10'.

[0053] The actuation section 22 of each branch 2, 2' serves to engage a control tab 3, 3' connected to the power transmission means 9 for the mechanical and electrical control of the branches 2, 2', as shown in Fig. 7 to 11 and 14. That is, the control tab 3, 3' ensures, on the one hand, the mechanical transmission of the movement from the power transmission means 9 to the branch 2, 2' and, on the other hand, the transmission of electrical energy. Therefore, the control tabs 3, 3' are also made, preferably in one piece, of an electrically conductive material.

[0054] For the mechanical engagement of the actuating tab 3, 3' with the actuating section 22, an actuating pin 24 is formed on the actuating section 22 in the opposite direction to the pivot pin 20, as Fig. 5 and Fig. Figure 6 shows that this actuating pin 24 is received in a bearing opening 30 of the actuating lug 3, 3'. The actuating pin 24 thus defines an actuating axis B, which is spaced apart from and runs parallel to the joint axis A, A'. The electrical engagement of the actuating lug 3, 3' with the actuating section 22 occurs via a planar contact, for which a contact section 31 of the actuating lug 3, 3' is formed planar in a region around the bearing opening 30. Similarly, the actuating section 22 is also formed planar in a region around the joint pin 20, so that the contact area is as large as possible for low electrical contact resistance. The respective contact surfaces of the actuating section 22 and the contact section 31 are orthogonal to the joint axis A, A'.

[0055] This actuating pin 24 is moved by the actuating tab 3, 3' to open and close the jaw section 21. The further apart the pivot and actuating pins 20, 24, and thus the pivot and actuating axes A, A', B, the better the leverage ratio to the jaw section 21. In other words, the distance of the actuating axis B, the mechanical engagement point of the actuating tab 3, 3', from the pivot axis A, A' determines the lever arm for the torque with which the jaw section 21 is moved about the pivot axis A, A'. Therefore, the distance of the actuating pin 24 from the pivot pin 20 is chosen to be as large as possible by arranging the actuating pin 24 at the edge of the actuating section 22, as far away as possible from the pivot axis A, A'.With a larger lever arm between actuating pin 24 and pivot pin 20, the opening and closing of the jaw sections 21 can be controlled more delicately in application, and with the same force on the force transmission means 9 a higher closing force can be achieved between the jaw sections 21.

[0056] The planar shape of the actuating section 22 and the distance between the joint A, A' and the actuating axis B optimize electrical contact and mechanical engagement. Therefore, the shape and dimensions of the actuating section 22 are coordinated with the shape and dimensions of the actuating pivot range 14 of the recess 10, 10' such that the actuating pivot range 14 allows movement of the actuating section 22 around the joint axis A, A' within an angular range for opening and closing the jaw section 21 of the same branch 2, 2'. It should be noted that the installation space available for the recess 10, 10' in a jaw tool 8 for a surgical instrument 50 is often limited to a few millimeters in diameter.Therefore, deviations of the actuating sections and the recesses of a jaw tool 8 according to the invention with regard to shape and dimensions from the illustrated example are possible and depend not only on the available installation space, but also on the function of the jaws and their opening angle, whereby the aim is to achieve the largest possible lever arm between actuating axis B and joint axis A, A' in the available installation space.

[0057] The recess 10, 10' is shaped with a boundary wall 15 such that each of the two (symmetrical) jaws 2, 2' can open to an angle α, α' ranging from 0° with the jaw sections 21 closed to 30° with respect to the longitudinal axis L. This results in a total maximum opening angle of 60° between the two jaw sections 21. This is sufficient or standard for most jaw tools. Larger angles are possible, but require more installation space and are associated with poorer power transmission, without providing any added value in most applications.

[0058] To secure both the rotatable mounting of the jaws 2, 2' in the recesses 10, 10' and the engagement of the control tabs 3, 3' with the jaws 2, 2', the jaw tool 8 has a fork holder 4, as shown in Fig. 1, 6, 9, 12 to 14.

[0059] The fork holder 4 consists of electrically insulating material and has two retaining sections 41, 41' on its distal side, extending from a tube section 44 which is set off from a proximal tube section 43. The retaining sections 41, 41' are rotationally symmetrical to form a positive-locking grip on the jaw core 1 around the recesses 10, 10'. The retaining sections 41, 41' have an inner surface parallel to the core wall 1', with which they hold the jaws 2, 2' and actuating tabs 3, 3' in the recesses 10, 10'. Since the actuating tabs 3, 3' with their contact sections 31 are pressed flat against the actuating sections 22 of the jaws 2, 2', the electrical contact resistance is advantageously very low. On the distal side, the retaining sections 41, 41' are flush with the jaw core 1.

[0060] The positive-locking arrangement of the fork bracket 4 on the jaw core 1 is complemented by the tube sections 43, 44, which are arranged on correspondingly shaped tube sections 19, 19' of the jaw core 1. That is, an inner diameter of the offset tube section 44 of the fork bracket 4 corresponds to an outer diameter of the offset tube section 19 of the jaw core 1, and an inner diameter of the proximal tube section 43 of the fork bracket 4 corresponds to an outer diameter of the proximal tube section 19' of the jaw core 1. Furthermore, the offset sections 44, 19 and the proximal sections 43, 19' are each designed with corresponding lengths.

[0061] To create long creepage distances, the fork holder 4 has an opening 40 at the free, distal end of each retaining section 41, 41'. When the fork holder 4 is positioned on the jaw core 1, this opening receives a collar 12 that corresponds in shape and dimensions and is formed distally adjacent to the recess 10, 10' on the jaw core 1. To allow the retaining sections 41, 41' to spread slightly when the fork holder 4 is slid onto the jaw core 1 before snapping into place around the collar 12 via the openings 40, the fork holder 4 is made of a plastic that permits elastic deformation of the retaining sections 41, 41'. Thus, the fork holder 4, which is positively locked to the jaw core 1, forms a stable unit even without additional connecting elements, securing the jaws 2, 2' against loosening.However, the fork bracket 4 is irrelevant for the opening mechanism of branches 2, 2' with the jaw core 1 and the control tabs 3, 3'.

[0062] To further improve the lateral support of the jaws 2, 2', the retaining sections 41, 41' are each secured with a cylindrical connecting element 5, in this case a screw. This is particularly important for shearing tools, whose jaw sections 21 must be guided tightly laterally to prevent the fabric from slipping between the cutting edges and ensure a clean cut. The screw 5 is inserted through the opening 40 into the collar 12, so that a recessed head of the screw 5 covers the opening 40 and fixes the retaining sections 41, 41' to the jaw core 1. To ensure that the head of the screw 5 is flush with the outer surface of the retaining sections 41, 41', a countersunk shoulder 40' is formed in the opening 40, as shown in Fig. 9, Fig. 14. Additionally or alternatively, the head of screw 5 can be machined, e.g. ground, to be flush with the surface of the retaining section 41, 41'.

[0063] Furthermore, the fork bracket 4 has a radially oriented locking opening 42 in the proximal tube section 43, which, when positively locked on the jaw core 1, aligns with a corresponding locking opening 18 in the proximal tube section 19' of the jaw core 1. The locking openings 18 and 42 are designed to receive a locking element 5', in this case a locking bolt 5', which is intended in particular for fastening a shaft connector sleeve 6. The shaft connector sleeve 6, which is designed for placement on the proximal tube section 43 of the fork bracket 4, accordingly has a locking opening 60, which, when properly positioned, aligns with the locking openings 42 and 18 of the fork bracket 4 and the jaw core 1.Furthermore, the shaft connector sleeve 6 here has two bayonet lugs 61 as shaft connecting elements, which serve for connection to an instrument shaft 51, which for this purpose has two bayonet slots (not shown) at its distal end. Alternative connecting elements for the (removable) connection of a jaw-part tool 8 according to the invention by means of a shaft connector sleeve 6 to an instrument shaft 51 include, for example, screw, plug and snap connections.

[0064] Furthermore, a jaw tool 8 according to the invention can have a fork holder that differs from the illustrated example. For example, the fork holder could consist of two identical holder shells made of a non-elastically deformable plastic material or ceramic. The half-shells, each having one of the holding sections, enclose the jaw core 1 in a corresponding form-fitting manner and are held together distally by the cylindrical connecting elements 5 and proximally by a sleeve, for example, the shank connector sleeve 6. The gap remaining between the holder shells would be electrically uncritical because it runs longitudinally, i.e., transversely to the relevant creepage distances between the actuating tabs 3, 3' or the actuating sections 22 of the jaws 2, 2'.

[0065] Another alternative involves using a continuous cylindrical connecting element (e.g., a rivet) instead of the two screws 5. Since a through-hole extends between the collars 12 transversely to the longitudinal axis L through the jaw core 1, the continuous connecting element can be made of an electrically non-conductive material to reduce the risk of creepage, and / or the distance between the collar – and thus the through-hole – and the recess can be increased.

[0066] As a supplement or further alternative, a material-bonded connection of the retaining sections 41, 41' and / or the tube sections 43, 44 of the fork bracket 4 to the jaw core 1 is conceivable, e.g., by plastic welding or bonding. This material bond completely eliminates any creepage gap between the actuating tabs or the actuating sections, as no fluid can penetrate the jaw tool. With a purely form-fit connection, an interference fit or the tightening torque of the connecting element ensures that gaps between the retaining sections and the jaw core, and thus the ingress of fluid, are prevented or minimized.

[0067] For the electrically isolated connection of each control tab 3, 3' to the power transmission means 9, which consists of an electrically conductive material, the jaw tool 8 has a sleeve 7 as a second electrical conductor, which is Fig. 1, Fig. 6 partially and especially in Fig. Figures 11 to 14 are shown in full. The first actuating tab 3 is mechanically and electrically connected to the force transmission element 9 at a first, distal end section 91, which is uninsulated. The second actuating tab 3 is mechanically and electrically connected to the sleeve 7, which is arranged on a second section 92 of the force transmission element 9 proximal to the jaw core 1. The second actuating tab 3' is therefore longer than the first actuating tab 3. The second section 92, which adjoins the distal end section 91, is sheathed with an insulating layer 90, e.g., by heat-shrink tubing. The insulating layer 90 and the distance to the distal end section 91 electrically insulate the sleeve 7 from the force transmission element 9.The sleeve 7 and the power transmission means 9 thus ensure the electrical conduction through the instrument shaft 51 between the control tabs 3, 3' and the actuating means 51 with the electrical connection 54.

[0068] Mechanically, the sleeve 7, which extends proximally to a third section 93 of the force transmission element 9, which is set off from the second section 92, is connected to the force transmission element 9, so that the movement of the force transmission element 9 in the direction of the longitudinal axis L for opening and closing the jaw sections 21 is transmitted via both actuating lugs 3, 3'. In the illustrated example, the sleeve 7 has a distal longitudinal opening 70, which is dimensioned to receive a proximal connecting section 32 of the second actuating lug 3'.

[0069] The force transmission element 9 projects with its distal end section 91 longitudinally into a longitudinal bore 17 of the jaw core 1, which extends through the proximal pipe section 19' into the offset pipe section 19'. The distal end section 91, to which the first actuating tab 3 is connected, is thus located within the longitudinal bore 17 in the region of the pipe sections 19, 19'. A through-hole is required so that the first actuating tab 3 can extend from the recess 10 into the longitudinal bore 17. For this purpose, a first guide profile 16 is formed on the jaw core 1 to guide the first actuating tab 3. This guide profile extends from the actuating pivot area 14 of the first recess 10 along the offset pipe section 19 and opens into the longitudinal bore 17 in the transition area to the proximal pipe section 19', as shown in Fig. 3, Fig. 7, Fig. 8, Fig. 10 and Fig. 14 is recognizable. For the second actuation tab 3', the second guide profile 16' extends from the actuation pivot area 14 of the second recess 10' along the two tube sections 19, 19' to guide the second actuation tab 3' towards the sleeve 7 ( Fig. 4, Fig. 11, Fig. 14). The guide directions of both guide profiles 16, 16' lie in a plane with the longitudinal axis L, so that the control tabs 3, 3' are moved approximately parallel to the longitudinal axis L.

[0070] The actuating pin 24, moved by the respective actuating tab 3, 3', follows a circular path around the joint axis A, A' and therefore, when opening and closing the jaw sections 21, also performs a movement component in a direction orthogonal to the longitudinal axis L relative to the actuating tab 3, 3', which moves parallel to the longitudinal axis L. For this reason, the bearing opening 30 in the actuating tab 3, 3' is elongated in a direction orthogonal to the longitudinal axis L, so that the actuating pin 24 can slide up and down, as shown in Fig. 7 and Fig. 8 is recognizable. The elongated bearing opening 30, which is open outwards, i.e. on a side pointing away from the longitudinal axis L, has parallel side surfaces whose distance corresponds to the diameter of the actuating pin 24. The force transmission in the longitudinal direction takes place between the side surface of the elongated bearing opening 30 and the cylindrical surface of the actuating pin 24.

[0071] To avoid the increased pressure associated with such line contact, the bearing opening 30 of the control lug 3, 3' can be provided in an alternative design, which is shown in Fig. Figure 10 illustrates how the actuating pin 24 can be cylindrical, thus enabling a planar, circumferential force transmission. Here too, the bearing opening 30 can be open outwards, i.e., on a side pointing away from the longitudinal axis L, so that the cylindrical shape of the bearing opening 30 is partially interrupted in order to position the actuating pin 24 as far away as possible from the joint axis A, A' within the available installation space. Since no compensating movement of the actuating pin 24 in the direction orthogonal to the longitudinal axis L is possible in a bearing opening 30 that is at least partially cylindrical and whose diameter corresponds to the diameter of the actuating pin 24, the guide profile 16, 16' in the jaw core 1 is designed with lateral play for the actuating tab 3, 3'.The actuating tab 3, 3' can thus perform the compensating movement with the actuating pin 24 in the direction orthogonal to the longitudinal axis L. The extent of this compensating movement is so small compared to the length of the actuating tab 3, 3' that it can elastically pre-deform and does not require a joint for connection with the force transmission means 9. Due to the guide profile 16, 16' being designed with play, a [missing information] is created. Fig. 10. The visible gap Δ at the lower edge of the actuating tab 3, 3' in the figure is when the actuating pin 24 is at the upper reversal point of the circular path around the joint axis A, A' in the figure. If, however, the jaw sections 21 are maximally open or closed (not shown), the actuating pin 24 is located at the points shown in the figure. Fig. 10 lowest endpoints of its circular path, so that the control tab 3, 3' is moved downwards and the gap in the guide profile 16, 16' is created at the upper edge of the control tab 3, 3'.

[0072] Fig. Figure 15 shows a robotic surgical instrument system 100 with a bipolar surgical instrument 50. This instrument is located at one end of a robotic arm 101, which provides the actuating means 52 for the bipolar surgical instrument 50. The robotic arm 101 is connected to a control unit 102 and provides the electrical connection between the electrosurgical generator 103 and the bipolar surgical instrument 50.

[0073] The drawings, the description, and the claims contain numerous features in combination. It is understood that the aforementioned features can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the present invention.

[0074] The present invention provides a bipolar surgical jaw tool 8 and a bipolar surgical instrument 50 created therewith. The jaw tool 8 has two pivotably mounted jaws 2, 2', which comprise an electrically conductive material, and a force transmission means 9, which is operatively connected to the jaws 2, 2', and is configured to provide the instrument 50 by coupling it to an instrument shaft 51 and to an actuating means 52, wherein the jaws 2, 2' are arranged distally on the instrument shaft 51 and the force transmission means 9 is movably arranged in the instrument shaft 51 along a longitudinal axis L and can be brought into engagement with the actuating means 52 proximally on the instrument shaft 51.The jaw tool 8 has a jaw core 1 made of an electrically insulating material and two recesses 10, 10' separated from each other by a core wall 1', each providing a pivot axis A, A' which divides the recesses 10, 10' into an exit and an actuation pivot area 13, 14. Each branch 2, 2' has a bearing section 23 between a jaw section and an actuation section 21, 22, on which the branch 2, 2' is pivotably mounted in the recess 10, 10' about the respective pivot axis A, A', wherein the jaw section 21 extends through the exit pivot area 13 from the recess 10, 10' and the actuation section 22 is arranged in the actuation pivot area 14 of the recess 10, 10'.The jaw-shaped tool 8 has two actuation tabs 3, 3' which are connected to the force transmission means 9 and each extend into the actuation pivot area 14 of the recesses 10, 10' and engage there with the actuation section 22 of the respective branch 2, 2'. Furthermore, a robotic surgical instrument system is disclosed. REFERENCE MARK LIST 1 jaw core 1' Core wall 2.2' Industries 3, 3' Control tab 4 Fork mount 5.5' Cylindrical connecting element, locking element 6 shaft connector sleeve 7 Sleeve 8 jaw tool 9 Power transmission devices 10, 10' recess 11 Joint bushing 12 fastening collars 13 Exit swivel range 14 Actuation swivel range 15 Boundary wall 16, 16' Leadership profile 17 Longitudinal bore 18 Locking opening 19, 19' Offset pipe section, Proximal pipe section 20 joint pins 21 jaw section 22 Actuation section 23 Storage section 24 actuating pins 25 Limitation paragraph 26 functional area 30 Storage opening for actuating pin 31 Contact section 32 Connecting section 33 Extension section 40, 40' intake opening, lowered heel 41, 41' stopping section 42 Locking opening 43, 44 Proximal pipe section, offset pipe section 50 Bipolar surgical instrument 51 Instrument set 52 Actuators / Handles 53 Movable handle part 54 Connection socket 60 Locking opening 61 Shaft connecting element / bayonet cam 70 Distal longitudinal opening 71 Proximal longitudinal flap 90, 90' Insulator layers 91, 92, 93 Distal end section / first section, second section, third / detached section 100 Robotic Surgical Instrument System 101 robot arm 102 Control unit 103 Electrosurgical Generator A, A' Joint axis B Actuating axis L Longitudinal axis α, α' Opening angle Δ gap

Claims

[1] Bipolar surgical jaw tool (8) comprising two pivotably mounted branches (2, 2') having an electrically conductive material and a force transmission means (9) which is operatively connected to the branches (2, 2'), wherein the jaw tool (8) is configured to provide a bipolar surgical instrument (50) by coupling it to an instrument shaft (51) and to an actuating means (52), wherein the branches (2, 2') are arrangable at a distal end of the instrument shaft (51) and the force transmission means (9) is movably arrangable in the instrument shaft (51) along a common longitudinal axis (L) and can be engaged with the actuating means (52) at a proximal end of the instrument shaft (51), characterized by, that the jaw tool (8) has a jaw core (1) made of an electrically insulating material and has two recesses (10, 10') separated from each other by a core wall (1'), each recess being configured to provide a pivot axis (A, A') which divides the recesses (10, 10') into an exit pivot area (13) and an actuation pivot area (14), each branch (2, 2') having a bearing section (23) between a jaw section (21) and an actuation section (22), on which the branch (2, 2') is pivotably mounted in the recess (10, 10') about the respective pivot axis (A, A'), the jaw section (21) extending from the recess (10, 10') through the exit pivot area (13) and the actuation section (22) in the actuation pivot area (14) of the recess (10, 10') is arranged, and wherein the jaw tool (8) has two actuation tabs (3, 3'),which are connected to the power transmission means (9) and each extend into the actuation pivot range (14) of the recesses (10, 10') and engage there with the actuation section (22) of the respective branch (2, 2'). [2] Jaw tool (8) according to claim 1, characterized by , that the jaw tool (8) has a fork holder (4) made of electrically insulating material, which has at least one tube section (43, 44) on the proximal side for arrangement on at least one tube section (19, 19') of the jaw core (1) and two retaining sections (41, 41') on the distal side, which are designed to grip the jaw core (1) around the recesses (10, 10') in a form-fitting manner. [3] Jaw-part tool (8) according to claim 1 or 2, characterized by, that the articulation axes (A, A') of the branches (2, 2') in the recesses (10, 10') of the jaw core (1) are each formed by a pivot pin (20) rotatably mounted in a pivot bushing (11), wherein the pivot bushings (11) are formed in the recesses (10, 10') and the pivot pins (20) are formed on the branches (2, 2') or the pivot pins are formed on the recesses (10, 10') and the pivot bushings are formed in the branches (2, 2'), and wherein the recesses (10, 10') are formed rotationally symmetrical with respect to the longitudinal axis (L) on the jaw core (1) on opposite sides of the core wall (1'), and wherein the two articulation axes (A, A') are orthogonal to the longitudinal axis (L) and radially spaced from it. [4] Jaw tool (8) according to any one of claims 1 to 3, characterized by, that the engagement of the actuating tab (3, 3') with the actuating section (22) is provided by an actuating pin (24) received in a bearing opening (30), which defines an actuating axis (B) that is spaced apart from and parallel to the joint axis (A, A'), wherein the actuating pin (24) is formed on the actuating section (22) and the bearing opening (30) in the actuating tab (3, 3') or the bearing opening in the actuating section (22) and the actuating pin on the actuating tab. [5] Jaw-part tool (8) according to any one of claims 1 to 4, characterized by, that each branch (2, 2') is made in one piece from the electrically conductive material, wherein the jaw section (21) has at least one functional surface (26), and the actuating section (22) is formed for planar contact with a planar contact section (31) of the actuating tab (3, 3') made of an electrically conductive material, wherein the respective contact surfaces of the actuating section (22) and the contact section (31) are orthogonal to the joint axis (A, A'). [6] Jaw tool (8) according to any one of claims 1 to 5, characterized by , that the force transmission means (9) for connection with the control lugs (3, 3') has a sleeve (7) and is divided into a first section (91), which is a distal, uninsulated end section (91), and into a second, fully insulated section (92), which connects to the distal end section (91) and is set off proximally by a third, fully insulated section (93) of the force transmission means (9), wherein the sleeve (7) is arranged on the second section (92) and extends to the third section (93), and a first control tab (3) is electrically and mechanically connected to the distal, uninsulated end section (91), and a second control tab (3') which is longer than the first control tab (3) is electrically and mechanically connected to the sleeve (7). [7] Jaw tool (8) according to any one of claims 2 to 6, characterized by, that at least one pipe section (19, 19') of the jaw core (1) has a longitudinal bore (17) into which the force transmission means (9) extends longitudinally. [8] Jaw tool (8) according to claim 7, characterized by, that the jaw core (1) has a guide profile (16, 16') for each actuating tab (3, 3') in which the respective actuating tab (3, 3') is guided and movable in a direction that lies in a plane with the longitudinal axis (L), wherein a first guide profile (16), which is designed to guide the first actuating tab (3) which is connected to the distal end section (91), extends from the actuating pivot area (14) of a first recess (10) along the at least one tube section (19, 19') and terminates in front of a proximal end of the at least one tube section (19, 19') and opens into the longitudinal bore (17), and a second guide profile (16'), which is designed to guide the second actuating tab (3') which is connected to the sleeve (7), extends from the actuating pivot area (14) of a second recess (10') extends to the proximal end of at least one pipe section (19, 19'). [9] Jaw tool (8) according to any one of claims 1 to 8, characterized by , that the jaw tool (8) has a shaft connector sleeve (6) which is connected proximally to the jaw core (1) and has at least one shaft connecting element (61) which is designed to connect to the instrument shaft (51). [10] Jaw-part tool (8) according to claim 9, characterized by, that the shaft connector sleeve (6) is designed for arrangement on a proximal tube section (43) of the fork bracket (4) which is arranged on a proximal tube section (19') of the jaw core (1), wherein the shaft connector sleeve (6) and the proximal tube section (43) of the fork bracket (4) and the proximal tube section (19') of the jaw core (1) each have a radially oriented, mutually aligned locking opening (60, 42, 18) in which a locking element (5') is arranged which connects the shaft connector sleeve (6) and the fork bracket (4) and the jaw core (1). [11] Jaw tool (8) according to any one of claims 2 to 10, characterized by , that the two retaining sections (41, 41') of the fork holder (4) each have an opening (40) which corresponds in shape and dimensions to a collar (12) which is formed on the jaw core (1) adjacent to the respective recess (10, 10'), wherein the retaining sections (41, 41') are elastically deformable, or the fork holder (4) is divided longitudinally into two holder shells, each having one of the holding sections (41, 41') and being held together proximally by a sleeve. [12] Jaw tool (8) according to any one of claims 2 to 11, characterized by , that the fork holder (4) is connected to the jaw core (1) at the two holding sections (41, 41') by at least one cylindrical connecting element (5), or that the two holding sections (41, 41') and / or the at least one tube section (43, 44) are / are connected to the jaw core (1) by a welded or adhesive bond. [13] Jaw tool (8) according to any one of claims 1 to 12, characterized by, that a pivoting range of the jaw section (21) of each branch (2, 2') with respect to the longitudinal axis (L) is limited by a boundary wall (15) of each recess (10, 10'), wherein an opening angle (α, α') of each jaw section (21) with respect to the longitudinal axis (L) lies in a range extending from 0° to at least 15° and at most 45°, preferably to 30°. [14] Jaw tool (8) according to any one of claims 4 to 13, characterized by , that the storage opening (30) for the actuating pin (24) - a bearing opening (30) elongated in a direction orthogonal to the longitudinal axis (L) with parallel side surfaces, the distance between which corresponds to a diameter of the actuating pin (24), wherein the elongated bearing opening (30) is designed to allow a compensating movement of the actuating pin (24) in the bearing opening (30) in the direction orthogonal to the longitudinal axis (L), or - a bearing opening (30) that is at least partially cylindrical, the diameter of which corresponds to a diameter of the actuating pin (24), wherein the jaw core (1) is designed to allow a compensating movement of the actuating tab (3, 3') in a direction orthogonal to the longitudinal axis (L), wherein preferably the actuating tab (3, 3') is designed to be elastically deformable in the direction orthogonal to the longitudinal axis (L). [15] Bipolar surgical instrument (50) comprising an actuating means (52), an instrument shaft (51) and a jaw tool (8) with two pivotably mounted branches (2, 2') and a force transmission means (9), wherein the branches (2, 2') comprising an electrically conductive material are arranged at a distal end of the instrument shaft (51), and the force transmission means (9) extends movably along the longitudinal axis (L) through the instrument shaft (51) and is coupled to the actuating means (52) which is arranged at a proximal end of the instrument shaft (51), characterized by , that the jaw tool (8) is a bipolar surgical jaw tool (8) according to at least one of claims 1 to 14. [16] Robotic surgical instrument system (100) comprising at least a control unit (102), an electrosurgical generator (103) and a robot arm (101) connected to the control unit (102) and comprising a bipolar surgical instrument (50) connected to the electrosurgical generator (103), characterized by , that the bipolar surgical instrument (50) is a bipolar surgical instrument (50) according to claim 15.

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