Clamping instrument tail end, energy instrument tail end, and surgical instrument

Abstract

A clamping instrument tail end, an energy instrument tail end, and a surgical instrument. The clamping instrument tail end comprises a pitch base body (1000) and a swing base body (2000). A distal end surface of the pitch base body (1000) is provided with a first contact boss (1100) protruding from the distal end surface; the pitch base body (1000) is provided with first traction channels (1200), and channel distal end ports of the first traction channels (1200) are located on the distal end surface of the pitch base body (1000); a proximal end surface of the swing base body (2000) is provided with a second contact boss (2100) protruding from the proximal end surface; the swing base body (2000) is rotatably fitted to the pitch base body (1000), so that the first contact boss (1100) is in rolling contact with the second contact boss (2100); and the swing base body (2000) is provided with guide channels (2200), and channel proximal end ports of the guide channels (2200) are located on the proximal end surface of the swing base body (2000). The reversing angle (β) of a first traction body (4100) is less than the rotation angle (α) of the relative rotation between the swing base body (2000) and the pitch base body (1000), thereby ameliorating the bending radius of the first traction body (4100), and reducing the wear of the first traction body (4100). An energy release body (3100) is provided on the swing base body (2000), and an energy delivery cable (3200) passes through the first traction channel (1200) and the guide channel (2200) to be connected to the energy release body (3100). A position where the energy delivery cable (3200) passing through the guide channel (2200) is bent is located at the proximal end surface of the swing base body (2000), so that the bending radius of the energy delivery cable (3200) can be ameliorated.

Description

Gripping instrument tips, energy instrument tips, and surgical instruments Technical Field

[0001] The present application relates to the technical field of medical instruments, and in particular to a clamping instrument tip, an energy instrument tip, and a surgical instrument. Background Art

[0002] With the application and development of robotics-related technologies, particularly computing technology, the role of medical surgical robots in clinical practice is gaining increasing attention. Minimally invasive surgical robotic systems can reduce the surgeon's physical workload during surgery through interventional therapy. Furthermore, they can achieve precision surgery, minimizing patient trauma, reducing blood loss, postoperative infection, and facilitating recovery. The design of the surgical instruments used in minimally invasive surgical robotic systems directly determines the success or failure of surgeries performed using these systems. Well-designed surgical instruments can better assist the surgeon in completing surgical procedures. Therefore, the performance of the surgical instruments is a key factor influencing the performance of minimally invasive surgical robotic systems.

[0003] In surgical instruments that perform clamping, the surgical instruments are required to have good pitching and swinging movements, and ultimately perform clamping movements accurately. However, when existing surgical instruments perform pitching movements, if the pitching angle is large, it will cause the traction body such as the wire rope to be wrapped around the guide wheel. Over time, if the wrap angle of the wire rope wrapped around the guide wheel continues to be too large, it will easily lead to a decrease in the life of the cable.

[0004] Multi-degree-of-freedom energy devices such as electric hooks, electric shovels, and bipolar electrocoagulation forceps are prone to cable breakage during various movements, resulting in accidents such as cable skin damage, welding or connection area detachment, etc., making their insulation reliability insufficient and their lifespan short.

[0005] Summary of the Invention

[0006] Based on this, it is necessary to provide a clamping instrument end, an energy instrument end and a surgical instrument to address the above-mentioned technical problems.

[0007] A clamping instrument end, characterized in that the clamping instrument end comprises:

[0008] A pitch base body, wherein a distal end surface of the pitch base body is provided with a first contact boss protruding from the distal end surface, and the pitch base body is provided with a first traction channel, wherein the distal end ports of the first traction channel are both located at the distal end surface of the pitch base body;

[0009] A swing base body, wherein the proximal end face of the swing base body is provided with a second contact boss protruding from the proximal end face, the swing base body and the pitch base body are rotatably assembled so that the first contact boss and the second contact boss are in rolling contact, and the swing base body is provided with a guide channel, and the proximal end ports of the guide channel are all located on the proximal end face of the swing base body. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG1 is a three-dimensional view of the end of a clamping instrument provided in one embodiment of the present application.

[0011] FIG2 is an exploded view of the end of a clamping instrument provided in one embodiment of the present application.

[0012] FIG3 is a diagram showing the rotational state of the distal end of the clamping device provided in one embodiment of the present application.

[0013] FIG4 is a half-sectional view of the straight state of the distal end of the clamping instrument provided by one embodiment of the present application.

[0014] FIG5 is a partial cross-sectional view of the straight state of the distal end of the clamping instrument provided by one embodiment of the present application.

[0015] FIG6 is a half-sectional view of the rotation state of the end of the clamping instrument provided by one embodiment of the present application.

[0016] FIG7 is a partial cross-sectional view of the rotation state of the distal end of the clamping instrument provided by one embodiment of the present application.

[0017] FIG8 is a three-dimensional view of a pitch base body provided in one embodiment of the present application.

[0018] FIG9 is a three-dimensional cross-sectional view of a pitch base body provided by one embodiment of the present application.

[0019] FIG10 is a top view of a pitch base body provided in one embodiment of the present application.

[0020] FIG11 is a three-dimensional view of a swing base body provided in one embodiment of the present application.

[0021] FIG12 is a side perspective view of a swing base body provided in one embodiment of the present application.

[0022] FIG13 and FIG14 are rotation principle diagrams of a pitch base body and a swing base body provided in one embodiment of the present application.

[0023] FIG15 is a three-dimensional view of a swing base body and a traction assembly provided in one embodiment of the present application.

[0024] 16 to 18 are schematic diagrams of the rotation process of the pitch base body and the swing base body provided in one embodiment of the present application.

[0025] FIG19 is a side perspective view of a swing base body provided in another embodiment of the present application.

[0026] FIG20 is a three-dimensional view of the end portion of a swing base body provided in another embodiment of the present application.

[0027] 21 to 23 are schematic diagrams of the rotation process of the pitch base body and the swing base body provided in another embodiment of the present application.

[0028] FIG. 24 is a perspective view of the end of a clamping instrument provided in yet another embodiment of the present application.

[0029] FIG25 is a three-dimensional cross-sectional view of the end of a clamping instrument provided in yet another embodiment of the present application.

[0030] FIG. 26 is an exploded view of the end of a clamping instrument provided in yet another embodiment of the present application.

[0031] FIG27 is a three-dimensional view of a swing base body provided in yet another embodiment of the present application.

[0032] FIG28 is a three-dimensional view of the end of a clamping instrument provided in yet another embodiment of the present application.

[0033] FIG29 is an exploded view of the end of a clamping instrument provided in yet another embodiment of the present application.

[0034] FIG30 is a three-dimensional cross-sectional view of the end of a clamping instrument provided in yet another embodiment of the present application.

[0035] Figure 31 is a three-dimensional view of the swing base body and traction assembly provided in another embodiment of the present application.

[0036] FIG32 is a three-dimensional view of a swing base body provided in yet another embodiment of the present application.

[0037] FIG33 is an exploded view of a swing base body provided in yet another embodiment of the present application.

[0038] 34 to 36 are schematic diagrams showing the rotation process of the pitch base body and the swing base body provided in yet another embodiment of the present application.

[0039] Figure 36a is a structural schematic diagram of the angle arc segment and the middle straight line segment provided by an embodiment of the present application.

[0040] FIG37 is a three-dimensional view of the end of the clamping instrument provided in the fifth embodiment of the present application.

[0041] Figure 38 is a stereoscopic view of the swing base body and traction assembly provided in the fifth embodiment of the present application.

[0042] FIG39 is an exploded view of the end of the clamping instrument provided in the fifth embodiment of the present application.

[0043] Figure 40 is a three-dimensional view of the swing base body provided in the fifth embodiment of the present application.

[0044] FIG41 is an exploded view of the pitch base body provided in the fifth embodiment of the present application.

[0045] Figures 42 to 44 are schematic diagrams of the rotation process of the pitch base body and the swing base body provided in the fifth embodiment of the present application.

[0046] Figure 45 is a three-dimensional view of the end of the clamping instrument provided in the sixth embodiment of the present application.

[0047] FIG46 is an exploded view of the end of the clamping instrument provided in the sixth embodiment of the present application.

[0048] Figure 47 is a three-dimensional view of the pitch base body provided in the sixth embodiment of the present application.

[0049] Figures 48 to 50 are schematic diagrams of the rotation process of the pitch base body and the swing base body provided in the sixth embodiment of the present application.

[0050] FIG51 is a schematic structural diagram of the end of the energy device provided in the seventh embodiment of the present application.

[0051] 52 to 53 are schematic diagrams of the bending structure and the explosion structure of the end of the energy device provided in the seventh embodiment of the present application.

[0052] 54 to 55 are a cross-sectional view and a left-bent cross-sectional view of the tip of the energy device provided in the seventh embodiment of the present application.

[0053] Figures 56 to 57 are structural schematic diagrams of the swing base body and the pitch base body provided in the seventh embodiment of the present application.

[0054] Figure 58 is a schematic structural diagram of the swing base body provided in the eighth embodiment of the present application.

[0055] 59 to 60 are schematic structural diagrams and explosion diagrams of the end of the energy device provided in the ninth embodiment of the present application.

[0056] Figure 61 is a schematic structural diagram of the swing base body provided in the ninth embodiment of the present application.

[0057] Figure 62 is a schematic structural diagram of the pitch base body provided in the ninth embodiment of the present application.

[0058] FIG63 is a schematic structural diagram of the end of the energy device provided in the tenth embodiment of the present application.

[0059] FIG64 is a schematic diagram of an explosion of the end of the energy device provided in the tenth embodiment of the present application.

[0060] Figure 65 is a schematic structural diagram of the elastic adapter provided in the tenth embodiment of the present application.

[0061] Figure 66 is a schematic structural diagram of the transition conductive component provided in the tenth embodiment of the present application.

[0062] Figure 67 is a schematic structural diagram of the end of the energy device provided in the eleventh embodiment of the present application.

[0063] FIG68 is a schematic diagram of an explosion of the end of the energy device provided in the eleventh embodiment of the present application.

[0064] Figure 69 is a schematic structural diagram of the end of the energy device provided in the twelfth embodiment of the present application.

[0065] Figure 70 is a schematic diagram of the explosion of the end of the energy device provided in the twelfth embodiment of the present application.

[0066] Figure 71 is a connection diagram of the second energy inlay provided in the twelfth embodiment of the present application.

[0067] Figure 72 is a schematic diagram of the first energy cable and the second energy cable provided in the twelfth embodiment of the present application. DETAILED DESCRIPTION

[0068] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0069] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0070] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0071] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0072] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0073] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0074] In order to more clearly describe the structure of the end of the clamping instrument and the surgical instrument, the term "distal end" is defined here to refer to the end away from the operator during the surgical operation, for example, the distal end face of the pitch base body 1000 is the end face away from the operator, and the "proximal end" refers to the end close to the operator during the surgical operation, for example, the proximal end face of the swing base body 2000 is the end face close to the operator. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by technicians in the technical field to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0075] Referring to Figures 1 to 18, an embodiment of the present application provides a clamping instrument end, which includes a pitch base body 1000 and a swing base body 2000. In one embodiment, the swing base body 2000 can be movably equipped with an end clamping body 3000, wherein the end clamping body 3000 can be controlled by a traction assembly 4000. The end clamping body 3000 can be a single structure or two or more clamping body structures. For example, there can be only one electric hook structure, a scraper structure, or it can also be an instrument with a suction tube in the center, such as an aspirator, which is used to flexibly attract blood and water produced during surgery. When the end clamping body 3000 has two or more clamping body structures, it can also be used to control the end clamping body 3000 to perform an opening or closing action. For example, the pitch base body 1000 is provided with a first traction channel 1200, and the swing base body 2000 is provided with a wire guide channel 2200. The traction assembly 4000 may include at least one first traction body 4100, each of which passes through the first traction channel 1200 and is controllably connected to the end clamping body 3000 via the wire guide channel 2200. Furthermore, the swing base body 2000 may be provided with an energy component for releasing energy, while the end clamping body 3000 may be provided with an inactive assembly. These energy components may include, but are not limited to, an electric hook, an electric shovel, or a bipolar electrocoagulation forceps. The first traction body 4100 may be a traction wire or a traction belt.

[0076] The distal end face of the pitch base body 1000 is provided with a first contact boss 1100 protruding from the distal end face. Therefore, except for the joint portion with the distal end face of the pitch base body 1000, the rest of the first contact boss 1100 protrudes from the distal end face of the pitch base body 1000, that is, it is higher than the distal end face of the pitch base body 1000, specifically, it is higher than the distal end face of the pitch base body 1000 in the distal direction.

[0077] The pitch base body 1000 is provided with at least two first traction channels 1200, and the channel distal ports of all the first traction channels 1200 are located at the distal end surface of the pitch base body 1000. Therefore, the channel distal ports of all the first traction channels 1200 are not higher than the distal end surface of the pitch base body 1000, specifically, the distal end surface of the pitch base body 1000 in the distal direction is lower than that of the pitch base body 1000. When the first traction body 4100 passing through the first traction channel 1200 bends, the bending position is at the channel distal port of the first traction channel 1200, which enables the first traction body 4100 to be at the distal end surface of the pitch base body 1000 at the bending position.

[0078] The proximal end surface of the swing base body 2000 is provided with a second contact boss 2100 that protrudes from the proximal end surface. Therefore, except for the junction with the distal end surface of the pitch base body 1000, the rest of the second contact boss 2100 protrudes from the proximal end surface of the swing base body 2000. In other words, it is higher than the proximal end surface of the swing base body 2000, specifically, it is higher in the proximal direction than the proximal end surface of the swing base body 2000. The swing base body 2000 defines at least two wire guide channels 2200, and the proximal end ports of all wire guide channels 2200 are located on the proximal end surface of the swing base body 2000. When the first traction body 4100 passing through the wire guide channel 2200 bends, the bending position is located at the proximal end port of the wire guide channel 2200, which enables the first traction body 4100 to be located at the proximal end surface of the swing base body 2000 when the bending position occurs.

[0079] The swing base body 2000 and the pitch base body 1000 are rotatably assembled. For example, a connecting rod and a multi-axis mechanism can be used to realize the rotational assembly between the swing base body 2000 and the pitch base body 1000. The rotation between the swing base body 2000 and the pitch base body 1000 can make the first contact boss 1100 and the second contact boss 2100 roll in contact. Referring to FIG. 7 , when the swing base body 2000 and the pitch base body 1000 rotate relative to each other, the first contact boss 1100 and the second contact boss 2100 roll in contact. The position of the rolling contact of the contact boss 2100 is always higher than the distal end face of the pitch base body 1000 in the distal direction, and is always higher than the proximal end face of the swing base body 2000 in the proximal direction, and the position where the first traction body 4100 passing through the first traction channel 1200 is bent is at the distal end face of the pitch base body 1000, and at the same time, the position where the first traction body 4100 passing through the wire guide channel 2200 is bent is at the proximal end face of the swing base body 2000.

[0080] Continuing to refer to Figure 7, it can be seen that the relative rotation angle of the swing base body 2000 and the pitch base body 1000 is angle α, and the first traction body 4100 bends twice due to reversing, so that the reversing angle of the first traction body 4100 is β. Therefore, the reversing angle β is smaller than the rotation angle α, wherein the specific difference between the reversing angle β and the rotation angle α depends on the height of the first contact boss 1100 and the second contact boss 2100, and there is no limitation on this. For example, β≈α / 2 can be made, which can improve the bending radius of the first traction body 4100, reduce the wrap angle at the bending point of the first traction body 4100, reduce the wear of the first traction body 4100, and improve the service life of the device.

[0081] The first contact boss 1100 and the second contact boss 2100 can adopt a spherical surface, an arc surface, etc. to achieve relative rolling contact between the two and form a stable rolling contact mode. For example, in one embodiment, the boss surface of the first contact boss 1100 has a first arc contact track, and the boss surface of the second contact boss 2100 has a second arc contact track. Therefore, when the swing base body 2000 and the pitch base body 1000 are rotated and assembled, the first arc contact track and the second arc contact track can be made rolling tangent. Always keeping the first arc contact track and the second arc contact track rolling tangent can ensure that the relative rotation of the swing base body 2000 and the pitch base body 1000 remains in a stable and predictable state.

[0082] As shown in FIG8 , the distal ends of all first traction channels 1200 are arranged along a straight line parallel to the rotational direction of the swing base body, and the proximal ends of all wire guide channels 2200 are arranged along a straight line parallel to the rotational direction of the swing base body. Furthermore, those skilled in the art may also arrange different first traction channels 1200 and wire guide channels 2200 according to actual needs, and this arrangement is not limited thereto. As shown in FIG4 , when the first arc contact track and the second arc contact track are rolling tangent, the rotation axis of the first arc contact track passes through point Q, and the rotation axis of the second arc contact track passes through point P. Points Q and P are both virtual points. In one embodiment, the rolling tangency between the first contact boss 1100 and the second contact boss 2100 forms a dynamic tangent of dynamically changing contact, and the normal plane of the dynamic tangent is the dynamic normal plane 1000a; the straight line segment between the distal channel port of a pair of matching first traction channels 1200 and the proximal channel port of the wire guide channel 2200 is the turning segment 1000b.

[0083] The dynamic normal plane 1000a and the steering line segment 1000b can refer to the marks in Figure 30. The dynamic normal plane 1000a and the steering line segment 1000b can basically remain parallel to each other, wherein the angle between the dynamic normal plane 1000a and the steering line segment 1000b is less than 10°. For example, the angle can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc. In this way, it can be ensured that the unexpected torque value generated by the swing base body 2000 relative to the pitch base body 1000 is reduced as much as possible, thereby reducing the direction of the unexpected torque on the pitch base body 1000. The accuracy is affected. In one embodiment, the wire diameter of the first traction body 4100 is d, and it can also ensure that the distance between any point on the steering line segment 1000b and the dynamic normal plane 1000a is less than 4d. The plane where no rotation occurs between the pitch base body 1000 and the swing base body 2000 is taken as the initial plane, the steering angle of the dynamic normal plane 1000a relative to the initial plane is α, and the steering angle of the dynamic normal plane 1000a relative to the initial plane is β. It can be ensured that β is greater than or equal to 0.5a-15°, and β is less than or equal to 0.5a+15°.

[0084] In one embodiment, at least one of the pitch base body 1000 and the swing base body 2000 is provided with a motion restraining mechanism 5000. The motion restraining mechanism 5000 is used to constrain the first arc contact trajectory of the first contact boss 1100 to always maintain rolling tangency with the second arc contact trajectory of the second contact boss 2100. The motion restraining mechanism 5000 can take various forms. For example, as shown in FIG6 , the motion restraining mechanism 5000 can include a first side stopper 5100 and a second side stopper 5200. The first side stopper 5100 is located on the pitch base body 1000, and the second side stopper 5200 is located on the swing base body 2000. The first side stopper 5100 and the second side stopper 5200 are in mutually limiting contact. The mutual limiting contact between the first side stopper 5100 and the second side stopper 5200 can at least prevent the swing base body 2000 from deflecting.

[0085] The number and arrangement positions of the first side block member 5100 and the second side block member 5200 can be selected according to needs. For example, the first side block member 5100 and the second side block member 5200 are arranged on the sides of the pitch base body 1000 and the swing base body 2000 to prevent the rotation between the pitch base body 1000 and the swing base body 2000 from deviating to the side where the first side block member 5100 and the second side block member 5200 are arranged. Alternatively, the first side block member 5100 and the second side block member 5200 are both arranged on the sides. The two first side block components 5100 and the second side block components 5200 are respectively arranged on the two sides of the pitch base body 1000 and the swing base body 2000, which are used to prevent the rotation between the pitch base body 1000 and the swing base body 2000 from deviating to the two sides where the first side block component 5100 and the second side block component 5200 are arranged, thereby limiting the rotation between the pitch base body 1000 and the swing base body 2000 to strictly ensure that the first arc contact trajectory always maintains rolling tangency with the second arc contact trajectory.

[0086] Referring to Figures 9 to 11 , in one embodiment, the motion constraint mechanism 5000 includes a constraint tooth portion 5300 and a constraint tooth groove 5400. The constraint tooth portion 5300 and the constraint tooth groove 5400 are respectively located on the pitch base body 1000 and the swing base body 2000. The constraint tooth portion 5300 and the constraint tooth groove 5400 engage with each other. The engagement process of the constraint tooth portion 5300 and the constraint tooth groove 5400 can be used to constrain the first arc contact trajectory of the first contact boss 1100 to always maintain rolling tangency with the second arc contact trajectory of the second contact boss 2100. The constraint tooth groove 5400 can have an involute tooth profile, a cycloid tooth profile, or other tooth shape, without limitation.

[0087] In one embodiment, the constraining tooth groove 5400 is located on the pitch base body 1000. Two side stop protrusions 5500 are provided on the pitch base body 1000. The two side stop protrusions 5500 are located on both sides of the notch of the constraining tooth groove 5400. When the constraining tooth portion 5300 and the constraining tooth groove 5400 are engaged with each other, the side stop protrusions 5500 can increase the height of both sides of the notch of the constraining tooth groove 5400, that is, equivalent to deepening the depth of the constraining tooth groove 5400. They can be used to limit contact with the side portions of the constraining tooth portion 5300, ensuring stable engagement between the constraining tooth portion 5300 and the constraining tooth groove 5400. The constraining tooth portion 5300 can be a pointed tooth or a rounded tooth.

[0088] The rotation of the swing base body 2000 relative to the pitch base body 1000 can be achieved in a variety of ways. For example, in one embodiment, the traction assembly 4000 includes at least two second traction bodies 4200, and the pitch base body 1000 opens at least two second traction channels 1300. Each second traction body 4200 passes through a second traction channel 1300 and is connected to the swing base body 2000. Referring to Figure 4, the traction assembly 4000 includes two second traction bodies 4200, and the pitch base body 1000 opens two second traction channels 1300. Each second traction body 4200 passes through a second traction channel 1300 and is connected to the swing base body 2000. When the corresponding second traction body 4200 is pulled, it can be used to drive the swing base body 2000 to rotate relative to the pitch base body 1000, wherein an avoidance groove 5600 is opened on the side stop protrusion 5500, and the avoidance groove 5600 is used to avoid the second traction body 4200. The second traction body 4200 can be selected as a traction wire or a traction belt.

[0089] 12 and 13, the traction assembly 4000 includes two symmetrically arranged second traction bodies 4200, one end of the two symmetrically arranged second traction bodies 4200 is fixed to the M point and the N point of the swing base, and the other end of the two symmetrically arranged second traction bodies 4200 passes through the A and D second traction channels 1300 on the pitch base body 1000. When the zero position is AM=DN=2r, when the swing base body 2000 flips over relative to the pitch base body 1000, the traction body 4200 is rotated. During rotation, the segment lengths of the second traction bodies 4200 on both sides of the swing base body 2000 and the pitch base body 1000 are transformed into AM' and DN', wherein the three points A, Q and D are collinear, Q is the midpoint of AD, the three points M, P and N are collinear, P is the midpoint of MN, so ADN'M' is an isosceles trapezoid, satisfying AM'+DN'=2PQ=2r=AM+DN, i.e. AM'-AM=DN-DN', i.e. the segment length changes of the left and right second traction bodies 4200 are equal.

[0090] In one embodiment, when the end of the second traction channel 1300 has a rounded corner, one end of the two symmetrically arranged second traction bodies 4200 is fixed at points M and N of the swing base, and the other ends of the two symmetrically arranged second traction bodies 4200 pass through the two second traction channels 1300 A and D on the pitch base body 1000. At zero position, AM = DN = 2P'Q'. When the swing base body 2000 flips relative to the pitch base body 1000, the segment lengths of the second traction bodies 4200 on both sides of the swing base body 2000 and the pitch base body 1000 are transformed into Among them, points A, Q, and D are not collinear, AQ≈QD, points M, P, and N are not collinear, PM≈PN, satisfying Right now That is, the changes in the segment lengths of the left and right second traction bodies 4200 are approximately equal.

[0091] In one embodiment, the distal ends of all second traction channels 1300 are located on the distal end surface of the pitch base body 1000 and are arranged along a straight line perpendicular to the rotational direction of the swing base body. The swing base body 2000 is provided with at least two traction connection portions 2300, each traction connection portion 2300 mates with a second traction channel 1300, and each second traction body 4200 is connected to a traction connection portion 2300 on the swing base body 2000. The traction connection portion 2300 can be a through-hole structure, a hook structure, a snap-fit ​​structure, etc., without limitation.

[0092] The end clamping body 3000 can adopt a variety of basic clamping forms. For example, in one embodiment, the end clamping body 3000 includes a first clamping swing arm 3100 and a second clamping swing arm 3200. The first clamping swing arm 3100 and the second clamping swing arm 3200 rotate relative to the swing base body 2000. In addition, the end clamping body 3000 can also include more than two clamping swing arms to realize the mutual linkage of multiple clamping swing arms, which is not limited to this.

[0093] Continuing to refer to Figure 8, the pitch base body 1000 is provided with four first traction channels 1200, and the swing base body 2000 is provided with two wire guide channels 2200. Every two first traction channels 1200 are matched with one wire guide channel 2200. The traction assembly 4000 includes two first traction bodies 4100. The two first traction bodies 4100 are respectively wound around the first clamping swing arm 3100 and the second clamping swing arm 3200, and are used to control the fixed-axis rotation of the first clamping swing arm 3100 or the second clamping swing arm 3200. The head and tail sections of the wires of different first traction bodies 4100 are respectively inserted into two different first traction channels 1200. At this time, the pitch base body 1000 has four first traction channels 1200. The head and tail sections of the two first traction channels 1200, that is, a total of four sections, can be respectively inserted into different first traction channels 1200. Among them, the head and tail sections of the first traction body 4100 can represent the head and tail sections of the silk thread separated in different directions with the position where the first traction body 4100 is fixed on the first clamping swing arm 3100 or the second clamping swing arm 3200 as the base point, or it can be a complete first traction body 4100 composed of two separate sections of silk thread. At this time, the ends of the two separate sections of the silk thread of the first traction body 4100 are simultaneously connected to the first clamping swing arm 3100 or the second clamping swing arm 3200, and together constitute the first traction body 4100 connected to the first clamping swing arm 3100 or the second clamping swing arm 3200.

[0094] 19 to 23 , in one embodiment, the pitch base body 1000 is provided with two first traction channels 1200, and the swing base body 2000 is provided with two wire guide channels 2200, each first traction channel 1200 is matched with a wire guide channel 2200, and the traction assembly 4000 includes two first traction bodies 4100, which are respectively wound on the first clamping swing arm 3100 and the second clamping swing arm 3200, and are used to control the fixed-axis rotation of the first clamping swing arm 3100 or the second clamping swing arm 3200, and the head and tail sections of the wire in each first traction body 4100 that are dynamically separated by the winding position are respectively inserted into the two first traction channels 1200. At this time, the pitch base body 1000 has only two first traction channels 1200, and the head and tail sections of the two first traction channels 1200 can be simultaneously inserted into the same first traction channel 1200.

[0095] At least one of the pitch base body 1000 and the swing base body 2000 is provided with a guide mechanism 6000. The guide mechanism 6000 is used to guide the two first traction bodies 4100 to be respectively wound around the first clamping swing arm 3100 and the second clamping swing arm 3200. In one embodiment, the first clamping swing arm 3100 has a first annular winding groove 3100a, and the first traction body 4100 is wound and connected to the first annular winding groove 3100a of the first clamping swing arm 3100. The second clamping swing arm 3200 has a second annular winding groove 3200a, and the second traction body 4200 is wound and connected to the second annular winding groove 3200a of the second clamping swing arm 3200. The winding diameters of the first and second annular winding grooves 3100a and 3200a are D, and the wire diameter of the first traction body 4100 is d.

[0096] Referring to Figure 10, the straight-line distance between the two channel distal ports of the two first traction channels 1200 through the head and tail sections of the silk thread passing through the first traction body 4100 is L, wherein, when the number of the first traction channels 1200 is four and the number of the first traction bodies 4100 is two, the two first traction channels 1200 through the head and tail sections of the silk thread passing through the first traction body 4100 are symmetrically arranged, so the straight-line distance L between the two channel distal ports of the two symmetrical first traction channels 1200 can refer to the two farthest channel distal ports or the two closest channel distal ports, and D-5d is controlled to be less than L and less than D+5d.

[0097] The guide mechanism 6000 can take various forms, as shown in Figures 24 to 27. In Figure 27, the minimum width of the wire pulling channel is s, and the wire diameter of the first traction body 4100 is d, where d < s < d + 1 mm. The guide mechanism 6000 includes a slip coating located on the inner wall of the wire guide channel 2200. This slip coating can be achieved through a coating process such as nylon, PTFE, or parylene. Furthermore, the swing base 2000 and the pitch base 1000 can also be made of a low-friction material. This improves the lifespan of the first traction body 4100, reduces wear on the first traction body 4100, and increases the service life of the device. Furthermore, the use of only the slip coating reduces the number of structural components, resulting in lower costs and easier manufacturing.

[0098] Referring to Figures 28 to 44 , the guide mechanism 6000 may also include a plurality of rolling guide components 6100, which are located on at least one side of at least one of the first traction channel 1200 and the wire guide channel 2200. The rolling guide components 6100 are in rolling and guiding contact with the first traction body 4100, and rolling friction can improve transmission efficiency. Referring to Figures 28 to 36 , the rolling guide components 6100 may be guide wheels, and the number of guide wheels may be matched to the number of first traction bodies 4100 to meet the guidance of the first traction bodies 4100. Referring to Figures 28 to 36 , the rolling guide components 6100 may also be guide posts, and the number of guide posts may be matched to the number of first traction bodies 4100 to meet the guidance of the first traction bodies 4100, without limitation.

[0099] Continuing to refer to Figures 28 to 36, the number of rolling guide components 6100 is an even number, and multiple rolling guide components 6100 are symmetrically arranged in pairs on the opposite sides of at least one of the first traction channel and the wire guide channel. For example, as shown in Figure 30, two symmetrically arranged rolling guide components 6100 are provided on the opposite sides of the first traction channel and the wire guide channel. Correspondingly, the first traction channel and the wire guide channel are provided with a total of four rolling guide components 6100, so that both sides of the bending of the first traction body 4100 can be smoothly guided by the rolling guide components 6100, thereby ensuring the stable rotation of the first traction body 4100 and improving the service life of the first traction body 4100.

[0100] There are eight rolling guide components 6100, and the rolling guide components 6100 are adopted as rolling wheels, each of which has two symmetrical circumferential rolling grooves, and four of the rolling wheels are symmetrically assembled on the distal end face of the pitch base body 1000, referring to Figures 34 to 36. The symmetrical assembly not only indicates symmetry along the rotation direction of the swing base body 2000, but also indicates symmetry in the vertical direction along the rotation direction of the swing base body 2000. The symmetry in the horizontal and vertical directions can ensure the precise guidance of the first traction body 4100. The other four rolling wheels are symmetrically assembled on the proximal end face of the swing base body 2000. Similarly, the symmetrical assembly not only indicates symmetry along the rotation direction of the swing base body 2000, but also indicates symmetry in the vertical direction along the rotation direction of the swing base body 2000. The symmetry in the horizontal and vertical directions can ensure the precise guidance of the first traction body 4100. The plurality of first traction bodies 4100 can all slide along the circumferential rolling grooves on the corresponding rolling wheels, thereby guiding the plurality of first traction bodies 4100 to move in the expected direction, thereby improving the stability of the overall drive.

[0101] Refer to Figure 36a, in which the first traction body 4100 is fitted along the circumferential rolling groove on the rolling wheel to form an angle arc segment 4100a. When the first traction body 4100 is fitted along the two circumferential rolling grooves on the two rolling wheels located on the pitch base body 1000 and the swing base body 2000, two corresponding angle arc segments 4100a will be formed in a section of the first traction body 4100. The section between the two angle arc segments 4100a of the first traction body 4100 is the middle straight line segment 4100b. During the rotation of the swing base body 2000, the total change length of the two angle arc segments 4100a in each first traction body 4100 and the middle straight line segment 4100b between the two will not exceed 5 mm, thereby greatly improving the stability and accuracy of the rotation through the rolling guide component 6100.

[0102] Continuing to refer to Figures 45 to 50, the guide mechanism 6000 includes a plurality of sliding guide components 6200. The plurality of sliding guide components 6200 are located on at least one side of at least one of the first traction channel 1200 and the wire guide channel 2200. The sliding guide components 6200 are in sliding and guiding contact with the first traction body 4100. Part of the first traction body 4100 may be in sliding and guiding contact with the sliding guide components 6200, or all of the first traction body 4100 may be in sliding and guiding contact with the sliding guide components 6200. The number of sliding guide components 6200 is an even number, and the plurality of sliding guide components 6200 are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the wire guide channel. Those skilled in the art may select the number and arrangement of the sliding guide components 6200 according to their needs, and this is not limited thereto.

[0103] Moreover, the guiding mechanism can also include multiple rolling guide components 6100 and multiple sliding guide components 6200 at the same time, so that the rolling guide components 6100 and the sliding guide components 6200 can be used in combination, for example, the total number of rolling guide components 6100 and sliding guide components 6200 is an even number, and the rolling guide components 6100 and the sliding guide components 6200 are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the wire guide channel. For example, in one embodiment, as shown in Figures 45 to 50, the two wire sections of each first traction body 4100 are respectively a first force-bearing wire section and a second force-bearing wire section. The forces on the first force-bearing wire section and the second force-bearing wire section are different, that is, the force on the first force-bearing wire section is greater than the force on the second force-bearing wire section. The large force on the first force-bearing wire section is when the average force of the wire working condition is large, such as 15-80N, and the small force on the second force-bearing wire section is when the force varies within a small force range, such as 0-15N. The rolling guide component 6100 is in rolling guide contact with the first force-bearing wire section, and the sliding guide component 6200 is in sliding guide contact with the first force-bearing wire section. The first force-bearing wire section is used to drive the end clamping body 3000 to open or close, and requires a driving force. Therefore, the use of rolling guide contact can improve the service life. The second force-bearing wire section does not need to drive the end clamping body 3000 to open or close. Therefore, the use of low-cost sliding guide contact can reduce costs while ensuring functionality.

[0104] 51 to 57 , an energy device terminal is provided in accordance with an embodiment of the present application. The energy device terminal includes a pitch base body 1000, a swing base body 2000, and an energy assembly 3000. The distal end surface of the pitch base body 1000 is provided with a first contact boss 1100 protruding from the distal end surface. The pitch base body 1000 is provided with a first traction channel 1200. The distal end ports of the first traction channel 1200 are all located at the distal end surface of the pitch base body 1000. The proximal end surface of the swing base body 2000 is provided with a second contact boss 2100 protruding from the proximal end surface. The swing base body 2000 is assembled to reciprocate relative to the pitch base body 1000 along a preset direction, for example Forward rotation or reverse rotation toward the preset direction causes the first contact boss 1100 to roll in contact with the second contact boss 2100. The swing base body 2000 is provided with a transition guide channel 2200. The proximal end ports of the transition guide channel 2200 are all located on the proximal end face of the swing base body 2000. The energy component 3000 includes an energy release body 3100 and an energy transmission cable 3200. The energy release body 3100 is assembled on the swing base. The energy transmission cable 3200 passes through the first traction channel 1200 and the transition guide channel 2200 and is connected to the energy release body 3100. The energy release body 3100 is, for example, an energy component such as an electric hook, an electric shovel instrument, a bipolar electrocoagulation forceps, etc., and is not limited to this.

[0105] The distal end face of the pitch base body 1000 is provided with a first contact boss 1100 protruding from the distal end face. Therefore, except for the joint portion with the distal end face of the pitch base body 1000, the rest of the first contact boss 1100 protrudes from the distal end face of the pitch base body 1000, that is, it is higher than the distal end face of the pitch base body 1000, specifically, it is higher than the distal end face of the pitch base body 1000 in the distal direction.

[0106] The pitch base body 1000 is provided with a first traction channel 1200, and the distal end ports of the first traction channel 1200 are all located at the distal end surface of the pitch base body 1000. Therefore, the distal end ports of the first traction channel 1200 are not higher than the distal end surface of the pitch base body 1000. Specifically, the distal end surface of the pitch base body 1000 in the distal direction is lower than the distal end surface of the pitch base body 1000. When the energy transmission cable 3200 passing through the first traction channel 1200 is bent, the bending position is at the distal end port of the first traction channel 1200, which enables the energy transmission cable 3200 to be located at the distal end surface of the pitch base body 1000 at the bending position.

[0107] The proximal end surface of the swing base body 2000 is provided with a second contact boss 2100 that protrudes from the proximal end surface. Therefore, except for the junction with the distal end surface of the pitch base body 1000, the rest of the second contact boss 2100 protrudes from the proximal end surface of the swing base body 2000. Specifically, it is higher than the proximal end surface of the swing base body 2000, specifically, it is higher in the proximal direction than the proximal end surface of the swing base body 2000. The swing base body 2000 defines a transition guide channel 2200, the proximal end of which is located at the proximal end surface of the swing base body 2000. Therefore, when the energy transmission cable 3200 passing through the transition guide channel 2200 bends, it bends at the proximal end of the transition guide channel 2200. This ensures that the energy transmission cable 3200 is located at the proximal end surface of the swing base body 2000 when it bends.

[0108] The swing base body 2000 and the pitch base body 1000 are rotatably assembled. For example, a connecting rod and a multi-rotating shaft mechanism can be used to realize the rotational assembly between the swing base body 2000 and the pitch base body 1000. The rotation between the swing base body 2000 and the pitch base body 1000 can make the first contact boss 1100 and the second contact boss 2100 roll in contact. When the swing base body 2000 and the pitch base body 1000 rotate relative to each other, the first contact boss 1100 and the second contact boss 2100 are in contact with each other. The rolling contact position of the platform 2100 is always higher than the distal end surface of the pitch base body 1000 in the distal direction, and is always higher than the proximal end surface of the swing base body 2000 in the proximal direction. The energy transmission cable 3200 passing through the first traction channel 1200 is bent at the distal end surface of the pitch base body 1000, and at the same time, the energy transmission cable 3200 passing through the transition guide channel 2200 is bent at the proximal end surface of the swing base body 2000.

[0109] Assuming that the relative rotation angle of the swing base body 2000 and the pitch base body 1000 is angle α, the energy transmission cable 3200 bends twice due to reversing, so that the reversing angle of the energy transmission cable 3200 is β. Therefore, the reversing angle β is smaller than the rotation angle α, wherein the specific difference between the reversing angle β and the rotation angle α depends on the height of the first contact boss 1100 and the second contact boss 2100, and there is no limitation on this. For example, β≈α / 2 can be made. This can improve the bending radius of the energy transmission cable 3200, reduce the wrap angle at the bending point of the energy transmission cable 3200, reduce the wear of the energy transmission cable 3200, and improve the service life of the device.

[0110] The first contact boss 1100 and the second contact boss 2100 can adopt a spherical surface, an arc surface, etc. to achieve relative rolling contact between the two and form a stable rolling contact mode. For example, in one embodiment, the boss surface of the first contact boss 1100 has a first arc contact track, and the boss surface of the second contact boss 2100 has a second arc contact track. Therefore, when the swing base body 2000 and the pitch base body 1000 are rotated and assembled, the first arc contact track and the second arc contact track can be made rolling tangent. Always keeping the first arc contact track and the second arc contact track rolling tangent can ensure that the relative rotation of the swing base body 2000 and the pitch base body 1000 remains in a stable and predictable state.

[0111] In one embodiment, the distal end of the energy device includes a traction assembly 4000, which includes a first traction body 4100. The first traction body 4100 can be a traction wire or a traction belt. There are at least two first traction channels 1200 and two transition guide channels 2200, for example, two first traction channels 1200 and two transition guide channels 2200. The energy transmission cable 3200 is disposed through one of the first traction channels 1200 and transition guide channels 2200. The energy release body 3100 is rotatably connected to the swing base. The first and rear sections of the first traction body 4100 respectively pass through two different first traction channels 1200 and transition guide channels 2200 and are intertwined and connected to the energy release body 3100. The first traction body 4100 is pulled toward the front and rear ends to control the energy release body 3100 to reciprocate relative to the swing base in a predetermined direction, for example, forward or reverse rotation in the predetermined direction.

[0112] The distal end surface of the pitch base body 1000 is provided with a first contact boss 1100 protruding from the distal end surface. When the first traction body 4100, which passes through the first traction channel 1200, bends at the distal end of the first traction channel 1200, the first traction body 4100 is bent. This allows the first traction body 4100 to bend at the distal end surface of the pitch base body 1000. The proximal end surface of the swing base body 2000 is provided with a second contact boss 2100 protruding from the proximal end surface. When the first traction body 4100, which passes through the transition guide channel 2200, bends at the proximal end of the transition guide channel 2200, the first traction body 4100 is bent. This allows the first traction body 4100 to bend at the proximal end surface of the swing base body 2000.

[0113] Based on the same principle as the energy transmission cable 3200, when the swing base body 2000 and the pitch base body 1000 rotate relative to each other, the position where the first contact boss 1100 and the second contact boss 2100 are in rolling contact is always higher than the distal end face of the pitch base body 1000 in the distal direction, and is always higher than the proximal end face of the swing base body 2000 in the proximal direction, and the position where the first traction body 4100 passing through the first traction channel 1200 is bent is at the distal end face of the pitch base body 1000, and at the same time, the position where the first traction body 4100 passing through the transition guide channel 2200 is bent is at the proximal end face of the swing base body 2000.

[0114] Assuming that the relative rotation angle of the swing base body 2000 and the pitch base body 1000 is angle α, the first traction body 4100 bends twice due to reversing, so that the reversing angle of the energy transmission cable 3200 is β. Therefore, the reversing angle β is smaller than the rotation angle α, wherein the specific difference between the reversing angle β and the rotation angle α depends on the height of the first contact boss 1100 and the second contact boss 2100, and there is no limitation on this. For example, β≈α / 2 can be made. This can improve the bending radius of the first traction body 4100, reduce the wrap angle at the bending point of the first traction body 4100, reduce the wear of the first traction body 4100, and improve the service life of the device.

[0115] In one embodiment, at least one of the pitch base body 1000 and the swing base body 2000 is provided with a motion constraint mechanism 5000, which is used to constrain the first contact boss 1100 to always maintain rolling tangency with the second contact boss 2100. The swing base body 2000 may also include a first base body 2400 and a second base body 2500, both of which are rotatably connected to the pitch base body 1000. The motion constraint mechanism 5000 is located on the first base body 2400, and the second contact boss 2100 is located on the second base body 2500. Those skilled in the art may select an appropriate form of the motion constraint mechanism according to their needs, and this is not limited to this. The motion restraint mechanism 5000 can adopt various forms. For example, as shown in the figure, the motion restraint mechanism 5000 may include a first side block component 5100 and a second side block component 5200. The first side block component 5100 is located on the pitch base body 1000, and the second side block component 5200 is located on the swing base body 2000. The first side block component 5100 and the second side block component 5200 are in mutual limiting contact. The mutual limiting contact between the first side block component 5100 and the second side block component 5200 can be used to at least prevent the swing base body 2000 from offset.

[0116] The number and arrangement positions of the first side block member 5100 and the second side block member 5200 can be selected according to needs. For example, the first side block member 5100 and the second side block member 5200 are arranged on the sides of the pitch base body 1000 and the swing base body 2000 to prevent the rotation between the pitch base body 1000 and the swing base body 2000 from deviating to the side where the first side block member 5100 and the second side block member 5200 are arranged. Alternatively, the first side block member 5100 and the second side block member 5200 are both arranged on the sides. The two first side block components 5100 and the second side block components 5200 are respectively arranged on the two sides of the pitch base body 1000 and the swing base body 2000, which are used to prevent the rotation between the pitch base body 1000 and the swing base body 2000 from deviating to the two sides where the first side block component 5100 and the second side block component 5200 are arranged, thereby limiting the rotation between the pitch base body 1000 and the swing base body 2000 to strictly ensure that the first arc contact trajectory always maintains rolling tangency with the second arc contact trajectory.

[0117] Referring to Figures 56 to 58 , in one embodiment, the motion constraint mechanism 5000 includes a constraint tooth portion 5300 and a constraint tooth groove 5400. The constraint tooth portion 5300 and the constraint tooth groove 5400 are respectively located on the pitch base body 1000 and the swing base body 2000. The constraint tooth portion 5300 and the constraint tooth groove 5400 engage with each other. The engagement of the constraint tooth portion 5300 and the constraint tooth groove 5400 can be used to constrain the first arc contact trajectory of the first contact boss 1100 to always maintain rolling tangency with the second arc contact trajectory of the second contact boss 2100. The constraint tooth groove 5400 can have an involute tooth profile, a cycloid tooth profile, or other tooth shape, without limitation.

[0118] In one embodiment, the constraining tooth groove 5400 is located on the pitch base body 1000. Two side stop protrusions 5500 are provided on the pitch base body 1000. The two side stop protrusions 5500 are located on both sides of the notch of the constraining tooth groove 5400. When the constraining tooth portion 5300 and the constraining tooth groove 5400 are engaged with each other, the side stop protrusions 5500 can increase the height of both sides of the notch of the constraining tooth groove 5400, that is, equivalent to deepening the depth of the constraining tooth groove 5400. They can be used to limit contact with the side portions of the constraining tooth portion 5300, ensuring stable engagement of the constraining tooth portion 5300 with the constraining tooth groove 5400. The constraining tooth portion 5300 can be a pointed tooth or a rounded tooth.

[0119] In one embodiment, the traction assembly 4000 includes at least two second traction bodies 4200, and the first traction body 4100 can be a traction wire or a traction belt. The pitch base body 1000 defines at least two second traction channels 1300, for example, the pitch base body 1000 defines two second traction channels 1300. Each second traction body 4200 passes through one second traction channel 1300 and is connected to the swing base body 2000, for driving the swing base body 2000 to rotate relative to the pitch base body 1000. One end of the two symmetrically arranged second traction bodies 4200 is fixed to two symmetrical points on the swing base, and the other end of the two symmetrically arranged second traction bodies 4200 passes through the two second traction channels 1300 on the pitch base body 1000. The side block protrusion 5500 defines an avoidance groove 5600, which is used to avoid the second traction bodies 4200.

[0120] In one embodiment, the distal ends of all second traction channels 1300 are located on the distal end surface of the pitch base body 1000 and are arranged along a straight line perpendicular to the rotation direction of the swing base body 2000. The swing base body 2000 is provided with at least two traction connection portions 2300, each of which mates with a second traction channel 1300. Each second traction body 4200 is connected to a traction connection portion 2300 on the swing base body 2000. The traction connection portion 2300 can be a through-hole structure, a hook structure, a snap-fit ​​structure, etc., without limitation.

[0121] The pitch base body 1000 is provided with two first traction channels 1200, and the swing base body 2000 is provided with two transition guide channels 2200. Each first traction channel 1200 is matched with a transition guide channel 2200. The first traction body 4100 is wound around the energy release body 3100 to control the fixed-axis rotation of the energy release body 3100. The head and tail sections of the first traction body 4100 are respectively inserted into different first traction channels 1200 and transition guide channels 2200. The energy transmission cable 3200 passes through one of the first traction channels 1200 and the transition guide channel 2200. At this time, the energy transmission cable 3200 will pass through the same first traction channel 1200 and transition guide channel 2200 as one of the head and tail sections of the first traction body 4100.

[0122] The pitch base body 1000 is provided with three first traction channels 1200, and the swing base body 2000 is provided with three transition guide channels 2200. Each first traction channel 1200 is matched with a transition guide channel 2200. The first traction body 4100 is wound around the energy release body 3100 to control the fixed-axis rotation of the energy release body 3100. The head and tail sections of the silk thread of the first traction body 4100 are respectively inserted into two of the first traction channels 1200 and the transition guide channels 2200, and the energy transmission cable 3200 passes through another first traction channel 1200 and the transition guide channel 2200. At this time, the energy transmission cable 3200 and any one of the head and tail sections of the first traction body 4100 will be respectively inserted into different first traction channels 1200 and transition guide channels 2200, thereby reducing the wear between the energy transmission cable 3200 and the first traction body 4100. In one embodiment, the first traction channel 1200 through which the energy transmission cable 3200 passes has a cable transition arc surface 1400, which can reduce the friction of the energy transmission cable 3200. A cable separation component 1500 is provided between the two first traction channels 1200 through which the energy transmission cable 3200 and the first traction body 4100 pass. The cable separation component 1500 is used to separate adjacent energy transmission cables 3200 and the first traction body 4100. The cable separation component 1500 can further separate the energy transmission cable 3200 from the first traction body 4100.

[0123] In one embodiment, at least one of the pitch base body 1000 and the swing base body 2000 is provided with a motion guide mechanism 6000. This guide mechanism may include a slip coating, a rolling guide component 6100, a sliding guide component, or the like. The slip coating may be obtained through coating, such as nylon coating, PTFE coating, or parylene coating. Furthermore, the swing base body 2000 and the pitch base body 1000 may be made of a material with a low coefficient of friction. This improves the lifespan of the first traction body 4100 and the energy transmission cable 3200, reduces wear on them, and increases the service life of the device. Furthermore, the use of only a slip coating reduces the number of structural components, resulting in lower costs and easier manufacturing.

[0124] In one embodiment, the motion guide mechanism 6000 includes a plurality of rolling guide members 6100 located on at least one side of at least one of the first traction channel 1200 and the transition guide channel. The rolling guide members 6100 engage in rolling and guiding contact with the first traction body 4100, guiding the first traction body 4100 to entangle with the energy release body 3100. Rolling friction can improve transmission efficiency. As shown in Figures 59 to 62, the rolling guide members 6100 can be implemented as guide wheels, and the number of guide wheels can be matched to the number of first traction bodies 4100 to ensure guidance of the first traction bodies 4100. The rolling guide members 6100 can also be implemented as guide posts, and the number of guide posts can be matched to the number of first traction bodies 4100 to ensure guidance of the first traction bodies 4100, although this is not a limitation.

[0125] The number of rolling guide components 6100 is an even number, and multiple rolling guide components 6100 are symmetrically arranged in pairs on the opposite sides of at least one of the first traction channel 1200 and the transition guide channel 2200. For example, two symmetrically arranged rolling guide components 6100 are provided on the opposite sides of the first traction channel 1200 and the transition guide channel 2200. Correspondingly, the first traction channel 1200 and the transition guide channel 2200 are provided with a total of four rolling guide components 6100, so that both sides of the bending of the first traction body 4100 can be smoothly guided by the rolling guide components 6100, thereby ensuring the stable rotation of the first traction body 4100 and improving the service life of the first traction body 4100.

[0126] There are eight rolling guide components 6100, and the rolling guide components 6100 are adopted as rolling wheels, each of which has two symmetrical circumferential rolling grooves, and four of the rolling wheels are symmetrically assembled on the distal end face of the pitch base body 1000. This symmetrical assembly not only indicates symmetry along the rotation direction of the swing base body 2000, but also indicates symmetry in the vertical direction along the rotation direction of the swing base body 2000. The symmetry in the horizontal and vertical directions can ensure the precise guidance of the first traction body 4100. The other four rolling wheels are symmetrically assembled on the proximal end face of the swing base body 2000. Similarly, this symmetrical assembly not only indicates symmetry along the rotation direction of the swing base body 2000, but also indicates symmetry in the vertical direction along the rotation direction of the swing base body 2000. The symmetry in the horizontal and vertical directions can ensure the precise guidance of the first traction body 4100. The plurality of first traction bodies 4100 can all slide along the circumferential rolling grooves on the corresponding rolling wheels, thereby guiding the plurality of first traction bodies 4100 to move in the expected direction, thereby improving the stability of the overall drive.

[0127] Assuming that the relative rotation angle of the swing base body 2000 and the pitch base body 1000 is angle α, the energy transmission cable 3200 bends twice due to reversing, so that the reversing angle of the energy transmission cable 3200 is β. Therefore, the reversing angle β is smaller than the rotation angle α, wherein the specific difference between the reversing angle β and the rotation angle α depends on the height of the first contact boss 1100 and the second contact boss 2100, and there is no limitation on this. For example, β≈α / 2 can be made. This can improve the bending radius of the energy transmission cable 3200, reduce the wrap angle at the bending point of the energy transmission cable 3200, reduce the wear of the energy transmission cable 3200, and improve the service life of the device. When the energy transmission cable 3200 is bent, the sliding guide portion 6200 on the pitch base body 1000, the swing base body 2000, or the first base body 2400 of the swing base body 2000 can adopt a constrained arc structure. Referring to Figure 66, the sliding guide portion 6200 can also be set as a rolling guide portion 6100 as needed. In this way, the reliability and life of the energy transmission cable 3200 can be improved.

[0128] The first traction body 4100 forms angled arc segments along the circumferential rolling grooves of the rolling wheels. When the first traction body 4100 adheres to the two circumferential rolling grooves of the rolling wheels on the pitch base body 1000 and the swing base body 2000, two corresponding angled arc segments are formed within a section of the first traction body 4100. The section between these two angled arc segments of the first traction body 4100 is the intermediate straight segment. During the rotation of the swing base body 2000, the total length variation of the two angled arc segments and the intermediate straight segment between them in each first traction body 4100 does not exceed 5 mm, thereby greatly improving the stability and accuracy of rotation through the rolling guide component 6100. Based on the same principle, the energy transmission cable 3200 can also maintain a stable total length variation, which will not be elaborated on here.

[0129] In one embodiment, the energy release body 3100 has an annular winding groove, and the head and tail sections of the first traction body 4100 can be connected to the annular winding groove after passing through the first traction channel 1200 and the transition guide channel 2200. Assuming that the winding diameter of the annular winding groove is D, the wire diameter of the first traction body 4100 is d, the straight-line distance range between the two channel distal ports of the two first traction channels 1200 is greater than or equal to (D-3d) and less than or equal to (D+3d).

[0130] Referring to Figures 63 to 66 , in one embodiment, a cable connection mechanism 7000 is provided on the energy release body 3100, and the energy transmission cable 3200 is connected to the cable connection mechanism 7000. The cable connection mechanism 7000 can adopt various structures. For example, in one embodiment, the cable connection mechanism 7000 includes a transition boss 7100 located on the energy release body 3100, and the energy transmission cable 3200 is wrapped around and connected to the transition boss 7100. Alternatively, the cable connection mechanism 7000 includes an elastic transition member 7200 and a transition conductive member 7300, which are respectively located on the energy release body 3100 and the swing base body 2000, and the distal end of the energy transmission cable 3200 is connected to one of the elastic transition member 7200 and the transition conductive member 7300.

[0131] For example, the elastic adapter 7200 is located on the energy release body 3100, and the transition conductive member 7300 is located on the swing base body 2000. The distal end of the energy transmission cable 3200 is connected to the transition conductive member 7300, which is connected to the elastic adapter 7200 through the transition conductive member 7300. The elastic adapter 7200 is elastically expandable and contractible, for example, using a spring or other structure to achieve elastic expansion and contraction. During the rotational assembly process between the energy release body 3100 and the swing base body 2000, the elastic expansion and contraction of the elastic adapter 7200 ensures that the elastic adapter 7200 always elastically contacts the transition conductive member 7300, thereby achieving elastic conductive contact between the elastic adapter 7200 and the transition conductive member 7300. A sealing member can also be provided on the swing base body 2000 to prevent the inflow of tissue fluid during surgery, avoid the risk of leakage, and serve as an electrical insulation seal.

[0132] 67 to 68 , in one embodiment, the distal end of the energy transmission cable 3200 is connected to an elastic conductive cable 3300, and the elastic conductive cable 3300 is located between the distal end port of the first traction channel 1200 and the proximal end port of the transition guide channel 2200. Therefore, the distal end of the energy transmission cable 3200 can be indirectly conductively connected to the transition conductive member 7300 through the elastic conductive cable 3300, without the need to pass the energy transmission cable 3200 itself through the first traction channel 1200 and the transition guide channel 2200. Therefore, when the pitch base body 1000 and the swing base body 2000 rotate relative to each other, the energy transmission cable 3200 can be indirectly conductively connected to the transition conductive member 7300 through the elastic conductive cable 3300. The cable 3200 is never between the distal end port of the first traction channel 1200 and the proximal end port of the transition guide channel 2200, that is, it is never in the section where the pitch base body 1000 and the swing base body 2000 rotate relative to each other. Therefore, the energy transmission cable 3200 will never bend again, thereby avoiding the reduction in life due to bending, and instead transfers the bending state to the elastic conductive cable 3300. Based on its own elastic deformation function, the elastic conductive cable 3300 can arbitrarily stretch and contract between the distal end port of the first traction channel 1200 and the proximal end port of the transition guide channel 2200 and form a good conductive function.

[0133] Referring to Figures 69 to 72, in one embodiment, the energy release body 3100 includes a first energy clamp body 3100a and a second energy inlay 3100b, which are rotatably assembled on the swing base body 2000. The mutual rotation of the first energy clamp body 3100a and the second energy inlay 3100b is used to close or open each other. The energy transmission cable 3200 includes a first energy cable 3200a and a second energy cable 3200b, which is connected to the first energy inlay and the second energy cable 3200b is connected to the second energy inlay 3100b. In addition, the energy release body 3100 can also include more than two energy clamp bodies to achieve mutual linkage of multiple energy clamp bodies, which is not limited to this.

[0134] In one embodiment, the pitch base body 1000 is provided with four first traction channels 1200, and the swing base body 2000 is provided with two transition guide channels 2200. Every two first traction channels 1200 are matched with one transition guide channel 2200. The traction assembly 4000 includes two first traction bodies 4100. The two first traction bodies 4100 are respectively wound around the first energy clamp body 3100a and the second energy clamp body, and are used to control the fixed-axis rotation of the first energy clamp body 3100a or the second energy clamp body. The head and tail sections of different first traction bodies 4100 are respectively inserted into two different first traction channels 1200. At this time, the pitch base body 1000 has four first traction channels 1200. The head and tail sections of the two first traction channels 1200, that is, a total of four sections, can be respectively inserted into different first traction channels 1200. Among them, the head and tail sections of the first traction body 4100 can represent the head and tail sections separated in different directions with the position where the first traction body 4100 is fixed on the first energy clamp body 3100a or the second energy clamp body as the base point, or it can be a complete first traction body 4100 composed of two separate sections. In this case, the ends of the two separate sections of the first traction body 4100 are simultaneously connected to the first energy clamp body 3100a or the second energy clamp body, together forming the first traction body 4100 connected to the first energy clamp body 3100a or the second energy clamp body.

[0135] In another embodiment, the pitch base body 1000 is provided with two first traction channels 1200, and the swing base body 2000 is provided with two transition guide channels 2200, each first traction channel 1200 is matched with a transition guide channel 2200, and the traction assembly 4000 includes two first traction bodies 4100, and the two first traction bodies 4100 are respectively wound around the first energy clamp body 3100a and the second energy clamp body, and are used to control the fixed-axis rotation of the first energy clamp body 3100a or the second energy clamp body, and the head and tail sections of each first traction body 4100 are respectively inserted into the two first traction channels 1200. At this time, the pitch base body 1000 has only two first traction channels 1200, and the head and tail sections of the two first traction channels 1200 can be simultaneously inserted into the same first traction channel 1200.

[0136] When the swing base body 2000 is formed as the first base body 2400 and the second base body 2500, the first base body 2400 and the second base body 2500 are both rotatably connected to the pitch base body 1000, wherein the distal end face of the first base body 2400 can be provided with two lateral holes 2400a, and the two lateral holes 2400a are used to pass through the first energy cable 3200a and the second energy cable 3200b respectively, and the proximal end face of the second base body 2500 is provided with a central channel 2500a. After the first base body 2400 and the second base body 2500 are assembled, the central channel 2500a and the two lateral holes 2400a are connected to each other. The hole 2400a can form a connection, so that the first energy cable 3200a and the second energy cable 3200b can pass through the two lateral holes 2400a in the direction from the distal end to the proximal end, and then be concentrated into a central channel 2500a to be led out. The central channel 2500a can bundle the first energy cable 3200a and the second energy cable 3200b, for example, to form a parallel structure, and the parallel direction refers to a direction parallel to the pitch direction. In this way, the cables can be effectively protected, and the length fluctuations of the first energy cable 3200a and the second energy cable 3200b in the motion joint area can be avoided, thereby improving the cable life.

[0137] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above embodiments only express several implementation methods of the present application. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the patent application. For ordinary technicians in this field, without departing from the concept of the present application, several variations and improvements can be made, which all fall within the scope of protection of the present application. Therefore, the scope of protection of the patent application of this application shall be based on the attached claims.

Claims

1. A clamping device end, characterized in that: The clamping instrument end comprises: A pitch base body, wherein a distal end surface of the pitch base body is provided with a first contact boss protruding from the distal end surface, and the pitch base body is provided with a first traction channel, and the distal end ports of the first traction channel are all located at the distal end surface of the pitch base body; A swing base body, wherein the proximal end face of the swing base body is provided with a second contact boss protruding from the proximal end face, the swing base body and the pitch base body are rotatably assembled so that the first contact boss and the second contact boss are in rolling contact, and the swing base body is provided with a guide channel, and the proximal end ports of the guide channel are all located on the proximal end face of the swing base body.

2. The clamping instrument tip according to claim 1, characterized in that: The pitch base body is provided with at least two first traction channels, the guide channel comprises at least two wire guide channels, and the channel proximal ports of all the wire guide channels are located at the proximal end surface of the swing base body.

3. The clamping instrument tip according to claim 2, characterized in that: The rolling tangency between the first contact boss and the second contact boss forms a dynamic tangent of dynamic variable contact, and the normal plane of the dynamic tangent is the dynamic normal plane; the straight line connecting line segment between a pair of mutually matching channel distal end ports of the first traction channel and the channel proximal end port of the wire guide channel is a turning line segment; The angle between the turning line segment and the dynamic normal plane is no greater than 10°.

4. The clamping instrument tip according to claim 3, characterized in that: The clamping instrument end comprises: A traction assembly, the traction assembly comprising at least one first traction body, each of the first traction bodies passes through the first traction channel and is connected to the end clamping body through the wire guide channel, the wire diameter of the first traction body is d, and the distance between any point on the turning line segment and the dynamic normal plane is less than 4d.

5. The clamping instrument tip according to claim 4, characterized in that: At least one of the pitch base body and the swing base body is provided with a motion constraint mechanism, and the motion constraint mechanism is used to constrain the first contact boss to always maintain rolling tangency with the second contact boss.

6. The clamping instrument tip according to claim 5, characterized in that: The motion restraint mechanism includes a first side restraint component and a second side restraint component, the first side restraint component is located on the pitch base body, the second side restraint component is located on the swing base body, and the first side restraint component and the second side restraint component are in limited contact with each other; the motion restraint mechanism also includes a restraint tooth portion and a restraint tooth groove, the restraint tooth portion and the restraint tooth groove are respectively located on the pitch base body and the swing base body, and the restraint tooth portion and the restraint tooth groove are meshed with each other.

7. The clamping instrument tip according to claim 6, characterized in that: The constraint tooth groove is located in the pitch base body, and two side stop protrusions are arranged on the pitch base body. The two side stop protrusions are located on both sides of the notch of the constraint tooth groove and are used for contacting with the side of the constraint tooth part in a limited manner.

8. The clamping instrument tip according to claim 7, characterized in that: The traction assembly includes at least two second traction bodies, the pitch base body is provided with at least two second traction channels, each of the second traction bodies passes through one of the second traction channels and is connected to the swing base body, so as to drive the swing base body to rotate relative to the pitch base body, wherein an avoidance groove is provided on the side stop protrusion, and the avoidance groove is used to avoid the second traction body.

9. The clamping instrument tip according to claim 8, characterized in that: The channel distal ports of all the second traction channels are located at the distal end surface of the pitch base body, and the channel distal ports of all the second traction channels are arranged along a straight track perpendicular to the rotation direction of the swing base body; and / or, at least two traction connection parts are provided on the swing base body, each of the traction connection parts is matched with one of the second traction channels, and each of the second traction bodies is connected to one of the traction connection parts on the swing base body.

10. The clamping instrument tip according to claim 9, characterized in that: The pitch base body is provided with two first traction channels, the swing base body is provided with two wire guide channels, each of the first traction channels is matched with one wire guide channel, the traction assembly comprises two first traction bodies, the two first traction bodies are respectively wound around the first clamping swing arm and the second clamping swing arm of the end clamping body, and are used to control the first clamping swing arm or the second clamping swing arm to rotate on a fixed axis, and the first and last wire sections of each first traction body are inserted into the two first traction channels; or, The pitch base body is provided with four first traction channels, and the swing base body is provided with two wire guide channels, and every two first traction channels are matched with one wire guide channel. The traction assembly includes two first traction bodies, and the two first traction bodies are respectively wound around the first clamping swing arm and the second clamping swing arm on the end clamping body, and are used to control the fixed-axis rotation of the first clamping swing arm or the second clamping swing arm, and the first and tail sections of wire of different first traction bodies are respectively inserted into two different first traction channels.

11. The clamping instrument tip according to claim 10, characterized in that: At least one of the pitch base body and the swing base body is provided with a guiding mechanism, and the guiding mechanism is used to guide the two first traction bodies to be respectively wound around the first clamping swing arm and the second clamping swing arm; the first clamping swing arm has a first circular winding groove, and the first traction body is wound and connected with the first circular winding groove of the first clamping swing arm; the second clamping swing arm has a second circular winding groove, and the second traction body is wound and connected with the second circular winding groove of the second clamping swing arm.

12. The clamping instrument tip according to claim 11, characterized in that: The guide mechanism comprises a slip coating, and the slip coating is located on the inner wall of the wire guide channel; and / or, The guide mechanism comprises a plurality of rolling guide components, the plurality of rolling guide components are located on at least one side of at least one of the first traction channel and the wire guide channel, and the rolling guide components are in rolling guiding contact with the first traction body; and / or, The guide mechanism includes a plurality of sliding guide components, the plurality of sliding guide components are located on at least one side of at least one of the first traction channel and the wire guide channel, and the sliding guide components are in sliding guiding contact with the first traction body.

13. The clamping instrument tip according to claim 12, characterized in that: The number of the rolling guide components is even, and the plurality of rolling guide components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the wire guide channel; or, The number of the sliding guide components is even, and the plurality of sliding guide components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the wire guide channel; or, The guide mechanism includes a plurality of rolling guide components and a plurality of sliding guide components, the total number of the rolling guide components and the sliding guide components is an even number, and the rolling guide components and the sliding guide components are symmetrically arranged in pairs on opposite sides of at least one of the first traction channel and the wire guide channel.

14. The gripping instrument tip according to claim 13, characterized in that: The first and last wire sections of each first traction body are respectively the first force-bearing wire section and the second force-bearing wire section. The rolling guide component is in rolling and guiding contact with the first force-bearing wire section, and the sliding guide component is in sliding and guiding contact with the second force-bearing wire section.

15. An energy device tip, characterized in that: The energy device end comprises: The clamping device tip according to claim 1, wherein the swing base body is assembled to reciprocate relative to the pitch base body along a preset direction, and the guide channel includes a transition guide channel; An energy component comprises an energy release body and an energy transmission cable. The energy release body is mounted on the swing base. The energy transmission cable passes through the first traction channel and the transition guide channel and is connected to the energy release body.

16. The energy device tip according to claim 15, characterized in that: The energy device end comprises: A traction assembly, wherein the traction assembly includes a first traction body, the number of the first traction channel and the number of the transition guide channel are at least two, the energy release body is rotatably connected to the swing base, the first traction body passes through the first traction channel and the transition guide channel and is connected to the energy release body, and is used to control the energy release body to reciprocate relative to the swing base along a preset direction.

17. The energy device tip according to claim 15, characterized in that: The pitch base body is provided with two or three of the first traction channels, and the swing base body is correspondingly provided with two or three of the transition guide channels, each of the first traction channels is matched with a transition guide channel, the first traction body is wound around the energy release body to control the fixed-axis rotation of the energy release body, the first and tail sections of the first traction body are respectively inserted into different first traction channels and transition guide channels, and the energy transmission cable passes through one of the first traction channels and the transition guide channel; or, The first and last sections of the first traction body are respectively inserted into two of the first traction channels and the transition guide channel, and the energy transmission cable passes through the other one of the first traction channel and the transition guide channel.

18. The energy device tip according to claim 17, characterized in that: The first traction channel through which the energy transmission cable is passed has a cable transition camber; and / or, A cable partition component is provided between two first traction channels through which the energy transmission cable and the first traction body are passed, and the cable partition component is used to separate the adjacent energy transmission cables and first traction bodies.

19. The energy device tip according to claim 18, characterized in that: At least one of the pitch base body and the swing base body is provided with a motion guide mechanism, and the motion guide mechanism includes a plurality of rolling guide components, and the plurality of rolling guide components are located on at least one side of at least one of the first traction channel and the transition guide channel, and the rolling guide component is in rolling guiding contact with the first traction body, so as to guide the first traction body to entangle with the energy release body.

20. The energy device tip according to claim 19, characterized in that: The energy release body has an annular winding groove, the first traction body is wound and connected to the annular winding groove, the winding diameter of the annular winding groove is D, the wire diameter of the first traction body is d, and the straight-line distance range between the two channel distal ports of the two first traction channels is greater than or equal to (D-3d) and less than or equal to (D+3d).

21. The energy device tip according to claim 15, characterized in that: The energy release body is provided with a cable connection mechanism, and the energy transmission cable is connected to the cable connection mechanism.

22. The energy device tip according to claim 21, characterized in that: The cable connection mechanism comprises a transfer boss located on the energy release body, and the energy transmission cable is wound and connected with the transfer boss; and / or, The cable connecting mechanism includes an elastic transition piece and a transition conductive piece, wherein the elastic transition piece and the transition conductive piece are respectively located on the energy release body and the swing base body, and the rotational assembly between the energy release body and the swing base body can realize elastic conductive contact between the elastic transition piece and the transition conductive piece, and the distal end of the energy transmission cable is connected to one of the elastic transition piece and the transition conductive piece.

23. The energy device tip according to claim 22, characterized in that: The distal end of the energy transmission cable is connected to an elastic conductive cable, and the elastic conductive cable is located between the distal end port of the first traction channel and the proximal end port of the transition guide channel. The distal end of the energy transmission cable is indirectly conductively connected to the transition conductive member through the elastic conductive cable.

24. The energy device tip according to claim 15, characterized in that: The energy release body includes a first energy clamp body and a second energy inlay, the first energy clamp body and the second energy inlay are rotatably assembled on the swing base body, the mutual rotation of the first energy clamp body and the second energy inlay is used to close or open each other, the energy transmission cable includes a first energy cable and a second energy cable, the first energy cable is connected to the first energy inlay, and the second energy cable is connected to the second energy inlay; the swing base body includes a first base body and a second base body, the first base body and the second base body are both rotatably connected to the pitch base body, the second contact boss is located on the second base body, the distal end face of the first base body is provided with two lateral holes, the proximal end face of the second base body is provided with a central channel, the central channel and the two lateral holes are connected, and are used to pass the first energy cable and the second energy cable through the two lateral holes respectively and then lead out through the central channel.

25. A surgical instrument, characterized in that: The surgical instrument comprises: The gripping instrument tip according to any one of claims 1-14, or the energy instrument tip according to any one of claims 15-24.

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