End effector and electrosurgical instrument

Abstract

The present invention relates to the technical field of surgical robots. Disclosed are an end effector and an electrosurgical instrument. The end effector comprises a wrist mechanism, an execution assembly, and a wire. The wrist mechanism comprises an execution shaft. The execution assembly is electrically insulated from the wrist mechanism. The execution assembly comprises an insulating member and a conductive execution member. One end of the conductive execution member is embedded in the insulating member. The insulating member rotates and coaxially sleeves the execution shaft. A threading hole is formed on a first end surface of the insulating member on one side in an axial direction. A first end of the wire penetrates through the threading hole and is electrically connected to the conductive execution member. A second end of the wire penetrates out of the threading hole and then bends towards a first side of the threading hole and is adhered to the first end surface. A hole side wall of at least the first side of the threading hole is inclined to the first end surface, so that a connection angle between an inner part and an outer part of the wire at the threading hole is an obtuse angle. According to the present invention, the bending angle of the wire after extending out of the threading hole can be reduced, improving the durability of the end effector and the reliability during surgery, and also improving surgical safety.

Description

End effectors and electrosurgical instruments Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an end effector and an electrosurgical instrument. Background Art

[0002] Electrosurgical instruments can cut, coagulate, dry or electrocauterize patient tissue during surgery. Due to their characteristics of less bleeding during operation and high surgical efficiency, they are widely used in surgeries in various fields.

[0003] Chinese patent CN219042778U discloses an electric hook device, surgical instrument, and minimally invasive surgical robot for surgery. One end of the electric hook device is embedded in an insulating base. One end of a wire extends through a hole in the side of the insulating base and is electrically connected to the electric hook device. The other end of the wire extends out of the insulating base and is wound around a winding post.

[0004] In the prior art, to facilitate manufacturing, the wire holes in the insulating base are typically opened perpendicular to the sides of the insulating base. This results in the wires needing to bend at right angles after exiting the holes. This large bending angle can easily damage or even break the wires, shortening the lifespan of the surgical instrument, reducing its durability and reliability during surgery. It also increases the likelihood of wire damage, increasing the risk of the wire conducting electricity to the wrist mechanism, and causing accidental electric shock to the patient's tissue, potentially causing secondary injuries to the patient and compromising surgical safety.

[0005] Based on this, there is an urgent need for an end effector and an electrosurgical instrument to solve the above-mentioned problems. Summary of the Invention

[0006] The object of the present invention is to provide an end effector and an electrosurgical instrument to reduce the bending angle of the wire after it extends out of the threading hole, improve the durability of the end effector and the reliability during surgery, and also improve the safety of the surgery.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] An end effector for performing electrosurgery, comprising:

[0009] a wrist mechanism including an actuator axis;

[0010] an actuator assembly electrically insulated from the wrist mechanism, the actuator assembly comprising an insulating member and a conductive actuator, one end of the conductive actuator being embedded in the insulating member, the insulating member being rotatably and coaxially sleeved on the actuator shaft, and a threading hole being formed on a first end surface of the insulating member along one axial side;

[0011] A wire, the first end of which passes through the wire threading hole and is electrically connected to the conductive actuator, the second end of the wire passes through the wire threading hole, bends toward the first side of the wire threading hole and adheres to the first end surface, the second end of the wire is wound around the actuator shaft, and the second end of the wire is used to be electrically connected to an external power supply, and the side wall of at least the first side of the wire threading hole is inclined to the first end surface so that the connection angle between the part of the wire located in the wire threading hole and the part of the second end of the wire after passing through the wire threading hole is an obtuse angle.

[0012] As an optional technical solution for the end effector, an outer outlet groove is provided on the first end face, and the outer outlet groove is located on the first side of the threading hole. One end of the outer outlet groove is connected to the threading hole, and the depth of the outer outlet groove increases in the direction approaching the threading hole. After the wire passes through the threading hole, it fits into the bottom surface of the outer outlet groove. In the axial direction of the threading hole, the maximum depth of the outer outlet groove is less than the length of the threading hole.

[0013] As an optional technical solution for the end effector, the width of the outer outlet slot decreases gradually in a direction approaching the threading hole.

[0014] As an optional technical solution for the end effector, the actuator shaft is arranged perpendicular to the first end face, and the axis of the actuator shaft and the plane where the first end face is located are set to intersect at a first reference point, and the axis of the threading hole intersects with the plane where the first end face is located at a second reference point. The second reference point is set on a reference circle, and the reference circle is located on the plane with the first reference point as the center. The tangent line on the plane passes through the second reference point and is tangent to the reference circle.

[0015] The edge line of the outer outlet groove includes a first straight line, a second straight line and an arc segment, two ends of the arc segment are tangently connected to one end of the first straight line and one end of the second straight line respectively, the other end of the second straight line is tangently connected to the edge line of the threading hole, and the other end of the first straight line is tangently connected to the edge line of the threading hole;

[0016] The first straight line and the second straight line are respectively located on both sides of the tangent line, the first straight line is located on the side of the tangent line close to the execution axis, the first straight line is parallel to the tangent line, or the end of the first straight line away from the threading hole edge line is inclined toward the direction close to the execution axis;

[0017] The end of the second straight line away from the edge line of the threading hole is inclined toward the direction away from the execution axis, the first straight line and the tangent form a first angle, the second straight line and the tangent form a second angle, and the second angle is greater than the first angle.

[0018] As an optional technical solution for the end effector, the outer outlet groove includes a first half groove and a second half groove that are interconnected, the first half groove and the second half groove are respectively located on both sides of the tangent line, the first half groove is located on the side of the second half groove close to the actuator axis, the edge line of the first half groove includes a first arc line and the first straight line, the edge line of the second half groove includes a second arc line and the second straight line, and one end of the first arc line is connected to one end of the second arc line to form the arc segment;

[0019] The bottom surface of the first half groove is smoothly connected to the bottom surface of the second half groove, the depth of the second half groove increases in the direction approaching the first half groove, and the depth of the first half groove increases in the direction approaching the second half groove or first increases and then decreases; and / or, the bottom surface of the first half groove is smoothly connected to the first end face by a chamfer, and the bottom surface of the second half groove is smoothly connected to the first end face by a chamfer.

[0020] As an optional technical solution for the end effector, the insulating member is provided with a receiving groove and a wire placement groove, one end of the conductive actuator is placed in the receiving groove, the wire placement groove is communicated with the receiving groove and the wire threading hole respectively, the length direction of the wire placement groove extends along the first direction, and the groove wall of the wire placement groove facing the wire threading hole is arranged parallel to the first end surface;

[0021] After passing through the wire threading hole, the first end of the wire is bent toward the second side of the wire threading hole and extends into the wire placement groove, and the portion of the wire in the wire placement groove extends along the first direction. The hole side wall on the second side of the wire threading hole is inclined to the groove wall of the wire placement groove facing the wire threading hole, so that the connection angle between the portion of the wire located in the wire threading hole and the portion of the first end of the wire after passing through the wire threading hole is an obtuse angle.

[0022] As an optional technical solution for the end effector, the portion of the wire placed in the wire slot is fixedly connected to the insulating member.

[0023] As an optional technical solution for the end effector, an inner outlet groove is provided on the groove wall of the wire groove facing the wire threading hole, and the inner outlet groove is located on the second side of the wire threading hole. One end of the inner outlet groove is connected to the wire threading hole, and the depth of the inner outlet groove increases in the direction approaching the wire threading hole. After the wire passes through the wire threading hole, it fits into the bottom surface of the inner outlet groove. In the axial direction of the wire threading hole, the maximum depth of the inner outlet groove is less than the length of the wire threading hole.

[0024] As an optional technical solution for the end actuator, the accommodating groove and the wire threading hole are respectively located on both sides of the wire placement groove along the axial direction of the actuator shaft, and a winding ring groove is coaxially provided on the side wall of the insulating part along the circumferential direction. The wire placement groove is an arc-shaped groove, and the first direction is the circumferential direction with the center of the circle on the axis of the actuator shaft. The wire placement groove and the winding ring groove are radially spaced apart.

[0025] As an optional technical solution for the end effector, the wire groove is an arc-shaped groove, the first direction is the circumferential direction of the circle with the center on the axis of the actuator shaft, and the two ends of the wire are bent in opposite directions after passing through the wire hole;

[0026] The axis of the threading hole is inclined to the first end face, the execution axis is perpendicular to the first end face, and the axis of the execution axis is set to intersect with the plane where the first end face is located at a first reference point. The axis of the threading hole intersects with the plane where the first end face is located at a second reference point. The second reference point is set on a reference circle. The reference circle is coaxial with the execution axis and is located on the plane where the first end face is located. The reference line on the plane passes through the first reference point and the second reference point, and the axis of the threading hole is perpendicular to the reference line.

[0027] As an optional technical solution for the end actuator, the end actuator also includes a protective cover, which is sleeved on the actuator shaft, and the protective cover is located on one side of the first end face of the insulating member. The protective cover is provided with a groove on the side facing the insulating member, and the groove surface of the groove is in contact with the first end face so that the groove wall of the groove and the first end face form an accommodating space, the wire threading hole is connected to the accommodating space, and the wire extends into the accommodating space after passing through the wire threading hole, and an opening is provided on the side wall of the groove, and the wire is passed through the opening.

[0028] As an optional technical solution for the end effector, the wrist mechanism includes a connecting ear and a base body, the actuator shaft is arranged at one end of the connecting ear, the other end of the connecting ear is connected to the base body, and a threading channel is provided through the base body, and the wire passes through the opening and then extends into the threading channel;

[0029] The protective cover can rotate relative to the insulating member around the axis of the actuator shaft, and / or the protective cover is movably sleeved on the actuator shaft.

[0030] An electrosurgical instrument comprising the end effector as described above.

[0031] Beneficial effects of the present invention:

[0032] The end effector provided by the present invention includes a wrist mechanism, an actuator assembly, and a wire. The side wall of at least the first side of the threading hole is tilted relative to the first end face, so that the bending angle of the second end of the wire after passing through the threading hole is an acute angle, and the connection angle between the portion of the wire located in the threading hole and the portion of the second end of the wire after passing through the threading hole is an obtuse angle, thereby avoiding the wire from bending at a right angle after passing through the threading hole, reducing the bending angle of the wire, and reducing the possibility of wire damage or even breakage, thereby extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of wire surface damage and the possibility of the wire conducting electricity to the wrist mechanism, causing accidental electric shock to the patient's tissue, thereby avoiding secondary damage to the patient and improving the safety of the surgery.

[0033] The electrosurgical instrument provided by the present invention includes the aforementioned end effector. The bending angle of the wires on the end effector is reduced, thereby extending the service life of the electrosurgical instrument, improving its durability and reliability during surgery, and reducing the possibility of accidental electric shock to patient tissue, thereby avoiding secondary injury to the patient and improving surgical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a schematic structural diagram of an end effector provided in Embodiment 1 of the present invention;

[0035] FIG2 is a cross-sectional view of an end effector provided in Embodiment 1 of the present invention;

[0036] FIG3 is an exploded view of the structure of the end effector provided in Example 1 of the present invention;

[0037] FIG4 is a schematic diagram of the structure of the actuator and the wires provided in Example 1 of the present invention;

[0038] FIG5 is a schematic structural diagram of a wire provided in Example 1 of the present invention;

[0039] 6 is a cross-sectional view of an insulating member provided in a first direction according to the first embodiment of the present invention;

[0040] 7 is a schematic structural diagram of the conductor running inside the insulating member provided in Example 1 of the present invention;

[0041] 8 is a schematic structural diagram of the first connecting section provided in the first embodiment of the present invention when it is in an expanded state on the insulating member;

[0042] FIG9 is a schematic structural diagram of an insulating member provided by Embodiment 1 of the present invention from a first perspective;

[0043] 10 is a cross-sectional view of the insulating member provided in the second direction according to the first embodiment of the present invention;

[0044] FIG11 is an exploded view of the structure of the insulating member and the conductive actuator provided in Example 1 of the present invention;

[0045] 12 is a schematic structural diagram of an insulating member provided in accordance with the first embodiment of the present invention from a second perspective;

[0046] 13 is a schematic structural diagram of an actuator assembly corresponding to the first elastic member structure provided in Example 2 of the present invention;

[0047] FIG14 is a cross-sectional view of the insulating member in FIG13;

[0048] FIG15 is a schematic structural diagram of an insulating member corresponding to the second elastic member structure provided in the second embodiment of the present invention.

[0049] In the picture:

[0050] 10. Actuator assembly; 20. Wrist mechanism; 201. Actuator shaft; 202. Connecting lug; 203. Base; 2031. Threading channel; 30. Wire; 301. First connecting segment; 3011. First branch segment; 3012. Second branch segment; 302. Second connecting segment; 303. Third connecting segment; 3031. Third branch segment; 3032. Fourth branch segment;

[0051] 1. Insulator; 11. Threading hole; 12. Accommodating groove; 13. Wire placement groove; 14. Winding ring groove; 15. Outer outlet groove; 151. First half groove; 1511. First arc line; 1512. First straight line; 152. Second half groove; 1521. Second arc line; 1522. Second straight line; 16. Inner outlet groove; 161. Curved segment; 17. Through hole; 18. Insulator body; 181. Mounting hole; 19. Elastic member;

[0052] 2. Conductive actuator; 21. Rotating wheel; 22. Actuator;

[0053] 3. Protective cover; 31. Groove; 32. Opening; 4. Insulating sheet. DETAILED DESCRIPTION

[0054] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0056] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0057] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods. Example

[0058] This embodiment provides an electrosurgical instrument, which includes an end effector for performing electrosurgical operations requiring electricity, such as cutting, coagulation, drying, or electric cauterization.

[0059] The electrosurgical instrument in this embodiment is installed on a surgical robot. In other embodiments, the electrosurgical instrument can also be used alone or installed on other medical equipment, which is not limited here.

[0060] The electrosurgical instrument further comprises an instrument rod, and the end effector is arranged at one end of the instrument rod. Other structures of the electrosurgical instrument can refer to the prior art and will not be described in detail here.

[0061] Specifically, as shown in Figures 1 to 12, the end effector includes a wrist mechanism 20, an actuator assembly 10, and a wire 30. The wrist mechanism 20 includes an actuator shaft 201. The actuator assembly 10 is electrically insulated from the wrist mechanism 20. The actuator assembly 10 includes an insulating member 1 and a conductive actuator 2. One end of the conductive actuator 2 is embedded in the insulating member 1. The insulating member 1 rotates and is coaxially sleeved on the actuator shaft 201. A threading hole 11 is opened on the first end face of the insulating member 1 along the axial side, and the threading hole 11 is located on the radial side of the actuator shaft 201. The first end of the wire 30 passes through the threading hole 11 and is electrically connected to the conductive actuator 2. The second end of the wire 30 passes through the threading hole 11, bends toward the first side of the threading hole 11 and fits against the first end face. The second end of the wire 30 is wound around the actuator shaft 201. The second end of the wire 30 is used to be electrically connected to an external power source. The side wall of at least the first side of the threading hole 11 is inclined to the first end face so that the connection angle between the portion of the wire 30 located in the threading hole 11 and the portion of the second end of the wire 30 after passing through the threading hole 11 is an obtuse angle. It can be understood that the threading hole 11 extends to the conductive actuator 2. Among them, the wrist mechanism 20 is used to connect to the instrument rod. The second end of the wire 30 passes through the wrist mechanism 20 and extends into the instrument rod. The end of the wire 30 passes through the instrument rod and is electrically connected to the external power source.

[0062] Specifically, a through hole 17 is formed through the insulating member 1, and the actuator shaft 201 is coaxially rotatably disposed in the through hole 17. In this embodiment, the threading hole 11 is spaced apart from the through hole 17. In other embodiments, the threading hole 11 may also be connected to the through hole 17, which is not limited here.

[0063] In this embodiment, the specific structure of the wrist mechanism 20 can refer to the existing technology, which is not the focus of protection of this embodiment and will not be described here.

[0064] The end effector provided in this embodiment includes a wrist mechanism 20, an actuator assembly 10, and a wire 30. The side wall of at least the first side of the threading hole 11 is inclined relative to the first end face, so that the bending angle of the second end of the wire 30 after passing through the threading hole 11 is an acute angle, and the connection angle between the portion of the wire 30 located in the threading hole 11 and the portion of the second end of the wire 30 after passing through the threading hole 11 is an obtuse angle, thereby avoiding the wire 30 from bending at a right angle after passing through the threading hole 11, reducing the bending angle of the wire 30, and reducing the possibility of damage or even breakage of the wire 30, thereby extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of damage to the surface of the wire 30, and reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, thereby avoiding secondary injury to the patient and improving the safety of the surgery.

[0065] The electrosurgical instrument provided in this embodiment includes the aforementioned end effector. The bending angle of the wire 30 on the end effector is reduced, thereby extending the service life of the electrosurgical instrument, improving its durability and reliability during surgery, and reducing the possibility of accidental electric shock to patient tissue, thereby avoiding secondary injury to the patient and improving surgical safety.

[0066] In this embodiment, the insulating component 1 is made of an insulating material, such as engineering plastics such as PEI (polyetherimide), PAI (polyamide-imide), PEEK (polyetheretherketone), and PPSU (polyphenylene sulfone resin). The conductive actuator 2 is made of a metal material, such as stainless steel or titanium alloy. Furthermore, to ensure structural strength, the actuator shaft 201 is made of metal. An insulating protective layer is applied to the actuator shaft 201 to isolate the actuator assembly 10 from the actuator shaft 201, ensuring electrical insulation between the actuator assembly 10 and the wrist mechanism 20.

[0067] In this embodiment, the actuator shaft 201 is disposed perpendicular to the first end surface of the insulating member 1. The portion of the wire 30 wound around the actuator shaft 201 is in contact with the first end surface.

[0068] As shown in Figures 5 and 7, the wire 30 includes a first connecting section 301 and an execution connecting section. The first connecting section 301 is located on one side of the first end face of the insulating member 1, the first connecting section 301 is wound around the execution shaft 201, part of the first connecting section 301 is attached to the first end face, and the first connecting section 301 is used to electrically connect to an external power source. The execution connecting section is passed through the threading hole 11, and the execution connecting section is electrically connected to the conductive actuator 2. The first end of the wire 30 is the end of the execution connecting section away from the first connecting section 301, and the second end of the wire 30 is the end of the first connecting section 301 away from the execution connecting section. The aforementioned description of "the connection angle between the portion of the wire 30 located in the threading hole 11 and the portion of the second end of the wire 30 after passing through the threading hole 11 is an obtuse angle" means that the connection angle between the first connecting section 301 and the execution connecting section is an obtuse angle. The end of the first connecting section 301 used for connecting to the execution connecting section is located on the first side of the threading hole 11.

[0069] As shown in Figure 7 , to achieve "the portion of the wire 30 wound around the actuator shaft 201 abutting the first end surface," the second end of the wire 30 needs to be deflected by an angle α after passing through the threading hole 11. That is, the second end of the wire 30 needs to be bent by an angle α after passing through the threading hole 11, and α is less than 90°. It is understood that the angle of connection between the first connecting segment 301 and the actuator connecting segment described above is 180° - α.

[0070] As a preferred embodiment, as shown in Figures 6-9 , an outer outlet groove 15 is defined on the first end surface. The outer outlet groove 15 is located on a first side of the threading hole 11, with one end of the outer outlet groove 15 communicating with the threading hole 11. The depth of the outer outlet groove 15 increases as it approaches the threading hole 11. After the wire 30 passes through the threading hole 11, it abuts against the bottom surface of the outer outlet groove 15, meaning that the end of a portion of the first connecting segment 301 is positioned within the outer outlet groove 15. In the axial direction of the threading hole 11, the maximum depth of the outer outlet groove 15 is less than the length of the threading hole 11. By providing the outer exit groove 15, the wire 30 can be attached to the first end face only after being bent twice after passing through the threading hole 11, thereby reducing the bending angle of the wire 30 each time, reducing the possibility of damage or even breakage of the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of damage to the surface of the wire 30, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, thereby avoiding secondary injury to the patient and improving the safety of the surgery.

[0071] In this embodiment, as shown in Figure 7, the first connecting section 301 includes a first branch section 3011 and a second branch section 3012. The second branch section 3012 is connected between the first branch section 3011 and the actuating connecting section. The first branch section 3011 is used to electrically connect to an external power source. The first branch section 3011 is wound around the actuating shaft 201. A portion of the first branch section 3011 is attached to the first end surface of the insulating member 1, and the second branch section 3012 is attached to the bottom surface of the outer outlet slot 15.

[0072] It is understandable that, as shown in FIG7 , if the outer exit slot 15 is not provided, the angle at which the second end of the wire 30 needs to be bent after passing through the wire hole 11 is α. In this embodiment, after the outer exit slot 15 is provided, the wire 30 needs to be bent twice, that is, the wire 30 needs to be bent at the connection position between the second branch segment 3012 and the first branch segment 3011 and at the connection position between the second branch segment 3012 and the execution connection segment, respectively. The angles required for the two bends are β and γ, respectively, where β+γ≈α, β<α, γ<α.

[0073] It should be noted that in FIG. 7 , in order to clearly show the structural and positional relationship between the wire 30 , the wire threading hole 11 , and the outer outlet slot 15 , the wire 30 is not in contact with the bottom surface of the outer outlet slot 15 .

[0074] In this embodiment, as shown in Figures 2 and 3, the wrist mechanism 20 includes a connecting ear 202 and a base 203. The actuator shaft 201 is disposed at one end of the connecting ear 202, and the other end of the connecting ear 202 is connected to the base 203. The base 203 is provided with a threading channel 2031, into which the second end of the wire 30 extends. The wire 30 passes through the threading channel 2031 and then extends into the instrument rod. It is electrically connected to the conductive circuit on the surgical robot to achieve electrical connection with an external power source. Because the wire 30 typically has an insulating outer sheath, a certain amount of friction exists between the wire 30 and the channel wall of the threading channel 2031. Therefore, as shown in Figure 8, during the rotation of the actuator 10 in a certain direction, the actuator shaft 201 releases a certain length of the wire 30. Due to the action of friction, the length of the wire 30 inserted into the threading channel 2031 may be less than the above-mentioned release length, resulting in the wire 30 being unable to be tightly wound around the actuator shaft 201. The first connecting segment 301 of the wire 30 is in an unfolded state, as shown in Figure 8, that is, the part of the first connecting segment 301 close to the threading hole 11 is swung toward the direction away from the actuator shaft 201, that is, the end of the second branch segment 3012 away from the actuator connecting segment is swung toward the direction away from the actuator shaft 201.

[0075] Preferably, as shown in FIG. 9 , the width of the outer outlet groove 15 decreases gradually in the direction approaching the threading hole 11 , that is, the outer outlet groove 15 is in the shape of an expanded groove. The above arrangement allows the wire 30 to have a certain amount of room to move when extending out of the outer exit slot 15. During the rotation of the actuator 10, the possibility of the connecting edge between the outer exit slot 15 and the first end face hindering the swing of the wire 30 is reduced, the possibility of stress concentration on the wire 30 due to the compression of the edge and the wire 30 is reduced, and the durability of the wire 30 is improved. At the same time, during the swinging of the wire 30, the flared groove-shaped outer exit slot 15 also ensures that the end of the first connecting section 301 can be placed in the outer exit slot 15 within a larger swing range of the wire 30. Within the above swing range, the outer exit slot 15 has the effect of reducing the bending angle required for each bend of the wire 30, further reducing the possibility of damage to the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of damage to the surface of the wire 30 and the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, thereby avoiding secondary injury to the patient and improving the safety of the surgery.

[0076] In the above swing range, the outer outlet slot 15 has the effect of reducing the bending angle of the wire 30 each time. That is to say, in the above swing range, it can ensure that the bending angles of the wire 30 twice are β and γ respectively, and β<α, γ<α.

[0077] Due to the structural limitations of the wrist mechanism 20, the insulator 1 has two rotational extremes. In this embodiment, the wrap angle of the wire 30 on the actuator shaft 201 is always greater than 90° during rotation between the two extremes. When the insulator 1 is in the first extreme position, the wrap angle of the wire 30 on the actuator shaft 201 is maximum; when the insulator 1 is in the second extreme position, the wrap angle of the wire 30 on the actuator shaft 201 is minimum. When the insulator 1 is in the second extreme position, the wire threading hole 11 is located on the side of the actuator shaft 201 away from the base 203.

[0078] Specifically, as shown in Figure 9, the axis of the execution shaft 201 is set to intersect with the plane where the first end face is located at the first reference point O, and the axis of the threading hole 11 intersects with the above-mentioned plane at the second reference point P. The second reference point P is set on the reference circle, and the reference circle is located on the above-mentioned plane. The reference circle is coaxial with the execution shaft 201, and the center of the reference circle is the first reference point O. The tangent L passes through the second reference point P and is tangent to the reference circle. The tangent L is located on the above-mentioned plane. It can be understood that the edge line of the outer outlet groove 15 is located on the above-mentioned plane. The edge line of the outer outlet groove 15 includes a first straight line 1512, a second straight line 1522 and an arc segment. The two ends of the arc segment are tangently connected to one end of the first straight line 1512 and one end of the second straight line 1522 respectively, and the other end of the second straight line 1522 is tangently connected to the edge line of the threading hole 11, and the other end of the first straight line 1512 is tangently connected to the edge line of the threading hole 11. The first straight line 1512 and the second straight line 1522 are located on either side of the tangent line L, with the first straight line 1512 located on the side of the tangent line L closer to the actuator shaft 201. The aforementioned description of "the width of the outer outlet slot 15 decreases as it approaches the threading hole 11, i.e., the outer outlet slot 15 is flared" means that the end of the first straight line 1512 away from the edge of the threading hole 11 and the end of the second straight line 1522 away from the edge of the threading hole 11 are inclined away from each other.

[0079] Because the first branch segment 3011 is wound around the actuator shaft 201, when the wire 30 is tightly wound around the actuator shaft 201, the second branch segment 3012 of the first connecting segment 301, which is used to connect to the actuator connecting segment, extends approximately along the aforementioned tangent line L, or the second branch segment 3012 is inclined relative to the tangent line L, and the end of the second branch segment 3012 away from the actuator connecting segment is inclined toward the actuator shaft 201. The first straight line 1512 is parallel to the tangent line L, or the end of the first straight line 1512 away from the edge of the threading hole 11 is inclined toward the actuator shaft 201, so that the outer outlet groove 15 can guide the wire 30 to be wound around the actuator shaft 201.

[0080] Furthermore, the end of the second straight line 1522 away from the edge of the threading hole 11 is inclined away from the actuator shaft 201. A first angle θ1 is formed between the first straight line 1512 and the tangent line L, and a second angle θ2 is formed between the second straight line 1522 and the tangent line L. The second angle θ2 is greater than the first angle θ1.

[0081] When the length of the wire 30 inserted into the threading channel 2031 is less than the length of the wire 30 released by the actuator shaft 201, as shown in FIG8 , the first connecting section 301 is in the expanded state, and the second branch section 3012 of the first connecting section 301 may swing in a direction away from the actuator shaft 201. By setting the above-mentioned first angle θ1 and second angle θ2, the range of the outer outlet slot 15 on the side of the tangent L away from the actuator shaft 201 is larger, further reducing the possibility of the connecting edge between the outer outlet slot 15 and the first end face hindering the swing of the wire 30, reducing the possibility of stress concentration on the wire 30 due to the compression of the edge and the wire 30, improving the durability of the wire 30, further reducing the possibility of damage to the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of damage to the surface of the wire 30, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism. 20 reduces the possibility of accidental electric shock to the patient's tissue, avoids secondary injury to the patient, and improves the safety of the operation; at the same time, it also avoids the first straight line 1512 being too close to the through hole 17, and also avoids the distance between the first straight line 1512 and the wall of the through hole 17 being too small, thereby ensuring the structural strength of the insulating member 1 between the first straight line 1512 and the wall of the through hole 17, improving the durability of the insulating member 1, and helping to extend the service life of the end effector; in addition, since the possibility of damage to the insulating member 1 between the first straight line 1512 and the wall of the through hole 17 is reduced, it also avoids the wire 30 being scratched by the damaged insulating member 1, thereby further improving the safety of the operation.

[0082] It can be understood that the above description of "the first straight line 1512 is parallel to the tangent line L, or the end of the first straight line 1512 away from the edge line of the threading hole 11 is inclined toward the direction close to the execution axis 201" means that the first angle θ1 is greater than or equal to 0.

[0083] In some other embodiments, the second angle θ2 may also be the same as the first angle θ1, both being 0, that is, the first straight line 1512 may also be set parallel to the second straight line 1522. At this time, the width of the outer outlet groove 15 is basically the same along the direction close to the threading hole 11, and the outer outlet groove 15 can guide the wire 30 to be wound around the execution shaft 201.

[0084] Specifically, as shown in Figures 8-10, the outer outlet groove 15 includes a first half groove 151 and a second half groove 152 that are connected to each other. The first half groove 151 and the second half groove 152 are respectively located on both sides of the tangent. The first half groove 151 is located on the side of the second half groove 152 close to the actuator shaft 201. The edge line of the first half groove 151 includes a first arc line 1511 and a first straight line 1512. The edge line of the second half groove 152 includes a second arc line 1521 and a second straight line 1522. One end of the first arc line 1511 is tangent to one end of the second arc line 1521 to form an arc segment; that is, the two ends of the first arc line 1511 are respectively tangent to the first straight line 1512 and the second arc line 1521, the two ends of the second straight line 1522 are respectively tangent to the second arc line 1521 and the edge line of the threading hole 11, and the two ends of the first straight line 1512 are respectively tangent to the first arc line 1511 and the edge line of the threading hole 11.

[0085] In FIG9 , the connection point between the first straight line 1512 and the first arc 1511 is point A, the connection point between the first arc 1511 and the second arc 1521 is point B, and the connection point between the second straight line 1522 and the second arc 1521 is point C.

[0086] In this embodiment, the first arc 1511 and the second arc 1521 are both circular arcs, and the centers of the first arc 1511 and the second arc 1521 are both located on the tangent line L. In other embodiments, the arc segment may also be a curve with a curvature that arches away from the threading hole 11 and changes multiple times, as long as the two ends of the arc segment are tangent to the first straight line 1512 and the second straight line 1522. This is not limited here.

[0087] As a preferred embodiment, the bottom surface of the first half-groove 151 is smoothly connected to the bottom surface of the second half-groove 152. The depth of the second half-groove 152 increases as it approaches the first half-groove 151, while the depth of the first half-groove 151 first increases and then decreases as it approaches the second half-groove 152. That is, the deepest part of the outer exit groove 15 is located within the first half-groove 151. This depth variation allows the guidewire 30 to be guided to the point where the depth of the first half-groove 151 is the greatest, positioning the guidewire 30 within the outer exit groove 15 on the side near the actuator shaft 201. This ensures that the guidewire 30 can be securely wound around the actuator shaft 201, reduces the possibility of the guidewire 30 colliding with other structures or accidentally contacting patient tissue, ensures surgical safety, extends the service life of the end effector, and improves the durability and reliability of the end effector during surgery.

[0088] In order to clearly distinguish the first half groove 151 from the second half groove 152 , a dividing line between the first half groove 151 and the second half groove 152 is drawn in FIG. 10 and represented by a dotted line.

[0089] In other embodiments, the depth of the first half groove 151 may also increase in the direction approaching the second half groove 152, that is, in the width direction, the position where the depth dimension of the outer outlet groove 15 is the largest is located at the boundary between the first half groove 151 and the second half groove 152, which is not limited here.

[0090] Furthermore, the bottom surface of the first half groove 151 is smoothly connected to the first end surface by chamfering, and the bottom surface of the second half groove 152 is smoothly connected to the first section surface by chamfering, which can further prevent the edge of the outer outlet groove 15 from wearing the wire 30, reduce the possibility of damage to the wire 30, and ensure the durability of the wire 30 and the end effector.

[0091] Similarly, the bottom surface of the first half groove 151 is smoothly connected to the side wall of the threading hole 11 through chamfering, and the bottom surface of the second half groove 152 is smoothly connected to the side wall of the threading hole 11 through chamfering.

[0092] Specifically, as shown in Figures 11 and 12, a receiving groove 12 is formed on the second end face of the insulating member 1. The first end face and the second end face of the insulating member 1 are located on opposite sides of the insulating member 1. The conductive actuator 2 includes a rotating wheel 21 and an actuator 22. The rotating wheel 21 is placed in the receiving groove 12. One end of the actuator 22 is connected to the side wall of the rotating wheel 21, and the other end extends through the insulating member 1 in the radial direction of the rotating wheel 21. The actuator 22 is used to contact the patient's tissue. The receiving groove 12 is coaxial with the through hole 17.

[0093] Furthermore, a wire groove 13 is provided on the insulating part 1, and the wire groove 13 is connected to the accommodating groove 12 and the wire threading hole 11 respectively. The length direction of the wire groove 13 extends along the first direction, and the groove wall of the wire groove 13 facing the wire threading hole 11 is arranged parallel to the first end face. After the first end of the wire 30 passes through the wire threading hole 11, it bends toward the second side of the wire threading hole 11 and extends into the wire groove 13, and the part of the wire 30 in the wire groove 13 is attached to the hole wall of the wire groove 13 facing the wire threading hole 11 and extends along the first direction. The part of the wire 30 placed in the wire groove 13 is used to connect with the wire actuator 2. The above arrangement extends the length of the wire 30 located in the insulating part 1, which facilitates the connection between the wire 30 and the conductive actuator 1. In this embodiment, the accommodating groove 12 and the wire threading hole 11 are respectively located on both sides of the wire groove 13 along the axial direction of the actuator axis 201.

[0094] The above description that “in the axial direction of the threading hole 11 , the maximum depth of the outer outlet groove 15 is less than the length of the threading hole 11 ” means that the outer outlet groove 15 is spaced apart from the groove wall of the wire placement groove 13 facing the threading hole 11 .

[0095] As a preferred embodiment, the sidewall on the second side of the threading hole 11 is inclined relative to the groove wall of the wire slot 13 facing the threading hole 11, so that the angle between the portion of the wire 30 located within the threading hole 11 and the portion of the wire 30 after the first end of the wire 30 exits the threading hole 11 is an obtuse angle. This arrangement further prevents the wire 30 from bending at a right angle after exiting the threading hole 11, reduces the bending angle of the wire 30, and reduces the possibility of damage or even breakage of the wire 30, thereby extending the service life of the end effector, improving its durability and reliability during surgery. It also reduces the possibility of damage to the surface of the wire 30 and the possibility of the wire 30 conducting electricity to the wrist mechanism 20, causing accidental electric shock to the patient's tissue, thereby avoiding secondary injury to the patient and improving surgical safety. It is understood that the principle of inclining the sidewall on the second side of the threading hole 11 to reduce the bending angle of the wire 30 is the same as the principle of inclining the sidewall on the first side of the threading hole 11 to reduce the bending angle of the wire 30 described above, and will not be repeated here.

[0096] Specifically, the execution connection section includes a second connection section 302 and a third connection section 303. The second connection section 302 is passed through the wire threading hole 11, and the second connection section 302 is electrically connected between the first connection section 301 and the third connection section 303. The third connection section 303 is placed in the wire groove 13 and extends along the first direction, and the third connection section 303 is electrically connected to the conductive actuator 2. The first end of the wire 30 is the end of the third connection section 303 away from the second connection section 302, and the second end of the wire 30 is the end of the first connection section 301 away from the second connection section 302. The above description of "the connection angle between the part of the wire 30 located in the wire threading hole 11 and the part after the first end of the wire 30 passes through the wire threading hole 11 is an obtuse angle" means that the connection angle between the second connection section 302 and the third connection section 303 is an obtuse angle. The aforementioned description of "an obtuse angle between the portion of the wire 30 located within the threading hole 11 and the portion of the wire 30 after the second end of the wire 30 exits the threading hole 11" refers to the obtuse angle between the first connecting segment 301 and the second connecting segment 302. The end of the third connecting segment 303, which connects to the second connecting segment 302, is located on the second side of the threading hole 11.

[0097] Furthermore, the portion of the wire 30 positioned within the wire slot 13 is fixedly connected to the insulating member 1. This arrangement allows the portion of the wire 30 positioned within the insulating member 1 to rotate synchronously with the insulating member 1 during rotation of the actuator 10 about the actuator shaft 201. This prevents pulling on the first end of the wire 30, reduces the likelihood of the wire 30 detaching from the conductive actuator 2, and improves the reliability of the connection between the wire 30 and the conductive actuator 2. This further extends the service life of the electrosurgical instrument, improving its durability and reliability during surgery. It also ensures that the wire 30 can reliably transmit electrical energy to the wire actuator 2, thereby guaranteeing the functionality of the end effector.

[0098] In this embodiment, the width of the wire slot 13 is greater than the diameter of the wire 30, resulting in a gap between the wire slot 13 and the wire 30. This gap is filled with adhesive, thereby securing the portion of the wire 30 located within the wire slot 13 to the insulating member 1. Furthermore, because the wire slot 13 is connected to the receiving slot 12, the adhesive can also contact the rotating wheel 21, ensuring a secure connection between the insulating member 1 and the conductive actuator 2, thereby improving the durability of the end effector and its reliability during surgery.

[0099] In this embodiment, the third connecting section 303 is welded to the rotating wheel 21. To increase the connection reliability between the wire 30 and the wire actuator 2, the weld between the third connecting section 303 and the rotating wheel 21 extends along the first direction.

[0100] In this embodiment, the wire groove 13 and the through hole 17 are spaced apart.

[0101] As a preferred embodiment, an inner outlet groove 16 is defined in the wall of the wire groove 13 on the side facing the wire hole 11. The inner outlet groove 16 is located on the second side of the wire hole 11, that is, on the side of the wire hole 11 facing the third connecting section 303. One end of the inner outlet groove 16 communicates with the wire hole 11, and the depth of the inner outlet groove 16 increases as it approaches the wire hole 11. After the wire 30 passes through the wire hole 11, it abuts the bottom surface of the inner outlet groove 16, meaning that the end of the third connecting section 303 is positioned within the inner outlet groove 16. In the axial direction of the wire hole 11, the maximum depth of the inner outlet groove 16 is less than the length of the wire hole 11, meaning that the inner outlet groove 16 is spaced apart from the first end surface of the insulating member 1.

[0102] By providing the inner outlet groove 16, the wire 30 can be bent twice before it can fit on the groove wall of the wire groove 13 facing the threading hole 11, which reduces the angle of each bend of the wire 30, further reduces the possibility of damage or even breakage of the wire 30, extends the service life of the end effector, improves the durability of the end effector and the reliability during surgery, and also reduces the possibility of damage to the surface of the wire 30, reduces the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, avoids secondary damage to the patient, and improves the safety of the surgery. It can be understood that the principle of providing the inner outlet groove 16 to reduce the angle of each bend of the wire 30 is the same as the principle of providing the outer outlet groove 15 to reduce the angle of each bend of the wire 30 in the previous text, and will not be repeated here.

[0103] In this embodiment, as shown in FIG7 , the third connecting section 303 includes a third branch section 3031 and a fourth branch section 3032. The fourth branch section 3032 is connected between the third branch section 3031 and the second connecting section 302. The third branch section 3031 is positioned within the wire placement groove 13 and extends along the first direction. The third branch section 3031 is configured to electrically connect to the rotating wheel 21. The fourth branch section 3032 is attached to the bottom surface of the inner outlet groove 16.

[0104] It should be noted that in FIG. 7 , in order to clearly show the structural and positional relationship between the wire 30 , the wire threading hole 11 , and the inner outlet groove 16 , the wire 30 is not in contact with the inner outlet groove 16 .

[0105] 7 , the wire 30 needs to bend four times when passing through the threading hole 11. The bending angle required for each bend of the wire 30 should be substantially the same, ensuring that the stress of the wire 30 at each bend is substantially the same, so that the force on the wire 30 is relatively even.

[0106] Specifically, as shown in FIG12 , the edge of the inner outlet groove 16 includes a curved segment 161. Curved segment 161 is located on the groove wall of the wire placement groove 13 on the side facing the wire threading hole 11. Curved segment 161 arches away from the wire threading hole 11, and both ends of curved segment 161 are tangent to the edge of the wire threading hole 11. In other embodiments, a straight segment may be connected between the curved segment 161 and the edge of the wire threading hole 11, which is not limited here.

[0107] Furthermore, the bottom surface of the inner outlet groove 16 is connected to the groove wall of the wire placement groove 13 facing the threading hole 11 by a smooth chamfer, and the bottom surface of the inner outlet groove 16 is connected to the hole side wall of the threading hole 11 by a smooth chamfer.

[0108] In this embodiment, the two ends of the wire 30 bend in opposite directions after passing through the wire hole 11. The first connecting segment 301 and the third connecting segment 303 extend toward opposite sides of the second connecting segment 302, respectively. In other words, the first side and the second side are opposite sides of the wire hole 11. In Figure 7, the first side of the wire hole 11 is the left side, and the second side is the right side. The first connecting segment 301 extends toward the left side, and the third connecting segment 303 extends toward the right side.

[0109] Preferably, the wire groove 13 is an arc-shaped groove, and the first direction is the circumferential direction of the circle whose center is located on the axis of the execution shaft 201. The axis of the threading hole 11 is inclined to the first end face, and a reference line N is set on the plane where the first end face is located, and the reference line N passes through the first reference point O and the second reference point P. The axis of the threading hole 11 is set perpendicular to the reference line N. The above-mentioned setting avoids the need to separately process the side walls of the hole on the first and second sides of the threading hole 11. By processing the threading hole 11 at one time, the bending angles of the first and second ends of the wire 30 after passing through the threading hole 11 can be acute angles, which simplifies the processing difficulty of the threading hole 11 and reduces the processing cost. In Figure 7, the axis of the threading hole 11 is a straight line M. The straight line M and the tangent line L are located in the same plane.

[0110] In this embodiment, the cross-sectional profile of the threading hole 11 perpendicular to the axis is circular, and the diameters of all cross-sectional profiles are the same. In other embodiments, the cross-sectional profile of the threading hole 11 perpendicular to the axis can also be other shapes, and all cross-sectional profiles are the same.

[0111] In this embodiment, the radius of the arc corresponding to the center line of the wire placement groove 13 is the same as the radius of the reference circle.

[0112] In other embodiments, the axis of the threading hole 11 may also be perpendicular to the first end face. In this case, the side walls of the first and second sides of the threading hole 11 need to be processed separately, which is not limited here.

[0113] Furthermore, as shown in Figure 4, a wire winding groove 14 is coaxially defined along the circumferential direction on the sidewall of the insulating element 1. A drive wire is wound within the winding groove 14, and rotation of the insulating element 1 is achieved by pulling the end of the drive wire. The radial spacing between the wire receiving groove 13 and the winding groove 14 optimizes the layout of the wire receiving groove 13, the winding groove 14, the receiving groove 12, and the wire threading hole 11, reducing the size of the insulating element 1 and improving the flexibility of the end effector.

[0114] As a preferred embodiment, the end effector further includes a protective cover 3. The protective cover 3 is sleeved onto the actuator shaft 201 and is located on one side of the first end face of the insulating member 1. A groove 31 is defined on the side of the protective cover 3 facing the insulating member 1. The grooved surface of the groove 31 abuts against the first end face, so that the walls of the groove 31 and the first end face enclose a receiving space. The wire threading hole 11 is connected to the receiving space, and the wire 30 extends into the receiving space after passing through the wire threading hole 11. An opening 32 is defined through the sidewalls of the groove 31, and the wire 30 is passed through the opening 32. The protective cover 3 protects the wire 30, further reducing the possibility of other structures contacting the wire 30 and improving the durability of the wire 30. The sidewalls of the groove 31 also limit the range of motion of the wire 30, reducing the possibility of accidental contact with patient tissue, improving surgical safety, and preventing the wire 30 from detaching from the actuator shaft 201, ensuring that the wire 30 is securely wound around the actuator shaft 201.

[0115] It can be understood that the depth of the first half groove 151 first increases and then decreases in the direction approaching the second half groove 152, which can guide the wire 30 to the maximum depth of the first half groove 151, reducing the possibility of the first connecting section 301 being in an unfolded state, so that the wire 30 can be reliably wound on the actuator shaft 201, thereby reducing the possibility of friction between the wire 30 and the side wall of the groove 31, further reducing the possibility of damage to the wire 30, ensuring the durability of the end effector, and helping to extend the life of the end effector.

[0116] In this embodiment, the depth of the groove 31 is slightly greater than the diameter of the wire 30 , so that the portion of the first connecting section 301 in the groove 31 fits against the first end surface of the insulating member 1 while providing space for the first connecting section 301 to move.

[0117] Furthermore, the protective cover 3 is movably sleeved on the executive shaft 201, and the protective cover 3 can rotate relative to the insulating member 1 around the axis of the executive shaft 201. During the rotation of the insulating member 1, the protective cover 3 is prevented from rotating therewith, ensuring that the opening 32 is always directly opposite the end of the threading channel 2031, avoiding the squeezing and pulling of the wire 30 by the wall of the opening 32, further increasing the durability of the wire 30, and at the same time reducing the size of the opening 32 required to be opened, further improving the protective effect of the protective cover 3; at the same time, during the rotation of the insulating member 1, part of the wire 30 may swing between the protective cover 3 and the seat body 203. The above arrangement can ensure that the protective cover 3 rotates relative to the executive shaft 201 as the wire 30 swings, further avoiding the squeezing and pulling of the wire 30 by the wall of the opening 32, and further increasing the durability of the wire 30.

[0118] In other embodiments, the protective cover 3 may also be fixedly connected to the actuator shaft 201 or the insulating member 1 , which is not limited here.

[0119] In this embodiment, two actuators 10 are provided. The first end surfaces of the two insulating members 1 are disposed on opposite sides of each other. That is, the two protective covers 3 are disposed on opposite sides of the two insulating members 1. Two connecting ears 202 are connected to the base 203. The ends of the actuator shaft 201 are connected to the two connecting ears 202. The two actuators 10 and the two protective covers 3 are located between the two connecting ears 202.

[0120] It is understood that two wires 30 are provided, and the two wires 30 respectively conduct currents of opposite polarity to the two conductive actuators 2. To achieve insulation between the two actuators 10, the end effector also includes an insulating sheet 4, which is sleeved on the actuator shaft 201 and located between the two actuators 10. Example

[0121] This embodiment provides an end effector and an electrosurgical instrument, and the structure of this embodiment is basically the same as that of the first embodiment, with only part of the structure of the insulating part 1 being different. This embodiment will not repeat other structures that are the same as those of the first embodiment.

[0122] Preferably, as shown in Figures 13 to 15, the second connecting segment 302 of the wire 30 is elastically connected to the insulating member 1. During the rotation of the actuator 10, when the first connecting segment 301 deflects, the second connecting segment 302 can move with it due to the elastic connection between the second connecting segment 302 and the insulating member 1, thereby avoiding unnecessary resistance to the wire 30 due to the insulating member 1 hindering the swing of the wire 30, further reducing the possibility of damage to the wire 30, extending the service life of the end effector, improving the durability of the end effector and the reliability during surgery, and also reducing the possibility of damage to the surface of the wire 30, reducing the possibility of the wire 30 conducting electricity to the wrist mechanism 20 and causing accidental electric shock to the patient's tissue, thereby avoiding secondary injury to the patient and improving the safety of the surgery.

[0123] In this embodiment, the elastic member 19 is provided to realize elastic connection between the second connecting section 302 and the insulating member 1. In this embodiment, two structures of the elastic member 19 are exemplified to realize elastic connection between the second connecting section 302 and the insulating member 1.

[0124] The first structure: As shown in Figures 13 and 14, the insulating member 1 includes an insulating member body 18 and an elastic member 19. The insulating member body 18 is provided with a mounting hole 181, and the mounting hole 181 is arranged parallel to the axis of the through hole 17. The elastic member 19 is arranged in the mounting hole 181. The elastic member 19 is columnar, and one end face of the elastic member 19 is flush with one end face of the insulating member body 18 and forms the first end face of the insulating member 1. The other end face of the elastic member 19 is flush with the end face of the wire groove 13 provided with the wire hole 11. The wire hole 11, the outer outlet groove 15 and the inner outlet groove 16 are all provided on the elastic member 19.

[0125] The elastic member 19 is made of rubber or silicone material, which is not limited here. The elastic member 19 and the insulating member body 18 can be bonded together.

[0126] Second structure: As shown in Figure 15, an elastic member 19 is fixedly mounted on the wall of threading hole 11. Furthermore, elastic member 19 is fixedly mounted on the wall of at least the first and second sides of threading hole 11. Elastic member 19 is a rubber or silicone block bonded to the wall of threading hole 11.

[0127] In other embodiments, the elastic member 19 may also be a rubber layer or a silicone layer, and the hole wall of the threading hole 11, the groove bottom surface of the outer outlet groove 15, and the groove bottom surface of the inner outlet groove 16 are all fixedly covered with the elastic member 19, and the elastic member 19 covers the hole wall of the threading hole 11 along the circumference of the threading hole 11; or, the elastic member 19 may also be a spring or other elastic structure, which is not limited here.

[0128] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An end effector for performing electrosurgery, characterized in that include: a wrist mechanism including an actuator axis; an actuator assembly electrically insulated from the wrist mechanism, the actuator assembly comprising an insulating member and a conductive actuator, one end of the conductive actuator being embedded in the insulating member, the insulating member being rotatably and coaxially sleeved on the actuator shaft, and a threading hole being formed on a first end surface of the insulating member along one axial side; A wire, the first end of which passes through the wire threading hole and is electrically connected to the conductive actuator, the second end of the wire passes through the wire threading hole, bends toward the first side of the wire threading hole and adheres to the first end surface, the second end of the wire is wound around the actuator shaft, and the second end of the wire is used to be electrically connected to an external power supply, and the side wall of at least the first side of the wire threading hole is inclined to the first end surface so that the connection angle between the part of the wire located in the wire threading hole and the part of the second end of the wire after passing through the wire threading hole is an obtuse angle.

2. The end effector according to claim 1, characterized in that: An outer outlet groove is provided on the first end surface, and the outer outlet groove is located on the first side of the wire threading hole. One end of the outer outlet groove is connected to the wire threading hole, and the depth of the outer outlet groove increases in the direction approaching the wire threading hole. After the wire passes through the wire threading hole, it is attached to the bottom surface of the outer outlet groove. In the axial direction of the wire threading hole, the maximum depth of the outer outlet groove is less than the length of the wire threading hole.

3. The end effector according to claim 2, characterized in that: The width of the outer outlet groove decreases gradually in a direction approaching the threading hole.

4. The end effector according to claim 3, characterized in that: The execution shaft is arranged perpendicular to the first end face, and the axis of the execution shaft and the plane where the first end face is located are set to intersect at a first reference point. The axis of the threading hole and the plane where the first end face is located intersect at a second reference point. The second reference point is set on a reference circle. The reference circle is located on the plane and its center is the first reference point. A tangent line on the plane passes through the second reference point and is tangent to the reference circle. The edge line of the outer outlet groove includes a first straight line, a second straight line and an arc segment, two ends of the arc segment are tangently connected to one end of the first straight line and one end of the second straight line respectively, the other end of the second straight line is tangently connected to the edge line of the threading hole, and the other end of the first straight line is tangently connected to the edge line of the threading hole; The first straight line and the second straight line are respectively located on both sides of the tangent line, the first straight line is located on the side of the tangent line close to the execution axis, the first straight line is parallel to the tangent line, or the end of the first straight line away from the threading hole edge line is inclined toward the direction close to the execution axis; The end of the second straight line away from the edge line of the threading hole is inclined toward the direction away from the execution axis, the first straight line and the tangent form a first angle, the second straight line and the tangent form a second angle, and the second angle is greater than the first angle.

5. The end effector according to claim 4, characterized in that: The outer outlet groove includes a first half groove and a second half groove that are interconnected, the first half groove and the second half groove are respectively located on either side of the tangent line, the first half groove is located on a side of the second half groove close to the actuator axis, the edge line of the first half groove includes a first arc line and the first straight line, the edge line of the second half groove includes a second arc line and the second straight line, and one end of the first arc line is connected to one end of the second arc line to form the arc segment; The bottom surface of the first half groove is smoothly connected to the bottom surface of the second half groove, the depth of the second half groove increases in the direction approaching the first half groove, and the depth of the first half groove increases in the direction approaching the second half groove or first increases and then decreases; and / or, the bottom surface of the first half groove is smoothly connected to the first end face by a chamfer, and the bottom surface of the second half groove is smoothly connected to the first end face by a chamfer.

6. The end effector according to any one of claims 1 to 5, characterized in that: The insulating member is provided with a receiving groove and a wire placement groove, one end of the conductive actuator is placed in the receiving groove, the wire placement groove is communicated with the receiving groove and the wire threading hole respectively, the length direction of the wire placement groove extends along the first direction, and the groove wall of the wire placement groove facing the wire threading hole is arranged parallel to the first end surface; After passing through the wire threading hole, the first end of the wire is bent toward the second side of the wire threading hole and extends into the wire placement groove, and the portion of the wire in the wire placement groove extends along the first direction. The hole side wall on the second side of the wire threading hole is inclined to the groove wall of the wire placement groove facing the wire threading hole, so that the connection angle between the portion of the wire located in the wire threading hole and the portion of the first end of the wire after passing through the wire threading hole is an obtuse angle.

7. The end effector according to claim 6, characterized in that: The portion of the wire placed in the wire slot is fixedly connected to the insulating member.

8. The end effector according to claim 6, characterized in that: An inner outlet groove is provided on the groove wall of the wire groove facing the wire threading hole. The inner outlet groove is located on the second side of the wire threading hole. One end of the inner outlet groove is connected with the wire threading hole. The depth of the inner outlet groove increases in the direction approaching the wire threading hole. After the wire passes through the wire threading hole, it fits into the bottom surface of the inner outlet groove. In the axial direction of the wire threading hole, the maximum depth of the inner outlet groove is less than the length of the wire threading hole.

9. The end effector according to claim 6, characterized in that: The accommodating groove and the wire threading hole are respectively located on both sides of the wire placement groove along the axial direction of the execution shaft. A winding ring groove is coaxially opened on the side wall of the insulating part along the circumferential direction. The wire placement groove is an arc-shaped groove. The first direction is the circumferential direction of the circle with the center located on the axis of the execution shaft. The wire placement groove and the winding ring groove are radially spaced apart.

10. The end effector according to claim 6, characterized in that: The wire placement groove is an arc-shaped groove, the first direction is the circumferential direction of the circle with the center on the axis of the actuator shaft, and the two ends of the wire are bent in opposite directions after passing through the wire threading hole; The axis of the threading hole is inclined to the first end face, the execution axis is perpendicular to the first end face, and the axis of the execution axis is set to intersect with the plane of the first end face at a first reference point. The axis of the threading hole intersects with the plane at a second reference point. The second reference point is set on a reference circle. The center of the reference circle is the first reference point and is located on the plane. The reference line on the plane passes through the first reference point and the second reference point. The axis of the threading hole is perpendicular to the reference line.

11. The end effector according to any one of claims 1-5, 7-10, characterized in that: The end effector also includes a protective cover, which is sleeved on the actuator shaft and is located on one side of the first end face of the insulating member. The protective cover is provided with a groove on the side facing the insulating member. The grooved surface of the groove is in contact with the first end face so that the groove wall of the groove and the first end face form an accommodating space. The wire threading hole is connected to the accommodating space, and the wire extends into the accommodating space after passing through the wire threading hole. An opening is provided on the side wall of the groove, and the wire is passed through the opening.

12. The end effector according to claim 11, characterized in that: The wrist mechanism includes a connecting ear and a base body, the actuator shaft is arranged at one end of the connecting ear, and the other end of the connecting ear is connected to the base body. A threading channel is formed through the base body, and the wire passes through the opening and then extends into the threading channel; The protective cover is movably sleeved on the execution shaft, and the protective cover can rotate around the axis of the execution shaft relative to the insulating component.

13. An electrosurgical instrument, characterized in that The invention comprises the end effector according to any one of claims 1 to 12.

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