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26 results about "Bipolar forceps" patented technology

Yasargil Style Bipolar Forceps are stainless steel, insulated forceps that have a classic Yasargil bipolar design with increased spring tension for tissue preparation and dissection. The microform, three-hole handle design provides a good grip for precise handling.

Dual irrigating bipolar forceps

ActiveUS12551265B2Surgical instruments for heatingSurgical forcepsBipolar electrosurgeryBipolar forceps
Bipolar electrosurgical forceps are provided with dual irrigating tubes that deliver irrigating liquid to the opposed surfaces of the tips of the forceps to prevent the sticking of body tissue to the tips. To reduce the manufacturing costs of the forceps and enable the forceps to be single use, disposable forceps, each tube of the dual irrigating tools is a plastic tube adhered along one of the opposing surfaces of the pair of forceps arms. Each tube also has a flat nozzle at the distal end of the tube that disburses irrigating liquid across the opposed surfaces of the forceps arm distal and tips.
Owner:STRYKER CORP

Variable stiffness pusher for electrosurgical bipolar forceps

The present application is a variable stiffness push knife for bipolar forceps in electrosurgery, which is used in the structure of the forceps head, the main body of which is a blade, the blade is divided into several different areas according to its running direction, and the division standard of the areas is that the hardness between adjacent areas is different. The beneficial effects of the present application are: 1. By dividing the blade into areas and adjusting the divided areas, the hardness of different areas is different, the smoothness of the variable stiffness blade in the operation of the curved (or S-shaped) sliding groove is improved, and the closing force required for the push blade to cut the tissue is reduced; 2. The main way to improve the blade is to reduce the material of the blade, so as to save materials, and the overall weight of the blade is reduced.
Owner:KATYUSHA (XIAMEN) MEDICAL TECH CO LTD

Bipolar forceps head structure and bipolar medical instrument

The utility model relates to a bipolar tong head structure and a bipolar medical instrument. The bipolar tong head structure comprises a tong head base, an insulating spacer bush, an outer tube, a connecting column, a first bipolar tong head, a second bipolar tong head, a tong jaw insulating sleeve and an insulating column. The clamp jaw insulation sleeve insulates and isolates the contact position between the first bipolar clamp head and the second bipolar clamp head and insulates and isolates the first bipolar clamp head and the end of the outer tube, full wrapping isolation is achieved, and the insulation effect between the first bipolar clamp head and the second bipolar clamp head is improved. And due to the arrangement of the insulating column, the insulating effect between the first bipolar plier head and the second bipolar plier head is further ensured while the first bipolar plier head and the second bipolar plier head are rotationally connected. And the insulating spacer bush is used for insulating and isolating the outer pipe and the tong head base. The bipolar plier head structure has a good insulation effect, the undesirable phenomena such as electrode failure or electric leakage and creepage are not prone to occurring even if the bipolar plier head structure encounters liquid and the like in the using process, and the bipolar plier head structure has very high using safety.
Owner:HUNAN KEMAN MEDICAL TECH CO LTD

A multifunctional radio frequency bipolar forceps for hemorrhoid treatment

PendingCN122096954ASurgical instruments for heatingRadio frequency energyExternal Hemorrhoid
The application adopts the following technical scheme: a multifunctional radio frequency bipolar forceps for hemorrhoid treatment, comprising a handle one, a handle two, a forceps opening electrode assembly one, a forceps opening electrode two, a connecting pin and a power line; the forceps opening electrode assembly one is assembled at the front end of the handle one, the forceps opening electrode two is assembled at the front end of the handle two, the forceps opening electrode assembly one and the forceps opening electrode two are rotationally connected through the connecting pin, and the power line is fixedly connected to the tail of the handle one to transmit radio frequency energy to the whole instrument; the forceps opening electrode assembly one comprises a forceps opening electrode one, an insulating sleeve and a connecting rod, the insulating sleeve is fixedly sleeved on the outside of the connecting rod, the connecting rod extends to the inside of the handle one and is electrically connected with the power line to transmit radio frequency energy to the forceps opening electrode one. The application realizes one-stop precise treatment of mixed hemorrhoids, greatly improves the operation efficiency and safety through the integrated structure design, the integrated external hemorrhoid shearing and internal hemorrhoid ablation function, the mechanical-electrical dual mode switching and the multi-scene ablation design.
Owner:PEOPLES HOSPITAL AFFILIATED TO FUJIAN UNIV OF TRADITIONAL CHINESE MEDICINE (FUJIAN PROVINCIAL PEOPLES HOSPITAL)

Electrosurgical bipolar forceps with a connecting rod

PendingDE102024127262A1PliersDiagnosticsBipolar forcepsPivot joint
The invention relates to an electrosurgical bipolar forceps (10) comprising: a first arm (12) and a second arm (14) which are pivotably mounted relative to each other by a pivot joint (16); and a stabilizing device (44) for stabilizing the forceps (10) against lateral forces, wherein the stabilizing device (44) has a connecting rod (46) arranged on a proximal side of the pivot joint (16), and wherein the connecting rod (46) has a first bearing structure (48) which is slidably and rotatably mounted on the first arm (12), and a second bearing structure (50) which is rotatably mounted on the second arm (14).
Owner:AESCULAP AG

Bipolar forceps and surgical system

The utility model relates to the field of medical instruments, in particular to a pair of bipolar forceps and a surgical system. The pair of bipolar forceps comprises a body, one end of the body is provided with a first forceps tip and a second forceps tip which are correspondingly arranged, the first forceps tip and the second forceps tip are respectively provided with a containing space, a first cooling pipe and a second cooling pipe are arranged in the body, the first cooling pipe extends into the containing space of the first forceps tip, and the second cooling pipe extends into the containing space of the second forceps tip. The second cooling pipe extends into the accommodating space of the second forceps tip, the first cooling pipe is used for cooling the first forceps tip, and the second cooling pipe is used for cooling the second forceps tip. The utility model solves the problem that normal tissues adjacent to a focus area are damaged due to the fact that the high temperature of the forceps tips of the bipolar electric coagulation forceps in a narrow space of a nasal cavity is high, thereby providing the bipolar forceps and the operation system.
Owner:NANCHANG HUAAN ZHONGHUI HEALTH TECHNOLOGY CO LTD

An integrated multifunctional instrument for surgical robots

This invention provides an integrated multifunctional instrument for a surgical robot. The bipolar forceps includes two waist-shaped rings, one end of which is connected via a connecting end and a pin. The two waist-shaped rings are a fixed end and a movable end, respectively. A gap is provided at the end of each waist-shaped ring away from the connecting end. Electrode layers are provided on adjacent end faces of both the fixed and movable ends. The movable end can move axially along the pin. Parallel suction tubes are provided on the end face of the movable end away from the fixed end, and each suction tube is connected to a negative pressure device. This invention achieves bipolar electrocoagulation by placing an electrode layer between the two waist-shaped rings. When bleeding occurs, after clamping with the bipolar forceps, the suture can be pulled out from the gap during suturing, improving surgical safety. The negative pressure device, through the suction tubes, removes surgical waste blood, avoiding interruptions to the surgery or open surgery, shortening surgical time, and improving surgical efficiency and safety.
Owner:THE FIRST AFFILIATED HOSPITAL OF NAVAL MEDICAL UNIVERSITY OF CHINESE PEOPLES LIBERATION ARMY

Controllable dripping bipolar forceps structure

The utility model discloses a controllable drip bipolar forceps structure, which comprises a pair of electrocoagulation handles, an electrocoagulation connecting seat, at least one water guide hose and a drip adjusting control component, the far end of each electrocoagulation handle is provided with a clamping part, and the inner side surface of each electrocoagulation handle is provided with a water guide pipeline groove along the length direction; the electrocoagulation connecting seat is fixedly connected with the near ends of the pair of electrocoagulation handles respectively; the water guide hose is embedded in the water guide pipeline groove, one end of the water guide hose is a liquid inlet end, the liquid inlet end penetrates through the electrocoagulation connecting base and extends towards the near end, the other end of the water guide hose is a liquid outlet end, and the liquid outlet end extends towards the far end in the length direction of the electrocoagulation handle; the dripping regulation control assembly is arranged on the electrocoagulation handle, and the dripping regulation control assembly is provided with a trigger end and an extrusion end. Water dripping can be controlled during clamping operation of the handle, continuous water dripping in a non-working state is avoided, and convenience and safety of surgical operation are improved.
Owner:CHANGZHOU YANLING ELECTRONICS EQUIP +1

Bend ceramic ball bipolar jaw assembly and tissue closer

ActiveCN224220220USurgical instruments for heatingAxial forceBipolar forceps
The utility model discloses an elbow ceramic ball bipolar jaw assembly and a tissue closer. The elbow ceramic ball bipolar jaw assembly comprises a lower jaw assembly (1), an upper jaw assembly (2) and a lower jaw assembly (3), an upper jaw assembly (2); a sliding pin (3); a fixing pin (4); a sleeve (5); the lower jaw assembly (1) is a fixed jaw, and the upper jaw assembly (2) is a movable jaw; opening and closing of the upper jaw assembly (2) are controlled through a sliding pin (3), the sliding pin (3) is located in a groove (201), the included angle between the axis of the groove (201) and the horizontal plane is divided into two parts, and the included angle of the part close to the jaw tip end is larger than the included angle of the part away from the jaw tip end. The ceramic ball is fixedly arranged through the metal jaw sealing plate, a reasonable gap of the jaw sealing plate can be kept, the machining process is simple, and the structure is reliable. In addition, through the sectional type sliding pin groove included angle design, the jaw can be rapidly opened, and meanwhile small axial force is transmitted to the trigger by the jaw when the jaw is closed.
Owner:SINOSURGICAL HEALTHCARE TECH BEIJING CO LTD

Nerve detection bipolar forceps

The invention provides a pair of nerve detection bipolar forceps, and relates to the technical field of medical instruments, and is characterized in that the pair of nerve detection bipolar forceps comprises a fixed handle, a bent rotating wheel and a clamping sensing structure, the upper end of the fixed handle is provided with a mounting cavity, one side of the fixed handle is provided with a movable handle, and the bent rotating wheel is connected with a transmission structure through a connecting rod; the clamping sensing structure comprises a mounting seat and a clamping arm, one end of the mounting seat is provided with a bending structure connected with the extension rod, the bending structure is connected with the transmission structure through a flexible shaft and used for controlling the inclination angle of the joint unit, and the clamping arm is in transmission connection with the push-pull flexible shaft through a movable rod to achieve the clamping action. An anti-skid induction end is fixed to the position, away from the mounting base, of the clamping arm, and the surface of the anti-skid induction end is provided with anti-skid lines and a conductive coating and used for transmitting neural signals. The device has the advantages that multi-angle equipment operation can be achieved, meanwhile, electroneurographic signals can be effectively and rapidly collected, and the operation efficiency is improved.
Owner:TIANJIN GAOLING TECH CO LTD

Electrosurgical bipolar forceps with a pivotally mounted blocking element

PCT designated stageWO2026062152A1Surgical instruments for heatingSurgical forcepsBipolar forcepsPivot joint
The invention relates to electrosurgical bipolar forceps (10), comprising: a first limb (12) and a second limb (14), which are pivotally mounted on each other by means of a pivot joint (16); a cutting unit (70) which is mounted on the first limb (12) so as to be displaceable between a proximal position and a distal position; a blocking element (96) which is mounted on the first limb (12) so as to be pivotal between a blocking position and a release position, wherein, in the blocking position, the blocking element (96) blocks a displacement of the cutting unit (70) from the proximal position in the direction of the distal position; and a release mechanism (98) having a release element (100) which is movably mounted on the first limb and is operatively connected to the second limb in such a way that the release element is moved along the first limb by closing the forceps and applies a release force to the blocking element, the release force pivoting the blocking element from the blocking position into the release position.
Owner:AESCULAP AG

Adjustable bipolar coagulation forceps

An adjustable bipolar electrocoagulation forceps, including a shell, a bipolar outer tube, a bipolar forceps, a bipolar inner core, bipolar positive and negative electrode wires, a tail, the bipolar forceps is arranged in the bipolar outer tube and is extruded by the tube wall of the bipolar outer tube, the forceps tip of the bipolar forceps is partially exposed from one side of the bipolar outer tube and the bipolar inner core, the tail is arranged on the other side outside the shell, the bipolar positive and negative electrode wires are connected with the positive and negative poles of the bipolar forceps, the shell is composed of an upper cover and a lower cover, the upper cover is provided with a sliding groove, the shell is further provided with an adjusting assembly, the adjusting assembly is composed of an adjusting screw, a fixed block, a spring, a tube core pin and a bipolar outer tube push block, the tube core pin penetrates the bipolar inner core and the bipolar outer tube, the bipolar outer tube push block is connected with the bipolar outer tube in a nested manner through the tube core pin, the spring is sleeved on the bipolar outer tube and is in contact with the bipolar outer tube, the fixed block is installed on the bipolar forceps and is arranged in the shell, and the adjusting screw is in contact with the bipolar outer tube push block through the sliding groove and the fixed block.
Owner:JIANGSU CHUNFAN BIOTECHNOLOGY CO LTD

Superconducting cryogenic non-stick bipolar forceps

The application discloses superconducting low-temperature non-sticking bipolar forceps and belongs to the technical field of medical devices. The forceps comprise a fixing mechanism, the fixing mechanism is provided with a water delivery guide handle mechanism on the assembly side, the water delivery guide handle mechanism is provided with a water delivery support mechanism on the assembly side, the water delivery support mechanism is in communication with the water delivery guide handle mechanism for water delivery, the water delivery support mechanism is provided with a forceps tip mechanism on the assembly side, and the forceps tip mechanism is connected with the water delivery guide handle mechanism for wire guide. The handle arm of the water delivery guide handle mechanism is internally provided with a water delivery channel, the hollow support arm of the water delivery support mechanism is in communication with the water delivery channel, and the water delivery channel and the hollow support arm are used for water delivery to cool the forceps blade of the forceps tip mechanism, so that the problem that the forceps blade is prone to adhesion to human tissues under high temperature generated by the waveform and energy output by the high-frequency host is avoided.
Owner:BEIJING HONGHU GAO XIANG TECH

Electrosurgical bipolar forceps with a connecting rod

PCT designated stageWO2026062149A1DiagnosticsSurgical instruments for heatingTransverse forceBipolar forceps
The invention relates to electrosurgical bipolar forceps (10), comprising: a first limb (12) and a second limb (14), which are pivotally mounted on each other by means of a pivot joint (16); and a stabilizing device (44) for stabilizing the forceps (10) against transverse forces, the stabilizing device (44) having a connecting rod (46) mounted on the proximal side of the pivot joint (16), and the connecting rod (46) having a first bearing structure (48), which is mounted displaceably and rotatably on the first limb (12), and a second bearing structure (50), which is rotatably mounted on the second limb (14).
Owner:AESCULAP AG

Bipolar forceps core and electrosurgical instrument applying same

The bipolar pincer core comprises a first pincer piece, a second pincer piece, a pincer base, an isolation core, an insulation head sleeve and a main pin. The first forceps piece comprises a first forceps tail and a first forceps shoulder, and the second forceps piece comprises a second forceps tail and a second forceps shoulder; the clamp seat comprises a first fork arm and a second fork arm; the isolation core comprises an isolation plate and an isolation shaft; the isolation core is installed between the first clamp shoulder and the second clamp shoulder, the isolation shaft is inserted into a hole of the first clamp shoulder, and the first clamp shoulder and the second clamp shoulder are separated through the isolation plate. The clamp seat is installed outside the first clamp shoulder and the second clamp shoulder, and the insulating head sleeve is installed between the first fork arm and the first clamp shoulder to separate the first fork arm and the first clamp shoulder. Therefore, double poles are formed.
Owner:BLUE STAR LIFE SCIENCE (SHENZHEN) CO LTD

A miniature bipolar forceps

ActiveCN118634029BBipolar forcepsPhysics
This invention provides a miniature bipolar clamp, comprising a conductive clamping component, a conductive adapter, an insulating component, and a tubing assembly. The conductive adapter has a cavity, and the insulating component is disposed near the proximal end of the conductive adapter, with the proximal end of the conductive clamping component hinged to the insulating component. The distal end of the conductive clamping component is configured close to the distal end of the conductive adapter to clamp a medium and maintain electrical communication. The tubing assembly communicates with the cavity to continuously inject coolant into the cavity. By providing a cavity within the conductive adapter and communicating with the tubing assembly to continuously inject coolant into the cavity, the tubing assembly includes a parallel inlet pipe and an outlet pipe. In use, the inlet pipe continuously delivers coolant into the cavity. The coolant absorbs heat from the conductive adapter and is then discharged through the outlet pipe, thereby cooling the conductive adapter and preventing thermal diffusion damage to adjacent or surrounding tissues due to heat diffusion at the closed position of the electrodes.
Owner:NANCHANG HUAAN ZHONGHUI HEALTH TECHNOLOGY CO LTD

Electrosurgical bipolar forceps having a metal portion and a metal sheet stack arrangement

The invention relates to electrosurgical bipolar forceps (10) having a jaw part arrangement (36), comprising a first jaw part assembly (38) having a first, in particular lower, jaw part (40) and a first instrument arm (42), and a second jaw part assembly (44) having a second, in particular upper, jaw part (46) and a second instrument arm (48). According to the invention, the first jaw part (40) comprises a first metal portion (50) and the second jaw part (46) comprises a second metal portion (46), and the first instrument arm (42) comprises a first stack arrangement (42) and the second instrument arm (48) comprises a second stack arrangement (48), wherein the first stack arrangement (42) is attached to the first metal portion (50) of the first jaw part (40) and the second stack arrangement (48) is attached to the second metal portion (46) of the second jaw part (46).
Owner:AESCULAP AG

Electrosurgical bipolar forceps with a rocking jaw part

PCT designated stageWO2026062067A1Surgical instruments for heatingSurgical forcepsBipolar forcepsBiology
The invention relates to electrosurgical bipolar forceps (10) comprising a clamping arrangement (20) formed by a first, in particular lower, jaw part (40) and a second, in particular upper, jaw part, wherein, according to the invention, the first jaw part (40) comprises an electrically conductive, in particular metal, carrier part (50) and an electrically conductive, in particular metal, rocker part (54) mounted on the carrier part (50) so as to be pivotable about a rocker axis (52), wherein a through-hole (58) of the rocker part (54), comprising the rocker axis (52), is aligned with a through-hole (56) of the carrier part (50) comprising the rocker axis (52), and an electrically conductive, in particular metal, sleeve (60) is accommodated in the through-holes (56, 58), and wherein the rocker part (54) of the first jaw part (40) is pretensioned by means of a spring mechanism (80) in a distal direction towards the second jaw part (46), in particular upwards, in relation to the rocker axis (52).
Owner:AESCULAP AG

Electrosurgical forceps with sliding cutting unit and reset mechanism

PendingDE102024127263A1PliersSurgical instruments for heatingBipolar forcepsPivot joint
The invention relates to an electrosurgical bipolar forceps (10) comprising: a first arm (12) and a second arm (14) which are pivotably mounted relative to each other by a pivot joint (16); a cutting unit (70) which is slidably mounted on the first arm (12) between a proximal position and a distal position; and a reset mechanism (88) for resetting the cutting unit (70) from the distal position towards the proximal position, wherein the reset mechanism (88) has a reset element (90) which is displaceably arranged on the first leg (12) and is operatively connected to the second leg (14) in such a way that the reset element (90) is displaced along the first leg (12) by opening the pliers (10) and the cutting unit (70) is subjected to a reset force which moves the cutting unit (70) from the distal position towards the proximal position.
Owner:AESCULAP AG

Bipolar forceps with vessel seal testing

ActiveUS12544122B2Surgical instruments for heatingSensorsVessel sealingBipolar forceps
A forceps system for sealing a blood vessel can include a first jaw and an opposing second jaw. At least one of the first and second jaws includes at least a first electrode having first and second electrode portions that are laterally separated to permit electrical isolation between the first and second electrode portions, and the first and second electrode portions are independently addressable to permit individual testing by the first and second electrodes portions of a blood vessel characteristic. This can help permit individual testing of each side of a target seal region of the blood vessel.
Owner:GYRUS ACMI INC

Multifunctional bipolar forceps for press-fit driving minimally invasive surgery

InactiveCN121129417ASurgical instruments for heatingSurgical operationBipolar forceps
The invention relates to the technical field of medical instruments, and provides multifunctional bipolar forceps for press-fit driving minimally invasive surgery, an electrode wire is arranged at the top of a power adapter, a handle main body is arranged at one end, away from the power adapter, of the electrode wire, and a conductive forceps body structure is arranged in the handle main body; a clamping self-locking structure is arranged on the side face of the handle body. According to the multifunctional bipolar forceps for the press-fit driving minimally invasive surgery, due to the arrangement of the conductive forceps body structure, surgical operation is more accurate and flexible, due to the combined design of the cutting edges and the concave-convex jaws, the tissue clamping stability is improved, the integrated function of cutting, hemostasis and ablation is achieved, the surgical means are greatly enriched, and the surgical efficiency is improved. The conductive structure support is accurately matched with the multi-face arc-shaped conductive structure, so that the surgical process is more stable and reliable, and the technical problems that in the prior art, minimally invasive surgical instruments are thick and large and inconvenient to operate are solved.
Owner:JIANGXI MEDEX TECH CO LTD

Electrosurgical bipolar forceps with a metal part and a metal sheet stacking arrangement

The disclosure relates to an electrosurgical bipolar forceps (10) with a jaw assembly (36) comprising a first jaw assembly (38) with a first, in particular lower, jaw (40) and a first instrument branch (42), and a second jaw assembly (44) with a second, in particular upper, jaw (46) and a second instrument branch (48). It is provided that the first jaw (40) comprises a first metal part (50) and the second jaw (46) comprises a second metal part (46), and the first instrument branch (42) comprises a first stacking arrangement (42) and the second instrument branch (48) comprises a second stacking arrangement (48), wherein the first stacking arrangement (42) is attached to the first metal part (50) of the first jaw (40) and the second stacking arrangement (48) is attached to the second metal part (46) of the second jaw (46).
Owner:AESCULAP AG

Electrosurgical bipolar forceps with a pivotally mounted locking element

PendingDE102024127264A1PliersSurgical instruments for heatingSurgeryBipolar forceps
The invention relates to an electrosurgical bipolar forceps (10) comprising: a first arm (12) and a second arm (14) which are pivotably mounted relative to each other by a pivot joint (16); a cutting unit (70) which is slidably mounted on the first arm (12) between a proximal position and a distal position; a locking element (96) which is pivotably mounted on the first arm (12) between a locking position and a release position, wherein the locking element (96) in the locking position prevents the cutting unit (70) from moving from the proximal position towards the distal position;and a release mechanism (98) comprising a release element (100) which is displaceably arranged on the first leg and is operatively connected to the second leg in such a way that the release element is displaced along the first leg by closing the pliers and exerts a release force on the locking element which pivots the locking element from the locking position into the release position.
Owner:AESCULAP AG

Bipolar forceps for testing vessel sealing

PendingJP2026034444ASurgical instruments for heatingSensorsVessel sealingBipolar forceps
To provide a forceps system for sealing a blood vessel.SOLUTION: A forceps system for sealing a vessel may include a first jaw and an opposing second jaw. At least one of the first jaw and the second jaw includes at least a first electrode having a first electrode portion and a second electrode portion laterally separated to permit electrical isolation between the first electrode portion and the second electrode portion, the first electrode portion and the second electrode portion being individually operationally addressable to permit blood vessel characteristics to be individually tested by the first electrode portion and the second electrode portion. This can help allow each side of the target sealing region of the vessel to be tested individually.SELECTED DRAWING: Figure 3A
Owner:GYRUS ACMI INC

Electrosurgical forceps with displaceable cutting unit and restoring mechanism

PCT designated stageWO2026062151A1Surgical instruments for heatingSurgical forcepsBipolar forcepsPivot joint
The invention relates to electrosurgical bipolar forceps (10), comprising: a first limb (12) and a second limb (14), which are pivotally mounted on each other by means of a pivot joint (16); a cutting unit (70) which is mounted on the first limb (12) so as to be displaceable between a proximal position and a distal position; and a restoring mechanism (88) for restoring the cutting unit (70) from the distal position in the direction of the proximal position, the restoring mechanism (88) having a restoring element (90), which is movably mounted on the first limb (12) and is operatively connected to the second limb (14) in such a way that the restoring element (90) is moved along the first limb (12) by opening the forceps (10) and applies a restoring force to the cutting unit (70), the restoring force displacing the cutting unit (70) from the distal position in the direction of the proximal position.
Owner:AESCULAP AG

Wrist joint type force sensing bipolar forceps

The invention relates to the field of surgical robots, and provides wrist joint type force sensing bipolar forceps. The wrist joint type force sensing bipolar tweezers comprise a rear end module and a front end module which are detachably connected. The front-end module comprises a tweezers end, a connecting assembly, an interface assembly and a first sensing assembly, and the tweezers end is connected with the interface assembly through the connecting assembly; the connecting assembly comprises a front-end force sensing sleeve and a rear-end force sensing sleeve, at least three first sensing assemblies are arranged between the front-end force sensing sleeve and the rear-end force sensing sleeve, and the first sensing assemblies are arranged in the circumferential direction of the connecting assembly at intervals so as to sense the external stress condition of the tweezers ends; the rear end module comprises a butt joint assembly and a driving assembly, the driving assembly is installed on the butt joint assembly, and the driving assembly provides power for clamping and loosening the forceps ends; the butt joint assembly is detachably connected with the interface assembly. According to the wrist joint type force sensing bipolar forceps, the problem that force feedback cannot be sensed when a surgical robot operates can be solved, and the safety and accuracy of an operation are improved.
Owner:INST OF AUTOMATION CHINESE ACAD OF SCI