CN115530965A - An electrocoagulation scissor mechanism, equipment and surgical robot for surgery - Google Patents

Abstract

The invention discloses an electrocoagulation shearing mechanism for operation, which comprises: the electric coagulation shearing sheets comprise supporting seats, the supporting seats are arranged in insulating connecting seats, and the two connecting seats are coaxially and rotatably arranged relatively to drive the two electric coagulation shearing sheets to rotate respectively to realize shearing; the connecting seat is formed in an injection molding mode or assembled on the periphery of the supporting seat so that the connecting seat and the supporting seat form an integral structure, and the supporting seats of the two electrocoagulation shearing sheets are mutually insulated. According to the invention, the connecting seat is injection molded on the supporting seat of the electric coagulation shearing sheet, so that the connecting seat and the supporting seat form an integral structure, and due to the insulating property of the connecting seat, an insulating protective sleeve in the prior art is not needed in the use process of the electric coagulation shearing sheet, so that the operation of medical personnel is facilitated, the operation time is shortened, the cost is saved, and the burden of a patient is indirectly relieved.

Description

An electrocoagulation scissor mechanism, equipment and surgical robot for surgery

This application is a divisional application of the Chinese patent application 202210001894.0 titled "An Electrocoagulation Shearing Mechanism, Equipment and Surgical Robot" filed on January 4, 2022.

technical field

The invention relates to the technical field of medical devices, in particular to an electrocoagulation shearing mechanism, equipment and a minimally invasive surgical robot for surgery.

Background technique

Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of incision size in minimally invasive surgery, minimally invasive instruments are greatly increased in operation difficulty, and the fatigue and trembling of doctors during long-term surgery will be amplified, which restricts the development of minimally invasive surgery technology. The key factor. With the development of robotic technology, a new technology in the field of minimally invasive medical care that can overcome its shortcomings and inherit its advantages - minimally invasive surgical robot technology has emerged as the times require.

In the process of robot-assisted minimally invasive surgery, a special channel is usually established through the cannula, and the doctor enters the special channel with the help of slender minimally invasive surgical instruments to perform surgical operations in the abdominal cavity of the human body. Among minimally invasive surgical instruments, electrosurgical instruments, such as electrocoagulation scissors, are indispensable and frequently used surgical instruments. Electrocoagulation scissors are generally used to cut and strip human tissue, and can also play the role of electrocoagulation to stop bleeding when encountering capillaries.

In the prior art, for example, the Chinese invention patent with the authorized announcement number CN109009414B discloses an electrocoagulation scissors structure for a minimally invasive surgical robot, which includes a first executive module and a second executive module, a first insulator and a second actuator. Both insulators are rotatably connected to the distal end of the base, and can make the first actuator and the second actuator rotate around the first rotation axis. The first actuator is clamped in the positioning groove of the first insulator, so as to realize the relative fixing of the first actuator and the first insulator. When the wire is arranged in the wire installation hole, current can be conducted to the first actuator through the wire.

The above electric coagulation shear structure has the following technical defects: the positioning groove for accommodating the first actuator has a complicated structure and is a semi-closed structure, which is easy to hide dirt; since the surgical instruments of the surgical robot can generally be used about ten times, The electric coagulation scissors need to be sterilized and disinfected after each use, and this structure will lead to unsatisfactory disinfection effect, or the cost is too high, especially for some tiny solid substances buried in the closed structure, commonly used disinfection Disinfection methods such as water immersion/rinsing and high-temperature steam cannot be removed.

Since electrocoagulation scissors are generally used to cut human tissue and incision surface for electrocoagulation and hemostasis, electrocoagulation scissors need to be carefully disinfected before use to prevent the risk of cross-infection. In the above electrocoagulation shear structure, the first actuator The structure of the positioning groove is complex and semi-closed, that is, the design of the execution end of the electric coagulation shear is not tight enough, which makes it easy to hide dirt and make it difficult to disinfect and clean.

Contents of the invention

The purpose of the present invention is to solve the disadvantages of the prior art that it is inconvenient to clean and disinfect tiny debris in the electrocoagulation shear structure, and propose an electrocoagulation shear mechanism, equipment and minimally invasive surgical robot for surgery.

In order to achieve the above object, the present invention adopts the following technical solutions:

In one aspect, the present invention provides an electrocoagulation scissors mechanism for surgery, comprising:

Two sets of executive components, the executive components are used to perform the function of shear electrocoagulation;

Wherein, the executive components include:

The connecting seat, the two connecting seats are relatively rotatable, and the two connecting seats are coaxial;

Electrocoagulation shears, the electrocoagulation shears are arranged on the connecting seat, and the two electrocoagulation shears are arranged opposite to each other;

Wherein, the electrocoagulation shears and the connecting seat are integrally formed.

Optionally, the electrocoagulation clips include:

Blade;

A shearing surface, the shearing surface is arranged on one side of the blade body, and the shearing surfaces of the two electrocoagulation shears are arranged opposite to each other;

a support seat, the support seat is arranged at one end of the blade, and the support seat is connected to the connecting seat;

A wire, the wire is electrically connected to the electrocoagulation shears.

Optionally, the connecting seat is injection-molded on the periphery of the supporting seat, wherein a reinforcing groove is provided on the supporting seat, and the supporting seat and the reinforcing groove are wrapped inside the connecting seat.

Optionally, a connection part is provided between the two connection seats, and the connection part is distributed along the circular array of coaxial holes of the two connection seats; the connection part includes:

A connecting column, the connecting column is arranged on the connecting seat, and the connecting column is eccentrically arranged along the coaxial hole;

A connecting groove, the connecting groove is arranged on the connecting seat, the connecting groove is eccentrically arranged along the coaxial hole, and the connecting groove and the connecting column move along the same circumferential direction;

Wherein, the two connecting parts are centrally symmetrically arranged, that is, the connecting column of one connecting part extends into the connecting groove on the other connecting part, and the connecting column is slidably connected to the connecting part. groove.

Optionally, the connecting groove is an annular groove, the connecting post is cylindrical, and the connecting post is matched with the annular groove for relative sliding.

On the other hand, there is provided an electrocoagulation scissors device for surgery, which adopts the electrocoagulation scissors mechanism for surgery described above, and further includes:

A wrist support, the wrist support is arranged at one end of a support column;

A palm support, one end of the palm support is rotatably connected to the wrist support, and two sets of executive components are rotatably arranged on the palm support;

A manipulation component, the manipulation component comprising an execution operation part and a palm operation part;

Wherein, the execution operation part is connected with the execution assembly, so that the execution assembly is driven by the execution operation part to realize the shear electrocoagulation work;

The palm operating part is connected with the palm support, so as to drive the palm support and the execution assembly to move as a whole through the palm operating part.

Optionally, a first receiving hole is provided on the connecting seat, and the first receiving holes on the two connecting seats are oppositely arranged;

Wherein, the first receiving hole is arranged along the circumference of the connecting seat, and the execution operation part is fixedly connected with the first receiving hole;

Wherein, the performing operation part includes a first operating rope and a second operating rope, the middle ends of the first operating rope and the second operating rope are provided with jackets, and the jackets are connected with the first accommodating Hole interference fit.

Optionally, two second wire holes are provided through the palm support, and wire grooves are respectively arranged on the two connecting seats, and the wires pass through the second wire holes in turn, along the wire grooves. It is electrically connected with the electrocoagulation clip.

Optionally, it also includes two sets of guide wheel assemblies, and the two sets of guide wheel assemblies are symmetrically arranged on both sides of the palm support;

Wherein, the guide wheel assembly includes a first guide wheel set and a second guide wheel set, the first guide wheel set and the hinge point of the palm support and the wrist support are coaxially arranged, and the second guide wheel Wrapped around the circumference of the first guide wheel set, the execution operation part is wound around the first guide wheel set and the second guide wheel set in turn.

Finally, a minimally invasive surgical robot is also provided, which uses the electrocoagulation scissors device for surgery described above.

The present invention at least has the following beneficial effects:

In the present invention, the electrocoagulation shears and the connecting seat are provided as an integrated structure, so that tiny dirt is prevented from entering the connection between the electrocoagulation shears and the connecting seat during the use of the electrocoagulation shears. The problem of inconvenient cleaning, sterilization and disinfection of tiny sundries in the electrocoagulation shear structure existing in the prior art is solved from the source. At the same time, the overall structure of the electric coagulation shear is compact, and the reliability of performing motion is high.

Description of drawings

Fig. 1 is the overall structure schematic diagram (side view direction) of a kind of electrocoagulation scissors equipment for operation provided in Embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of the overall structure of a surgical electrocoagulation scissors device provided in Embodiment 1 of the present invention (front view direction);

Fig. 3 is an exploded view of the overall structure of an electrocoagulation shearing device for surgery provided in Embodiment 1 of the present invention;

Fig. 4 is a schematic diagram of the structural connection of the executive components of an electrocoagulation shearing device for surgery provided in Embodiment 1 of the present invention;

Fig. 5 is an enlarged schematic diagram of part A in Fig. 4;

Fig. 6 is a schematic structural view of the palm support of an electrocoagulation shearing device provided in Embodiment 1 of the present invention;

7 is a schematic plan view (plan view direction) of the palm support of a surgical electrocoagulation shearing device provided in Embodiment 1 of the present invention;

8 is a schematic plan view (side view direction) of the palm support of an electrocoagulation scissors device for surgery provided in Embodiment 1 of the present invention;

Fig. 9 is a schematic plan view (front view direction) of the palm support of an electrocoagulation scissors device for surgery provided in Embodiment 1 of the present invention;

Fig. 10 is a schematic structural view of two guide wheels of the second guide wheel set of an electrocoagulation shearing device for surgery provided in Embodiment 1 of the present invention;

Fig. 11 is a schematic diagram of the connection structure of the connecting seat and the electrocoagulation scissors provided in the first embodiment of the present invention;

Fig. 12 is a schematic structural diagram of the electrocoagulation shears of an electrocoagulation shears device for surgery provided in Embodiment 1 of the present invention;

Fig. 13 is a schematic structural view of a connection seat of an electrocoagulation shearing device for surgery provided in Embodiment 1 of the present invention.

The markings in the figure are as follows:

1. Support column;

2. Wrist support; 21. The first rotating shaft;

3. Guide wheel assembly;

31. The first guide wheel group; 32. The second guide wheel group; 321. The first guide wheel; 3211. The first guide shaft; 3212. The first connecting hole; 322. The second guide wheel; 3221. The second guide shaft ; 3222, the second connecting hole;

4. Executive components;

41. Connecting seat; 411. Wire groove; 412. First traction groove; 413. Connecting groove; 414. Connecting column; 415. Coaxial hole; 416. First receiving hole;

42, electrocoagulation shears; 421, blade body; 422, reinforcement groove; 423, support seat; 424, first wire hole; 425, shear surface; 43, wire;

5. Palm bracket; 51. Second rotating shaft; 52. Second receiving hole; 521. Second traction groove; 53. Supporting lug; 54. Second wire hole;

6. Manipulation component; 61. Executive operation part; 611. First operation rope; 612. Second operation rope; 62. Palm operation part; 63. Jacket.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. 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 persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In the present invention, unless otherwise specified and limited, the terms "connection" and "fixation" should be understood in a broad sense, for example, "fixation" can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, if there are descriptions involving "first", "second" and so on in the embodiments of the present invention, the descriptions of "first", "second" and so on are only for descriptive purposes, and should not be interpreted as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

Embodiment one

Referring to FIGS. 1-8 , an electrocoagulation scissors mechanism for surgery includes: two sets of executive components 4 . The two groups of executive assemblies 4 are relatively rotatably arranged. A group of execution components 4 is used for description. Specifically, the executive assembly 4 includes: a connecting seat 41 and an electrocoagulation clip 42 . In this embodiment, the two connecting seats 41 are arranged to rotate relative to each other, and the two connecting seats 41 are arranged to rotate relative to each other. The two electrocoagulation clips 42 are respectively arranged on the two connecting seats 41 , and the two electrocoagulation clips 42 are arranged facing each other, so as to realize the shear electrocoagulation work. In this embodiment, in order to prevent tiny debris from entering the connection point between the electrocoagulation shears 42 and the connection seat 41 when they are working. The electrocoagulation shears 42 and the connecting seat 41 are integrally formed. Preferably, it is convenient for processing and satisfies the actual application of the electrocoagulation shearing mechanism. The electrocoagulation shears 42 and the connecting seat 41 are made of injection molding material. In order to ensure the electrocoagulation function of the electrocoagulation shears 42 , the connecting seat 41 is surrounded by injection molding around the electrocoagulation shears 42 .

Referring to Fig. 1-Fig. 8, an electrocoagulation scissors device for surgery adopts one of the above-mentioned electrocoagulation scissors mechanisms for surgery. Bracket 5, manipulation component 6. The wrist support 2 is disposed at one end of the support column 1 , and a first rotating shaft 21 is disposed on the wrist support 2 . One end of the palm support 5 is sheathed on the first rotating shaft 21 , and the palm support 5 is rotatably connected with the wrist support 2 through the first support. Two support lugs 53 are oppositely disposed on the other end of the palm support 5 , and a second rotating shaft 51 is disposed between the two support lugs 53 . The executive assembly 4 is sleeved on the second shaft 51, and the executive assembly 4 is arranged between the two support lugs 53, the executive assembly 4 is connected to the two The supporting lugs 53 are rotatably connected, and the execution assembly 4 is used for performing cutting work. The manipulation component 6 includes: an execution operation part 61 and a palm operation part 62 . The execution operation part 61 is connected with the execution assembly 4, and the execution operation part 61 is used to manipulate the execution assembly 4 to perform cutting work; the palm operation part 62 is connected with the palm support 5, and the palm The operating part 62 is used to drive the hinged position between the palm support 5 and the wrist support 2 to realize overall adjustment of the working position of the actuator assembly 4 on the palm support 5 . In order to ensure the reliability of operating the actuator assembly 4 by the actuator operation part 61 , two sets of guide wheel assemblies 3 are oppositely arranged on the palm support 5 ; a set of guide wheel assemblies 3 is taken as an example for description. The guide wheel assembly 3 includes a first guide wheel set 31 and a second guide wheel set 32, the first guide wheel set 31 is coaxially arranged with the first rotating shaft 21, and the second guide wheel set 32 is arranged along the The first guide wheel set 31 moves in the circumferential direction. The execution operation part 61 is wound around the first guide wheel set 31 and the second guide wheel set 32 in sequence, and then the execution operation part 61 is connected with the execution assembly 4 . The first guide wheel set 31 and the second guide wheel set 32 are used to support the operation of the operating part 61, which can effectively prevent mutual interference between components. In this embodiment, the first guide wheel set 31 is two identical guide wheels sleeved on the first rotating shaft 21 in parallel; the second guide wheel set 32 is arranged on the palm support 5 On one side, the second guide wheel set 32 is arranged parallel to the first guide wheel set 31, and the second guide wheel set 32 moves along the circumferential direction of the first guide wheel set 31 to ensure 5. When rotating, the second guide wheel set 32 can also follow the palm support 5 to rotate around the first rotating shaft 21. At the same time, it can ensure that after the palm support 5 rotates, the second guide wheel set 32 can also rotate along the first guide wheel. Circumferential movement of the group 31 is to support the execution operation part 61 at any time.

Referring to FIG. 1 and FIG. 2 , the two connecting seats 41 are sleeved on the second rotating shaft 51 , and the two connecting seats 41 are oppositely arranged. The two electrocoagulation shears 42 are respectively arranged on the two connecting seats 41 , and the two electrocoagulation shears 42 are arranged opposite to each other, so as to realize cutting work. Specifically, taking an electrocoagulation scissors 42 as an example, the electrocoagulation scissors 42 includes: a blade body 421 , a cutting surface 425 , a support seat 423 and a wire 43 . The shearing surface 425 is located on one side of the blade body 421 , and the shearing surfaces 425 on the two electrocoagulation shears 42 are arranged opposite to each other, so as to facilitate cutting. The support seat 423 is arranged at one end of the blade body 421, and the support seat 423 moves along the circumferential direction of the second rotating shaft 51, that is, the support seat 423 is coaxial with the connection seat 41, and the blade body 421 is connected with the connecting seat 41 through the supporting seat 423 so as to facilitate the circumferential movement of the connecting seat 41 along the second rotating shaft 51 , and indirectly drives the blade 421 and the shearing surface 425 through the supporting seat 423 to perform shearing work. The wire 43 is electrically connected to the blade body 421 to realize the electrocoagulation function of the blade body 421 and the shearing surface 425 . In this implementation, the shearing surface 425 is ground into a warped surface on the side where the two blade bodies 421 are close to each other, and the two warped surfaces are set opposite to each other to realize the shearing work. In addition, in this embodiment, the supporting seat 423 is further provided with a reinforcing groove 422 , and the supporting seat 423 and the connecting seat 41 are integrally formed. Wherein, the blade body 421 is made of conductive material, and the support seat 423 is made of insulating material, so as to avoid current interference and affect the electrocoagulation effect of the blade body 421 . Therefore, preferably, the support seat 423 and the blade body 421 are injection molded, that is, the support seat 423 is injection molded with the blade body 421 as the starting point of injection molding, and the reinforcement groove 422 on the support seat 423 can strengthen the connection seat 41. The injection molding material on the top enters the reinforcement groove 422 to strengthen the connection strength between the support seat 423 and the connection seat 41 and ensure the overall strength of the knife body 421 . At the same time, because the support seat 423 and the connection seat 41 are injection-molded, that is, the support seat 423 and the connection seat 41 are tightly seamed, effectively avoiding the possibility of tiny debris entering, thereby reducing the cleaning work of the blade 421 . Wherein, in order to enhance the connection strength between the connecting seat 41 and the supporting seat 423 , the connecting seat 41 is injection-molded on the periphery of the supporting seat 423 . At this time, the connecting seat 41 wraps the supporting seat 423 and the reinforcing groove 422 inside it at the same time. That is, the connection relationship between the connecting seat 41 and the supporting seat 423 is enhanced through the reinforcing groove 422 .

In this embodiment, in order to ensure the reliability of the execution of the two electrocoagulation shears 42 , a connection portion is arranged opposite to each other between the two support seats 423 to enhance the connection between the two connection seats 41 . The holes connecting the two connecting seats 41 with the second rotating shaft 51 are coaxial holes 415 , and the connecting parts are eccentrically arranged on the connecting seats 41 with the coaxial holes 415 as the center of a circle. Here, the connection portion on a connection seat 41 is taken as an example for description. The connecting portion includes: a connecting column 414 and a connecting groove 413 . The connecting posts 414 are arranged on the sides of the two connecting seats 41 close to each other, and the connecting posts 414 are arranged eccentrically around the central axis of the coaxial hole 415 . The connecting groove 413 is disposed on the connecting seat 41 , and the connecting groove 413 is coaxially arranged with the connecting column 414 , and the circumferential direction of the connecting groove 413 and the connecting column 414 is the same. That is, the connecting groove 413 and the connecting post 414 move upward along the same circumference. In this embodiment, the two connecting parts are oppositely arranged, that is, the connecting post 414 on one connecting seat 41 is connected to the connecting groove 413 on the other connecting seat 41, and the connecting post 414 is slidably connected to the connecting groove 413 Inside. In this embodiment, the connecting column 414 is cylindrical, the connecting groove 413 is an annular groove, and the connecting column 414 slides along the inner wall of the annular groove to enhance the connection between the two connecting seats 41. The hinge force between the electrocoagulation shears 42 is better to allow the electrocoagulation shears 42 to complete the cutting work.

In this embodiment, the connecting seat 41 is provided with a first wire hole 424, and the palm support 5 is also provided with two second wire holes 54, and the two second wire holes 54 are connected with the two wire holes respectively. The connecting seats 41 correspond to each other. The connecting seat 41 is provided with a wire groove 411, and the wire 43 passes through the second wire hole 54 and the wire groove 411 in sequence, and is electrically connected with the blade body 421, so as to realize electrification to the blade body 421 and its shearing surface 425 , so that the blade 421 has the electrocoagulation function. In this embodiment, when the palm support 5 is vertically rotated and installed on the wrist support 2, the second wire hole 54 on the palm support 5 passes through the first wire hole 54 from the lower end of the palm support 5. In the second wire hole 54, then pass through the second wire hole 54 and set along the wire groove 411, so that the wire 43 is pulled into the connecting seat 41 through the wire groove 411, and connected with the first wire hole 424 on the support seat 423. connected, the wire 43 is electrically connected to the blade 421, so that the blade 421 has an electrocoagulation function.

In this embodiment, the manipulation assembly 6 includes two sets of execution operation parts 61 and one set of palm operation parts 62 . The two execution operation parts 61 are fixedly connected with the two connection seats 41 respectively, and the execution operation parts 61 move along the circumferential direction of the connection seat 41, so as to drive the Execute component 4 for cutting work. Specifically, a group of executing operation units 61 is taken as an example. The connecting seat 41 is provided with a first receiving hole 416 , and the first receiving hole 416 is coaxial with the second rotating shaft 51 , that is, the first receiving hole 416 is along the circumferential direction of the connecting seat 41 set up. The execution operation part 61 is arranged in the first accommodation hole 416, and the execution operation part 61 is fixedly connected with the connection seat 41 through the first accommodation hole 416, so as to realize passing through the execution operation part 61. The first receiving hole 416 drives the connecting seat 41 to rotate around the second rotating shaft 51 so as to facilitate the two electrocoagulation shears 42 to complete the cutting work. Specifically, a set of the execution operation parts 61 includes: a first operation rope 611 and a jacket 63 . The jacket 63 is disposed in the middle of the first operating rope 611 , and the jacket 63 is in interference fit with the first operating rope 611 so that the jacket 63 and the first operating rope 611 fixed. The jacket 63 is arranged on the first receiving hole 416 of the one of the connecting seats 41, and the outer wall of the jacket 63 is in interference fit with the first receiving hole 416, so that the jacket 63 and The first receiving holes 416 are fixedly connected. The other set of operating parts 61 is similarly disposed in the first receiving hole 416 on the other connecting seat 41 . In this embodiment, the two first receiving holes 416 are arranged opposite to each other, and the first receiving holes 416 are arranged along the circumference of the connecting seat 41 , and the operating portion 61 and the first receiving holes 416 Fixedly connected, so that the executive part drives the connecting seat 41 to rotate around the coaxial hole 415 through the first receiving hole 416, that is, the first operating rope 611 and the second operating rope 612 respectively drive the two connecting seats 41 Rotate around the second rotating shaft 51 to cooperate between the connecting part and the electrocoagulation shears 42 to complete the shearing work. In this embodiment, through the two ends of the first operating rope 611 and the second operating rope 612, the clamping seats on the first clamping part and the second clamping part are respectively controlled to rotate, so as to achieve The operating rope 611 and the second operating rope 612 drive the two clamping angles to perform opening and closing clamping. In this embodiment, the first operating rope 611 is used as an example to describe the connection relationship between the jacket 63 and the first operating rope 611 and the second operating rope 612. The jacket 63 is a thick-walled metal pipe, and the clamping A central hole is provided in the middle of the sleeve 63 , and the diameter of the hole is slightly larger than the outer diameter of the first operating rope 611 . The jacket 63 is located in the middle of the wire rope, and the jacket 63 is crimped with a tool, and the jacket 63 is firmly connected to the first operating rope 611 through deformation of the jacket 63 . The size of the first receiving hole 416 is slightly smaller than the length of the jacket 63. After the jacket 63 and the first operating rope 611 are fixed, the jacket 63 is knocked into the first receiving hole 416 to realize the firmness of the jacket 63 and the first receiving hole 416. connect. In actual operation, in order to ensure the working strength of the finger operating part, the first operating rope 611 and the second operating rope 612 are made of steel. Further, in order to ensure the stability and guidance of the connection between the first operating rope 611 and the second operating rope 612 and the two connecting seats 41, the connecting seat 41 is also provided with a first traction groove 412, the first traction The grooves 412 are distributed around the circumference of the second rotating shaft 51, the first operating rope 611 and the second operating rope 612 are adapted to the first traction groove 412 respectively, and the first operating rope 611 and the second operating rope 611 The operation rope 612 can be guided through the first traction groove 412 , and when the connection seat 41 is adjusted, the situation of low operation reliability caused by the unpositioning of the first operation rope 611 and the second operation rope 612 is avoided.

In one embodiment, the first receiving hole 416 is a rectangular through hole, and the first receiving hole 416 is configured as a rectangular through hole, which facilitates forming the first receiving hole 416 on the one hand. On the other hand, it is convenient for the collet 63 to be installed in the first receiving hole 416 . By setting the first receiving hole 416 as a through hole, that is, forming the first receiving hole 416 into an open structure, it is convenient for subsequent sterilization and disinfection of instruments.

The palm operation part 62 is connected to the palm support 5, and the palm operation part 62 is coaxial with the rotation of the palm support 5 and the wrist support 2, that is, the palm operation The part 62 moves along the circumferential direction of the first rotating shaft 21 , so as to realize that the palm operating part 62 drives the palm support 5 to rotate along the rotation position of the palm support 5 and the wrist support 2 . The palm support 5 is provided with a second accommodating hole 52, the second accommodating hole 52 is coaxial with the hinge point of the palm support 5 and the wrist support 2, that is, the second accommodating hole 52 moves circumferentially around the first rotating shaft 21, and the second accommodation hole 52 is connected with the palm operation part 62, so as to realize that the palm operation part 62 drives the whole operation through the second accommodation hole 52 Wrist support 2 rotates. Specifically, the palm operation part 62 includes: an operation rope and a jacket 63 . In this embodiment, the palm support 5 is provided with two second receiving holes 52, and the two second receiving holes 52 are arranged symmetrically, and the two second receiving holes 52 are both connected to the palm The hinge point of the upper bracket 5 and the wrist bracket 2 is coaxial, that is, moves along the circumferential direction of the first rotating shaft 21 . The palm operating part 62 is two operating ropes (not shown in the figure), and the ends of the two operating ropes close to each other are sleeved with jackets 63, and the two jackets 63 are respectively located in the two places. In the second receiving hole 52, the jacket 63 is interference fit with the second receiving hole 52, and the two operating ropes move in opposite directions, and the two operating ropes drive the palm support through the jacket 63 5 rotates around the first rotating shaft 21, and the two operating ropes move in opposite directions to drive the palm support 5 to rotate forward and reverse around the first rotating shaft 21, so as to realize the rotation of the palm support 5 as a whole through the palm operating part 62, and indirectly drive the execution The working orientations of the two electrocoagulation shears 42 on the assembly 4 are adjusted as a whole. In this implementation, the palm operating part 62 can also be an operating rope, and a jacket 63 is sheathed in the middle of the operating rope, and the jacket 63 is in interference fit with the second receiving hole 52. Circumferential movement of the first rotating shaft 21 , the operating rope drives the palm support 5 to rotate around the first rotating shaft 21 through the jacket 63 , so that the palm operating part 62 drives the palm support 5 to rotate as a whole, and indirectly drives the executive assembly 4 The working position of the electrocoagulation shears 42 on the top is adjusted in overall orientation. The connection method between the operation rope on the palm operation part 62 and the collet 63 is the same as the connection method between the first operation rope 611 and the collet 63 in the actuating operation part 61 described above. Further, in order to ensure the stability and guidance of the connection between the operating rope and the palm support 5, the palm support 5 is also provided with a second traction groove 521, and the second traction groove 521 is arranged around the first rotating shaft 21. Circumferentially distributed, the operation rope is adapted to the second traction groove 521, and the operation rope can be guided through the second traction groove 521. When adjusting the palm support 5, it is avoided that the operation rope is not A situation where the operational reliability caused by the positioning is not high occurs.

In this embodiment, in order to ensure that the movement between the first operating rope 611 and the second operating rope 612 does not interfere with each other, two groups of the manipulation components 6 are arranged symmetrically around the central axis of the palm support 5 . Two sets of guide wheel assemblies 3 are symmetrically arranged on both sides of the palm support 5 . Wherein, the guide wheel assembly 3 on one side of the palm support 5 is used for description. The first guide wheel set 31 and the palm support 5 are coaxially arranged with the hinge point of the wrist support 2, that is, coaxially arranged with the first rotating shaft 21, so that the first guide wheel set 31 is sleeved on the first rotating shaft 21 . The second guide wheel set 32 is arranged on one side of the palm support 5, and the second guide wheel set 32 is arranged around the circumference of the first guide wheel set 31, and the execution operation part 61 is sequentially set around the The first guide wheel set 31 and the second guide wheel set 32 are used to implement the guide wheel assembly 3 to support the movement of the operating part 61 . In this embodiment, the first guide wheel set 31 is two guide wheels with the same model and size, that is, the two guide wheels are sleeved on one side of the guide wheels, and the two guide wheels are respectively connected to the guide wheels. The second guide wheel set 32 is suitable. That is to say, the second guide wheel set 32 respectively moves around the circumferential direction of the two guide wheels.

In this embodiment, the second guide wheel set 32 includes: a first guide wheel 321 and a second guide wheel 322, the first guide wheel 321 is set on the palm support 5 through a first guide shaft 3211 On one side, one end of the first operating rope 611 is wound on a guide wheel of the first guide wheel set 31 through the first guide wheel 321; the second guide wheel 322 passes through a second guide shaft 3221 is arranged on one side of the palm support 5 , and one end of the second operating rope 612 is wound on the other set of the first guide wheel set 31 through the second guide wheel 322 . Wherein, the second guide shaft 3221 is eccentrically arranged on the first guide shaft 3211 , that is, the axis centers of the second guide wheel 322 and the first guide wheel 321 are staggered on the same straight line. Specifically, the first connecting hole 3212 on the first guide wheel 321 and the second connecting hole 3222 on the second guide wheel 322 have different diameters. That is to say, the axes of the first guide shaft 3211 and the second guide shaft 3221 are horizontally offset at the same height, so that the first guide wheel 321 and the second guide wheel 322 are staggered by a certain distance in the horizontal direction, but at the same height. height. The lower edges of the first guide wheel 321 and the second guide wheel 322 are flush, so that the first operating rope 611 and the second operating rope 612 enter the first guide from almost the same height after coming out of the second guide wheel set 32. wheel 321 and the second guide wheel 322, while the side edges of the first guide wheel 321 and the second guide wheel 322 are staggered, so that the first operating rope 611 and the second operating rope 612 can enter the two connecting seats without interfering with each other 41 on. The same outer diameter can ensure that the wrapping angles of the two finger operation ropes passing thereon are substantially the same, so as to realize non-interference between the first operation rope 611 and the second operation rope 612 . In order to realize mutual non-interference between the first operating rope 611 and the second operating rope 612 . In this implementation, two sets of guide wheel assemblies 3 are symmetrically arranged on both sides of the palm support 5 . That is to say, two sets of first guide wheel sets 31 are respectively sleeved on the first rotating shaft 21, that is, one set of first guide wheel sets 31, the palm bracket 5 and another set of guide wheel sets are sleeved on the first rotating shaft 21 in turn. Round Group.

In this embodiment, two second guide wheel sets 32 are oppositely arranged on both sides of the palm support 5 . At the same time, the first guide wheel 321 and the second guide wheel 322 in the second guide wheel set 32 are arranged eccentrically. That is, the second guide shafts 3221 are distributed in an annular array around the axis of the first guide shafts 3211 , that is, the first guide wheels 321 are eccentrically arranged on the second guide wheels 322 . At the same time, the first guide wheel 321 and the second guide wheel 322 are the same, and the first connection hole 3212 on the first guide wheel 321 and the second connection hole 3222 on the second guide wheel 322 have different aperture sizes. That is to say, the axes of the second guide shaft 3221 and the first guide shaft 3211 are horizontally offset at the same height, so that the first guide wheel 321 and the second guide wheel 322 are staggered by a certain distance in the horizontal direction, but at the same height. height. The lower edges of the first guide wheel 321 and the second guide wheel 322 are flush, so that the first operating rope 611 and the second operating rope 612 enter the first guide from almost the same height after coming out of the second guide wheel set 32. wheel 321 and the second guide wheel 322, while the side edges of the first guide wheel 321 and the second guide wheel 322 are staggered, so that the first operating rope 611 and the second operating rope 612 can enter the actuator assembly 4 without interfering with each other. The two connecting seats 41 are convenient for the two connecting seats 41 to be fixedly connected. The same outer diameter can ensure that the wrapping angles of the first operating rope 611 and the second operating rope 612 passing thereon are substantially the same, so as to realize non-interference between the first operating rope 611 and the second operating rope 612 . In this embodiment, the first guide wheel 321 and the second guide wheel 322 move along the circumferential direction of the two guide wheels respectively, that is, when the wrist support 2 is adjusted, the two guide wheels The first guide wheel 321 and the second guide wheel 322 rotate along the outer circumference of the first guide wheel set 31, and at the same time drive the execution operation part 61 to move around the outer circumference of the first guide wheel set 31, so as to pass through the The wrist support 2 adjusts the working orientation of the executive component 4 on the palm support 5 as a whole. At the same time, after adjustment by the wrist support 2 , the movement ranges of the operating parts 61 wound on the two second guide wheel sets 32 are consistent. The first guide wheel set 31 and the second guide wheel set 32 are roughly tangent to each other. Simultaneously because the first guide wheel 321 and the second guide wheel 322 are staggered by a certain distance in the horizontal direction and are at the same height, it can effectively Ensure that the first operating rope 611 and the second operating rope 612 on the execution operation part 61 do not interfere with each other, and at the same time, the first operating rope 611 and the second operating rope are controlled by the two guide wheels in the first guide wheel set 31 respectively. 612 for guidance, effectively avoiding the first rotating shaft 21 from affecting the first operating rope 611 and the second operating rope 612 , and further ensuring the movement reliability of the first operating rope 611 and the second operating rope 612 .

It should also be noted here that there is also a transverse distance between the first guide wheel set 31 and the second guide wheel set 32, that is, the two are not on a straight line in the longitudinal direction (the direction of the slender shaft axis of the surgical instrument is for vertical). In combination with the structure in which the execution operation part 61 is set in the middle of the execution assembly 4 in this embodiment, when the execution operation part 61 applies a pulling force to the execution assembly 4, it needs to pass through the first guide wheel set 31 and the second guide wheel set. For the conduction of the wheel set 32, since the end effector of the surgical robot in this embodiment is applied in minimally invasive surgery, the requirements for the precision and sensitivity of the operation of the instrument are relatively high. The transmission coefficient between the driving force and the acting force on the actuator assembly 4 will directly affect the sensitivity and accuracy of the final instrument use. Therefore, it is necessary to reduce the distance between the actuator operation part 61 and the first guide wheel set 31 and the second guide wheel set. The frictional resistance between 32, for this, present embodiment has been designed as follows: mainly is to reduce the frictional force between executive operation part 61 and second guide wheel set 32, promptly for the second guide wheel that is located on the palm support 5 For the set 32, it is set to be offset on one side of the axis, and the inner edge of the second guide wheel set 32 roughly corresponds to the middle position of the first guide wheel set 31. It has been verified by actual trials that such a structure can not only make the operation The part 61 acts on the middle position of the actuator assembly 4, so that the overall end effector structure is balanced in force, and can make the transmission effect of the force of the actuator operation part 61 when passing the second guide wheel set 32 reach a more ideal state, so that The precision and sensitivity during use of the instrument end with this structure can reach a relatively ideal state, meeting the requirements for use in a minimally invasive surgery environment.

In an optional embodiment, the electrocoagulation shearing equipment for surgery also includes an instrument box (not shown in the figure), and three sets of rotating shafts are arranged inside the instrument box, and two of the three sets of rotating shafts are Two symmetrically arranged axes of rotation. The first group of said rotating shafts is respectively connected with the two ends of the palm operating part 62, so as to control the feed amount of the operation rope on the two ends of the palm operating part 62 through the first group of rotating shafts, so as to realize the operation through the first group of rotating shafts. The rotating shaft indirectly controls the rotational positions of the palm support 5 and the wrist support 2 through the palm operation part 62 . The second set of rotating shafts are respectively connected to the two ends of the first operating rope 611 , and similarly control the feed lengths of both ends of the first operating rope 611 and the second operating rope 612 to realize the cutting work of the actuator assembly 4 . In this embodiment, the connecting column 414 is hollow, so that the first operating rope 611 , the second operating rope 612 , and the palm operating portion 62 can extend out. In addition, the wire 43 can also extend out through the inside of the connecting column 414 for power distribution.

In the actual installation of this embodiment, one end of the first operating rope 611 and the second operating rope 612 pass through the two guide wheels on the first guide wheel set 31 respectively, that is, the first operating rope 611 and the second operating rope 612 respectively pass through the first operating rope 611 and the second operating rope 612 respectively. Pass between the first guide wheel set 31 and the second guide wheel set 32 . The first operating rope 611 and the second operating rope 612 pass through the first guide wheel 321 and the second guide wheel 322 respectively, and are respectively connected to the two connecting seats 41 in the actuator assembly 4 , that is, fixedly connected through the connecting jacket 63 . Since the two sets of guide wheel assemblies 3 are symmetrically arranged on the palm support 5, at this time the first operating rope 611 and the second operating rope 612 pass through the first guide wheel set 31 and the second guide wheel set 32 in reverse. place. In this case, no matter how the first operating rope 611 moves, the working length distances at both ends of the first operating rope 611 are equal. The same is true for the second operating rope 612 . In order to ensure how the connecting seat 41 rotates, both the first operating rope 611 and the second operating rope 612 can drive the electrocoagulation shears 42 on the two connecting seats 41 to cut each other. At the same time, the connecting parts on the two connecting seats 41 slide inside the connecting groove 413 through the connecting column 414, so as to enhance the connection between the two electrocoagulation shears 42 and prevent the two electrocoagulation shears 42 from rotating too much If the situation occurs, the reliability of the shearing movement between the two electrocoagulation shears 42 is effectively guaranteed.

The working principle of the technical solution provided by this embodiment:

The two connecting seats 41 on the actuator assembly 4 are pulled forward and backward by the first operating rope 611 and the second operating rope 612, and the two connecting seats 41 rotate forward and reverse around the second rotating shaft 51. At this time, the two connecting seats 41 The electrocoagulation scissors 42 are close to each other and cooperate with the connection part. At this time, the shearing surfaces 425 of the two electrocoagulation scissors 42 perform the shearing work. At the same time, the wire 43 is selected to energize the electrocoagulation clip 42, so that the electrocoagulation clip 42 has the electrocoagulation function. In this actual operation, it is only necessary to control the amount of thread entering at both ends of the first operating rope 611 and the second operating rope 612, that is, to control the lengths of the two ends of the first operating rope 611 and the second operating rope 612, so that the execution The two electrocoagulation shears 42 on the assembly 4 are sheared. In this operation, the first operating rope 611 and the second operating rope 612 can simultaneously control the amount of wires at both ends, so that the shearing surface 425 of the electrocoagulation guide can perform shearing work. It is also possible to complete the shearing work by controlling the feed amount at both ends of the first operating rope 611 or the second operating rope 612 so that the feeding amount of the second operating rope 612 or the first operating rope 611 remains unchanged.

When it is necessary to adjust the working position of the executive assembly 4 as a whole at the same time, the first operating rope 611 and the second operating rope 612 control the amount of incoming wires toward the same end at the same time. At this time, the two connecting seats 41 move toward one end at the same time. The condensing blades 42 are inclined at the same end. When the shearing work needs to be completed, only one electrocoagulation shear 42 can be independently controlled to move toward the other end far away from the inclination. After the shearing surface 425 on the two electrocoagulation shears 42 forms a shear angle, The electrocoagulation shears 42 that have just moved are reset, and at this moment, the two shearing surfaces 425 are in contact, and the shearing work is completed.

In this embodiment, the palm support 5 can also be adjusted as a whole through the palm operation part 62 , that is, the cutting orientation of the actuator assembly 4 can be adjusted indirectly. Specifically, by controlling the two ends of the operating rope on the palm operating part 62, the operating rope drives the palm support 5 to rotate around the first rotating shaft 21 through the amount of wires at both ends. Components can adjust the shear orientation as a whole.

Embodiment two

A minimally invasive surgical robot, which adopts the electrocoagulation scissors device for surgery described in Embodiment 1, and also includes a main console (not shown in the figure) and a slave operating device (not shown in the figure), The main console is electrically connected to the slave operating device, and the slave operating device is connected to the surgical electrocoagulation shearing device. The operator sends an instruction through the main console to allow the slave operating device to operate the surgical instrument to perform a surgical operation. The master console and the slave operating device belong to the prior art, so no more overview will be made here.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (10)

1. An electro-coagulation scissors mechanism for surgery, comprising:

the electric coagulation shearing sheets comprise supporting seats, the supporting seats are arranged in insulating connecting seats, and the two connecting seats are coaxially and rotatably arranged relatively to drive the two electric coagulation shearing sheets to rotate respectively so as to realize shearing;

the connecting seat is formed in an injection molding mode or assembled on the periphery of the supporting seat so that the supporting seat and the supporting seat form an integral structure, and the supporting seats of the two electrocoagulation shearing sheets are mutually insulated.

2. An electro-coagulation surgical scissors mechanism according to claim 1, wherein the electro-coagulation cutting blade further comprises:

a blade body;

the shearing surface is arranged on one side of the cutter body, and the shearing surfaces of the two electrocoagulation shearing sheets are arranged oppositely;

the wire, the wire with supporting seat electric connection, the supporting seat sets up the one end of blade.

3. The surgical electrocoagulation shearing mechanism as claimed in claim 2, wherein the supporting seat is provided with a reinforcing groove, the reinforcing groove is wrapped inside the connecting seat, and the reinforcing groove is used for accommodating injection molding raw materials to improve the overall structural strength after injection molding.

4. An electro coagulation scissors mechanism for operation according to any one of claims 1 to 3 wherein a connecting part is arranged between the two connecting seats, the connecting parts are distributed along the coaxial hole annular array of the two connecting seats; the connecting portion includes:

the connecting column is arranged on the connecting seat and is eccentrically arranged along the coaxial hole;

the connecting groove is arranged on the connecting seat, is eccentrically arranged along the coaxial hole, and moves along the same circumferential direction as the connecting column;

the two connecting parts are arranged in a central symmetry mode, the connecting column of one connecting part extends into the connecting groove in the other connecting part, and the connecting column is connected with the connecting groove in a sliding mode.

5. The surgical coagulating shears mechanism of claim 4, wherein the connecting slot is an annular slot, the connecting post is cylindrical and is adapted to slide relative to the annular slot.

6. An electrocoagulation shearing apparatus for surgery, which employs an electrocoagulation shearing mechanism for surgery as recited in any one of claims 1 to 5, further comprising:

the wrist support is arranged at one end of a support column;

the wrist support is rotatably connected with the wrist support, and the two groups of executing assemblies are rotatably arranged on the palm support;

the control assembly comprises an execution operation part and a palm part operation part;

the execution operation part is connected with the execution assembly to drive the execution assembly to realize shearing electrocoagulation work through the execution operation part;

the palm part operation part is connected with the palm part support so as to realize that the palm part operation part drives the palm part support and the execution assembly to move integrally.

7. An electrocoagulation shearing apparatus for surgery as recited in claim 6, wherein the connecting sockets are provided with first receiving holes, and the first receiving holes of the two connecting sockets are arranged oppositely;

the first accommodating hole is formed along the circumferential direction of the connecting seat, and the execution operation part is fixedly connected with the first accommodating hole;

the operating part comprises a first operating rope and a second operating rope, the middle ends of the first operating rope and the second operating rope are respectively provided with a jacket, and the jackets are in interference fit with the first accommodating holes.

8. An electrocoagulation shearing apparatus for surgery as recited in claim 6, wherein two second wire holes are provided through the palm support, two wire grooves are provided on each of the two connecting bases, and the wires are sequentially passed through the second wire holes and electrically connected to the electrocoagulation shear blades along the wire grooves.

9. An electro-coagulation surgical scissors device according to claim 7 or 8, further comprising two sets of guide wheel assemblies, the two sets of guide wheel assemblies being arranged centrally symmetrically on either side of the palm support;

the guide wheel assembly comprises a first guide wheel assembly and a second guide wheel assembly, the first guide wheel assembly and the palm support are coaxially arranged at a hinge point of the wrist support, the second guide wheel assembly winds the circumferential direction of the first guide wheel assembly, and the execution operation portion sequentially winds the first guide wheel assembly and the second guide wheel assembly.

10. A minimally invasive surgical robot, characterized in that an electrocoagulation shearing apparatus for surgery according to any one of claims 6 to 9 is used.

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