Disclosure of Invention
Accordingly, it is necessary to provide an end effector for solving the technical problem that the conventional laparoscopic surgery requires a large number of instruments, which makes the surgery costly.
An end effector comprising:
The insulating seat comprises two connecting plates which are oppositely arranged and connected with each other;
A conductive assembly including two terminals respectively disposed at opposite sides of the two connection plates for electrically connecting with at most one of the monopolar and bipolar terminals, and
The actuator assembly is connected to the insulating base, at least part of the actuator assembly is arranged between the two connecting plates and is electrically connected with the two wiring terminals, and when the conductive assembly is used for being electrically connected with the monopole connector or the bipolar connector, the actuator assembly can be electrically conducted.
In one embodiment, the conductive assembly further comprises:
The two conducting strips are respectively arranged on the two connecting plates, the two conducting strips are respectively abutted and electrically connected with the actuator assembly, and the abutted parts of the two conducting strips and the actuator assembly are configured into two wiring terminals;
and one end of each of the two wires is electrically connected with the two conductive sheets, and the other end of each of the two wires is electrically connected with the bipolar joint, or the other end of one of the two wires is electrically connected with the monopolar joint.
In one embodiment, two opposite sides of the two connecting plates are respectively provided with a fixing groove, the two conducting strips are respectively arranged in the two fixing grooves, the insulating base further comprises two limiting plates, and the two limiting plates are respectively connected with the two connecting plates and cover the corresponding fixing grooves.
In one embodiment, the limiting plates are disposed at one end of the corresponding fixing groove, which is close to the wire, and each limiting plate is provided with a through hole communicated with the corresponding fixing groove, so that the corresponding wire can be threaded.
In one embodiment, the actuator assembly includes an operating member and an insulating plate, the insulating plate is connected to the insulating base, the operating member is detachably connected to the insulating plate, and the operating member is electrically connected to the terminal.
In one embodiment, one of the operating piece and the insulating plate is provided with a positioning groove, and the other one is provided with a positioning block which is in plug-in fit with the positioning groove.
In one embodiment, the positioning groove is disposed on one side of the insulating plate, the positioning groove includes at least two intersecting mounting grooves, the positioning block is disposed on the operating element, and the positioning block includes mounting blocks corresponding to the mounting grooves, and each mounting block is in plug-in fit with the corresponding mounting groove, so as to limit the operating element to move on the insulating plate.
In one embodiment, when the conductive component is used for being electrically connected with the bipolar joint, the number of the operating parts and the number of the insulating plates are two, the two insulating plates are oppositely arranged along the arrangement direction of the two connecting plates, and the two positioning grooves are respectively arranged on one sides of the two insulating plates, which are away from each other.
In one embodiment, the two positioning grooves are staggered in the arrangement direction of the two connecting plates.
In one embodiment, the end effector further comprises a drive wheel disposed on the insulating base, the drive wheel being coupled to the effector assembly;
The actuator assembly and the driving wheel form a driving matching part, and when the driving wheel rotates, the driving wheel can drive the actuator assembly to rotate relative to the insulating seat through the driving matching part.
The invention also provides a surgical instrument which can solve at least one technical problem.
The surgical instrument comprises an instrument joint and the end effector, wherein the instrument joint is connected with the insulating seat, and the instrument joint is used for driving the effector assembly to move.
The invention also provides surgical equipment capable of solving at least one technical problem.
The surgical equipment comprises a negative plate, a monopolar connector, a bipolar connector and the end effector, wherein the negative plate is used for being mounted on a target object, the bipolar connector is used for being electrically connected with two wiring terminals, the monopolar connector is used for being electrically connected with one wiring terminal, and the negative plate is used for being matched with the monopolar connector so as to enable the effector assembly to be electrically conducted when the conductive assembly is electrically connected with the monopolar connector.
The beneficial effects are that:
The end effector comprises an insulating seat, a conductive component and an actuator component, wherein the insulating seat comprises two connecting plates which are oppositely arranged and connected with each other, the conductive component comprises two wiring terminals which are respectively arranged on one side of the two connecting plates opposite to each other, the conductive component is used for being electrically connected with at most one of a monopole joint and a bipolar joint, the actuator component is connected to the insulating seat, at least part of the actuator component is arranged between the two connecting plates and is electrically connected with the two wiring terminals, and when the conductive component is used for being electrically connected with the monopole joint or the bipolar joint, the actuator component can be electrically conducted. In the application, when the conductive component is electrically connected with the bipolar joint, the actuator component can be used as a bipolar instrument, when the conductive component is electrically connected with the monopolar joint, the actuator component can be used as a monopolar instrument, and when the conductive component is not electrically connected with the monopolar joint or the bipolar joint, the actuator component can be used as a passive instrument, so that in operations with various required surgical instruments, various application scenes of the actuator component can be realized only by controlling the conductive component, thereby reducing the cost and improving the adaptability of the end execution instrument.
The invention also provides a surgical instrument which comprises an instrument joint and the end effector, wherein the instrument joint is connected with the insulating seat and is used for driving the effector assembly to move. The surgical instrument can achieve at least one of the technical effects described above.
The invention also provides surgical equipment which comprises a negative plate, a monopolar connector, a bipolar connector and the end effector, wherein the negative plate is used for being installed on a target object, the bipolar connector is used for being electrically connected with two wiring terminals, the monopolar connector is used for being electrically connected with one wiring terminal, and the negative plate is used for being matched with the monopolar connector so as to electrically conduct an effector assembly when the conductive assembly is electrically connected with the monopolar connector. The surgical device is capable of achieving at least one of the technical effects described above.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1,2, 3 and 7, fig. 1 is a schematic view of an end effector 10 according to an embodiment of the present invention, fig. 2 is a front view of an end effector 10 according to an embodiment of the present invention, fig. 3 is a schematic view of an end effector 10 according to an embodiment of the present invention after a portion of an insulation seat is hidden, and fig. 7 is a simplified view of an electrode connector and a bipolar connector connected to an end effector 10 in a surgical device according to an embodiment of the present invention. An end effector 10 according to an embodiment of the present invention includes an insulating base 100, a conductive assembly 200 and an actuator assembly 300, wherein the insulating base 100 includes two connection plates 110 disposed opposite to each other and connected to each other, the conductive assembly 200 includes two terminals 210 disposed on opposite sides of the two connection plates 110, the conductive assembly 200 is configured to be electrically connected to at most one of the monopolar connector 400 and the bipolar connector 500, the actuator assembly 300 is connected to the insulating base 100, and the actuator assembly 300 is at least partially disposed between the two connection plates 110 and is electrically connected to both of the two terminals 210, and the actuator assembly 300 is capable of being electrically connected when the conductive assembly 200 is configured to be electrically connected to the monopolar connector 400 or the bipolar connector 500.
Specifically, in the present application, when the conductive component 200 is electrically connected to the bipolar junction 500, the actuator component 300 may serve as a bipolar instrument, when the conductive component 200 is electrically connected to the monopolar junction 400, the actuator component 300 may serve as a monopolar instrument, and when the conductive component 200 is not electrically connected to the monopolar junction 400 or the bipolar junction 500, the actuator component 300 may serve as a passive instrument, so that in operations requiring various surgical instruments, only the conductive component 200 needs to be controlled, various application scenarios of the actuator component 300 can be realized, thereby reducing the cost and improving the adaptability of the end effector 10.
It should be noted that, the bipolar device generally has two forceps, one of which is electrically connected to the positive electrode of the power supply, and the other is electrically connected to the negative electrode of the power supply, and when the jaws contact the tissue and are closed, a passage is formed between the device and the tissue, and the high-frequency current passes through the tissue to complete the coagulation of the blood vessel or bleeding point. The monopole instrument can be electric scissors, electric pliers, electric hooks and the like, is electrically connected with the positive electrode of the power supply, and forms a passage between the instrument and the tissue when the instrument is in contact with the tissue provided with the negative electrode plate or grounded, and the high-frequency current acts on the target object so as to achieve the aim of cutting hemostasis. Passive instruments are used for needle-clamping suturing, graspers are used for grasping and lifting tissue, and the like.
Referring to fig. 2 and 3, in one embodiment, the conductive assembly 200 further includes two conductive plates 220 and two wires 230, wherein the two conductive plates 220 are respectively mounted on the two connection plates 110, the two conductive plates 220 are respectively abutted against and electrically connected with the actuator assembly 300, the portion of the two conductive plates 220 abutted against the actuator assembly 300 is configured as two terminals 210, one ends of the two wires 230 are respectively electrically connected with the two conductive plates 220, the other ends are respectively electrically connected with the bipolar junction 500, or the other ends of one of the two wires 230 are respectively electrically connected with the monopolar junction 400.
Specifically, the portion of the two conductive sheets 220 abutting against the actuator assembly 300 is configured as two terminals 210, so that the actuator assembly 300 and the two conductive sheets 220 are electrically connected all the time. When the two wires 230 are respectively electrically connected to the bipolar junction 500, i.e. one wire 230 is electrically connected to the positive electrode of the power supply, and the other wire 230 is electrically connected to the negative electrode of the power supply, so that the two terminals 210 are electrically opposite to each other, and the actuator assembly 300 with two sides abutting against the terminals 210 can be electrically conducted. When one of the two wires 230 is electrically connected to the monopolar connector 400, i.e. one of the two wires 230 is connected to the positive electrode of the power supply, so that one of the terminals 210 is charged, the actuator assembly 300 having both sides abutting the terminal 210 can be electrically conducted when the actuator assembly 300 is in contact with the tissue mounted with the negative plate or grounded. Preferably, the conductive sheet 220 is a conductive metal sheet.
Further, the conductive sheet 220 is a conductive elastic sheet, so that the conductive sheet 220 is always stably abutted against two sides of the actuator assembly 300 under the action of self elastic force, and the reliability of the end effector 10 is improved.
Further, the insulating base 100 further includes a mating plate 130, and two ends of the mating plate 130 are respectively connected to the two connection plates 110, so that the two connection plates 110 are stably connected. The two mounting holes 131 are formed in the matching plate 130, the two mounting holes 131 are arranged at intervals along the arrangement direction of the two connecting plates 110, the two mounting holes 131 are used for two wires 230 to penetrate through, so that the wires 230 are limited, and the two wires 230 are prevented from winding when the actuator assembly 300 works.
Referring to fig. 4 and 5, fig. 4 is a schematic view of the end effector 10 according to an embodiment of the present invention, in which the conductive element is engaged with the insulating base, and fig. 5 is a left side view of the end effector 10 according to an embodiment of the present invention. In one embodiment, two fixing slots 111 are disposed on opposite sides of the two connecting plates 110, two conductive plates 220 are respectively mounted in the two fixing slots 111, and the insulating base 100 further includes two limiting plates 120, where the two limiting plates 120 are respectively connected with the two connecting plates 110 and cover portions of the corresponding fixing slots 111.
Specifically, the conductive plates 220 are installed in the fixing groove 111 and are abutted against the groove wall of the fixing groove 111, the groove wall of the fixing groove 111 can limit the conductive plates 220 to move on the connecting plate 110, and each limiting plate 120 covers a portion of the corresponding fixing groove 111, so that the corresponding conductive plates 220 can be limited to be separated, the conductive plates 220 are stably limited to the current position, and each conductive plate 220 is stably abutted against the actuator assembly 300.
Referring to fig. 4, in one embodiment, the limiting plates 120 are disposed at one end of the corresponding fixing groove 111 near the conductive wire 230, and each limiting plate 120 is provided with a through hole 121 communicating with the corresponding fixing groove 111 for the corresponding conductive wire 230 to pass through.
Specifically, by the arrangement of the through holes 121, the connection part of the wire 230 and the conductive sheet 220 is located in the fixing groove 111, so that the connection part of the wire 230 and the conductive sheet 220 can be protected, the wire 230 and the corresponding conductive sheet 220 can be stably connected, and the reliability of the end effector 10 is improved.
Further, the two limiting plates 120 are mounted on the side of the insulating base 100 away from the actuator assembly 300, so that the interference of the limiting plates 120 to the actuator assembly 300 can be reduced.
Referring to fig. 3 and 6, fig. 6 is a schematic diagram of an actuator assembly 300 in an end effector 10 according to one embodiment of the present invention. In one embodiment, the actuator assembly 300 includes an operation member 310 and an insulating plate 320, the insulating plate 320 is connected to the insulating base 100, the operation member 310 is detachably connected to the insulating plate 320, and the operation member 310 is electrically connected to the terminal 210, so that during an operation, the corresponding operation member 310 can be replaced conveniently according to specific requirements, and thus the operation cost and the adaptability of the end effector 10 can be further reduced.
Referring to fig. 3 and 6, in one embodiment, one of the operating member 310 and the insulating plate 320 is provided with a positioning slot 321, and the other one is provided with a positioning block 311, and the positioning block 311 is in plug-in fit with the positioning slot 321, so that the operating member 310 can be conveniently and stably connected with the corresponding insulating plate 320, and the stability of the end effector 10 is improved.
Referring to fig. 6, in one embodiment, a positioning groove 321 is disposed on one side of an insulating plate 320, the positioning groove 321 includes at least two intersecting mounting grooves, a positioning block 311 is disposed on an operating member 310, and the positioning block 311 includes mounting blocks corresponding to the mounting grooves, and each mounting block is in plug-in fit with the corresponding mounting groove to limit the movement of the operating member 310 on the insulating plate 320.
Specifically, when each mounting block is mounted in the corresponding mounting groove, the groove wall of each mounting groove can limit the corresponding mounting block from moving on the insulating plate 320, and since at least two mounting grooves intersect, the groove wall of each mounting groove can apply a force to the positioning block 311 on the insulating plate 320 in two directions, thereby stably limiting the movement of the operating element 310 on the insulating plate 320.
Further, the positioning block 311 further includes a connection block 312, at least a portion of the connection block 312 is located outside the insulating plate 320 and is connected with one end of the operation member 310 far away from the wire 230, and two intersecting and connected mounting blocks are respectively connected to two ends of the connection block 312, so that a stable restraining force can be provided to two ends of the operation member 310 close to the insulating base 100, so that the operation member 310 is stably connected with the corresponding insulating base 100.
Referring to fig. 1,2 and 3, in one embodiment, when the conductive assembly 200 is used for electrically connecting with the bipolar junction 500, the number of the operating members 310 and the insulating plates 320 is two, the two insulating plates 320 are oppositely arranged along the arrangement direction of the two connecting plates 110, and the two positioning slots 321 are respectively arranged at one side of the two insulating plates 320 facing away from each other.
Specifically, when the conductive wire 230 is electrically connected to the bipolar junction 500, the two insulating plates 320 are connected with the operating members 310, the positioning blocks 311 on the two operating members 310 are inserted into the corresponding positioning slots 321, and the two positioning blocks 311 are respectively abutted to the two conductive sheets 220, so that each operating member 310 is stably and electrically connected to the two conductive sheets 220 and simultaneously can be stably connected to the corresponding insulating plate 320.
When the conductive wire 230 is electrically connected to the monopolar terminal 400, at least one of the two insulating plates 320 is connected to the operation member 310, and the conductive sheet 220 connected to the monopolar terminal 400 through the conductive wire 230 is abutted to one operation member 310, so that a current flowing through the operation member 310 can form a loop when the operation member 310 contacts a target object to which a negative plate or a ground is mounted.
Further, if the number of insulating plates 320 is two, the variety and number of the operating members 310 can be changed according to specific requirements, so as to improve the adaptability of the end effector 10. In other embodiments, the number of insulating plates 320 may be one.
Referring to fig. 1,2 and 3, in one embodiment, the two positioning slots 321 are staggered in the arrangement direction of the two connection plates 110.
Specifically, when the wire 230 assembly is electrically connected to the bipolar junction 500, both operating members 310 are electrically charged, so that the problem of electrical gaps and creepage distances between two adjacent conductors is considered. Because the two positioning grooves 321 are staggered in the arrangement direction of the two connecting plates 110, when the two operating members 310 are mounted on the corresponding insulating plates 320, the two positioning blocks 311 can also be staggered in the arrangement direction of the two connecting plates 110, so that the distance between the two positioning blocks 311 can be increased, namely, the electric gap and the creepage distance between the two operating members 310 are increased, the problem of current short circuit is avoided, and the reliability of the end effector 10 is improved.
The overall length of the end effector 10 is larger, which results in a larger turning radius of the end effector 10, and lacks flexibility in application scenarios in small spaces. Accordingly, the present embodiments improve upon the end effector 10 described above in order to reduce the overall length dimension of the end effector 10.
Referring to fig. 1-6, in one embodiment, end effector 10 further comprises a drive wheel 600 disposed on insulating base 100, wherein the engagement between actuator assembly 300 and insulating base 100 defines a center of rotation 140, and wherein actuator assembly 300 is rotatable about center of rotation 140 by drive engagement 150. Wherein a driving engagement portion 150 is formed between the actuator assembly 300 and the driving wheel 600. When the driving wheel 600 rotates, the driving wheel 600 can drive the actuator assembly 300 to switch between the first state and the second state relative to the insulating base 100.
The first state refers to the actuator assembly 300 being in a relatively open state, as shown. The second state refers to the actuator assembly 300 being in a closed state, as shown.
Referring to fig. 1-6, in one embodiment, at the rotational center 140, a first boss 322 may be provided on the actuator assembly 300, the first boss 322 forming a rotational axis of the actuator assembly 300. In some embodiments, the insulating base 100 may be provided with a first recess 113 that mates with the first protrusion 322.
Referring to fig. 1-6, in one embodiment, at the rotation center 140, a first recess 113 may be provided on the actuator assembly 300, and a first protrusion 322 engaged with the first recess 113 may be provided on the insulating base 100. When the first protruding portion 322 is located in the first recessed portion 113, the first protruding portion 322 and the first recessed portion 113 cooperate together to form a rotation center 140, and the actuator assembly 300 can rotate around the rotation center 140.
In some alternative embodiments, at the rotation center 140, a first recess 113 may be provided on the actuator assembly 300, and a first protrusion 322 may be provided on the insulating base 100 to be engaged with the first recess 113.
Referring to fig. 1-6, in one embodiment, the first recess 113 may be a counterbore or a through hole 121. In some embodiments, the first recess 113 may be a circular hole. In some embodiments, the first recess 113 may be a partial circular hole having a central angle less than 360 °.
Referring to fig. 1-6, in one embodiment, the drive mating portion 150 may include a second protrusion 610 disposed on the drive wheel 600 and a second recess 324 disposed on the actuator assembly 300.
In some alternative embodiments, the drive mating portion 150 may include a second protrusion 610 disposed on the actuator assembly 300, and a second recess 324 disposed on the drive wheel 600.
When the second protruding portion 610 is located in the second recessed portion 324, the second protruding portion 610 and the second recessed portion 324 cooperate together to form the driving engagement portion 150. When the driving wheel 600 rotates, the driving engagement portion 150 drives the actuator assembly 300 to rotate around the rotation center 140.
Referring to fig. 1 to 6, in one embodiment, the second protrusion 610 may be provided at an outer edge position of the driving wheel 600. The outer edge position is a position on the driving wheel 600 near the edge, and may refer to a position outside the upper edge of the driving wheel 600, a position inside the edge of the driving wheel 600, or a position at the upper edge of the driving wheel 600. Specifically, the second protrusion 610 may be entirely outside the edge of the driving wheel 600, entirely inside the edge of the driving wheel 600, or partially outside the edge of the driving wheel 600, and partially inside the edge of the driving wheel 600. In some embodiments, the second boss 610 may be disposed anywhere within the outer rim of the drive wheel 600. In some embodiments, the second recess 324 may be disposed on the actuator assembly 300 at a location remote from the center of rotation 140, for example, at an edge location of the actuator assembly 300 remote from the center of rotation 140. The farther the second protrusion 610 and/or the second recess 324 are from the center of rotation 140, the less force the drive wheel 600 may rotate the actuator assembly 300.
Referring to fig. 1-6, in one embodiment, the actuator assembly 300 may include a limit groove 323, the limit groove 323 being configured to mate with a limit protrusion 620 on the drive wheel 600. The actuator assembly 300 may be restricted to rotate about the rotation center 140 by the engagement between the limit groove 323 and the limit protrusion 620. In some embodiments, the limit groove 323 is concentric with the center of rotation 140, as shown. In some embodiments, the spacing groove 323 is equidistant from the first protrusion 322 from the spacing protrusion 620 and the first recess 113.
In one embodiment, the limiting groove 323 may be a closed limiting groove 323, that is, the two ends of the limiting groove 323 are closed, so as to limit the movement travel of the limiting protrusion 620 in the groove.
In one embodiment, the limiting groove 323 may be an open limiting groove 323, i.e., the limiting groove 323 is open at one end and closed at the other end, and the limiting protrusion 620 may move out of the limiting groove 323 during the rotation of the actuator assembly 300 around the rotation center 140.
In some of the foregoing embodiments, the limiting groove 323 is designed as an open limiting groove 323, and the first protrusion 322 of the actuator assembly 300 can be withdrawn from the first recess 113 on the insulating base 100 when the limiting protrusion 620 moves out of the limiting groove 323, so that the actuator assembly 300 can be conveniently detached.
Referring to fig. 1 to 6, in one embodiment, the driving wheel 600 may be connected to the insulating base 100 through a pin, and the driving wheel 600 rotates around the pin as a central axis. In some embodiments, the pin may act as a stop tab 620. In some embodiments, the insulating base 100 is provided with a shaft hole 112, and the pin shaft is inserted into the shaft hole 112 to realize the rotational connection between the driving wheel 600 and the insulating base 100.
When the limiting groove 323 is an arc groove, the corresponding radian should meet the requirement of the opening and closing angle of the actuator assembly 300, that is, when the pin shaft moves from one end to the other end in the limiting groove 323, the actuator assembly 300 can be switched between a closed state and a state of opening to a maximum working angle.
In some alternative embodiments, the pin and the limiting protrusion 620 may be two different components, and accordingly, the actuator assembly 300 needs to be provided with a rotation slot corresponding to the pin. In some embodiments, the rotating slot may be a closed rotating slot or an open rotating slot. The structure of the rotation groove is similar to that of the above-described limit groove 323, and reference is made to the description of the above-described limit groove 323.
Referring to fig. 2, 3, 6, 8, 9 and 10, fig. 8 is a first schematic view of the cooperation of the traction wire and the driving wheel in the end effector according to an embodiment of the present invention. Fig. 9 is a second schematic view of a pull wire engaged with a drive wheel in an end effector according to one embodiment of the present invention. Fig. 10 is a third schematic view of a traction wire engaged with a drive wheel in an end effector according to an embodiment of the present invention. In one embodiment, end effector 10 may include a pull wire 160. The traction wire 160 is used to control the rotation of the drive wheel 600. Specifically, the traction wire 160 may control the driving wheel 600 to rotate clockwise or counterclockwise.
Further, the driving wheel 600 includes a first driving wheel 630 and a second driving wheel 640 which are rotatable relative to each other independently of each other.
Further, the driving wheel 600 may be provided with a third recess 650. In some embodiments, traction blocks 161 are attached to traction wires 160. Wherein the third recess 650 is for accommodating the traction block 161, and the traction block 161 is for stably and reliably transmitting the rotational force of the traction wire 160 to the driving wheel 600 within the third recess 650.
It should be noted that the location where the traction wire 160 transmits the rotational force to the driving wheel 600 includes, but is not limited to, the third recess 650. For example, a wire groove may be formed in the driving wheel 600, and the traction wire 160 may be wound around the wire groove, so that a rotational force may be transmitted to the driving wheel 600 by a static friction force between the traction wire 160 and the wire groove when the traction wire 160 is pulled.
Referring to fig. 3, 8, 9 and 10, in one embodiment, the traction wire 160 may include a first wire 162 and a second wire 163, wherein the first wire 162 is used to drive the first driving wheel 630 and the second wire 163 is used to drive the second driving wheel 640.
Further, there may be two traction blocks 161 provided on the first wire 162 and the second wire 163, respectively.
Still further, at least a portion of the first wire 162 may be wound around the first driving wheel 630 in a first direction, and at least a portion of the second wire 163 may be wound around the second driving wheel 640 in a second direction.
The first direction may refer to a clockwise direction or a counterclockwise direction. The second direction may refer to a clockwise direction or a counterclockwise direction. In some embodiments, the first direction is opposite to the second direction, e.g., the first direction is clockwise, and the second direction is counterclockwise, as shown in fig. 10. In some of the foregoing embodiments, the first wire body 162 and the second wire body 163 are wound around the two first driving wheels 630 and the second driving wheels 640 that can rotate independently from each other in different directions, so that the opening and closing action of the actuator assembly 300 can be achieved by driving the traction wire 160.
In addition, the fixation between the first wire body 162 and the first driving wheel 630 may be achieved by the traction block 161 being disposed in the third recess 650, and the fixation between the second wire body 163 and the second driving wheel 640 may be achieved by the traction block 161 being disposed in the third recess 650, as shown in the drawing.
Referring to fig. 2,3, 6, 8, 9 and 10, in one embodiment, the driving wheel 600 may be a wheel, and the driving wheel 600 is pulled by a pulling wire 160, so that one jaw of the actuator assembly 300 may be kept fixed, and the other jaw of the actuator assembly 300 may be driven to rotate by the pulling wire 160 through driving the driving wheel 600.
In some of the foregoing embodiments, the driving wheel 600 may convert the traction motion of the traction wire 160 into the rotation motion and then directly drive the actuator assembly 300 without other intermediate members, so that the transmission efficiency is high.
In one embodiment, when the actuator assembly 300 needs to be replaced, the actuator assembly 300 can be driven to open at a larger angle relative to the designed opening and closing angle so that the pin shaft is not contacted with the limiting groove 323, and the actuator assembly 300 can be removed from the first recess 113 of the insulating base 100 in the state as shown in the figure.
Referring to fig. 1, 2, 3, 7, 11 and 12, fig. 11 is a schematic view of a surgical instrument according to an embodiment of the present invention. FIG. 12 is a partial schematic view of a surgical instrument according to one embodiment of the present invention. An embodiment of the present invention further provides a surgical instrument 10, including an instrument joint 10 and the end effector 10, wherein the instrument joint 700 is connected to the insulating base 100, and the instrument joint 700 is used for driving the effector assembly 300 to move.
In particular, the instrument joint 700 may be used to bring the end effector 10 into motion (e.g., yaw or rotation). Illustratively, the instrument joint 700 may resemble a snake bone structure, and the distal end of the instrument joint 700 may be coupled to the proximal end of the insulator base 100, such that bending or rotation of the instrument joint 700 about its axis may cause the end effector 10 to perform a yaw or rotation motion. Wherein distal refers to the end that is distal to the operator when the surgical instrument is in use, and proximal refers to the end that is proximal to the operator when the surgical instrument is in use.
In this embodiment, when the conductive component 200 is electrically connected to the bipolar junction 500, the actuator component 300 may serve as a bipolar instrument, when the conductive component 200 is electrically connected to the monopolar junction 400, the actuator component 300 may serve as a monopolar instrument, and when the conductive component 200 is not electrically connected to the monopolar junction 400 or the bipolar junction 500, the actuator component 300 may serve as a passive instrument, so that in a surgery with a large variety of required surgical instruments, various application scenarios of the actuator component 300 can be realized only by controlling the conductive component 200, thereby reducing the cost and improving the adaptability of the surgical instruments.
Referring to fig. 11 and 12, in one embodiment, the surgical instrument further includes an operating handle 800, wherein the operating handle 800 may be used to control at least the drive wheel 600 of the end effector 10 and the actuator assembly 300 to switch between a first state and a second state, thereby enabling the actuator assembly 300 to perform an opening and closing motion.
Referring to fig. 8-12, in one embodiment, the operating handle 800 may control rotation of the drive wheel 600 in either the first or second direction via the pull wire 160, thereby switching the actuator assembly 300 between the first and second states. Illustratively, the operating handle 800 includes a handle housing 810, a grip 820, a drive gear 830, a driven gear 840, a first reel 850, a second reel 860, a reel 870, a drive rope assembly 880, and a handle trigger 890. The driving rope assembly 880 includes a rope body and a rope sleeve covering the rope body. Wherein, handle trigger 890 is connected with driving gear 830, driving gear 830 meshes with driven gear 840, driven gear 840 is coaxial with first reel 850, and the rope body of driving rope assembly 880 is wound around first reel 850 and second reel 860. In some embodiments, the ropes may cross each other. In some embodiments, the ropes may not cross. The reel 870 is coaxial with the second reel 860, the other ends of the first wire body 162 and the second wire body 163 in the pull wire 160 are fixed to the reel 870, and at least portions of the first wire body 162 and the second wire body 163 are wound around the reel 870 in opposite directions.
When an operator wants to control the opening and closing motion of the actuator assembly 300 in the end effector 10 through the operating handle 800, the handle trigger 890 can be gripped or released to drive the driving gear 830 to rotate, the rotation of the driving gear 830 can be transmitted to the driven gear 840 through gear engagement, so that the first wire wheel 850 rotates under the drive of the driven gear 840, the rotation of the first wire wheel 850 can be transmitted to the second wire wheel 860 through the rope body, so that the wire wheel 870 can rotate under the drive of the second wire wheel 860, and the pulling of the first wire body 162 and/or the second wire body 163 is realized, so that the first driving wheel 630 and/or the second driving wheel 640 rotate, and the actuator assembly 300 is switched between the first state and the second state, so as to control the opening and closing motion of the actuator assembly 300. In some embodiments, the operating handle 800 can also be used to control bending or rotation of the instrument joint 700 to cause yaw or rotation of the end effector 10.
Referring to fig. 11-14, fig. 13 is a schematic view illustrating replacement of an excitation member in a surgical instrument according to an embodiment of the present invention. FIG. 14 is a schematic illustration of a replacement firing member of a surgical instrument according to one embodiment of the present invention in an unactuated state and an actuated state. In one embodiment, the operating handle 800 may include a handle housing 810, a handle trigger 890, and a replacement trigger 900 disposed on the handle housing 810.
Referring to FIGS. 11-14, in one embodiment, the replacement trigger 900 is located at an end of travel of the handle trigger 890. The replacement energizing member 900 is operable between a first position and a second position. For example, when the operator presses the replacement energizing member 900, the replacement energizing member 900 is in the second position, and when the operator releases the press of the replacement energizing member 900, the replacement energizing member 900 can be automatically reset under the action of the reset spring to be in the first position.
When the replacement trigger 900 is in the first position, as shown in the left half of the figure, the handle trigger 890 may be moved within a prescribed stroke. Wherein the travel of the handle trigger 890 corresponds to the angle of rotation of the actuator assembly 300. Handle trigger 890 may be moved from a starting point to an ending point of a prescribed stroke by driving actuator assembly 300 via drive wheel 600 to switch from a fully open state to a closed state. Similarly, the handle trigger 890 may be moved from the end of a prescribed stroke to the beginning by driving the actuator assembly 300 via the drive wheel 600 to switch from the closed state to the fully open state.
Referring to FIGS. 11-14, in one embodiment, the handle trigger 890 may be moved from a start point to an end point or any position between the start and end points by an operator gripping the handle trigger 890. In some embodiments, after the operator releases the handle trigger 890, the handle trigger 890 automatically returns to the starting point under the influence of a return spring disposed between the handle trigger 890 and the grip 820.
In one embodiment, movement of the grip trigger 890 may cause the actuator assembly 300 to perform an opening and closing action.
When the replacement trigger 900 is in the second position, as shown in the right half of the figure, the handle trigger 890 may be moved outside of the prescribed stroke. After the handle trigger 890 is moved out of the prescribed stroke, the actuator assembly 300 may be pulled open by a greater angle relative to the designed opening and closing angle, such that the pin is no longer in contact with the limiting groove 323, as shown, and at this point, the jaws of the actuator assembly 300 may be disengaged and the actuator assembly 300 may be removed from the first recess 113 of the insulating base 100 by the operator.
Referring to fig. 11-14, in one embodiment, the replacement energizing member 900 has a first radius in a first position and the replacement energizing member 900 has a second radius in a second position, the second radius being smaller than the first radius. In some embodiments, the replacement trigger 900 may include a body 920 and a boss 910 disposed on the body 920. Wherein the body 920 has a second radius and the boss 910 has a first radius. The replacement trigger 900 has a first radius in the first position, i.e., the boss 910 can limit the movement of the handle trigger 890. The replacement trigger 900 has a second radius in the second position, i.e., the body 920 can limit the movement of the handle trigger 890. The second radius is smaller than the first radius, which may allow the handle trigger 890 to drive the actuator assembly 300 more open when the change trigger 900 is in the second position, thereby allowing for removable control of the actuator assembly 300.
Referring to fig. 1,2, 3 and 7, an embodiment of the present invention further provides a surgical device, including a negative plate, a monopolar connector 400, a bipolar connector 500 and the end effector 10, wherein the negative plate is configured to be mounted on a target object, the bipolar connector 500 is electrically connected to two terminals 210, the monopolar connector 400 is electrically connected to one terminal 210, and the negative plate is configured to cooperate with the monopolar connector 400 to electrically connect the effector assembly 300 when the conductive assembly 200 is electrically connected to the monopolar connector 400.
In this embodiment, when the conductive component 200 is electrically connected to the bipolar junction 500, the actuator component 300 may serve as a bipolar instrument, when the conductive component 200 is electrically connected to the monopolar junction 400, the actuator component 300 may serve as a monopolar instrument, and when the conductive component 200 is not electrically connected to the monopolar junction 400 or the bipolar junction 500, the actuator component 300 may serve as a passive instrument, so that in a surgery with a large variety of required surgical instruments, various application scenarios of the actuator component 300 can be realized only by controlling the conductive component 200, thereby reducing the cost and improving the adaptability of the surgical equipment.
Referring to FIGS. 11-15, an embodiment of the present invention also provides a method of removing the actuator assembly 300 of the end effector 10 by an operator operating the replacement trigger 900 to switch the replacement trigger 900 from the first position to the second position, grasping the handle trigger 890 to rotate the drive wheel 600 to open the actuator assembly 300 to disengage the stop tab 620 from the stop slot 323, and moving the actuator assembly 300 away from the drive interface 150 to remove the actuator assembly 300.
Referring to fig. 11-15, an embodiment of the present invention further provides a method for installing the actuator assembly 300 of the end effector 10, as shown, by placing the actuator assembly 300 in the replacement fixture 930 and inserting the replacement fixture 930 into the insulating base 100 with respect to the driving wheel 600, pressing the pressing portions 940 on both sides of the replacement fixture 930 to abut the second protrusions 610 on the driving wheel 600 into the second recesses 324 of the actuator assembly 300, pressing the replacement trigger 900, wherein the handle trigger 890 is moved out of the prescribed stroke under the action of the spring in the grip 820, thereby driving the driving wheel 600 to rotate, and at the same time, pressing the replacement fixture 930 to open the actuator assembly 300 by an angle to clamp the first protrusions 322 into the first recesses 113, gripping the handle trigger 890 to close the actuator assembly 300, and removing the replacement fixture 930.
The foregoing embodiments of the present disclosure may have advantages, including, but not limited to, that the actuator assembly 300 is directly driven to rotate by the driving wheel 600 without a middle transmission member, so that the end effector 10 has a small overall length, a small turning radius, and good flexibility in an application scenario in a small space, that the driving force required for the rotation of the driving wheel 600 when the actuator assembly 300 completes the opening and closing operation is small by designing the driving engagement portion 150 at the edge position of the driving wheel 600, that the burden of an operator is reduced, that the opening and closing control of the actuator assembly 300 can be achieved by merely rotating the driving wheel 600, that the actuator assembly 300 not only has a large opening and closing angle, but also can enable the end effector 10 to meet the requirement of realizing bilateral opening and closing control by a single rope driving (i.e., by driving one or two driving wheels 600 to rotate by one traction wire 160), and that the actuator assembly 300 is conveniently removed and replaced by the opening limit groove 323 on the actuator assembly 300 and the first round hole 113 on the insulating seat 100.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.