CN115530965A

CN115530965A - Electric coagulation scissors mechanism, equipment and surgical robot for operation

Info

Publication number: CN115530965A
Application number: CN202211282027.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Changzhou Weijing Medical Robot Co ltd
Priority date: 2022-01-04
Filing date: 2022-01-04
Publication date: 2022-12-30
Also published as: CN114305662B; CN114305662A

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

Mechanism, equipment and operation robot are cut with electricity to condensation to operation

The present application is a divisional application of chinese patent application 202210001894.0 entitled "a surgical electric coagulation scissors mechanism, device and surgical robot" filed on 4.1.1.2022.

Technical Field

The invention relates to the technical field of medical instruments, in particular to an electric coagulation scissors mechanism for surgery, equipment and a minimally invasive surgery robot.

Background

The minimally invasive surgery is a surgical method for performing surgery inside a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small trauma, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, in the minimally invasive medical field, is produced.

During robot-assisted minimally invasive surgery, a dedicated channel is typically established through the cannula into which the surgeon performs surgical tasks within the abdominal cavity of the body via elongated minimally invasive surgical instruments. Among the minimally invasive surgical instruments, an electrosurgical instrument such as an electrocoagulation scissors is a surgical instrument which is indispensable and is frequently used. The electrocoagulation scissors are generally used for cutting and stripping human tissues and can also play a role in electrocoagulation hemostasis when meeting capillary vessels.

In the prior art, as disclosed in chinese patent No. CN109009414B, an electrocoagulation shearing structure for a minimally invasive surgical robot includes a first execution module and a second execution module, in which a first insulator and a second insulator are both rotatably connected to a distal end of a base and can enable a first actuator and a second actuator to rotate around a first rotation axis. The first actuator is clamped in the positioning groove of the first insulator, so that the first actuator and the first insulator are relatively fixed. When the wire is arranged in the wire mounting hole, the current can be conducted to the first actuator through the wire.

The electric coagulation scissors structure has the following technical defects: the positioning groove for accommodating the first actuator has a complex structure and is a semi-closed structure, so that dirt and dirt are easily stored; because the surgical instruments of the surgical robot can be generally used for about ten times, the electric coagulation scissors are required to be sterilized and disinfected after each use, and the structure causes that the disinfection effect is not ideal or the cost is too high, and particularly for some tiny solid substances buried in a closed structure, the disinfection modes such as common disinfection water soaking/flushing, high-temperature steam and the like cannot be removed.

Because the electric coagulation scissors are generally used for electric coagulation hemostasis for cutting human tissues and incision surfaces, the electric coagulation scissors need careful disinfection before use, and the risk of cross infection is prevented.

Disclosure of Invention

The invention aims to solve the defect that tiny impurities in an electrocoagulation scissors structure are inconvenient to clean and disinfect in the prior art, and provides an electrocoagulation scissors mechanism, equipment and a minimally invasive surgery robot for surgery.

In order to achieve the purpose, the invention adopts the following technical scheme:

in one aspect, the present invention provides an electro-coagulation scissors mechanism for surgery, comprising:

two sets of actuating assemblies for performing a shear electrocoagulation function;

wherein the execution component comprises:

the two connecting seats are arranged in a relatively rotating mode and are coaxial;

the electrocoagulation shearing sheets are arranged on the connecting seat, and the two electrocoagulation shearing sheets are arranged oppositely;

the electrocoagulation shearing sheet and the connecting seat are of an integrally formed structure.

Optionally, the electrocoagulation shear blade 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 supporting seat is arranged at one end of the knife body and is connected with the connecting seat;

and the conducting wire is electrically connected with the electrocoagulation shearing sheet.

Optionally, the connecting seat is in the peripheral injection moulding of supporting seat, wherein, be provided with the stiffening groove on the supporting seat, the supporting seat with the stiffening groove is wrapped up in the inside of connecting seat.

Optionally, a connecting part is arranged between the two connecting seats, and the connecting parts are distributed along the coaxial holes of the two connecting seats in an annular array manner; 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, namely the connecting column of one connecting part extends into the connecting groove on the other connecting part, and the connecting column is connected with the connecting groove in a sliding mode.

Optionally, the connecting groove is an annular groove, the connecting column is cylindrical, and the connecting column and the annular groove are adapted to slide relatively.

In another aspect, there is provided an electrocoagulation shearing apparatus for surgery, which employs the electrocoagulation shearing mechanism for surgery described above, 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.

Optionally, the connecting seat is provided with first accommodating holes, and the first accommodating holes on the two connecting seats 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 operation executing portion comprises a first operation rope and a second operation rope, the middle ends of the first operation rope and the second operation rope are respectively provided with a jacket, and the jackets are in interference fit with the first accommodating hole.

Optionally, the palm support is provided with two second wire holes in a penetrating manner, the two connecting seats are respectively provided with wire grooves, and the wires sequentially penetrate through the second wire holes and are electrically connected with the electric coagulation cutting blades along the wire grooves.

Optionally, the palm support further comprises two groups of guide wheel assemblies, wherein the two groups of guide wheel assemblies are arranged on two sides of the palm support in a central symmetry manner;

wherein, the guide wheel subassembly includes first guide wheel group and second guide wheel group, first guide wheel group with palm portion support with the pin joint coaxial setting of wrist support, the second guide wheel group winds the circumference setting of first guide wheel group, it establishes to carry out the operation portion in proper order around first guide wheel group with on the second guide wheel group.

Finally, a minimally invasive surgical robot is also provided, and the surgical electrocoagulation shearing device is adopted.

The invention has at least the following beneficial effects:

according to the invention, the electrocoagulation shearing sheet and the connecting seat are arranged into an integrally formed structure, so that tiny dirt is prevented from entering the joint of the electrocoagulation shearing sheet and the connecting seat in the use process of the electrocoagulation shearing sheet. Solves the problem that the prior art is inconvenient to clean, sterilize and disinfect tiny sundries in the structure of the electric coagulation scissors. Meanwhile, the electric coagulation scissors have a compact structure and high reliability in motion execution.

Drawings

FIG. 1 is a schematic view (side view) of the overall construction of a surgical electrocoagulation shearing apparatus provided in a first embodiment of the present invention;

FIG. 2 is a schematic view of the overall structure (in elevation) of a surgical electrocoagulation shearing apparatus provided in a first embodiment of the present invention;

FIG. 3 is an exploded view of the overall configuration of a surgical electrocoagulation shearing apparatus provided in one embodiment of the present invention;

FIG. 4 is a schematic view of the structural connection of the actuating assembly of an electrocoagulation shearing apparatus for surgery provided in the first embodiment of the present invention;

FIG. 5 is an enlarged view of portion A of FIG. 4;

FIG. 6 is a schematic structural view of a palm support of an electrocoagulation shearing apparatus for surgery provided in a first embodiment of the present invention;

FIG. 7 is a schematic plan view (looking down) of a palm rest of an electrocoagulation shearing apparatus for surgery according to a first embodiment of the present invention;

FIG. 8 is a schematic plan view (side view) of a palm rest of an electrocoagulation shearing apparatus for surgery according to a first embodiment of the present invention;

FIG. 9 is a schematic plan view (in elevation) of a palm support of an electrocoagulation shearing apparatus for surgery according to a first embodiment of the present invention;

FIG. 10 is a schematic view of the configuration of two guide wheels of a second guide wheel set of an electrocoagulation shearing apparatus for surgery provided in a first embodiment of the present invention;

FIG. 11 is a schematic view of the connecting structure of the connecting base and the electrocoagulation shearing blade of the electrocoagulation shearing device for operation provided in the first embodiment of the present invention;

FIG. 12 is a schematic view of an electrocoagulation shear blade configuration of a surgical electrocoagulation shear device provided in a first embodiment of the present invention;

FIG. 13 is a schematic view of a connecting socket structure of an electrocoagulation shearing apparatus for surgery provided in the first embodiment of the present invention.

The symbols in the figures are as follows:

1. a support pillar;

2. a wrist support; 21. a first rotating shaft;

3. a guide wheel assembly;

31. a first guide wheel set; 32. a second guide wheel set; 321. a first guide wheel; 3211. a first guide shaft; 3212. a first connection hole; 322. a second guide wheel; 3221. a second guide shaft; 3222. a second connection hole;

4. an execution component;

41. a connecting seat; 411. a wire guide groove; 412. a first traction groove; 413. connecting grooves; 414. connecting columns; 415. a coaxial hole; 416. a first accommodation hole;

42. electrocoagulation shearing pieces; 421. a blade body; 422. a reinforcing groove; 423. a supporting seat; 424. a first wire guide hole; 425. shearing surfaces; 43. a wire;

5. a palm support; 51. a second rotating shaft; 52. a second accommodation hole; 521. a second traction groove; 53. supporting the ear; 54. a second wire guide;

6. a manipulation component; 61. an execution operation unit; 611. a first operating cord; 612. a second operating cord; 62. a palm section operation section; 63. and (4) a jacket.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise explicitly stated or limited, the terms "connected", "fixed", and the like are to be understood broadly, for example, "fixed" may be fixedly connected, may be detachably connected, or may be integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Example one

Referring to fig. 1-8, an electro-coagulation shears mechanism for surgery, the electro-coagulation shears mechanism comprising: two sets of execution components 4. The two groups of actuating components 4 are arranged in a relative rotation way. Described in terms of a set of said executing components 4. Specifically, the executing component 4 includes: a connecting socket 41 and an electrocoagulation shearing blade 42. In this embodiment, two of the connecting seats 41 are rotatably disposed relatively, and two of the connecting seats 41 are rotatably disposed with each other. The two electrocoagulation shearing sheets 42 are respectively arranged on the two connecting seats 41, and the two electrocoagulation shearing sheets 42 are oppositely arranged to realize shearing electrocoagulation work. In this embodiment, in order to prevent micro-debris from entering the junction between the electrocoagulation shearing blade 42 and the junction housing 41 as they work. The electrocoagulation shearing sheet 42 and the connecting seat 41 are of an integrally formed structure. Preferably, the electrocoagulation shearing mechanism is convenient to process and meets the practical application requirement of the electrocoagulation shearing mechanism. The electrocoagulation shearing sheet 42 and the connecting seat 41 are made of injection molding materials. In order to ensure the electrocoagulation function of the electrocoagulation shears 42, the connecting base 41 is overmolded around the electrocoagulation shears 42.

Referring to fig. 1-8, a surgical electrocoagulation shear device employing one of the above-described surgical electrocoagulation shear mechanisms, the surgical electrocoagulation shear device further comprising: support column 1, wrist support 2, palm support 5, control subassembly 6. Wrist support 2 sets up the one end of support column 1, wrist support 2 is last to be provided with first pivot 21. A pot head of palm portion support 5 is established on first pivot 21, palm portion support 5 through first support with wrist support 2 rotates continuously. Two supporting lugs 53 are oppositely arranged at the other end of the palm support 5, and a second rotating shaft 51 is arranged between the two supporting lugs 53. The actuating unit 4 is disposed on the second rotating shaft 51, the actuating unit 4 is disposed between the two supporting tabs 53, the actuating unit 4 is rotatably connected to the two supporting tabs 53 through the second rotating shaft 51, and the actuating unit 4 is configured to perform a shearing operation. The manipulation assembly 6 comprises: an execution operation unit 61 and a palm operation unit 62. The execution operation part 61 is connected with the execution assembly 4, and the execution operation part 61 is used for controlling the execution assembly 4 to carry out cutting work; the palm part operation part 62 is connected with the palm part support 5, and the palm part operation part 62 is used for driving the hinged position between the palm part support 5 and the wrist support 2 so as to realize the integral adjustment of the working position of the execution assembly 4 on the palm part support 5. In order to ensure the reliability of the actuating component 4 operated by the actuating operation part 61, two groups of guide wheel components 3 are oppositely arranged on the palm part bracket 5; a set of said guide wheel assemblies 3 is described as an example. The guide wheel assembly 3 comprises 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 moves along the circumferential direction of the first guide wheel set 31. The performing operation part 61 sequentially passes through the first guide pulley set 31 and the second guide pulley set 32 to be wound, and then the performing operation part 61 is connected with the performing assembly 4. The first guide pulley set 31 and the second guide pulley set 32 are used for supporting the operation of the execution operation part 61, and can effectively prevent mutual interference among the components. In this embodiment, the first guide pulley set 31 is formed by two identical guide pulleys sleeved on the first rotating shaft 21 in parallel; second guide pulley group 32 sets up one side of palm portion support 5, second guide pulley group 32 and first guide pulley group 31 parallel arrangement, second guide pulley group 32 is followed the circumferential motion of first guide pulley group 31 for when guaranteeing that palm portion support 5 rotates, second guide pulley group 32 also can follow palm portion support 5 and rotate around first pivot 21, can guarantee simultaneously that palm portion support 5 is rotating the back, and the circumferential motion of first guide pulley group 31 is followed equally to second guide pulley group 32 to the realization supports executive operation portion 61 at any time.

Referring to fig. 1 and 2, the two connecting seats 41 are sleeved on the second rotating shaft 51, and the two connecting seats 41 are arranged oppositely. The two electrocoagulation shearing sheets 42 are respectively arranged on the two connecting seats 41, and the two electrocoagulation shearing sheets 42 are oppositely arranged to realize shearing work. Specifically, taking an electrocoagulation shearing sheet 42 as an example, the electrocoagulation shearing sheet 42 comprises: blade 421, shear surface 425, support 423 and wire 43. The cutting surfaces 425 are located on one side of the blade body 421, and the cutting surfaces 425 of the two electrocoagulation cutting blades 42 are oppositely arranged to facilitate cutting. The supporting seat 423 is disposed at one end of the blade body 421, the supporting seat 423 is along the circumferential movement of the second rotating shaft 51, that is, the supporting seat 423 is coaxial with the connecting seat 41, the blade body 421 passes through the supporting seat 423 with the connecting seat 41 is connected, so that the connecting seat 41 indirectly drives the blade body 421 and the shearing surface 425 to perform shearing work through the supporting seat 423 along the circumferential movement of the second rotating shaft 51. The lead 43 is electrically connected to the blade 421 to realize the electrocoagulation function of the blade 421 and the shearing surface 425. In this embodiment, the shearing surface 425 is formed by polishing the two blade bodies 421 to form a warped surface on the side close to each other, and the two warped surfaces are arranged oppositely to realize the shearing operation. In addition, in this embodiment, a reinforcing groove 422 is further disposed on the supporting seat 423, and the supporting seat 423 and the connecting seat 41 are integrally formed. The blade 421 is made of conductive material, and the supporting seat 423 is made of insulating material, so that the current interference can be avoided and the electrocoagulation effect of the blade 421 is affected. Therefore, preferably, the supporting seat 423 and the blade 421 are injection molded, that is, the supporting seat 423 is injection molded with the blade 421 as an injection starting point, wherein the reinforcing groove 422 on the supporting seat 423 can enhance the injection molding material on the connecting seat 41 to enter the reinforcing groove 422, so as to enhance the connection strength between the supporting seat 423 and the connecting seat 41, and ensure the overall strength of the blade 421. Meanwhile, the supporting seat 423 and the connecting seat 41 are injection molded, so that tight seams are formed between the supporting seat 423 and the connecting seat 41, the possibility of small impurities entering is effectively avoided, and the cleaning work of the cutter body 421 is well reduced. In order to enhance the connection strength between the connection seat 41 and the support seat 423, the connection seat 41 is injection molded around the support seat 423. At this time, the coupling seat 41 wraps the support seat 423 and the reinforcement groove 422 inside at the same time. That is, the coupling relationship between the coupling holder 41 and the support holder 423 is enhanced by the reinforcement groove 422.

In this embodiment, in order to ensure the reliability of the execution of the two electrocoagulation-shearing blades 42, a connecting part is oppositely arranged between the two supporting seats 423 to enhance the connectivity between the two connecting seats 41. The two connecting seats 41 are connected to the second rotating shaft 51 through coaxial holes 415, and the connecting part is eccentrically disposed on the connecting seat 41 with the coaxial holes 415 as a center. The connection portion of one of the connection sockets 41 is described as an example. The connecting portion includes: a connecting post 414 and a connecting groove 413. The connecting column 414 is disposed on a surface of the two connecting seats 41 close to each other, and the connecting column 414 is eccentrically disposed around a central axis of the coaxial hole 415. The connection groove 413 is disposed on the connection seat 41, the connection groove 413 and the connection pillar 414 are coaxially disposed, and the connection groove 413 and the connection pillar 414 have the same circumferential direction. That is, the coupling groove 413 and the coupling post 414 move in the same circumferential direction. In the present embodiment, the two connecting portions are oppositely disposed, that is, the connecting rod 414 of one connecting socket 41 is connected to the connecting groove 413 of the other connecting socket 41, and the connecting rod 414 is slidably connected to the connecting groove 413. 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 hinge force between the two electrocoagulation shearing blades 42 on the connecting seat 41, so as to better enable the electrocoagulation shearing blades 42 to complete the shearing work.

In this embodiment, the connecting seat 41 is provided with a first wire guide hole 424, the palm rest 5 is further provided with two second wire guide holes 54, and the two second wire guide holes 54 respectively correspond to the two connecting seats 41. The connecting seat 41 is provided with a wire guiding groove 411, and the wire 43 sequentially passes through the second wire guiding hole 54 and the wire guiding groove 411 and is electrically connected with the knife body 421, so that the knife body 421 and the shearing surface 425 thereof are electrified, and the knife body 421 has an electrocoagulation function. In this embodiment, when the palm support 5 is vertically and rotatably disposed on the wrist support 2, the second wire hole 54 of the palm support 5 penetrates through the second wire hole 54 from the lower end of the palm support 5, and then penetrates through the second wire hole 54 and is disposed along the wire slot 411, so that the wire 43 is pulled into the connecting seat 41 through the wire slot 411, and is connected to the first wire hole 424 of the supporting seat 423, so that the wire 43 is electrically connected to the blade 421, and the blade 421 has an electrocoagulation function.

In this embodiment, the manipulation assembly 6 includes two sets of performing operation portions 61 and one set of palm operation portions 62. The two executing operation parts 61 are respectively fixedly connected with the two connecting seats 41, and the executing operation parts 61 move along the circumferential direction of the connecting seats 41, so that the executing assembly 4 is driven by the executing operation parts 61 to perform shearing work. Specifically, a set of execution 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 disposed along the circumferential direction of the connecting seat 41. The execution operation part 61 is arranged in the first accommodating hole 416, and the execution operation part 61 is fixedly connected with the connecting seat 41 through the first accommodating hole 416, so that the execution operation part 61 drives the connecting seat 41 to rotate around the second rotating shaft 51 through the first accommodating hole 416, and the two electrocoagulation shearing blades 42 complete shearing work. Specifically, the set of execution operation units 61 includes: a first operating cord 611 and a jacket 63. The jacket 63 is disposed at a middle position of the first operating cord 611, and the jacket 63 is in interference fit with the first operating cord 611, so that the jacket 63 and the first operating cord 611 are fixed. The collet 63 is disposed on the first receiving hole 416 of the one of the connection sockets 41, and an outer wall of the collet 63 is in interference fit with the first receiving hole 416, so that the collet 63 is fixedly connected with the first receiving hole 416. The other set of the actuating operation parts 61 is similarly disposed in the first accommodation hole 416 of the other connection socket 41. In this embodiment, the two first accommodating holes 416 are disposed oppositely, the first accommodating holes 416 are disposed along the circumferential direction of the connecting seat 41, and the executing operation portion 61 is fixedly connected to the first accommodating holes 416, so that the executing portion drives the connecting seat 41 to rotate around the coaxial holes 415 through the first accommodating holes 416, that is, the first operation rope 611 and the second operation rope 612 respectively drive the two connecting seats 41 to rotate around the second rotating shaft 51, and the cutting operation is completed by matching between the connecting portion and the electrocoagulation shearing blade 42. In this embodiment, the two ends of the first operating rope 611 and the second operating rope 612 respectively control the clamping seats on the first clamping portion and the second clamping portion to rotate, so that the two clamping angles are driven by the first operating rope 611 and the second operating rope 612 to open and close for clamping. In this embodiment, the connection relationship between the jacket 63 and the first operation rope 611 and the second operation rope 612 is described by taking the first operation rope 611 as an example, the jacket 63 is a thick-wall metal tube, and a central hole is provided in the middle of the jacket 63, and the hole diameter is slightly larger than the outer diameter of the first operation rope 611. The jacket 63 is positioned in the middle of the wire rope, the jacket 63 is crimped by a tool, and the jacket 63 and the first operating cord 611 are firmly connected by deformation of the jacket 63. The size of the first accommodating hole 416 is slightly smaller than the length of the collet 63, and after the collet 63 and the first operating cord 611 are fixed, the collet 63 is driven into the first accommodating hole 416, so that the collet 63 and the first accommodating hole 416 are firmly connected. In actual operation, the first operation rope 611 and the second operation rope 612 are made of steel in order to ensure the working strength of the finger operating part. Further, in order to ensure the connection stability and the guidance between the first operation cord 611 and the second operation cord 612 and the two connection bases 41, the connection bases 41 are further provided with first traction grooves 412, the first traction grooves 412 are distributed around the circumference of the second rotating shaft 51, the first operation cord 611 and the second operation cord 612 are respectively matched with the first traction grooves 412, the first operation cord 611 and the second operation cord 612 can be guided through the first traction grooves 412, and when the connection bases 41 are adjusted, the situation that the operation reliability is not high due to the fact that the first operation cord 611 and the second operation cord 612 are not positioned 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 the molding process of the first receiving hole 416. And on the other hand facilitates the mounting of the collet 63 into the first receiving hole 416. By providing the first receiving hole 416 as a through hole, that is, by forming the first receiving hole 416 into an open structure, subsequent sterilization of instruments is facilitated.

Palm portion operation portion 62 with palm portion support 5 links to each other, just palm portion operation portion 62 with palm portion support 5 with wrist support 2 rotates the department coaxial, also promptly palm portion operation portion 62 is followed the circumferential motion of first pivot 21, so that realize palm portion operation portion 62 drives palm portion support 5 is followed palm portion support 5 with wrist support 2 rotates the department and rotates. 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 winds the circumferential motion of the first rotating shaft 21, the second accommodating hole 52 is connected with the palm operation part 62, so that the palm operation part 62 can integrally drive the wrist support 2 to rotate through the second accommodating hole 52. Specifically, the palm portion operation portion 62 includes: operating cords and a jacket 63. In this embodiment, the palm support 5 is provided with two second receiving holes 52, the two second receiving holes 52 are symmetrically arranged, and the two second receiving holes 52 are coaxial with a hinge point of the palm support 5 and the wrist support 2, that is, move along the circumferential direction of the first rotating shaft 21. The palm portion operation portion 62 is two operation ropes (not marked in the figure), two jacket 63 is sleeved on one end of each operation rope, the two jacket 63 are respectively located in the two second containing holes 52, the jacket 63 is in interference fit with the second containing holes 52, the movement directions of the operation ropes are opposite, the two operation ropes drive the palm portion support 5 to rotate around the first rotating shaft 21 through the jacket 63, the two operation ropes move oppositely to drive the palm portion support 5 to rotate around the first rotating shaft 21, the palm portion support 5 is driven to rotate integrally through the palm portion operation portion 62, and the working directions of the two electrocoagulation shearing sheets 42 on the execution component 4 are driven to be adjusted integrally indirectly. In this embodiment, the palm portion operation portion 62 may also be an operation rope, the middle of the operation rope is sleeved with the clamping sleeve 63, the clamping sleeve 63 is in interference fit with the second accommodating hole 52, two ends of the operation rope move along the circumferential direction of the first rotating shaft 21, and the operation rope drives the palm portion support 5 to rotate around the first rotating shaft 21 through the clamping sleeve 63, so that the palm portion support 5 is integrally driven to rotate through the palm portion operation portion 62, and the working position of the electric coagulation sheet 42 on the execution assembly 4 is indirectly driven to perform integral azimuth adjustment. Wherein the connection mode of the operation rope on the palm part operation part 62 and the jacket 63 is the same as the connection mode of the first operation rope 611 and the jacket 63 in the middle execution operation part 61. Further, in order to guarantee the stability of being connected and the direction of operation rope and palm portion support 5, still be provided with second pull groove 521 on the palm portion support 5, second pull groove 521 winds the circumference of first pivot 21 distributes, the operation rope with second pull groove 521 looks adaptation, the operation rope can warp second pull groove 521 leads, when adjusting palm portion support 5, avoids the circumstances that the operation reliability that the operation rope does not fix a position and arouses to take place.

In this embodiment, in order to ensure that the movement of the first operation rope 611 and the second operation rope 612 does not interfere with each other, the two sets of the operation members 6 are symmetrically arranged with the central axis of the palm rest 5 as the center. The two groups of guide wheel assemblies 3 are symmetrically arranged on two sides of the palm support 5. Here, the guide wheel assembly 3 on the palm rest 5 side will be described. The first guide wheel set 31 and the hinge point of the palm support 5 and the wrist support 2 are coaxially arranged, 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. Second guide pulley group 32 sets up palm portion support 5 one side, and second guide pulley group 32 winds first guide pulley group 31's circumference sets up, it establishes to carry out operation portion 61 in proper order around first guide pulley group 31 with on the second guide pulley group 32, in order to realize guide pulley subassembly 3 is right carry out operation portion 61 and move and support. 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 matched with the second guide wheel set 32. I.e. the second guide pulley group 32 moves around the circumference of the two guide pulleys, respectively.

In this embodiment, the second guide pulley group 32 includes: a first guide wheel 321 and a second guide wheel 322, wherein the first guide wheel 321 is disposed at one side of the palm support 5 through a first guide shaft 3211, and one end of the first operating rope 611 is wound on one guide wheel of the first guide wheel set 31 through the first guide wheel 321; the second guiding wheel 322 is disposed at one side of the palm support 5 through a second guiding axle 3221, and one end of the second operating rope 612 is wound around the other set of guiding wheels of the first guiding wheel set 31 through the second guiding wheel 322. The second guide shaft 3221 is eccentrically disposed on the first guide shaft 3211, that is, the second guide wheel 322 and the first guide wheel 321 are axially offset on the same straight line. Specifically, the first connection hole 3212 of the first guide wheel 321 and the second connection hole 3222 of the second guide wheel 322 have different diameters. That is, the axes of the first guiding axle 3211 and the second guiding axle 3221 are horizontally offset at the same height, so that the first guiding wheel 321 and the second guiding wheel 322 are offset at a certain distance in the horizontal direction and are at the same height. The lower edges of the first guide wheel 321 and the second guide wheel 322 are flush, so that the first operating cord 611 and the second operating cord 612 enter the first guide wheel 321 and the second guide wheel 322 from almost the same height after exiting from the second guide wheel group 32, and the side edges of the first guide wheel 321 and the second guide wheel 322 are staggered, so that the first operating cord 611 and the second operating cord 612 can enter the two connecting seats 41 without interfering with each other. The same outer diameter ensures that the wrap angles of the two finger operation cords passing through the finger operation cords are substantially the same, so as to achieve mutual noninterference between the first operation cord 611 and the second operation cord 612. So as to achieve mutual noninterference between the first operating cord 611 and the second operating cord 612. In this embodiment, two sets of guide wheel assemblies 3 are arranged on two sides of the palm support 5 in a central symmetry manner. That is, the two first guide roller sets 31 are respectively sleeved on the first rotating shaft 21, that is, the first rotating shaft 21 is sleeved with one first guide roller set 31, the palm support 5 and the other guide roller set.

In this embodiment, the two second guide wheel sets 32 are oppositely disposed on two sides of the palm support 5. While the first guide wheel 321 and the second guide wheel 322 of the second guide wheel group 32 are eccentrically disposed. That is, the second guide shafts 3221 are distributed around the axial center of the first guide shaft 3211 in an annular array, that is, the first guide wheel 321 is eccentrically disposed on the second guide wheel 322. Meanwhile, 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 diameters. That is, the axes of the second guiding axle 3221 and the first guiding axle 3211 are horizontally offset at the same height, so that the first guiding wheel 321 and the second guiding wheel 322 are offset at a certain distance in the horizontal direction and are at the same height. The lower edges of the first guide wheel 321 and the second guide wheel 322 are flush, so that the first operation rope 611 and the second operation rope 612 enter the first guide wheel 321 and the second guide wheel 322 from almost the same height after coming out of the second guide wheel group 32, and the side edges of the first guide wheel 321 and the second guide wheel 322 are staggered, so that the first operation rope 611 and the second operation rope 612 can enter the two connecting seats 41 on the actuating assembly 4 without interfering with each other, thereby facilitating the fixed connection of the two connecting seats 41. The same outer diameter ensures that the wrap angles of the first operating cord 611 and the second operating cord 612 passing therethrough are substantially the same, so as to achieve mutual noninterference between the first operating cord 611 and the second operating cord 612. In this embodiment, the first guide wheel 321 and the second guide wheel 322 respectively move along the circumferential directions of the two guide wheels, that is, when the wrist support 2 is adjusted, the first guide wheel 321 and the second guide wheel 322 on the two guide wheels rotate along the periphery of the first guide wheel set 31, and simultaneously, the execution operation portion 61 is driven to move circumferentially around the periphery of the first guide wheel set 31, so as to integrally adjust the working position of the execution component 4 on the palm support 5 through the wrist support 2. Meanwhile, after the adjustment through the wrist support 2, the movement ranges of the execution operation parts 61 wound on the two second guide wheel sets 32 are consistent. The peripheries of the first guide wheel set 31 and the second guide wheel set 32 are approximately tangent, and 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, so that the first operation rope 611 and the second operation rope 612 on the execution operation part 61 can be effectively ensured not to interfere with each other, the first operation rope 611 and the second operation rope 612 are respectively guided by the two guide wheels in the first guide wheel set 31, the first rotating shaft 21 is effectively prevented from influencing the first operation rope 611 and the second operation rope 612, and the motion reliability of the first operation rope 611 and the second operation rope 612 is further ensured.

It should be noted here that the first guide wheel set 31 and the second guide wheel set 32 are further provided with a transverse spacing therebetween, that is, they are not aligned in the longitudinal direction (the direction of the elongated shaft axis of the surgical instrument is the longitudinal direction). In combination with the structure of the present embodiment that the performing operation portion 61 is disposed at the middle position of the performing assembly 4, the performing operation portion 61 needs to be conducted through the first guide pulley set 31 and the second guide pulley set 32 when a pulling force is applied to the performing assembly 4, because the performing mechanism at the end of the surgical robot of the present embodiment is applied to a minimally invasive surgery, and the requirements on the precision and the sensitivity of the operation of the instrument are high, in combination with the present embodiment, a transmission coefficient between a driving force of the performing operation portion 61 and a force generated to the performing assembly 4 directly affects the final sensitivity and the precision of the use of the instrument, and therefore, it is necessary to reduce a frictional resistance between the performing operation portion 61 and the first guide pulley set 31 and the second guide pulley set 32, and in this embodiment, the following design is made: the friction force between the execution operation part 61 and the second guide wheel set 32 is mainly reduced, namely for the second guide wheel set 32 arranged on the palm support 5, the second guide wheel set is arranged on one side of the axis in an offset mode, the inner side edge of the second guide wheel set 32 approximately corresponds to the middle position of the first guide wheel set 31, the practical trial verifies that the execution operation part 61 acts on the middle position of the execution assembly 4 under the structure, the stress of the whole tail end execution structure is balanced, the transmission effect of the acting force of the execution operation part 61 when the execution operation part passes through the second guide wheel set 32 can reach a more ideal state, the precision and the sensitivity of the instrument in the tail end use process of the structure can reach a more ideal state, and the use requirement under the minimally invasive surgery environment is met.

In an alternative embodiment, the surgical electrocoagulation shearing device further comprises an instrument box (not shown), three groups of rotating shafts are arranged inside the instrument box, and two rotating shafts of the three groups of rotating shafts are symmetrically arranged in pairs. The first group of the rotating shafts are respectively connected with two ends of the palm part operating part 62, so that the feeding amount of the operating ropes on the two ends of the palm part operating part 62 is controlled through the first group of the rotating shafts, and the rotating positions of the palm part support 5 and the wrist support 2 are indirectly controlled through the palm part operating part 62 through the first group of the rotating shafts. The second group of rotating shafts are respectively connected with two ends of the first operating rope 611, and the feeding amount lengths of the two ends of the first operating rope 611 and the second operating rope 612 are controlled in the same way, so that the shearing work of the executing assembly 4 is realized. In this embodiment, the connecting column 414 is hollow so that the first operating cord 611, the second operating cord 612 and the palm operating part 62 can extend out. Alternatively, the wires 43 may extend through the interior of the connecting post 414 for distribution.

In the actual installation of the present embodiment, one end of the first operating rope 611 and one end of the second operating rope 612 pass through two guide wheels of the first guide wheel set 31, that is, the first operating rope 611 and the second operating rope 612 pass through between the first guide wheel set 31 and the second guide wheel set 32. The first operation rope 611 and the second operation rope 612 pass through the first guide wheel 321 and the second guide wheel 322, respectively, and are connected to the two connecting seats 41 in the actuating 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, the first operating rope 611 and the second operating rope 612 reversely pass through the first guide wheel set 31 and the second guide wheel set 32. In this case, it is ensured how the first operating cord 611 moves, and the working length distances of both ends of the first operating cord 611 are equal. The second operating cord 612 works in the same manner. Therefore, how the connecting seats 41 rotate is ensured, the first operating rope 611 and the second operating rope 612 can drive the electrocoagulation shearing blades 42 on the two connecting seats 41 to shear. Meanwhile, the connecting parts on the two connecting seats 41 slide in the connecting groove 413 through the connecting column 414, so that the connectivity between the two electric coagulation shearing blades 42 is enhanced, the two electric coagulation shearing blades 42 are prevented from rotating too much, and the reliability of shearing motion between the two electric coagulation shearing blades 42 is effectively ensured.

The working principle of the technical scheme provided by the embodiment is as follows:

by pulling the two connecting seats 41 on the actuating assembly 4 forward and backward through the first operating rope 611 and the second operating rope 612, the two connecting seats 41 rotate forward and backward around the second rotating shaft 51, at this time, the electrocoagulation shearing blades 42 on the two connecting seats 41 are close to each other, and the shearing surfaces 425 of the electrocoagulation shearing blades 42 perform shearing work in cooperation with the connecting parts. Meanwhile, the electric coagulation cutting 42 is electrified by selecting the conducting wire 43, so that the electric coagulation cutting 42 has the electric coagulation function. In this practical operation, the cutting operation of the two electrocoagulation-cutting blades 42 on the executing assembly 4 can be realized by only controlling the wire feeding amount of the two ends of the first operating rope 611 and the second operating rope 612, that is, controlling the lengths of the two ends of the first operating rope 611 and the second operating rope 612. In this operation, the first operation string 611 and the second operation string 612 can control the amount of the incoming threads at both ends simultaneously, so that the cutting surface 425 of the electrocoagulation guide can perform cutting work. The cutting work can also be completed by controlling the amount of thread feeding at both ends of the first operating cord 611 or the second operating cord 612 to keep the amount of thread feeding of the second operating cord 612 or the first operating cord 611 unchanged.

When the working position of the actuating assembly 4 needs to be adjusted integrally at the same time, the first operating rope 611 and the second operating rope 612 control the wire feeding amount towards the same end at the same time, at this time, the two connecting seats 41 move towards one end at the same time, and at this time, the two electrocoagulation shearing blades 42 are inclined at the same end. When the shearing work needs to be finished, only one electrocoagulation shearing sheet 42 can be controlled to move towards the other end far away from the inclination, after the shearing surfaces 425 on the two electrocoagulation shearing sheets 42 form a shearing angle, the electrocoagulation shearing sheet 42 which just moves resets, and at the moment, the two shearing surfaces 425 are in contact, so that the shearing work is finished.

In this embodiment, the palm support 5 can be adjusted through the palm operation portion 62, that is, the cutting orientation of the executing assembly 4 can be adjusted indirectly. Specifically, by controlling the two ends of the operation rope on the palm operation portion 62, the operation rope drives the palm support 5 to rotate around the first rotating shaft 21 through the wire feeding amount at the two ends, and at this time, the shearing component on the palm support 5 can integrally adjust the shearing direction.

Example two

A minimally invasive surgery robot adopts the electrocoagulation shearing equipment for surgery in the first embodiment, and further comprises a master control table (not shown in the figure) and slave operation equipment (not shown in the figure), wherein the master control table is electrically connected with the slave operation equipment, and the slave operation equipment is connected with the electrocoagulation shearing equipment for surgery. And the operator sends an instruction through the master console to enable the slave operation equipment to operate the surgical instrument to perform surgical operation. The master control station and the slave operating devices belong to the prior art and will not be described in any greater detail here.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

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 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 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;

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 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.