CN116172691A - Driver with power supply function, surgical forceps, surgical robot and power supply method - Google Patents

Driver with power supply function, surgical forceps, surgical robot and power supply method Download PDF

Info

Publication number
CN116172691A
CN116172691A CN202310081353.8A CN202310081353A CN116172691A CN 116172691 A CN116172691 A CN 116172691A CN 202310081353 A CN202310081353 A CN 202310081353A CN 116172691 A CN116172691 A CN 116172691A
Authority
CN
China
Prior art keywords
power supply
piece
sleeve
outer tube
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202310081353.8A
Other languages
Chinese (zh)
Other versions
CN116172691B (en
Inventor
王迎智
伍贤超
徐高峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jixian Artificial Intelligence Co Ltd
Original Assignee
Jixian Artificial Intelligence Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jixian Artificial Intelligence Co Ltd filed Critical Jixian Artificial Intelligence Co Ltd
Priority to CN202310081353.8A priority Critical patent/CN116172691B/en
Publication of CN116172691A publication Critical patent/CN116172691A/en
Application granted granted Critical
Publication of CN116172691B publication Critical patent/CN116172691B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/1206—Generators therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00589—Coagulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A61B2560/0214—Operational features of power management of power generation or supply
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A61B2560/0214—Operational features of power management of power generation or supply
    • A61B2560/0219—Operational features of power management of power generation or supply of externally powered implanted units
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of surgical forceps and provides a driver with a power supply function, a surgical forceps, a surgical robot and a power supply method, wherein an inner tube, an inner tube connecting piece, a first rotating sleeve and a first fixing piece are all conductors, and can be connected with one stage of a power supply through a first connecting terminal on the first fixing piece, so that power supply to a first forceps holder is realized; similarly, the outer tube connecting piece, the second rotating sleeve and the second fixing piece are all conductors and are connected with the other stage of the power supply through a second connecting terminal on the second fixing piece, so that power supply to the outer tube is realized; through the power supply mode, the requirement of the power line on the volume of the surgical forceps is reduced, so that the limitation of movement of the surgical forceps in a patient is reduced, the influence of the power line on movement, rotation and other actions of the forceps jaws is avoided, and the flexibility of the forceps jaw action control is improved.

Description

Driver with power supply function, surgical forceps, surgical robot and power supply method
Technical Field
The invention belongs to the technical field of surgical forceps, and particularly relates to a driver with a power supply function, surgical forceps, a surgical robot and a power supply method.
Background
With the development of intelligent technology in minimally invasive surgery and the characteristics of small harm to patients, low surgery cost and the like, the application of minimally invasive surgery in surgery is widely accepted; in the case of minimally invasive surgery, a surgical forceps for minimally invasive surgery is a surgical instrument which is relatively common in application, and the structure of the surgical forceps generally comprises two jaws, an inner tube connected with one of the jaws and an outer tube connected with the other jaw; the inner tube is sleeved in the outer tube, and the operating principle of the surgical forceps is that after the two forceps jaws reach the surgical position, the forward and backward movement, the rotation and the opening and closing actions of the two forceps jaws are realized through the movements of the inner tube and the outer tube, such as movement or rotation; the movement or rotation of the inner tube and the outer tube requires the cooperation of the driver, and when performing operations such as electrocoagulation and electrotomy, the two jaws need to be insulated from each other, and the two jaws need to be connected with the positive electrode and the negative electrode of the power supply respectively.
The inventor finds that in the existing surgical forceps, in order to meet the realization of operations such as electrocoagulation, electrotome and the like, on the basis of arranging an insulating piece at the joint of two forceps jaws, independent power lines are respectively connected to the two forceps jaws, and the two power lines which are independently arranged are respectively connected with the positive electrode and the negative electrode of a power supply; in the operation process, because the power wire is directly connected with the forceps holder, the power wire needs to enter the patient body along with the outer tube, the inner tube and the like, the whole volume of the part of the forceps entering the patient body is increased, so that the movement of the forceps in the patient body is limited, meanwhile, the power wire is directly connected with the forceps holder, the movement, rotation and other actions of the forceps holder can be influenced, and the flexibility of controlling the actions of the forceps holder is reduced.
Disclosure of Invention
In order to solve the problems, the invention provides a driver with a power supply function, surgical forceps, a surgical robot and a power supply method, and related components, an inner tube, an outer tube and the like in the driver are arranged as conductors to conduct electricity, so that the use of a power line is replaced.
In order to achieve the above object, in a first aspect, the present invention provides a driver with a power supply function, which adopts the following technical scheme:
a driver with power supply function comprises an inner tube connecting mechanism and an outer tube connecting mechanism;
the inner pipe connecting mechanism comprises an inner pipe connecting piece, a first rotating sleeve sleeved outside the inner pipe connecting piece and a first fixing piece connected with the first rotating sleeve; the inner pipe connecting piece, the first rotating sleeve and the first fixing piece are all conductors, and a first connecting terminal is arranged on the first fixing piece;
the outer tube connecting mechanism comprises an outer tube connecting piece, a second rotating sleeve sleeved outside the outer tube connecting piece and a second fixing piece connected with the second rotating sleeve; the inner pipe connecting piece, the second rotating sleeve and the second fixing piece are conductors, and a second connecting terminal is arranged on the second fixing piece.
Further, the inner tube connecting piece comprises a first driving sleeve and a first elastic clamping piece arranged on the first driving sleeve.
Further, a lock hole is formed in the first driving sleeve; the first elastic clamping piece comprises an elastic piece, one end of the elastic piece is fixed on the first driving sleeve, the other end of the elastic piece is fixed with a clamping block, and the clamping block is positioned in a clamping hole on the first driving sleeve; and a first check ring is sleeved at the position of the clamping hole of the first driving sleeve.
Further, the outer tube connecting piece comprises a second driving sleeve and a second elastic clamping piece arranged on the second driving sleeve.
Further, a lock hole is formed in the second driving sleeve; the second elastic clamping piece comprises an elastic piece, one end of the elastic piece is fixed on the second driving sleeve, the other end of the elastic piece is fixed with a clamping block, and the clamping block is positioned in a clamping hole on the second driving sleeve; and a second check ring is sleeved at the position of the clamping hole of the second driving sleeve.
In order to achieve the above object, in a second aspect, the present invention further provides a surgical forceps, which adopts the following technical scheme:
a surgical forceps comprising a forceps, an inner tube, an outer tube and a driver with power supply as described in the first aspect; the inner pipe is sleeved in the outer pipe, and an insulating layer is arranged between the inner pipe and the outer pipe; the clamp comprises a first clamp holder and a second clamp holder, the inner tube is connected with the first clamp holder, and the outer tube is connected with the second clamp holder.
Further, the first clamp is hinged to the second clamp, and a first insulating sleeve is arranged between the first clamp and the second clamp.
Further, the inner tube, the outer tube, the first jaw, and the second jaw are all configured as conductors.
In order to achieve the above object, in a third aspect, the present invention further provides a surgical robot, which adopts the following technical scheme:
a surgical robot comprising a body, a robotic arm coupled to the body, and a forceps as described in the first aspect disposed on the robotic arm.
In order to achieve the above object, in a fourth aspect, the present invention further provides a power supply method for a surgical robot, which adopts the following technical scheme:
a surgical robot power supply method employing the surgical robot as described in the third aspect, comprising:
connecting the first connecting terminal with one stage of the power supply, and connecting the second connecting terminal with the other stage of the power supply;
the first stage of the power supply is conducted and powered through the first connecting terminal, the first rotating sleeve, the inner pipe connecting piece and the first clamping jaw; the other stage of the power supply is conducted with the second clamp through the second connecting terminal, the second rotating sleeve, the outer tube connecting piece and the outer tube.
Compared with the prior art, the invention has the beneficial effects that:
1. the inner pipe connecting piece, the first rotating sleeve and the first fixing piece are all conductors, and can be connected with one stage of a power supply through the first connecting terminal on the first fixing piece, so that power supply to the inner pipe is realized; similarly, the outer tube connecting piece, the second rotating sleeve and the second fixing piece are all conductors and are connected with the other stage of the power supply through a second connecting terminal on the second fixing piece, so that power supply to the outer tube is realized; the arrangement of a power line is avoided;
2. the inner tube, the inner tube connecting piece, the first rotating sleeve and the first fixing piece are all conductors, and can be connected with one stage of a power supply through the first connecting terminal on the first fixing piece, so that power supply to the first clamp is realized; similarly, the outer tube connecting piece, the second rotating sleeve and the second fixing piece are all conductors and are connected with the other stage of the power supply through a second connecting terminal on the second fixing piece, so that power supply to the second clamp is realized; through the power supply mode, the requirement of the power line on the volume of the surgical forceps is reduced, so that the limitation of movement of the surgical forceps in a patient is reduced, the influence of the power line on movement, rotation and other actions of the forceps jaws is avoided, and the flexibility of the forceps jaw action control is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of embodiment 2 of the present invention;
FIG. 3 is a schematic view of an inner tube according to embodiment 2 of the present invention;
FIG. 4 is a schematic view of an outer tube according to embodiment 2 of the present invention;
wherein, 1, an inner tube; 2. an inner tube fixing member; 3. an inner tube connecting member; 4. a first retainer ring; 5. a first sleeve; 6. a first fixing member; 7. an outer tube; 8. an outer tube fixing member; 9. an outer tube connecting piece; 10. the second check ring; 11. a second swivel; 12. a second fixing member; 13. a driving line; 14. a first pin; 15. a first jaw; 16. a second jaw; 17. a sheath; 18. a connecting block; 19. connecting sleeves; 20. a rotating sleeve; 21. a second pin; 22. a first insulating sleeve; 23. a second insulating sleeve; 24. an extension plate; 25. a fixed end; 26. a rotating end; 27. a first connection terminal; 28. a second connection terminal; 29. an elastic sheet; 30. a clamping block; 31. a first drive sleeve; 32. and a second driving sleeve.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
as shown in fig. 1, the present embodiment provides a driver with a power supply function, including an inner tube connection mechanism and an outer tube connection mechanism;
the inner pipe connecting mechanism comprises an inner pipe connecting piece 3, a first rotating sleeve 5 sleeved outside the inner pipe connecting piece 3 and a first fixing piece 6 connected with the first rotating sleeve 5; the inner pipe connecting piece 3, the first rotating sleeve 5 and the first fixing piece 6 are all conductors, and a first connecting terminal 27 is arranged on the first fixing piece 6;
the outer tube connecting mechanism comprises an outer tube connecting piece 9, a second rotating sleeve 11 sleeved outside the outer tube connecting piece 9 and a second fixing piece 12 connected with the second rotating sleeve 11; the inner pipe connecting piece 9, the second rotating sleeve 11 and the second fixing piece 12 are all conductors, and a second connecting terminal 28 is arranged on the second fixing piece 12.
Specifically, the inner pipe connecting piece 3, the first rotating sleeve 5 and the first fixing piece 6 are all conductors, and can be connected with one stage of a power supply through the first connecting terminal 27, so that power supply to the inner pipe is realized; also, the outer tube connecting piece 9, the second rotating sleeve 11 and the second fixing piece 12 are all conductors and can be connected with the other stage of the power supply through the second connecting terminal 28, so that the power supply to the outer tube is realized; the arrangement of the power supply line is avoided.
The inner pipe connecting piece 3 comprises a first driving sleeve 31 and a first elastic clamping piece arranged on the first driving sleeve 31. A lock hole is formed on the first driving sleeve 31; the first elastic clamping piece comprises an elastic piece 29, one end of the elastic piece 29 is fixed on the first driving sleeve 31, the other end of the elastic piece is fixed with a clamping block 30, and the clamping block 30 is positioned in a clamping hole on the first driving sleeve 31; the first retainer ring 4 is sleeved at the position of the clamping hole of the first driving sleeve 31. Specifically, the clamping connection can be realized through the clamping block and the inner tube, and it can be understood that the inner tube can be fixed with an inner tube fixing piece 2, and the inner tube fixing piece 2 is provided with a clamping groove; the first driving sleeve 31 can realize axial movement under the driving of other driving mechanisms, so that the axial movement driving of the inner tube is realized; the first driving sleeve 31 is axially movable relative to the first rotating sleeve 5; the first rotating sleeve 5 and the first fixing piece 6 can be in rotary connection or fixed connection according to actual requirements; the first fixing member 6 is provided with a fixing hole for connecting the driver with an external device, for example, the driver is fixed on a mechanical arm of the surgical robot through the fixing hole.
It will be appreciated that the height of the latch 30 is greater than the height of the lock hole, and the first retainer ring 4 is movable circumferentially on the first driving sleeve 31; when the first driving sleeve 31 is located at the clamping block 30, the clamping block 30 is pressed into the first driving sleeve 31 to achieve clamping, and when the first driving sleeve 31 is located at the outer position of the clamping block 30, the clamping block 30 moves outwards under the action of the elastic piece 29 to achieve disconnection of clamping.
The outer tube connection 9 comprises a second drive sleeve 32 and a second elastic clip arranged on the second drive sleeve 32. The second driving sleeve 32 is provided with a lock hole; the second elastic clamping piece comprises an elastic piece, one end of the elastic piece is fixed on the second driving sleeve 32, the other end of the elastic piece is fixed with a clamping block, and the clamping block is positioned in a clamping hole on the second driving sleeve 32; the second retainer ring 10 is sleeved at the position of the clamping hole of the second driving sleeve 32. Specifically, the clamping connection can be realized through the clamping block and the outer tube, and it can be understood that the outer tube can be fixed with an outer tube fixing piece 8, and the outer tube fixing piece 8 is provided with a clamping groove; the second driving sleeve 32 can realize axial movement under the driving of other driving mechanisms, so that the axial movement driving of the outer tube is realized; the second driving sleeve 32 is axially movable relative to the second rotating sleeve 11; the second rotating sleeve 11 and the second fixing piece 12 can be in rotary connection or fixed connection according to actual requirements; the second fixing member 12 is provided with a fixing hole for cooperating with the first fixing member 6 to connect the driver with an external device, for example, the driver is fixed on a mechanical arm of the surgical robot through the fixing hole.
Similarly, when the second driving sleeve 32 is located at the outer position of the clamping block, the clamping block moves outwards under the action of the elastic piece, so that the clamping connection is disconnected.
Example 2:
as shown in fig. 2 and 3, the present embodiment provides a surgical forceps including a forceps, an inner tube 1, an outer tube 7, and a driver having a power supply function as described in embodiment 1; the inner pipe 1 is sleeved in the outer pipe 7, and an insulating layer is arranged between the inner pipe 1 and the outer pipe 7; the clamp comprises a first clamp jaw 15 and a second clamp jaw 16, the inner tube 1 is connected with the first clamp jaw 15, and the outer tube 7 is connected with the second clamp jaw 16. The first clamping jaw 15 is hinged with the second clamping jaw 16, and a first insulating sleeve 22 is arranged between the first clamping jaw 15 and the second clamping jaw 16.
The inner tube 1, the outer tube 2, the first jaw 15 and the second jaw 16 are all provided as conductors. The first jaw 15 can be supplied with power by connecting the first connection terminal 27 to a stage of the power supply; likewise, the supply of power to the second jaw 16 can be achieved by the second connection terminal 28 being connected to another stage of the power source; through the power supply mode, the requirements of electrocoagulation and electroincision operation are met, the requirement of setting a power line on the volume of the surgical forceps is reduced, the limitation of movement of the surgical forceps in a patient is reduced, meanwhile, the influence of the power line on movement, rotation and other actions of the forceps jaws is avoided, and the flexibility of forceps jaw action control is improved.
As shown in fig. 2, the inner tube 2 may be connected to the first jaw 15 through a driving wire 13, specifically, the driving wire 13 is connected to a moving member, and the moving member is provided with a shaft hole and hinged to the first jaw 15 through a first pin shaft. The drive line 13 may be provided as a conductor.
As shown in fig. 3, the outer tube 7 may be sleeved in a sheath 17, which may be provided as an insulating sheath; the distal end of the sheath is fixedly connected with a fixed end 25, and the fixed end 25 is hinged with a rotating end 26; the distal end of the outer tube 7 is hinged with a connecting block 18, and one end, far away from the outer tube 7, of the connecting block 18 is hinged with the rotating end 26, so that the rotating end 26 is driven to rotate relative to the fixed end 25 when the outer tube 7 moves axially; the rotating end 26 is rotatably connected with a rotating sleeve 20 through a ball and the like, an extending plate 24 is fixed on the rotating sleeve 20, and the second clamping jaw 16 is hinged with the extending plate 24 through a second pin shaft 21; the moving part connected with the driving wire 13 is arranged in the rotating sleeve 20, and can move under the axial driving of the inner tube 1, so as to drive the opening and closing actions of the first clamping jaw 15 and the second clamping jaw 16; the portion of the drive wire 13 located within the swivel 20 is provided with a second insulating sleeve 23.
Example 3:
the present embodiment provides a surgical robot including a body, a mechanical arm connected to the body, and the surgical forceps as described in embodiment 2 provided on the mechanical arm; specifically, the driver may be fixed to the mechanical arm of the surgical robot through the fixing holes of the first fixing member 6 and the second fixing member 12; the body and robotic arm of the surgical robot may be implemented by conventional techniques and will not be described in detail herein.
Example 4:
the present embodiment provides a surgical robot power supply method, which adopts the surgical robot as described in embodiment 3, comprising:
the first connection terminal 27 is connected to one stage of the power supply, and the second connection terminal 28 is connected to the other stage of the power supply;
the primary of the power supply is conducted and supplied with power through the first connecting terminal 27, the first rotating sleeve 5, the inner pipe connecting piece 3 and the inner pipe 1 and the first clamping jaw 15; the other stage of the power supply is electrically connected to the second jaw 16 via the second connection terminal 28, the second swivel 11, the outer tube connection 9 and the outer tube 7.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.

Claims (10)

1. The driver with the power supply function is characterized by comprising an inner pipe connecting mechanism and an outer pipe connecting mechanism;
the inner pipe connecting mechanism comprises an inner pipe connecting piece, a first rotating sleeve sleeved outside the inner pipe connecting piece and a first fixing piece connected with the first rotating sleeve; the inner pipe connecting piece, the first rotating sleeve and the first fixing piece are all conductors, and a first connecting terminal is arranged on the first fixing piece;
the outer tube connecting mechanism comprises an outer tube connecting piece, a second rotating sleeve sleeved outside the outer tube connecting piece and a second fixing piece connected with the second rotating sleeve; the inner pipe connecting piece, the second rotating sleeve and the second fixing piece are conductors, and a second connecting terminal is arranged on the second fixing piece.
2. The driver with power supply function of claim 1, wherein the inner tube connector comprises a first drive sleeve and a first resilient clip disposed on the first drive sleeve.
3. The driver with the power supply function according to claim 2, wherein the first driving sleeve is provided with a lock hole; the first elastic clamping piece comprises an elastic piece, one end of the elastic piece is fixed on the first driving sleeve, the other end of the elastic piece is fixed with a clamping block, and the clamping block is positioned in a clamping hole on the first driving sleeve; and a first check ring is sleeved at the position of the clamping hole of the first driving sleeve.
4. The driver with power supply function of claim 1, wherein the outer tube connector comprises a second drive sleeve and a second resilient clip disposed on the second drive sleeve.
5. The driver with power supply function according to claim 4, wherein the second driving sleeve is provided with a lock hole; the second elastic clamping piece comprises an elastic piece, one end of the elastic piece is fixed on the second driving sleeve, the other end of the elastic piece is fixed with a clamping block, and the clamping block is positioned in a clamping hole on the second driving sleeve; and a second check ring is sleeved at the position of the clamping hole of the second driving sleeve.
6. Surgical forceps comprising a forceps, an inner tube, an outer tube and a driver with power supply according to any of claims 1-5; the inner pipe is sleeved in the outer pipe, and an insulating layer is arranged between the inner pipe and the outer pipe; the clamp comprises a first clamp holder and a second clamp holder, the inner tube is connected with the first clamp holder, and the outer tube is connected with the second clamp holder.
7. A surgical clamp according to claim 6, wherein the first jaw is hinged to the second jaw, and a first insulating sleeve is disposed between the first jaw and the second jaw.
8. The surgical clamp of claim 6, wherein said inner tube, said outer tube, said first jaw and said second jaw are each configured as a conductor.
9. A surgical robot comprising a body, a robotic arm coupled to the body, and the surgical forceps of claim 6 disposed on the robotic arm.
10. A surgical robot power supply method, wherein the surgical robot according to claim 9 is used, comprising:
connecting the first connecting terminal with one stage of the power supply, and connecting the second connecting terminal with the other stage of the power supply;
the first stage of the power supply is conducted and powered through the first connecting terminal, the first rotating sleeve, the inner pipe connecting piece and the first clamping jaw; the other stage of the power supply is conducted with the second clamp through the second connecting terminal, the second rotating sleeve, the outer tube connecting piece and the outer tube.
CN202310081353.8A 2023-01-31 2023-01-31 Driver with power supply function, surgical forceps, surgical robot and power supply method Active CN116172691B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310081353.8A CN116172691B (en) 2023-01-31 2023-01-31 Driver with power supply function, surgical forceps, surgical robot and power supply method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310081353.8A CN116172691B (en) 2023-01-31 2023-01-31 Driver with power supply function, surgical forceps, surgical robot and power supply method

Publications (2)

Publication Number Publication Date
CN116172691A true CN116172691A (en) 2023-05-30
CN116172691B CN116172691B (en) 2023-10-20

Family

ID=86443835

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310081353.8A Active CN116172691B (en) 2023-01-31 2023-01-31 Driver with power supply function, surgical forceps, surgical robot and power supply method

Country Status (1)

Country Link
CN (1) CN116172691B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2679176A1 (en) * 2012-06-29 2014-01-01 Covidien LP Surgical forceps
CN109394337A (en) * 2018-12-31 2019-03-01 耿金宏 A kind of laparoscope is with exempting from electric wire electricity folder elastic separating plier
WO2021180157A1 (en) * 2020-03-11 2021-09-16 杭州安杰思医学科技股份有限公司 Bipolar electric treatment device
CN214712761U (en) * 2021-02-24 2021-11-16 河南埃丽坤斯医疗科技有限公司 Laparoscopic cuttable bipolar coagulation forceps
CN114343832A (en) * 2021-11-25 2022-04-15 杭州康基医疗器械有限公司 Bipolar wired electric coagulation forceps
CN216603051U (en) * 2021-01-25 2022-05-27 杭州好克光电仪器有限公司 High-frequency bipolar surgical forceps

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2679176A1 (en) * 2012-06-29 2014-01-01 Covidien LP Surgical forceps
CN109394337A (en) * 2018-12-31 2019-03-01 耿金宏 A kind of laparoscope is with exempting from electric wire electricity folder elastic separating plier
WO2021180157A1 (en) * 2020-03-11 2021-09-16 杭州安杰思医学科技股份有限公司 Bipolar electric treatment device
CN216603051U (en) * 2021-01-25 2022-05-27 杭州好克光电仪器有限公司 High-frequency bipolar surgical forceps
CN214712761U (en) * 2021-02-24 2021-11-16 河南埃丽坤斯医疗科技有限公司 Laparoscopic cuttable bipolar coagulation forceps
CN114343832A (en) * 2021-11-25 2022-04-15 杭州康基医疗器械有限公司 Bipolar wired electric coagulation forceps

Also Published As

Publication number Publication date
CN116172691B (en) 2023-10-20

Similar Documents

Publication Publication Date Title
CN102143714B (en) Bipolar cautery instrument
EP1943969B1 (en) Ultrasonic operating apparatus
US8784404B2 (en) Flexible wrist-type element and methods of manufacture and use thereof
EP2470106B1 (en) Direct pull surgical gripper
CN102143719B (en) Backend mechanism for four-cable wrist
CN105286989B (en) A kind of micro-wound operation robot bipolar energy instrument
US20100331742A1 (en) Surgical operating apparatus
CN211381520U (en) Surgical instrument connecting device capable of being rapidly installed and detached
CN105744909A (en) Reusable surgical instrument with single-use tip and integrated tip cover
CA2727870A1 (en) Flexible wrist-type element and methods of manufacture and use thereof
US10285674B2 (en) Instrument for a manipulator arm of an endoscopic robot
WO2021180157A1 (en) Bipolar electric treatment device
CN111093550B (en) Energy disconnection for robotic surgical assembly
CN116172691B (en) Driver with power supply function, surgical forceps, surgical robot and power supply method
WO2010005006A1 (en) High-frequency treatment instrument
CN208851635U (en) Endoscopic surgery tow-armed robot and robot system
CN116250930B (en) Terminal controlling means of operation pincers
CN114343832B (en) Electric coagulation forceps with bipolar wire connection
US20220160420A1 (en) Connecting Device and Monopolar Cable For Monopolar and Bipolar Operable Surgical Instruments, Surgical Instrument and Surgical System
RU53884U1 (en) ELECTROSURGICAL TONGS
CN116370063B (en) Active surgical instrument, surgical robot and method for realizing electrode passage
JP4643250B2 (en) Surgical instrument
CN108186119B (en) Operation robot operating device driven by rotation
US11337587B2 (en) Medical over-tube, and medical device adapter having moving member and medical system having such medical over-tube
CN113349924A (en) Flexible joint based on shape memory alloy control and surgical instrument

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant