CN116421297A - Electrosurgical instrument and surgical robotic system - Google Patents
Electrosurgical instrument and surgical robotic system Download PDFInfo
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- CN116421297A CN116421297A CN202310326468.9A CN202310326468A CN116421297A CN 116421297 A CN116421297 A CN 116421297A CN 202310326468 A CN202310326468 A CN 202310326468A CN 116421297 A CN116421297 A CN 116421297A
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- 230000005489 elastic deformation Effects 0.000 claims description 6
- 238000009413 insulation Methods 0.000 claims description 4
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
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- 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
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- 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
-
- 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
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- 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
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1412—Blade
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- 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
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- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The utility model relates to an electrosurgical instrument, the apparatus member contains continuous flexible main part section and non-crooked main part section, insulating sheath contains continuous main part sheath section and distal end sheath section, distal end sheath section is located the distal end of main part sheath section, insulating sheath cup joints the outside of apparatus member, stop gear sets up the apparatus member with on at least one of insulating sheath, be used for keeping insulating sheath with the apparatus member is spacing fixed relatively. The limiting mechanism which is beneficial to installation and disassembly is additionally arranged between the insulating sheath and the instrument rod piece, the installation stability can be ensured after the insulating sheath and the instrument rod piece are installed by using the limiting mechanism, the risk of falling off in the body is prevented, and the situation that the insulating sheath is temporarily withdrawn from the electrosurgical instrument to reinstall the insulating sheath after the insulating sheath falls off basically cannot occur due to the extremely reduced falling-off risk between the insulating sheath and the instrument rod piece, so that the operation process is ensured not to be delayed.
Description
Technical Field
The present application relates to the technical field of medical devices, and in particular to electrosurgical devices and surgical robotic systems.
Background
Various high-frequency alternating current electrosurgical instruments are often used in auxiliary laparoscopic surgical systems for surgical robots, and when the electrosurgical instruments are used in vivo, an insulating protective sleeve is required to isolate tissues from the electrosurgical instruments so as to protect the tissues from electric injury.
At present, insulating protective sheath belongs to the consumptive material, need medical personnel install to electrosurgical instrument (like the electrotome) on the art, because the proficiency and the training effect etc. that medical personnel's apparatus used are all different, lead to insulating protective sheath to exist incorrect installation's risk easily, and then take place insulating protective sheath in the circumstances that drops in vivo or puncture ware, can seriously reduce the security of operation, insulating protective sheath drops in vivo or puncture ware moreover, medical personnel must pull out electrosurgical instrument, reinstallate insulating protective sheath, because insulating protective sheath's design requirement needs to guarantee high leakproofness, consequently, insulating protective sheath's installation is very difficult, will consume a large amount of time, seriously hinder the progress of operation.
Disclosure of Invention
Based on this, it is necessary to provide an electrosurgical instrument and a surgical robotic system in view of at least one of the technical problems mentioned above.
An electrosurgical instrument, the electrosurgical instrument comprising:
an instrument bar comprising connected bendable and non-bendable body sections;
the insulation sheath comprises a main body sheath section and a distal sheath section which are connected, the distal sheath section is positioned at the distal end of the main body sheath section, and the insulation sheath is sleeved outside the instrument rod piece;
and the limiting mechanism is arranged on at least one of the instrument rod piece and the insulating sheath and used for keeping the insulating sheath and the instrument rod piece relatively limited and fixed.
In one embodiment, the main body sheath segment comprises:
a rigid unit section covering the non-curved body section of the instrument bar, the rigid unit section having a length less than a length of its corresponding non-curved body section;
and the flexible unit section is connected with the rigid unit section, covers the bendable main body section of the instrument rod piece, and has a length larger than that of the corresponding bendable main body section.
In one embodiment, the rigid unit section and the non-bending main body section are respectively provided with a clamping portion and a joint portion, the clamping portion and the joint portion form the limiting mechanism, and the rigid unit section and the non-bending main body section are clamped and limited and fixed through the clamping portion and the joint portion.
In one embodiment, the engaging portion is a engaging protrusion disposed on an outer wall of the non-curved main body section, the engaging portion is an engaging groove disposed on an inner wall of the rigid unit section, and the engaging protrusion is engaged with the engaging groove.
In one embodiment, at least a part of the area of the rigid unit section is a deformation area, the deformation area can be elastically deformed under the action of external force, and the elastic deformation of the deformation area is used for realizing mutual clamping or mutual separation between the clamping protrusion and the clamping groove.
In one embodiment, the engaging portion is a locking claw disposed at a proximal end of the insulating sheath, the engaging portion is a locking groove disposed on the instrument rod, and the locking claw is assembled with the locking groove in a locking manner.
In one embodiment, the instrument bar is provided with a receding portion, the receding portion and the engaging portion are connected along a circumferential direction of the instrument bar, and the insulating sheath is rotatable circumferentially with respect to the instrument bar, so that the engaging portion enters from the above-mentioned engaging portion to the receding portion.
In one embodiment, the clamping claw comprises a plane claw section and an inclined surface claw section which are connected from the distal end to the proximal end, the dislocating part comprises a plane dislocating section and an inclined surface dislocating section which are connected from the distal end to the proximal end, the plane dislocating section is circumferentially connected with the clamping groove, and the inclined surface dislocating section and the clamping groove are axially offset from each other.
In one embodiment, the main sheath section of the insulating sheath is made of a flexible material, the distal sheath section of the insulating sheath is made of a rigid material, the instrument rod piece and the distal sheath section are assembled in a clamping way, and at least a part of the area of the distal sheath section can be elastically deformed under the action of external force so as to release the clamping and assembling of the instrument rod piece and the distal sheath section; or alternatively, the process may be performed,
the main body sheath section and the distal sheath section of the insulating sheath are made of flexible materials, and a spring inner ring is arranged in the main body sheath section.
In one embodiment, the lumen diameter of the distal sheath segment is smaller than the lumen diameter of the main sheath segment, such that the lumen diameters of the distal sheath segment and the main sheath segment have a diameter difference, the stepped structure of the diameter difference formed in the lumens of the distal sheath segment and the main sheath segment forming the spacing mechanism; and/or the number of the groups of groups,
the distal sheath section comprises a straight unit section and a reducing unit section, the reducing unit section is positioned at the distal end of the straight unit section, and the diameter of the reducing unit section gradually increases in the direction from the distal end to the proximal end; and/or the number of the groups of groups,
the distal end face of the distal sheath segment extends beyond the distal end face of the instrument bar.
In one embodiment, the main body sheath segment comprises a plurality of rigid joint rings and a plurality of flexible joint rings, and the plurality of rigid joint rings and the plurality of flexible joint rings are sequentially connected at intervals from the distal end to the proximal end; the end part of the rigid joint ring is provided with a first connecting tooth, the end part of the flexible joint ring is provided with a second connecting tooth, the rigid joint ring is connected with the flexible joint ring through the first connecting tooth and the second connecting tooth, and a glue injection gap is arranged between the first connecting tooth and the second connecting tooth.
A surgical robotic system including the electrosurgical instrument.
In the electrosurgical instrument and the surgical robot system, the insulating sheath and the instrument rod piece are integrated to form the electrosurgical instrument together, the limiting mechanism which is beneficial to installation and disassembly is additionally arranged between the insulating sheath and the instrument rod piece, the installation stability can be ensured after the insulating sheath and the instrument rod piece are installed by using the limiting mechanism, the risk of falling off in a body is prevented, and the situation that the insulating sheath is temporarily withdrawn from the electrosurgical instrument to reinstall the insulating sheath after the insulating sheath falls off is basically avoided because the falling risk between the insulating sheath and the instrument rod piece is greatly reduced, so that the operation process is ensured not to be delayed.
Drawings
Fig. 1 is a schematic structural view of an instrument bar according to an embodiment of the present application.
Fig. 2 is a schematic representation of the mating of an instrument bar and an insulating sheath provided in one embodiment of the present application.
Fig. 3 is a schematic structural diagram of an engaging portion according to an embodiment of the present disclosure.
Fig. 4 is a schematic connection diagram of the engaging portion and the engaging portion according to an embodiment of the present application.
Fig. 5 is a schematic view of an assembly of an instrument bar and an insulating sheath provided in one embodiment of the present application.
Fig. 6 is a schematic view illustrating removal of an instrument bar and an insulating sheath according to one embodiment of the present application.
Fig. 7-9 are schematic views illustrating an assembly process of an instrument bar and an insulating sheath according to one embodiment of the present application.
Fig. 10 is a schematic structural diagram of a clamping groove according to an embodiment of the present disclosure.
Fig. 11 is a schematic structural view of a clamping protrusion according to an embodiment of the present application.
Fig. 12 is a schematic cross-sectional view of an instrument bar and insulating sheath provided in one embodiment of the present application.
FIG. 13 is a force diagram of a deformation region provided in one embodiment of the present application.
Fig. 14 is a schematic representation of the mating of an instrument bar and an insulating sheath provided in accordance with another embodiment of the present application.
Fig. 15 is a schematic structural diagram of a clamping groove according to another embodiment of the present disclosure.
Fig. 16 is a schematic structural view of a fastening protrusion according to another embodiment of the present application.
FIG. 17 is a force-receiving plan view of a deformation zone provided in accordance with another embodiment of the present application.
Fig. 18 is a force-bearing perspective view of a deformation zone provided in accordance with another embodiment of the present application.
Fig. 19 is a schematic view of a mating of an instrument bar and an insulating sheath provided in accordance with yet another embodiment of the present application.
Fig. 20 is a schematic structural view of a clamping protrusion according to another embodiment of the present application.
Fig. 21 is a schematic structural view of a clamping groove according to another embodiment of the present disclosure.
Fig. 22 is a schematic structural view of a main body sheath segment and a distal sheath segment, both of flexible materials, according to one embodiment of the present application.
Fig. 23 is a schematic view of a diameter difference structure of an insulating sheath according to an embodiment of the present application.
Fig. 24 is a schematic structural view of a straight unit section and a variable diameter unit section of a distal sheath segment according to one embodiment of the present application.
Fig. 25 is a schematic view showing the internal structures of the straight unit section and the variable diameter unit section according to one embodiment of the present application.
Fig. 26 is a schematic structural view of an insulating sheath with a spring inner ring according to an embodiment of the present application.
Fig. 27 is an enlarged schematic view of a spring inner ring according to an embodiment of the present application.
Fig. 28 is a schematic view of an insulating sheath with a rigid knuckle and a flexible knuckle according to one embodiment of the present application.
Fig. 29 is an enlarged schematic view of a rigid articulating ring and a flexible articulating ring provided in one embodiment of the present application.
Fig. 30-32 are schematic views of an assembly process of an electrosurgical instrument and a lancing instrument according to one embodiment of the present application.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.
For purposes of describing the structure of the surgical instrument more clearly, the term "distal" is defined herein to mean the end that is distal to the surgical robot or operator during a surgical procedure, and "proximal" to mean the end that is proximal to the surgical robot or operator during a surgical procedure. 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. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Referring to fig. 1 and 2, an embodiment of the present application provides an electrosurgical instrument 100, the electrosurgical instrument 100 including an instrument rod 1000, an insulating sheath 2000 and a limiting mechanism 3000, the instrument rod 1000 including a flexible body section 1100 and a non-flexible body section 1200 connected to each other, the insulating sheath 2000 including a body sheath section 2100 and a distal sheath section 2200 connected to each other, the distal sheath section 2200 being located at a distal end of the body sheath section 2100, the insulating sheath 2000 being sleeved outside the instrument rod 1000, the limiting mechanism 3000 being disposed on at least one of the instrument rod 1000 and the insulating sheath 2000 for maintaining the insulating sheath 2000 and the instrument rod 1000 relatively limitedly fixed.
The electrosurgical instrument 100 includes a surgical instrument such as an electric knife that needs to be inserted into a body and used by being energized, which is not limited herein, where the instrument rod 1000 of the electrosurgical instrument 100 may be provided with different numbers of bendable main body sections 1100 and non-bendable main body sections 1200 according to the requirement, so as to ensure that the instrument rod 1000 performs a suitable bending action after being inserted into the body, for example, the instrument rod 1000 of the electrosurgical instrument 100 includes several straight tube sections, a snake bone section, a terminal clamp, and the like, where the straight tube sections have a higher hardness, and the straight tube sections may be used to construct the non-bendable main body sections 1200 of the instrument rod 1000, the snake bone sections and the terminal clamp have a bending function, and the snake bone sections and the terminal clamp may be used to construct the bendable main body sections 1100 of the instrument rod 1000, and those skilled in the art may construct the required surgical instrument according to the requirement, which is not limited herein.
The insulating sheath 2000 is made of insulating materials, and the insulating sheath 2000 can prevent the electrosurgical instrument 100 from leaking electricity after entering the inner body, the insulating sheath 2000 comprises a main sheath section 2100 and a distal sheath section 2200 which are connected, when the insulating sheath 2000 is sheathed outside the instrument rod 1000, the distal sheath section 2200 of the insulating sheath 2000 is correspondingly wrapped at the distal end of the instrument rod 1000, such as a clamp at the distal end of the instrument rod 1000, and the main sheath section 2100 of the insulating sheath 2000 is correspondingly wrapped at the rest sections of the instrument rod 1000, and the main sheath section 2100 and the distal sheath section 2200 of the insulating sheath 2000 are sheathed with the corresponding positions on the instrument rod 1000 in a matched manner, so that the insulating sheath 2000 is stably assembled outside the instrument rod 1000, and the normal operation of the instrument rod 1000 can be ensured without influencing the flexibility and the functionality of the operation due to the sheathing of the insulating sheath 2000.
The insulating sheath 2000 is different from the existing sheath, the existing sheath is consumable, therefore, the sheath is simple in form, is made of materials with elastic effects such as silica gel, and is simply sleeved on the instrument rod 1000 in use, and is wrapped outside the instrument rod 1000 by elastic force, but the insulating sheath 2000 and the instrument rod 1000 are integrally formed to jointly form the electrosurgical instrument 100, the insulating sheath 2000 is not only used as disposable consumable, so that manufacturing cost can be reduced, namely, a limiting mechanism 3000 which is beneficial to installation and detachment is additionally arranged between the insulating sheath 2000 and the instrument rod 1000, installation stability can be ensured after the insulating sheath 2000 and the instrument rod 1000 are installed by using the limiting mechanism 3000, the risk of falling off in vivo is prevented, and the situation that the insulating sheath 2000 is temporarily withdrawn from the electrosurgical instrument 100 after the insulating sheath 2000 falls off is basically avoided, so that the operation process is not delayed is ensured.
With continued reference to fig. 2, in one embodiment, the body sheath segment 2100 includes a rigid unit segment 2100a and a flexible unit segment 2100b, the rigid unit segment 2100a covers the non-bending body segment 1200 of the instrument rod 1000, and the length of the rigid unit segment 2100a is smaller than the length of its corresponding non-bending body segment 1200, the flexible unit segment 2100b is connected to the rigid unit segment 2100a, the flexible unit segment 2100b covers the bendable body segment 1100 of the instrument rod 1000, and the length of the flexible unit segment 2100b is greater than the length of its corresponding bendable body segment 1100, for example, 2mm-10mm, wherein the number of rigid unit segments 2100a and flexible unit segments 2100b and the axially distributed positions are based on the number of non-bending body segments 1200 and the bendable body segment 1100 on the instrument rod 1000 and the axially distributed positions, and the length of the flexible unit segment 2100b is greater than the length of its corresponding bendable body segment 1100, so that the bendable body segment 1100 can be protected from the insulating sheath 2000, and the flexible body segment 1100 can be bent, ensuring that the bending section is flexible and the bending section is capable of performing its bending function, and the corresponding to the length of the bending section is greater than the length of its corresponding to the length of its corresponding non-bending body segment 1100 by the length corresponding to the non-bending body segment 1200 a.
With continued reference to fig. 2, as an example, in one embodiment, the body sheath segment 2100 of the insulating sheath 2000 may include a first rigid unit segment 2100a, a first flexible unit segment 2100b, a second rigid unit segment 2100a, a second flexible unit segment 2100b, and a third rigid unit segment 2100a that are sequentially connected in a proximal-to-distal direction, i.e., the body sheath segment 2100 may include three rigid unit segments 2100a and two flexible unit segments 2100b that are sequentially connected at intervals along the axial direction, so, correspondingly, the instrument rod 1000 may also need to include three non-curved body segments 1200 and two bendable body segments 1100 that are sequentially connected in a proximal-to-distal direction, such that the three rigid unit segments 2100a on the insulating sheath 2000 and the three non-curved body segments 1200 on the instrument rod 1000 are wrapped in one-to-one correspondence, and such that the two flexible unit segments 2100b on the insulating sheath 2000 and the two bendable body segments 1100 on the instrument rod 1000 are wrapped in one-to-one correspondence. In addition, other numbers of non-curved body sections 1200 and flexible body sections 1100 may be provided on the instrument bar 1000, with the non-curved body sections 1200 and flexible body sections 1100 being axially aligned differently, the body sheath sections 2100 of the insulating sheath 2000 having the same numbers of rigid unit sections 2100a and flexible unit sections 2100b, with the rigid unit sections 2100a and flexible unit sections 2100b being axially aligned in the same manner, without limitation.
The limiting mechanism 3000 is disposed on at least one of the instrument bar 1000 and the insulating sheath 2000, so, in order to keep the insulating sheath 2000 and the instrument bar 1000 relatively fixed in a limiting manner, for example, in one embodiment, the rigid unit section 2100a and the non-bending body section 1200 are respectively provided with a clamping portion 3100 and a joint portion 3200, the clamping portion 3100 and the joint portion 3200 form the limiting mechanism 3000, when the insulating sheath 2000 needs to be sleeved on the instrument bar 1000, the rigid unit section 2100a and the non-bending body section 1200 can be clamped and fixed by the clamping portion 3100 and the joint portion 3200, that is, the insulating sheath 2000 is sleeved on the instrument bar 1000 by using the clamping and limiting fixation between the rigid unit section 2100a and the non-bending body section 1200, so that the clamping and limiting fixation between the rigid unit section 2100a and the non-bending body section 1200 is not only convenient to provide a stable installation effect for the insulating sheath 2000 and the instrument bar 1000, but also does not affect the flexibility of the flexible unit section 2100b and the bending function of the bendable body section on the instrument bar 1000. Other connection means than snap fit may be used by those skilled in the art to achieve a fit of the insulating sheath 2000 relative to the instrument bar 1000, such as threaded connection, adhesive bonding, etc., without limitation.
Referring to fig. 3 to 9, in one embodiment, the engaging portion 3100 is a locking claw 3100b disposed at a proximal end of the insulating sheath 2000, the engaging portion 3200 is a locking groove 3200b disposed on the instrument rod 1000, and the locking claw 3100b is assembled with the locking groove 3200b in a locking manner, wherein the number of the locking claws 3100b and the number of the locking grooves 3200b may be set according to requirements, and the number of the locking claws 3100b and the number of the locking grooves 3200b are matched one to one, for example, the number of the locking claws 3100b and the number of the locking grooves 3200b are three, four, five or six, etc., and the plurality of locking claws 3100b and the plurality of the locking grooves 3200b are distributed along a circumferential direction of the insulating sheath 2000 and the instrument rod 1000, as shown in fig. 5, when the insulating sheath 2000 moves along an axial direction (arrow direction) relative to the instrument rod 1000, the locking claws 3100b may be locked in the locking grooves 3200b, so that the whole movement process of the insulating sheath 2000 relative to the instrument rod 1000 is achieved, i.e. the whole movement process of fig. 7 to fig. 9 is achieved. When it is desired to disassemble the insulating sheath 2000 with respect to the instrument bar 1000, as shown in fig. 6, a force for moving the insulating sheath 2000 in a distal direction (arrow direction) along the axial direction of the instrument bar 1000 may be applied to the insulating sheath 2000, and the engagement claws 3100b and the corresponding engagement grooves 3200b are urged to be separated by the applied force.
In addition, as shown in fig. 4, in one embodiment, the instrument rod 1000 is further provided with a recessing portion 3300, where the recessing portion 3300 and the engaging portion 3200 are connected along the circumferential direction of the instrument rod 1000, the insulating sheath 2000 can rotate circumferentially relative to the instrument rod 1000, so that the engaging portion 3100 enters the recessing portion 3300 from the engaging portion, after the engaging portion 3100 enters the recessing portion 3300, the engaging portion 3100 can be separated from the instrument rod 1000 along the recessing portion 3300 more easily, specifically, referring to fig. 4, the number of recessing portions 3300 and the number of recessing grooves 3200b form a match, that is, one recessing portion 3300 is matched by one of the recessing grooves 3200b in a circumferentially adjacent position, and the recessing portion 3300 can take a groove form or a protrusion form, for example, the protruding form of the withdrawal portion 3300 needs to form a guiding area for the sliding and withdrawing of the clamping claw 3100b, such as a slope, when the clamping claw 3100b is in a clamping state with the clamping groove 3200b, the force application control insulating sheath 2000 rotates circumferentially relative to the instrument rod 1000, so that the clamping claw 3100b slides from the clamping groove 3200b to the clamping portion 3100, a structure similar to the slope and the like for facilitating the sliding of the clamping claw 3100b from the clamping groove 3200b to the clamping portion 3100 can be arranged between the clamping groove 3200b and the clamping portion 3100, when the clamping claw 3100b enters the clamping portion 3100, the force application control insulating sheath 2000 moves axially relative to the instrument rod 1000, and after the clamping restriction of the clamping groove 3200b is released, the clamping claw 3100b can slide axially along the clamping portion 3100 to withdraw, so that the insulating sheath 2000 is detached relative to the instrument rod 1000.
The guiding area formed on the dislocating portion 3300 for the sliding withdrawal of the clamping claw 3100b may take various forms, for example, as shown in fig. 3 and 4, in one embodiment, the clamping claw 3100b includes a planar claw section 3100b1 and a bevel claw section 3100b2 connected in a distal-to-proximal direction, the dislocating portion 3300 includes a planar dislocating section 3300a and a bevel dislocating section 3300b connected in a distal-to-proximal direction, the planar dislocating section 3300a is circumferentially connected to the clamping groove 3200b, the bevel dislocating section 3300b and the clamping groove 3200b are axially offset from each other, that is, the clamping claw 3100b can be kept aligned with the bevel dislocating section 3300b in the circumferential direction after the insulating sheath 2000 needs to be moved a certain distance along the axial direction, and then smoothly enters the bevel dislocating section 3300b.
Therefore, referring to fig. 3 and fig. 4, when the clamping claw 3100b is in a clamping state with the clamping groove 3200b, the clamping claw 3100b needs to be forced to be controlled to move axially relative to the instrument rod 1000, that is, the insulating sheath 2000 is controlled to move proximally relative to the instrument rod 1000 by a distance just equal to the distance that the inclined surface withdrawal section 3300b and the clamping groove 3200b are axially offset from each other, in the process that the insulating sheath 2000 moves proximally by a distance, a flexible part in the insulating sheath 2000 can be deformed and stretched to a corresponding extent, for example, the deformation and stretching amount of a rubber or other material can be between 5% and 30%, so that the clamping claw 3100b moves axially from the clamping groove 3200b to a position circumferentially aligned with the inclined surface withdrawal section 3300b, then the insulating sheath 2000 is forced to rotate circumferentially relative to the instrument rod 1000, so that the clamping claw 3100b slides circumferentially to the inclined surface withdrawal section 0b, after the insulating sheath 2000 moves proximally by a distance, the insulating sheath 3100b moves distally relative to the inclined surface withdrawal section 3300b, the insulating sheath 3100b is completely removed from the position of the clamp section 1000, and the clamp claw 3100b is completely matched with the clamp section 3300b, and the clamp section 3100b is completely removed from the position of the insulating sheath 1000, and the clamp section 3100b is completely removed from the position of the clamp section 1000, and the clamp section is completely matched with the clamp section 3300b, and the clamp section is completely removed from the clamp section of the clamp section, and the clamp section is positioned by the clamp section, and the clamp section is completely, and the clamp is removed.
Referring to fig. 10 and 11, in one embodiment, the engaging portion 3100 may be an engaging protrusion 3100a disposed on an outer wall of the non-curved body section 1200, and the engaging portion 3200 may be an engaging groove 3200a disposed on an inner wall of the rigid unit section 2100a, where the engaging protrusion 3100a is engaged with the engaging groove 3200a, so as to achieve the locking and limiting fixation of the insulating sheath 2000 with respect to the instrument bar 1000. Referring to fig. 12, at least a part of the rigid unit section 2100a is a deformation region 3100a1, the deformation region 3100a1 can be elastically deformed under the action of an external force, and the elastic deformation of the deformation region 3100a1 is used to achieve the mutual clamping or separation between the clamping protrusion 3100a and the clamping groove 3200 a.
For example, when the deformation area 3100a1 or the whole rigid unit section 2100a is of a metal structure capable of being elastically deformed, when the deformation area 3100a1 is pressed by a force, the cross section of the rigid unit section 2100a is changed from circular to elliptical, so that a certain deformation, for example, 5% -20% of the deformation, is generated in the corresponding area of the rigid unit section 2100a, the minor axis direction of the ellipse is the pressing position, the major axis direction of the ellipse is the position where the clamping protrusion 3100a and the clamping groove 3200a are mutually clamped, and since the cross section of the rigid unit section 2100a is changed from circular to elliptical, the minor axis and the major axis are generated by pressing by axial force, the position of the major axis of the ellipse can promote the clamping protrusion 3100a and the clamping groove 3200a to be mutually separated, the clamping state is released, and then the insulating sheath 2000 is controlled to move towards the distal end relative to the instrument rod 1000 by force, so that the insulating sheath 2000 can be dismounted relative to the instrument rod 1000.
The clamping groove 3200a may be located on one or more rigid unit sections 2100a of the insulating sheath 2000, the clamping protrusion 3100a may be located on one or more non-curved body sections 1200 of the instrument bar 1000, while at least one rigid unit section 2100a may be provided with a corresponding deformation region 3100a1, and with continued reference to fig. 14-17, the clamping groove 3200a and the deformation region 3100a1 may be provided on two rigid unit sections 2100a of the insulating sheath 2000, while the clamping protrusion 3100a may be provided on two non-curved body sections 1200 of the instrument bar 1000. Alternatively, referring to fig. 18-21, the three rigid unit sections 2100a of the insulating sheath 2000 may be provided with snap grooves 3200a and deformation regions 3100a1, while the three non-curved body sections 1200 of the instrument bar 1000 may be provided with snap protrusions 3100a. The number and positions of the clamping protrusions 3100a, the clamping grooves 3200a, the deformation regions 3100a1, and the like can be set reasonably according to requirements by a person skilled in the art, and the clamping grooves 3200a can be annular grooves, which are not limited herein.
The insulating sheath 2000 is divided into a main body sheath segment 2100 and a distal sheath segment 2200, wherein the main body sheath segment 2100 and the distal sheath segment 2200 can be made of rigid materials or flexible materials according to requirements, or the main body sheath segment 2100 and the distal sheath segment 2200 can be made of rigid-flexible materials, so long as stable assembly on the instrument rod 1000 can be ensured, and the insulating sheath is not limited herein. In one embodiment, the main body sheath segment 2100 of the insulating sheath 2000 is made of a flexible material, the distal sheath segment 2200 of the insulating sheath 2000 is made of a rigid material, the instrument rod 1000 and the distal sheath segment 2200 are assembled by clamping, at least a portion of the distal sheath segment 2200 can be elastically deformed under the action of an external force, and the elastic deformation of the distal sheath segment 2200 can be used for releasing the clamping of the instrument rod 1000 and the distal sheath segment 2200, wherein the elastic deformation of the distal sheath segment 2200 can refer to a deformation region 3100a1 provided in at least a portion of the rigid unit segment 2100a, which is not described herein.
In addition, the main body sheath segment 2100 and the distal sheath segment 2200 of the insulating sheath 2000 may be made of flexible materials, the outer diameter of the instrument rod 1000 is slightly larger than the inner diameter of the main body sheath segment 2100, so that the inner diameter of the main body sheath segment 2100 is 5% -15% deformed when sleeved, the main body sheath segment 2100 is clamped on the instrument rod 1000 after being stretched, in one embodiment, the inner diameter of the distal sheath segment 2200 is smaller than the inner diameter of the main body sheath segment 2100, for example, slightly smaller than 5% -20%, so that the inner diameters of the distal sheath segment 2200 and the inner diameter of the main body sheath segment 2100 have a diameter difference 3500, and the diameter difference 3500 is formed in the inner cavity of the distal sheath segment 2200 and the inner cavity of the main body sheath segment 2100, as shown in fig. 22 and 23, the inner diameter of the distal sheath segment 2200 may be smaller than the inner diameter of the main body sheath segment 2100, for example, by slightly smaller than 0.5mm to 1mm, so that after the insulating sheath 2000 is sleeved on the rod 1000, the distal sheath segment 2200 may be sleeved with the instrument rod 1000 to form a tighter interaction, and the distal sheath 2200 may not be sleeved on the insulating sheath segment 2000, and the axial sleeve may be removed by a larger axial sleeve length than the insulating sheath segment 2000, which is not sleeved on the whole length, and the insulating sheath segment 2200 may be conveniently removed.
Referring to fig. 24 and 25, the distal sheath segment 2200 includes a straight unit segment 2200a and a variable-diameter unit segment 2200b, the variable-diameter unit segment 2200b is located at the distal end of the straight unit segment 2200a, and the diameter of the variable-diameter unit segment 2200b gradually increases in the direction from the distal end to the proximal end, so as to form a distal end closing-in structure, the thickness of the distal end closing-in structure may be slightly higher than that of the proximal end, for example, slightly higher than 0.2mm-0.5mm, so as to improve the compressive strength of the sheath end, and the distal end face of the distal sheath segment 2200 exceeds the distal end face of the instrument rod 1000, so that the tightness of the sheath may be improved, and the penetration of tissue fluid may be prevented.
Referring to fig. 26 and 27, in one embodiment, the main body sheath segment 2100 and the distal sheath segment 2200 are made of flexible materials, the spring inner ring 3400 is disposed inside the main body sheath segment 2100, the main body sheath segment 2100 may be insulated by an insulating coating such as parylene, and the main body sheath segment 2100 and the spring inner ring 3400 may be formed by a co-injection process. The distal sheath segment 2200 may be provided with a distal end closure structure, and the body sheath segment 2100 and the distal sheath segment 2200 may be axially connected by adhesive means such as glue, among other means. The inner diameter of the main body sheath segment 2100 is smaller than the outer diameter of the instrument bar 1000, the main body sheath segment 2100 is hooped on the instrument bar 1000 by the self elastic tightening force, and the inside of the main body sheath segment 2100 can prop open a channel through the spring inner ring 3400, so that the movement of the flexible main body segment 1100 is not affected, and the installation on the instrument bar 1000 is more convenient.
Referring to fig. 28, in one embodiment, the main body sheath segment 2100 includes a plurality of rigid joint rings 2100c and a plurality of flexible joint rings 2100d, the plurality of rigid joint rings 2100c and the plurality of flexible joint rings 2100d are sequentially connected from the distal end to the proximal end at intervals, the rigid joint rings 2100c may be made of an insulating metal or polymer material, the rigid joint rings 2100c and the flexible joint rings 2100d may be formed by co-injection or glue bonding, the main body sheath segment 2100 is made of a flexible material with a distal end closing structure, and the main body sheath segment 2100 and the distal end sheath segment 2200 may be axially connected by glue bonding, etc. The inner diameter of the main body sheath segment 2100 is smaller than the outer diameter of the instrument bar 1000, and the main body sheath segment 2100 is crimped onto the instrument bar 1000 by its own elastic tightening force.
The axial length of the rigid knuckle ring 2100c is smaller than the axial length of the flexible knuckle ring 2100d, for example, the ratio of the axial length of the rigid knuckle ring 2100c to the axial length of the flexible knuckle ring 2100d is between 0.1 and 0.5, so that the axial length of the rigid knuckle ring 2100c is much smaller than the axial length of the flexible knuckle ring 2100d, therefore, most of the sections of the main body sheath segment 2100 are flexible, the bending movement of the insulating sheath 2000 is not affected by the joint structure formed by connecting the rigid knuckle ring 2100c and the flexible knuckle ring 2100d, the rigidity of the insulating sheath 2000 can be ensured, and a channel is opened inside the main body sheath segment 2100 by using the rigid knuckle ring 2100c constructed in the middle, so that the device bar 1000 is convenient to install.
With continued reference to fig. 29, in one embodiment, the end of the rigid knuckle ring 2100c has a first coupling tooth 2100c1 and the end of the flexible knuckle ring 2100d has a second coupling tooth 2100d1, the rigid knuckle ring 2100c and the flexible knuckle ring 2100d being connected by the first coupling tooth 2100c1 and the second coupling tooth 2100d1 with a glue gap 2100c2 between the first coupling tooth 2100c1 and the second coupling tooth 2100d 1. The first connecting teeth 2100c1 and the second connecting teeth 2100d1 are in symmetrical tooth-shaped configuration, the glue injection gap 2100c2 can be positioned at a gap of 0.1mm-1mm, the glue injection gap 2100c2 is used for leaving a glue passing opening, and the glue injection gap 2100c2 is used for injecting glue inwards for bonding, so that the connection between the rigid joint ring 2100c and the flexible joint ring 2100d is firmer.
Referring to fig. 30 to 32, the present application also provides a surgical robot system including an electrosurgical instrument 100, wherein the electrosurgical instrument 100 is required to be inserted from an internal passage hole of a puncture instrument 200, and the central axis of the electrosurgical instrument 100 is required to be aligned with the central axis of the puncture instrument 200, and the distal end of the electrosurgical instrument 100 can perform a surgery after reaching a designated position. Since the specific structure, functional principle and technical effects of the electrosurgical instrument 100 are described in detail above, the details of the electrosurgical instrument 100 are not described herein, and any technical content related to the electrosurgical instrument 100 is referred to in the above description.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description. The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (12)
1. An electrosurgical instrument, the electrosurgical instrument comprising:
an instrument bar comprising connected bendable and non-bendable body sections;
the insulation sheath comprises a main body sheath section and a distal sheath section which are connected, the distal sheath section is positioned at the distal end of the main body sheath section, and the insulation sheath is sleeved outside the instrument rod piece;
and the limiting mechanism is arranged on at least one of the instrument rod piece and the insulating sheath and used for keeping the insulating sheath and the instrument rod piece relatively limited and fixed.
2. The electrosurgical instrument of claim 1, wherein the body sheath segment comprises:
a rigid unit section covering the non-curved body section of the instrument bar, the rigid unit section having a length less than a length of its corresponding non-curved body section;
and the flexible unit section is connected with the rigid unit section, covers the bendable main body section of the instrument rod piece, and has a length larger than that of the corresponding bendable main body section.
3. An electrosurgical instrument according to claim 2, wherein the rigid unit section and the non-curved body section are provided with a snap-fit portion and a joint portion, respectively, the snap-fit portion and the joint portion constituting the limit mechanism, the rigid unit section and the non-curved body section being snap-fit and limit-secured by the snap-fit portion and the joint portion.
4. An electrosurgical instrument according to claim 3, wherein the engagement portion is an engagement protrusion provided on an outer wall of the non-curved body section, and the engagement portion is an engagement groove provided on an inner wall of the rigid unit section, the engagement protrusion being engaged with the engagement groove.
5. The electrosurgical instrument of claim 4, wherein at least a portion of the rigid unit section is a deformation region capable of undergoing elastic deformation under external force, the elastic deformation of the deformation region being used to achieve the mutual engagement or disengagement between the engagement protrusion and the engagement groove.
6. An electrosurgical instrument according to claim 3, wherein the engagement portion is a detent disposed at a proximal end of the insulating sheath, and the engagement portion is a detent disposed on the instrument stem, the detent being snap-fitted with the detent.
7. An electrosurgical instrument according to claim 6, wherein the instrument shaft is provided with a relief portion, the relief portion and the engagement portion being connected along a circumferential direction of the instrument shaft, the insulating sheath being rotatable circumferentially relative to the instrument shaft such that the engagement portion enters from the engagement portion to the relief portion.
8. The electrosurgical instrument of claim 7, wherein the detent includes a planar detent segment and a beveled detent segment that are connected in a distal-to-proximal direction, the relief including a planar relief segment and a beveled relief segment that are connected in a distal-to-proximal direction, the planar relief segment being circumferentially connected to the detent, the beveled relief segment being axially offset from the detent.
9. The electrosurgical instrument of claim 1, wherein a main sheath segment of the insulating sheath is a flexible material, a distal sheath segment of the insulating sheath is a rigid material, the instrument rod and the distal sheath segment are snap-fitted, and at least a portion of the distal sheath segment is elastically deformable under an external force for releasing the instrument rod and the distal sheath segment from the snap-fit; or alternatively, the process may be performed,
the main body sheath section and the distal sheath section of the insulating sheath are made of flexible materials, and a spring inner ring is arranged in the main body sheath section.
10. The electrosurgical instrument of claim 1, wherein the lumen diameter of the distal sheath segment is smaller than the lumen diameter of the main body sheath segment such that the lumen diameters of the distal sheath segment and the main body sheath segment have a diameter differential, the stepped configuration of the diameter differential in the lumens of the distal sheath segment and the main body sheath segment constituting the stop mechanism; and/or the number of the groups of groups,
the distal sheath section comprises a straight unit section and a reducing unit section, the reducing unit section is positioned at the distal end of the straight unit section, and the diameter of the reducing unit section gradually increases in the direction from the distal end to the proximal end; and/or the number of the groups of groups,
the distal end face of the distal sheath segment extends beyond the distal end face of the instrument bar.
11. The electrosurgical instrument of claim 1, wherein the body sheath segment comprises a plurality of rigid articulating rings and a plurality of flexible articulating rings, the plurality of rigid articulating rings and the plurality of flexible articulating rings being sequentially connected at intervals in a distal to proximal direction; the end part of the rigid joint ring is provided with a first connecting tooth, the end part of the flexible joint ring is provided with a second connecting tooth, the rigid joint ring is connected with the flexible joint ring through the first connecting tooth and the second connecting tooth, and a glue injection gap is arranged between the first connecting tooth and the second connecting tooth.
12. A surgical robotic system, characterized in that it comprises the electrosurgical instrument of any one of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310326468.9A CN116421297A (en) | 2023-03-29 | 2023-03-29 | Electrosurgical instrument and surgical robotic system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310326468.9A CN116421297A (en) | 2023-03-29 | 2023-03-29 | Electrosurgical instrument and surgical robotic system |
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| CN116421297A true CN116421297A (en) | 2023-07-14 |
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| CN202310326468.9A Pending CN116421297A (en) | 2023-03-29 | 2023-03-29 | Electrosurgical instrument and surgical robotic system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116784941A (en) * | 2023-08-25 | 2023-09-22 | 浙江归创医疗科技有限公司 | Flexible driving shaft and invasive instrument |
| CN117796899A (en) * | 2024-02-28 | 2024-04-02 | 苏州康多机器人有限公司 | Protection device of energy instrument |
-
2023
- 2023-03-29 CN CN202310326468.9A patent/CN116421297A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116784941A (en) * | 2023-08-25 | 2023-09-22 | 浙江归创医疗科技有限公司 | Flexible driving shaft and invasive instrument |
| CN116784941B (en) * | 2023-08-25 | 2023-11-24 | 浙江归创医疗科技有限公司 | Flexible driving shaft and invasive instrument |
| CN117796899A (en) * | 2024-02-28 | 2024-04-02 | 苏州康多机器人有限公司 | Protection device of energy instrument |
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