CN116585025A

CN116585025A - Conductive surgical instrument and surgical robot

Info

Publication number: CN116585025A
Application number: CN202310810547.7A
Authority: CN
Inventors: 李建民; 杨英侃; 王炳强; 王树新
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Surgical Robot Co Ltd
Priority date: 2023-07-04
Filing date: 2023-07-04
Publication date: 2023-08-15

Abstract

The invention relates to the technical field of surgical robots, and discloses a conductive surgical instrument and a surgical robot. The electrically conductive surgical instrument includes an implement, a wrist mechanism, an electrically conductive member, and a lead. The wrist mechanism comprises a first rotating shaft, and the executing piece is rotationally connected to the first rotating shaft; the conducting piece is connected to the first rotating shaft and is in conductive contact with the executing piece, and the executing piece can rotate relative to the conducting piece; the wire is electrically connected to the conductive member. When the executive component rotates around the wrist mechanism, the conductive surgical instrument provided by the invention avoids pulling the lead, reduces the possibility of damaging electric leakage, improves the safety of operation, prolongs the service life of the conductive surgical instrument, and also reduces the maintenance cost and the material cost.

Description

Conductive surgical instrument and surgical robot

Technical Field

The invention relates to the technical field of surgical robots, in particular to a conductive surgical instrument and a surgical robot.

Background

Surgical robots are widely used in the medical field. The surgical robot comprises a patient surgical end, and a plurality of surgical instruments are arranged on a trolley of the patient surgical end. Surgical instruments are used to perform surgical procedures on patients.

The conductive surgical instrument is used for realizing the functions of excision, hemostasis and the like in the operation. Electrically conductive surgical instruments generally include an end effector and a cartridge. The end effector comprises a wrist mechanism and an actuating member, the actuating member is rotationally connected with the wrist mechanism through a rotating shaft, and a wire from the instrument box penetrates through the wrist mechanism and then is connected to the actuating member for transmitting electric energy to the actuating member. The executive component rotates along with the executive component in the rotating process, so that the length of the wire wound on the rotating shaft changes, and the wire is pulled, thereby improving the possibility of damage and electric leakage of the wire, reducing the safety of operation, easily causing secondary injury to patients, affecting the durability of the conductive surgical instrument and shortening the service life of the conductive surgical instrument.

Based on this, there is a need for an electrically conductive surgical instrument and surgical robot that solves the above-mentioned problems.

Disclosure of Invention

The invention aims to provide a conductive surgical instrument and a surgical robot, wherein a wire does not rotate along with an executing piece when the executing piece rotates, so that the wire is prevented from being pulled, the wire is prevented from being damaged and leaked, the safety of a surgery is improved, and the service life of the conductive surgical instrument is prolonged.

To achieve the purpose, the invention adopts the following technical scheme:

An electrically conductive surgical instrument, comprising:

an actuator;

the wrist mechanism comprises a first rotating shaft, and the executing piece is rotationally connected to the first rotating shaft;

the conducting piece is connected to the first rotating shaft and is in conductive contact with the executing piece, and the executing piece can rotate relative to the conducting piece;

and the conducting wire is connected to the conducting piece in a conducting way.

As the optional technical scheme of electrically conductive surgical instrument, the executive component includes conducting ring, executive component and insulating protection piece, offer first hole and second hole on the insulating protection piece, first hole with the second hole is followed the coaxial intercommunication of axial of first pivot, the conducting ring is arranged in the first hole and movable sleeve establishes in the first pivot, the executive component electrically connect in the lateral wall of conducting ring, at least part the executive component is followed the radial extension of first pivot insulating protection piece, the one end of conducting component stretches into the second hole and with the electrically conductive contact of conducting ring.

As an alternative technical scheme of the conductive surgical instrument, the conductive surgical instrument further comprises a fixing piece, the fixing piece is connected to the first rotating shaft, the fixing piece is located on one side, away from the conductive ring, of the conductive piece, a groove is formed in one end, facing the executing piece, of the fixing piece, and one end, away from the conductive ring, of the conductive piece is arranged in the groove.

As an alternative technical scheme of the conductive surgical instrument, the fixing piece is fixedly connected with the first rotating shaft, the end face of the fixing piece, which faces the executing piece, is attached to the end face of the insulating protection piece, an opening is formed in the side wall of the fixing piece, the opening is communicated with the groove, and the conducting wire penetrates through the opening.

As an alternative technical scheme of the conductive surgical instrument, a containing ring groove is formed in the side wall of the groove along the circumferential direction, the containing ring groove penetrates through the end face of the fixing piece, which faces the insulating protection piece, and at least part of the insulating protection piece is arranged in the containing ring groove.

As an alternative technical scheme of the conductive surgical instrument, the fixing piece and the insulation protection piece are arranged at intervals along the axial direction of the first rotating shaft, and the conducting wire is arranged between the fixing piece and the insulation protection piece.

As an alternative technical scheme of the conductive surgical instrument, a contact groove is formed in one side, facing the conductive piece, of the actuating piece, at least part of the conductive piece is arranged in the contact groove, the end face of the conductive piece is attached to the bottom face of the contact groove, and the side wall of the conductive piece is attached to the side wall of the contact groove;

And/or, wrist mechanism still includes first connecting seat, be provided with two terminal engaging lugs on the first connecting seat, the both ends of first pivot respectively with two terminal engaging lugs are connected, electrically conductive piece sets up the executive component with between the terminal engaging lug, electrically conductive piece with be provided with the elastic component between the terminal engaging lug, the elastic component can make electrically conductive piece with the executive component butt.

As an alternative technical scheme of the conductive surgical instrument, the first rotating shaft comprises a shaft body and an insulation protection sleeve, the insulation protection sleeve is sleeved on the shaft body, and the executing piece and the conductive piece are both connected with the insulation protection sleeve;

and/or, the conductive surgical instrument further comprises a conductive contact piece, wherein the conductive contact piece is arranged between the conductive piece and the executing piece, one end of the conductive contact piece is in conductive connection with the conductive piece, the other end of the conductive contact piece is in conductive connection with the executing piece, and the conductive contact piece can change the length of the conductive contact piece along the axial direction of the first rotating shaft.

As an alternative technical scheme of the conductive surgical instrument, the wrist mechanism further comprises a first connecting seat, a second rotating shaft and a third rotating shaft, wherein the first rotating shaft is connected to the first connecting seat, the second rotating shaft is arranged on the first connecting seat and is perpendicular to the first rotating shaft, a first pulley is coaxially sleeved on the second rotating shaft, a first arc-shaped surface coaxially arranged with the second rotating shaft is arranged on the first connecting seat, a first tooth structure is arranged on the first arc-shaped surface, the third rotating shaft is arranged on the second connecting seat and is parallel to the second rotating shaft, a second pulley is coaxially sleeved on the third rotating shaft, a second arc-shaped surface coaxially arranged with the third rotating shaft is arranged on the second connecting seat, a second tooth structure is arranged on the second arc-shaped surface, the first tooth structure is meshed with the second tooth structure, and the ratio of the circle radius of the first tooth structure to the second tooth structure to the radius of the first pulley is the same as the ratio of the radius of the second pulley to the second pulley;

The electrically conductive surgical instrument further comprises a pitch drive wire for manipulating the first connection mount for rotation;

the lead is wound on the first pulley and the second pulley which are opposite to each other in an S-shaped mode.

A surgical robot comprising an electrically conductive surgical instrument as described above.

The invention has the beneficial effects that:

the conductive surgical instrument comprises the executing piece, the wrist mechanism, the conductive piece and the conducting wire, wherein the conducting wire is in conductive connection with the conductive piece, the conductive piece and the executing piece can move relatively, when the executing piece rotates around the wrist mechanism, the conducting wire and the conductive piece cannot rotate along with the executing piece, the wire is prevented from being pulled, the possibility of damaging and leaking electricity of the conducting wire is reduced, the safety of an operation is improved, the possibility of secondary injury to a patient is reduced, the durability of the conductive surgical instrument is improved, the service life of the conductive surgical instrument is prolonged, the reliability of the conductive surgical instrument in use is improved, the maintenance cost is reduced, the length of the conducting wire is shortened, and the material cost is reduced.

The surgical robot provided by the invention comprises the conductive surgical instrument, when the executive component rotates around the wrist mechanism, the lead is prevented from being pulled, the possibility of damage and electric leakage is reduced, the safety of surgery is improved, the possibility of secondary injury to a patient is reduced, the durability of the conductive surgical instrument is improved, the service life of the conductive surgical instrument is prolonged, the reliability of the conductive surgical instrument in use is improved, the maintenance cost is reduced, and the material cost is reduced.

Drawings

FIG. 1 is a schematic view of an electrically conductive surgical instrument according to a first embodiment of the present invention;

FIG. 2 is a schematic view of an end effector according to a first embodiment of the present invention;

FIG. 3 is a cross-sectional view in a first direction of an end effector portion configuration provided in accordance with an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a second direction of a partial end effector configuration provided in accordance with an embodiment of the present invention;

FIG. 5 is an exploded view of an end effector according to a first embodiment of the present invention;

FIG. 6 is a schematic view of a wrist mechanism according to a first embodiment of the present invention;

fig. 7 is a schematic diagram of a winding of a wire in a wrist mechanism according to a first embodiment of the present invention;

FIG. 8 is a first cross-sectional view of an end effector according to a first embodiment of the present invention;

fig. 9 is a schematic view of a wrist mechanism according to a first embodiment of the present invention in an initial position;

FIG. 10 is a schematic view of a wrist mechanism according to a first embodiment of the present invention in a first position;

FIG. 11 is a schematic view of a wrist mechanism according to a first embodiment of the present invention in a second position;

FIG. 12 is a schematic view of a first embodiment of the present invention for winding actuator wires and pitch actuator wires in a wrist mechanism;

FIG. 13 is an exploded view of FIG. 12;

FIG. 14 is a second cross-sectional view of an end effector according to a first embodiment of the present invention;

fig. 15 is a schematic structural view of a wrist mechanism according to a first embodiment of the present invention;

fig. 16 is a schematic structural view of a first connection seat according to an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a second connection seat according to a first embodiment of the present invention;

FIG. 18 is a schematic view of an end effector according to a second embodiment of the present invention;

FIG. 19 is a schematic view of a portion of an end effector according to a second embodiment of the present invention;

fig. 20 is a schematic structural view of a wrist mechanism according to a second embodiment of the present invention;

FIG. 21 is a cross-sectional view of an end effector provided in accordance with a third embodiment of the present invention;

FIG. 22 is a cross-sectional view of an end effector provided in accordance with a fourth embodiment of the present invention;

FIG. 23 is a schematic view of an end effector according to a fifth embodiment of the present invention;

fig. 24 is a cross-sectional view of an end effector provided in accordance with a fifth embodiment of the present invention.

In the figure:

10. an end effector; 20. a connecting rod; 30. an instrument box;

1. an actuator; 11. a conductive ring; 12. an execution unit; 13. an insulating protector; 131. a first hole; 132. a second hole;

2. A wrist mechanism; 21. a first connection base; 211. a first tooth structure; 212. a first connection lug; 213. a first housing; 214. a tail end connecting lug; 22. a second connecting seat; 221. a second tooth structure; 222. a second connecting ear; 223. a second housing; 23. a first rotating shaft; 231. a shaft body; 232. an insulating protective sleeve; 233. an insulating sheet; 24. a second rotating shaft; 241. a first pulley; 242. a first guide wheel; 25. a third rotating shaft; 251. a second pulley; 252. a second guide wheel; 26. a fourth rotating shaft; 27. a connecting piece; 271. a wheel section; 272. a connection part; 28. pitching the guide wheel;

3. a conductive member; 4. a wire; 41. a first connection section; 42. a second connection section; 43. a third connecting section;

5. a fixing member; 51. a groove; 52. an opening; 53. the ring groove is accommodated;

6. an elastic member; 7. a conductive contact;

8. a pitch drive wire; 81. a pitch section; 9. executing a driving wire; 91. the segment is executed.

Detailed Description

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

Example 1

The present embodiment provides a surgical robot. In particular, the surgical robot includes an electrically conductive surgical instrument. The conductive surgical instrument can perform surgical operations such as cutting, hemostasis and the like on a patient.

Further, the surgical robot further comprises a doctor control end and a patient operation end, wherein the patient operation end comprises conductive surgical instruments, and an operator can control the conductive surgical instruments to perform operation on a patient through the doctor control end.

The specific structure of the doctor control end, other structures of the patient operation end, and the control principle and control manner between the doctor control end and the patient operation end can refer to the prior art, which is not the protection focus of the embodiment, and will not be described herein.

Specifically, as shown in FIG. 1, the electrically conductive surgical instrument includes an instrument pod 30, a connecting rod 20, and an end effector 10. The instrument pod 30 is attached to other structures at the surgical end of the patient. The connecting rod 20 is connected between the end effector 10 and the instrument pod 30. Further, as shown in fig. 1-17, end effector 10 includes an effector 1, a wrist mechanism 2, a conductive member 3, and a lead 4. The wrist mechanism 2 comprises a first rotating shaft 23, and the executing piece 1 is rotatably connected to the first rotating shaft 23; the conductive member 3 is connected to the first rotating shaft 23 and is in conductive contact with the executing member 1, and the executing member 1 can rotate relative to the conductive member 3; the wire 4 is electrically connected to the conductive member 3.

In the present embodiment, the instrument box 30 is connected to one end of the link 20, and the wrist mechanism 2 is connected to the other end of the link 20.

Specifically, a power supply structure is provided in the instrument box 30, and the lead 4 passes through the wrist mechanism 2 and is connected with the power supply structure in the instrument box 30, and the power supply structure can provide positive or negative electric energy for the lead 4. The above power supply structure and the connection relationship between the power supply structure and the instrument box 30 may refer to the prior art, which is not the protection focus of the present embodiment, and will not be described herein.

The conductive surgical instrument provided by the embodiment comprises the executing piece 1, the wrist mechanism 2, the conductive piece 3 and the conducting wire 4, wherein the conducting wire 4 is in conductive connection with the conductive piece 3, the conductive piece 3 and the executing piece 1 can move relatively, when the executing piece 1 rotates around the wrist mechanism 2, the conducting wire 4 and the conductive piece 3 cannot rotate along with the executing piece 1, the lead 4 is prevented from being pulled, the possibility of damaging electric leakage of the lead 4 is reduced, the safety of an operation is improved, the possibility of secondary injury to a patient is reduced, the durability of the conductive surgical instrument is improved, the service life of the conductive surgical instrument is prolonged, the reliability of the conductive surgical instrument in use is improved, the maintenance cost is reduced, the length of the lead 4 is shortened, and the material cost is reduced.

The surgical robot provided by the embodiment comprises the conductive surgical instrument, when the executing piece 1 rotates around the wrist mechanism 2, the wire 4 is prevented from being pulled, the possibility of damage and leakage is reduced, the safety of surgery is improved, the possibility of secondary injury to a patient is reduced, the durability of the conductive surgical instrument is improved, the service life of the conductive surgical instrument is prolonged, the reliability of the conductive surgical instrument in use is improved, the maintenance cost is reduced, and the material cost is reduced.

In this embodiment, the conductive member 3 is annular and is movably sleeved on the first rotating shaft 23. In other embodiments, the conductive member 3 may be fixedly connected to the first shaft 23, which is not limited herein.

Preferably, the actuator 1 comprises a conductive ring 11, an actuator 12 and an insulating protection 13. The executing part 11 is used for contacting human tissues and realizing the functions of cutting and stopping bleeding of the human tissues by the conductive surgical instrument. The insulating protection piece 13 is provided with a step hole along the axial direction of the first rotating shaft 23, the step hole comprises a first hole 131 and a second hole 132 which are coaxially communicated, the conducting ring 11 is arranged in the first hole 131 and movably sleeved on the first rotating shaft 23, the executing part 12 is electrically connected to the side wall of the conducting ring 11, at least part of the executing part 12 extends out of the insulating protection piece 13 along the radial direction of the first rotating shaft 23, and one end of the conducting piece 3 extends into the second hole 132 and is in electrically conductive contact with the conducting ring 11. Because the conducting ring 11 and the conducting piece 3 are electrified in the operation, the conducting ring 11 and part of the conducting piece 3 can be separated from a patient by arranging the insulating protective piece 13, the risk of the conducting ring 11 and the conducting piece 3 being in false touch with the patient is reduced, and the safety of the operation is further improved; in addition, the insulating protection piece 13 can also limit the relative positions of the conducting ring 11 and the conducting piece 3 along the radial direction, so that good contact between the conducting ring 11 and the conducting piece 3 is guaranteed, and the functionality of the conducting surgical instrument is guaranteed. Wherein, the second hole 132 is in clearance fit with the conductive element 3, so that the possibility of synchronously driving the conductive element 3 to rotate when the actuator 1 rotates is reduced, and the wire 4 is further prevented from being pulled.

In this embodiment, the conductive ring 11, the executing portion 12 and the conductive member 3 are all made of metal. The lead wire 4 is welded and fixed with the conductive member 3. The conductive ring 11 and the executing part 12 are integrally formed, so that the production and the processing are facilitated, and the assembly process is simplified. The insulating protector 13 is made of rubber or silica gel.

In the present embodiment, the stepped holes penetrate both ends of the insulating protector 13, and the first hole 131 has a larger aperture than the second hole 132. In other embodiments, the step hole may only penetrate through the end of the insulating protection member 13 facing the conductive member 3, and the aperture of the first hole 131 may be smaller than or equal to that of the second hole 132, which is not limited herein.

Preferably, a contact groove (not shown) is formed in one side, facing the conducting piece 3, of the conducting piece 1, at least part of the conducting piece 3 is placed in the contact groove, the end face of the conducting piece 3 is attached to the bottom face of the contact groove, the side wall of the conducting piece 3 is attached to the side wall of the contact groove, the contact area between the conducting piece 3 and the conducting piece 1 can be increased, good contact between the conducting ring 11 and the conducting piece 3 is further guaranteed, and the functionality of the conducting surgical instrument is guaranteed.

In this embodiment, the contact groove is annular and is disposed coaxially with the first rotating shaft 23, and the contact groove is formed on a side of the conductive ring 11 facing the conductive member 3. According to the description of the conductive member 3 being annular in the foregoing, the inner side wall of the conductive member 3 is circumferentially fitted with the groove side wall on the inner side of the contact groove, and the outer side wall of the conductive member 3 is circumferentially fitted with the groove side wall on the outer side of the contact groove, that is, the inner diameter of the contact groove is the same as the inner diameter of the conductive member 3, and the outer diameter of the contact groove is the same as the outer diameter of the conductive member 3.

Further, the conductive surgical instrument further comprises a fixing piece 5, the fixing piece 5 is connected to the first rotating shaft 23, the fixing piece 5 is located on one side, far away from the conductive ring 11, of the conductive piece 3, a groove 51 is formed in one end, facing the executing piece 1, of the fixing piece 5, and one end, far away from the conductive ring 11, of the conductive piece 3 is placed in the groove 51. The structure is provided, the fixing piece 5 can shield part of the conductive piece 3, the exposed area of the conductive piece 3 is further reduced, the risk of false touch between the conductive piece 3 and a patient is further reduced, and the safety of an operation is improved. Wherein, the fixing piece 5 is made of insulating materials.

In this embodiment, the fixing member 5 is fixedly connected with the first rotating shaft 23, the end face of the fixing member 5 facing the executing member 1 is attached to the end face of the insulating protecting member 13, the side wall of the fixing member 5 is provided with an opening 52, the opening 52 is communicated with the groove 51, and the conducting wire 4 is arranged through the opening 52. Through the arrangement, the conductive piece 3 can be completely coated between the fixing piece 5 and the insulating protection piece 13, the conductive piece 3 is prevented from being exposed, the safety of an operation is further improved, meanwhile, due to the fixing arrangement of the fixing piece 5, the position of the opening 52 is also fixed, and the wire 4 is penetrated through the opening 52 of the fixing piece 5, so that the opening 52 can limit the position of the wire 4, the possibility that the wire 4 rotates along with the executing piece 1 is further reduced, the wire 4 is prevented from being pulled, the possibility that the wire 4 is damaged and leaked is reduced, the safety of the operation and the durability of the conductive surgical instrument are improved, and the service life of the conductive surgical instrument is prolonged.

In other embodiments, the fixing member 5 and the insulating protecting member 13 are disposed at intervals along the axial direction of the first rotating shaft 23, the conductive member 3 can be exposed through a gap between the fixing member 5 and the insulating protecting member 13, and the conductive wire 4 passes through the gap between the fixing member 5 and the insulating protecting member 13 and then is connected to the conductive member 3, so that the structure of the fixing member 5 is simplified, and the production and the processing are facilitated.

Specifically, the fixing member 5 is annular, and the first shaft 23 is disposed through a central through hole of the fixing member 5. The groove 51 is circumferentially annularly provided on the wall of the center through hole such that the cross section of the groove 51 is circular, and the groove 51 is coaxially provided with the first rotation shaft 23. Preferably, the groove side wall of the groove 51 is provided with a containing ring groove 53 along the circumferential direction, the containing ring groove 53 penetrates through the end face of the fixing piece 5 facing the insulating protection piece 13, at least part of the insulating protection piece 13 is placed in the containing ring groove 53, the axial dimension of the fixing piece 5 and the actuating piece 1 along the first rotating shaft 23 after being assembled is shortened, the axial length of the first rotating shaft 23 is shortened, and the wrist mechanism 2 is miniaturized.

Specifically, the actuators 1 are provided in two so that the end effector 10 has an opening and closing action. In this embodiment, the electrically conductive surgical instrument is a bipolar non-invasive clamp and the implement portion 12 is a non-invasive clamp flap. The specific structure of the actuator 1 may refer to the prior art, which is not the protection focus of the present embodiment, and will not be described herein. At this time, the conductive parts 3 and the wires 4 are both provided with two power supply structures, two ends of the two wires 4 are both extended into the instrument box 30 and are respectively connected with the two power supply structures, and the two power supply structures can respectively provide electric energy of the positive electrode and the negative electrode for the wires 4. Further, the conductive member 3 and the fixing member 5 are respectively disposed on the sides of the two actuators 1 facing away from each other.

As a preferable scheme, the first rotating shaft 23 is sleeved with the insulating sheet 233, and the insulating sheet 233 is arranged between the two executing pieces 1, so that the two executing pieces 1 can be prevented from being in contact with a short circuit, and the safety of an operation is further improved.

In this embodiment, the insulating sheet 233 may be made of rubber, silicone, PTFE (polytetrafluoroethylene), PEI (polyethylenimine), PEEK (polyetheretherketone) or other insulating materials.

Preferably, the first rotating shaft 23 includes a shaft body 231 and an insulation protecting sleeve 232, the insulation protecting sleeve 232 is sleeved on the shaft body 231, and the executing piece 1 and the conducting piece 3 are both connected to the insulation protecting sleeve 232. The arrangement can avoid electrification on the first rotating shaft 23, reduces the possibility that electric energy on the executing piece 1 is transmitted to the connecting rod 20 and the instrument box 30, further improves the safety of operation, ensures that the power supply structure in the instrument box 30 can normally supply power, and ensures the functionality of the conductive surgical instrument.

In this embodiment, the insulating protective sleeve 232 is made of rubber, silica gel, PTFE (polytetrafluoroethylene), PEI (polyethylenimine), PEEK (polyetheretherketone) or other insulating materials, and the shaft body 231 is made of metal materials. The fixing member 5 is fixedly sleeved outside the insulating protection sleeve 232.

As a preferred scheme, the wrist mechanism 2 further comprises a first connecting seat 21, a second connecting seat 22, a second rotating shaft 24 and a third rotating shaft 25, wherein the first rotating shaft 23 is connected to the first connecting seat 21, the second rotating shaft 24 is arranged on the first connecting seat 21 and is perpendicular to the first rotating shaft 23, a first pulley 241 is coaxially sleeved on the second rotating shaft 24, a first arc-shaped surface coaxially arranged with the second rotating shaft 24 is arranged on the first connecting seat 21, a first tooth structure 211 is arranged on the first arc-shaped surface, the third rotating shaft 25 is arranged on the second connecting seat 22 and is parallel to the second rotating shaft 24, a second pulley 251 is coaxially sleeved on the third rotating shaft 25, a second arc-shaped surface coaxially arranged with the third rotating shaft 25 is arranged on the second connecting seat 22, a second tooth structure 221 is arranged on the second arc-shaped surface, the first tooth structure 211 is meshed with the second tooth structure 221, the circle center of the reference circle of the first tooth structure 211 is positioned on the axis of the second rotating shaft 24, and the circle center of the reference circle of the second tooth structure 221 is positioned on the axis of the third rotating shaft 25; the ratio of the radii of the pitch circles of the first tooth structure 211 and the second tooth structure 221 is the same as the ratio of the radii of the first pulley 241 and the second pulley 251; the conductive surgical instrument further comprises a pitching driving wire 8, wherein the pitching driving wire 8 is used for controlling the first connecting seat 21 to rotate; the wire 4 is wound on the first pulley 241 and the second pulley 251 which are opposite to each other in an S shape.

When the pitching driving wire 8 operates the first connecting seat 21 to rotate, and the pitching degree of freedom of the end effector 10 is realized, the length of the part, where the wire 4 is wound on the first pulley 241 and the second pulley 251 which are just opposite to each other, is unchanged, the wire 4 cannot be pulled, the possibility of breakage or fracture of the wire 4 is further reduced, the condition of electric leakage is avoided, the safety of an operation is improved, the service life of the end effector 10 is prolonged, the maintenance cost is reduced, the smooth implementation of the operation is ensured, and the reliability of the conductive surgical instrument in the operation is improved.

Specifically, the pitch circle radius of the first tooth structure 211 is set to R1, the pitch circle radius of the second tooth structure 221 is set to R1, the radius of the first pulley 241 is set to R2, and the radius of the second pulley 251 is set to R2. The previously described "the ratio of the pitch radii of the first tooth structure 211 and the second tooth structure 221 is the same as the ratio of the radii of the first pulley 241 and the second pulley 251", specifically, r1/r1=i=r2/R2.

In the present embodiment, i=1. In other embodiments, the value of i may be adaptively adjusted, which is not limited herein.

In the present embodiment, the first rotating shaft 23 and the second rotating shaft 24 are respectively disposed at two ends of the first connecting seat 21, and the first rotating shaft 23 is disposed at one end of the first connecting seat 21 away from the second connecting seat 22.

In the present embodiment, since the wires 4 are provided in two, the first pulley 241 and the second pulley 251 are provided in two, respectively.

In the embodiment, the pitching driving wire 8 is a steel wire rope, so that the structural strength is high, and the durability is ensured. The pitching driving wire 8 includes two pitching sections 81, the ends of the two pitching sections 81 are respectively connected with the first connecting seat 21, specifically, one ends of the two pitching sections 81 are respectively connected with the two sides of the first connecting seat 21 along the radial direction of the second rotating shaft 24, and the pitching driving wire 8 can drive the first connecting seat 21 to rotate around the second rotating shaft 24. The other ends of the two pitching sections 81 pass through the second connecting seat 22 and the connecting rod 20 and are connected with a pitching driving screw shaft in the instrument box 30.

As shown in fig. 9, the wrist mechanism 2 is in the initial position. The wire 4 comprises a first connection section 41, a second connection section 42 and a third connection section 43. One end of the first connecting section 41 is connected to the conductive member 3, and the other end is connected to the first end of the second connecting section 42; the second end of the second connecting section 42 is connected to the first end of the third connecting section 43; the second end of the third connecting section 43 passes through the second connecting seat 22 and is connected with the power supply structure in the instrument box 30. Wherein the first end of the second connecting section 42 and the first connecting section 41 are both tangential to the first pulley 241 at a point L, and the first connecting section 41 is in contact with the first pulley 241 only at the point L; the second end of the second connecting section 42 and the third connecting section 43 are both tangential to the second pulley 251 at point Q, and the third connecting section 43 is in contact with the second pulley 251 only at point Q.

It will be appreciated that the "portion of the wire 4 wound around the first pulley 241 and the second pulley 251 which are disposed opposite to each other" described hereinabove is the LQ segment (the second connecting segment 42) of the wire 4, that is, the length of the LQ segment (the second connecting segment 42) of the wire 4 is unchanged when the pitch drive wire 8 operates the first connecting seat 21 to rotate, thereby realizing the pitch degree of freedom of the end effector 10.

The second connecting section 42 includes a first coating section, an inter-wheel connecting section, and a second coating section, the first coating section is coated on the first pulley 241, the second coating section is coated on the second pulley 251, the first end of the inter-wheel connecting section is connected to the first coating section, and the second end of the inter-wheel connecting section is connected to the second coating section. The first end of the inter-wheel connecting section is tangent to the first pulley 241 at the point M, the second end of the inter-wheel connecting section is tangent to the second pulley 251 at the point P, i.e., the first cladding section is an LM section on the second connecting section 42, the inter-wheel connecting section is an MP section on the second connecting section 42, and the second cladding section is a PQ section on the second connecting section 42. It will be appreciated that the inter-wheel connection is in contact with the first pulley 241 only at point M and the inter-wheel connection is in contact with the second pulley 251 only at point P. At this time, the central angle corresponding to the LM segment is γ, and the central angle corresponding to the PQ segment is θ.

In the present embodiment, the portions of the two wires 4 between the first pulley 241 and the second pulley 251 are disposed in a staggered cross arrangement, that is, the MP segments (inter-wheel connecting segments) on the two second connecting segments 42 are disposed in a staggered cross arrangement.

As shown in fig. 9, the point a is located on the axis of the third rotating shaft 25, and the point B is located on the axis of the second rotating shaft 24. The imaginary line AB perpendicularly intersects the axis of the second rotating shaft 24, and the imaginary line AB perpendicularly intersects the axis of the third rotating shaft 25. The imaginary line BC perpendicularly intersects the axis of the second rotating shaft 24, and the imaginary line BC perpendicularly intersects the axis of the first rotating shaft 23. The first connecting seat 21 and the second connecting seat 22 are substantially cylindrical, and when the wrist mechanism 2 is at the initial position, the first connecting seat 21 and the second connecting seat 22 are coaxially disposed, and the imaginary line BC and the imaginary line AB both extend along the axial direction of the first connecting seat 21. The imaginary line h extends in the axial direction of the first connecting seat 21, and coincides with the imaginary lines BC and AB.

After the first connecting seat 21 rotates by an angle epsilon along the first direction (x direction) relative to the second rotating shaft 24, the wrist mechanism 2 is at the first position, as shown in fig. 10, i.e., the included angle alpha' =epsilon between the dashed line BC and the dashed line AB. During the rotation of the first connecting seat 21, the first pulley 241 releases a part of the LM segment, so that the LM segment is shortened to L 'M' segment, the central angle corresponding to the L 'M' segment is γ ', and γ - γ' =ε, and then the length of the LM segment-L 'M' segment=εr2.

It can be appreciated that, due to the arrangement of the first tooth structure 211 and the second tooth structure 221, the first connecting seat 21 rotates around the second rotating shaft 24 and the first connecting seat 21 rotates around the axis of the third rotating shaft 25 relative to the second connecting seat 22 by a certain angle, and the ratio of the radius of the reference circle of the first tooth structure 211 to the radius of the reference circle of the second tooth structure 221 is r1/r1=i, i.e. the included angle β' =i epsilon between the dashed lines AB and h.

During the rotation of the first connecting seat 21, the second pulley 251 wraps a part of the PQ segment, so that the PQ segment is lengthened to P 'Q' segment, the central angle corresponding to the P 'Q' segment is θ ', θ' - θ=iε, and the length of the P 'Q' segment-the length of the PQ segment=iεr2.

Also, since the axial distance between the first pulley 241 and the second pulley 251 is not changed, the length of the inter-wheel coupling section (MP section) is not changed, i.e., the length of the MP section-M 'P' section=0.

Since R2/r2=i, the length of the P 'Q' segment-the length of the PQ segment=iεr2=εr2=the length of the LM segment-the length of the L 'M' segment, i.e., the first cladding segment shortens εr2, the second cladding segment lengthens εr2, and the length of the inter-wheel connection segment is unchanged, when the pitch driving wire 8 operates the first connection seat 21 to rotate in the first direction, the length of the LQ segment (the second connection segment 42) on the wire 4 is unchanged when the pitch degree of freedom of the end effector 10 is realized.

Similarly, after the first connecting seat 21 rotates by an angle epsilon along the second direction (y direction) relative to the second rotating shaft 24, the wrist mechanism 2 is at the second position, as shown in fig. 11, i.e. the included angle alpha "=epsilon between the dashed line BC and the dashed line AB. In the process of rotating the first connecting seat 21, the first pulley 241 wraps a part of the LM segment, so that the LM segment is lengthened into an L "M" segment, the central angle corresponding to the L "M" segment is γ ", γ″—γ=ε, and the length of the L" M "segment—the length of the LM segment=εr2.

It can be appreciated that, due to the arrangement of the first tooth structure 211 and the second tooth structure 221, the first connecting seat 21 rotates around the second rotating shaft 24, and the first connecting seat 21 also rotates around the axis of the third rotating shaft 25 by a certain angle relative to the second connecting seat 22, and the ratio of the radius of the reference circle of the first tooth structure 211 to the radius of the reference circle of the second tooth structure 221 is R1/r1=i, i.e. the included angle β "=i epsilon between the dashed lines AB and h.

During the rotation of the first coupling seat 21, the second pulley 251 releases a portion of the PQ segment, so that the PQ segment is shortened to a P "Q" segment, the central angle corresponding to the P "Q" segment is θ ", and θ—θ" =iε, and the length of the PQ segment-P "Q" segment=iεr2.

Also, since the axial distance between the first pulley 241 and the second pulley 251 is not changed, the length of the inter-wheel coupling section (MP section) is not changed, i.e., the length of the MP section-M "P" section=0.

Since R2/r2=i, the length of the PQ segment-P "Q segment=iεr2=εr2=l" M "segment-LM segment, i.e. the first cladding segment is lengthened by εr2, the second cladding segment is shortened by εr2, and the length of the inter-wheel connection segment is unchanged, so when the pitch driving wire 8 operates the first connection seat 21 to rotate in the second direction, the length of the LQ segment (the second connection segment 42) on the wire 4 is unchanged when the pitch degree of freedom of the end effector 10 is realized.

In this embodiment, the x-direction is counterclockwise and the y-direction is clockwise. In other embodiments, the x direction may be clockwise, and the y direction may be counterclockwise, which is not limited herein.

Wherein, the side walls of the first pulley 241 and the second pulley 251 are provided with annular grooves along the circumferential direction, the cross section of the annular grooves is arc-shaped, the radius of the arc-shaped cross section is larger than the radius of the wire 4, the depth of the annular grooves is the radius of the wire 4, when the wire 4 is placed in the annular grooves, the axis of the wire 4 is placed on the side walls of the first pulley 241 and the second pulley 251, so that the distance between the axis of the wire 4 and the axis of the first pulley 241 is the radius of the first pulley 241, and the distance between the axis of the wire 4 and the axis of the second pulley 251 is the radius of the second pulley 251; alternatively, the first pulley 241 and the second pulley 251 have a cylindrical shape, and the radius of the wire 4 is small and negligible.

As a preferred scheme, the first pulley 241 is movably sleeved on the second rotating shaft 24, and the second pulley 251 is movably sleeved on the third rotating shaft 25, so that friction force between the conducting wire 4 and the first pulley 241 and the second pulley 251 is reduced, and the risk of abrasion and leakage of the conducting wire 4 is reduced.

In this embodiment, the first pulley 241 and the second pulley 251 are made of insulating materials.

The second connecting seat 22 is provided with a wire penetrating hole through which the pitching driving wire 8 penetrates, when the first connecting seat 21 rotates, the end part of the pitching driving wire 8 connected to the first connecting seat 21 can swing synchronously along with the first connecting seat 21, the possibility of friction between the pitching driving wire 8 and the hole wall or edge of the wire penetrating hole is increased, and the possibility of damage to the pitching driving wire 8 is increased. Further, the wrist mechanism 2 further includes a fourth rotating shaft 26, the fourth rotating shaft 26 is connected to the second connecting seat 22, the fourth rotating shaft 26 and the third rotating shaft 25 are arranged in parallel, and pitch guide wheels 28 are movably sleeved on the third rotating shaft 25 and the fourth rotating shaft 26. Each pitching section 81 is wound on two pitching guide wheels 28 which are respectively positioned on the third rotating shaft 25 and the fourth rotating shaft 26 and are arranged opposite to each other in an S-shaped manner, and the parts of the two pitching sections 81 positioned between the two pitching guide wheels 28 are staggered and crossed. One end of each pitching section 81 is connected with two radial sides of the first connecting seat 21 along the second rotating shaft 24, and the other ends of the pitching sections 81 bypass the fourth rotating shaft 26 and then respectively pass through two threading holes in the second connecting seat 22 correspondingly. Above-mentioned setting, when first connecting seat 21 rotates, can guarantee that every single move section 81 is around establishing on every single move leading wheel 28 all the time, and every single move leading wheel 28 can not follow first connecting seat 21 synchronous swing, reduced every single move section 81 and the possibility of wearing the pore wall or the edge friction of silk hole, also avoided every single move section 81 to touch the possibility of other structures of second connecting seat 22 by mistake simultaneously, guaranteed the durability of end effector 10, prolonged the life of end effector 10, reduced maintenance cost, guaranteed the smooth implementation of operation, improved the reliability of electrically conductive surgical instrument when the operation.

In this embodiment, the second connecting seat 22 has a receiving slot at one end facing the first connecting seat 21, the pitch guide wheel 28 on the fourth rotating shaft 26 is disposed in the receiving slot, two wire holes are formed on the bottom wall of the receiving slot, and the pitch section 81 extends into the receiving slot and passes out of the second connecting seat 22 through the wire holes.

The end effector 10 further comprises an actuating drive wire 9, the actuating drive wire 9 being adapted to steer the effector 1 about the first axis of rotation 23. Specifically, two actuator wires 9 are provided, and the two actuator wires 9 are correspondingly connected to the two actuators 1. Each actuating drive wire 9 comprises two actuating segments 91, the two actuating segments 91 are respectively connected to the insulating protection 13 of the actuating element 1, and the two actuating segments 91 are respectively positioned at two radial sides of the first rotating shaft 23. The second rotating shaft 24 is movably sleeved with a plurality of first guide wheels 242, the third rotating shaft 25 is movably sleeved with a plurality of second guide wheels 252, the first guide wheels 242 and the second guide wheels 252 are arranged in a one-to-one opposite mode, and the executing section 91 is wound on the first guide wheels 242 and the second guide wheels 252 which are arranged in an opposite mode in an S-shaped mode. By the arrangement of the structure, when the pitching driving wire 8 operates the first connecting seat 21 to rotate, and the pitching degree of freedom of the end effector 10 is realized, the length of the part of the driving wire 9 wound on the first guide wheel 242 and the second guide wheel 252 is unchanged, the driving wire 9 cannot be pulled, the possibility of deformation or fracture of the driving wire 9 is reduced, the service life of the end effector 10 is prolonged, the maintenance cost is reduced, the smooth implementation of an operation is ensured, the reliability of the conductive surgical instrument during the operation is improved, the transmission precision of the end effector 10 is ensured, and the accuracy of the end effector 10 during the operation is ensured, so that the operation safety is improved; in addition, when the end effector 10 realizes the pitching degree of freedom, the length of the part of the actuating drive wire 9 wound on the first guide wheel 242 and the second guide wheel 252 is unchanged, so that the length of the actuating drive wire 9 does not need to be compensated at the same time, and the control difficulty of the conductive surgical instrument is reduced.

The specific principle of "when the pitching driving wire 8 operates the first connecting seat 21 to rotate to realize the pitching degree of freedom of the end effector 10, the length of the portion of the driving wire 9 wound on the first guiding wheel 242 and the second guiding wheel 252 is unchanged" is the same as the principle of unchanged length of the wire 4, and will not be described herein.

In this embodiment, the actuating drive wire 9 is a steel wire rope, so that the structural strength is high, and the durability is ensured. The end of the actuating section 91 remote from the actuating element 1 passes through the second connecting seat 22 and the connecting rod 20 and is connected with the actuating drive shaft in the instrument box 30.

It will be appreciated that there are two actuator wires 9, and that the two actuator wires 9 are respectively connected to the two actuators 1.

As a preferred scheme, the wrist mechanism 2 further includes a connecting piece 27, two through holes are formed in the connecting piece 27, and the second rotating shaft 24 and the third rotating shaft 25 are movably arranged through the two through holes respectively. By providing the connecting member 27, reliable connection between the first connecting seat 21 and the second connecting seat 22 can be ensured, the possibility of separation of the first connecting seat 21 and the second connecting seat 22 is reduced, and the structural stability and the structural reliability of the end effector 10 during operation are ensured.

In this embodiment, the connector 27 is rod-shaped. In other embodiments, the connecting member 27 may be a flexible structure, such as a wire or a belt, and the connecting member 27 is in a closed loop structure and is disposed in tension on the second rotating shaft 24 and the third rotating shaft 25, which is not limited herein.

As a preferred solution, two first connecting lugs 212 are protruding towards one end of the second connecting seat 22 of the first connecting seat 21, two ends of the second rotating shaft 24 are respectively connected to the two first connecting lugs 212, and an end surface of the first connecting lug 212 towards the second connecting seat 22 is a first arc surface. Above-mentioned setting is convenient for confirm the setting position of first tooth structure 211, and the production and processing of being convenient for, and the setting of two first engaging lugs 212 has also increased the hookup location between first connecting seat 21 and the second connecting seat 22, and second pivot 24 can be supported by two first engaging lugs 22 simultaneously, has improved the stability of electrically conductive surgical instrument structure.

Further, two second connecting lugs 222 are protruding towards one end of the first connecting seat 21 of the second connecting seat 22, two ends of the third rotating shaft 25 are respectively connected to the two second connecting lugs 222, and an end face of the second connecting lug 222 towards the first connecting seat 21 is a second arc-shaped face. Above-mentioned setting is convenient for confirm the setting position of second tooth structure 221, and the production and processing of being convenient for, and the setting of two second engaging lugs 222 has also increased the hookup location between first connecting seat 21 and the second connecting seat 22, and simultaneously third pivot 25 can be supported by two second engaging lugs 222, has improved the stability of electrically conductive surgical instrument structure.

In this embodiment, the connecting member 27, the first guide wheel 242 and the first pulley 241 are all located between the two first connecting lugs 212, and the connecting member 27, the second pulley 251, the second guide wheel 252 and the pitching guide wheel 28 on the third rotating shaft 25 are all located between the two second connecting lugs 222, so that the first connecting lugs 212 and the second connecting lugs 222 can separate the human tissue from each of the guide wheels, thereby reducing the damage of the human tissue caused by being involved between the guide wheels, reducing the possibility of secondary injury to the patient, and improving the safety of the operation.

In this embodiment, the first housing 213 is sleeved outside the first connecting seat 21, the first housing 213 at least shields part of the first tooth structure 211, the second housing 223 is sleeved outside the second connecting seat 22, and the second housing 223 at least shields part of the second tooth structure 221. By the arrangement, in the operation process, the damage of human tissues caused by the occlusion of the first tooth structure 211 and the second tooth structure 221 can be avoided, the possibility of secondary injury to a patient is reduced, and the operation safety is improved.

Example two

The present embodiment provides a conductive surgical instrument and a surgical robot, and the structure of the present embodiment is substantially the same as that of the first embodiment, and only part of the structures are different, so that the present embodiment will not be repeated for other structures that are the same as the first embodiment.

In this embodiment, the pitch drive wire 8 is connected to the connection member 27, and the rotation of the first connection seat 21 is controlled by the pitch drive wire 8 to control the connection member 27 to rotate about the third rotation axis 25.

Specifically, as shown in fig. 18-20, the connecting piece 27 includes a wheel portion 271 and two connecting portions 272, the wheel portion 271 is coaxially sleeved on the third rotating shaft 25, the two connecting portions 272 are respectively located at two sides of the wheel portion 271 along the axial direction, the connecting portions 272 are rotationally connected with the second rotating shaft 24, the pitching driving wire 8 is located between the two connecting portions 272, and the two pitching sections 81 are respectively connected at two sides of the wheel portion 271 along the radial direction, so that the pitching driving wire 8 drives the connecting piece 27 to rotate around the third rotating shaft 25, and due to the arrangement of the first tooth structure 211 and the second tooth structure 221, the connecting piece 27 can drive the first connecting seat 21 to rotate around the second rotating shaft 24 while rotating. The fourth shaft 26 and the pitch guide wheel 28 are not required in this embodiment.

Example III

Preferably, as shown in fig. 21, two end connection lugs 214 are disposed on a side of the first connection seat 21 away from the second connection seat 22, two ends of the first rotation shaft 23 are respectively connected with the two end connection lugs 214, the conductive member 3 is disposed between the executing member 1 and the end connection lugs 214, an elastic member 6 is disposed between the conductive member 3 and the end connection lugs 214, and the elastic member 6 can enable the conductive member 3 to be abutted against the executing member 1. Through the setting of elastic component 6, can guarantee that electrically conductive piece 3 and executive component 1 electrically conducts throughout and laminate, do benefit to the good contact between electrically conductive piece 3 and the executive component, guaranteed electrically conductive surgical instrument's functionality, when electrically conductive piece 3 or executive component 1 exist dimensional error simultaneously, elastic component 6 also can make electrically conductive piece 3 and executive component 1 electrically conduct throughout and laminate, do benefit to the demand to the precision when reducing production, reduce the manufacturing degree of difficulty.

Specifically, the elastic member 6 is provided between the fixing member 5 and the conductive member 3. In this embodiment, the elastic member 6 is a disc spring and is sleeved on the first rotating shaft 23. In other embodiments, the elastic member 6 may be other elastic structures, which are not limited herein.

Example IV

Preferably, as shown in fig. 22, the conductive surgical instrument further includes a conductive contact 7, the conductive contact 7 is disposed between the conductive member 3 and the executing member 1, one end of the conductive contact 7 is electrically connected with the conductive member 3, and the other end of the conductive contact 7 is electrically connected with the executing member 1, the conductive contact 7 can change its length along the axial direction of the first rotation shaft 23, so as to ensure good conductive contact between the conductive member 3 and the executing member 1, and ensure the functionality of the conductive surgical instrument, and meanwhile, when the conductive member 3 or the executing member 1 has a dimensional error, the conductive contact 7 can also make the conductive member 3 and the executing member 1 be always in conductive fit, which is beneficial to reducing the requirement on precision in production and reducing the manufacturing difficulty.

In this embodiment, the conductive contact 7 includes a first bending portion and a second bending portion, the first bending portion and the second bending portion are connected in a V-shape, and the end of the first bending portion and the end of the second bending portion can be close to or far away from each other, so that the conductive contact 7 changes its axial length along the first rotation axis 23.

The conductive contact 7 is formed by bending a metal sheet, that is, the first bending portion and the second bending portion are integrally formed. The conductive contact 7 and the conductive member 3 may be integrally formed, or may be welded, which is not limited herein.

In other embodiments, the conductive contact 7 may be a telescopic rod, a metal bellows, a flexible conductive brush, or the like, which is not limited herein. When the conductive contact 7 is a flexible conductive brush, the conductive contact 7 is preferably made of an elastic conductive material, and can be elastically deformed, so as to change the axial length of the conductive contact along the first rotating shaft 23.

Example five

In this embodiment, the electrically conductive surgical instrument is a monopolar electroablative tool, specifically an electrocoagulation hook. As shown in fig. 23 and 24, the actuator 1 is provided with one actuator 12, and the actuator 12 is in the shape of a hook. The conductive member 3 is provided at one side of the actuator 1 in the axial direction of the first rotation shaft 23. It will be appreciated that the actuator wire 9 is provided with one, and that both the first pulley 241 and the second pulley 251 are provided with one.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. An electrically conductive surgical instrument, comprising:

an actuator (1);

the wrist mechanism (2) comprises a first rotating shaft (23), and the executing piece (1) is rotatably connected to the first rotating shaft (23);

a conductive member (3) connected to the first rotation shaft (23) and in conductive contact with the actuator (1), the actuator (1) being rotatable relative to the conductive member (3);

and the conducting wire (4) is electrically connected to the conducting piece (3).

2. The electrically conductive surgical instrument according to claim 1, wherein the actuating member (1) comprises an electrically conductive ring (11), an actuating portion (12) and an insulating protection member (13), a first hole (131) and a second hole (132) are formed in the insulating protection member (13), the first hole (131) and the second hole (132) are coaxially communicated along the axial direction of the first rotating shaft (23), the electrically conductive ring (11) is disposed in the first hole (131) and movably sleeved on the first rotating shaft (23), the actuating portion (12) is electrically connected to the side wall of the electrically conductive ring (11), at least part of the actuating portion (12) extends out of the insulating protection member (13) along the radial direction of the first rotating shaft (23), and one end of the electrically conductive member (3) extends into the second hole (132) and is in electrically conductive contact with the electrically conductive ring (11).

3. The electrically conductive surgical instrument according to claim 2, further comprising a fixing member (5), the fixing member (5) being connected to the first rotating shaft (23), the fixing member (5) being located on a side of the electrically conductive member (3) away from the electrically conductive ring (11), a groove (51) being provided at an end of the fixing member (5) facing the actuator (1), and an end of the electrically conductive member (3) away from the electrically conductive ring (11) being located in the groove (51).

4. A conductive surgical instrument according to claim 3, wherein the fixing member (5) is fixedly connected with the first rotating shaft (23), the end face of the fixing member (5) facing the executing member (1) is attached to the end face of the insulating protecting member (13), an opening (52) is formed in the side wall of the fixing member (5), the opening (52) is communicated with the groove (51), and the conducting wire (4) is arranged in the opening (52) in a penetrating mode.

5. The electrically conductive surgical instrument according to claim 4, wherein a receiving ring groove (53) is circumferentially formed in a groove side wall of the groove (51), the receiving ring groove (53) penetrates through an end face of the fixing member (5) toward the insulating protector (13), and at least a part of the insulating protector (13) is disposed in the receiving ring groove (53).

6. A conductive surgical instrument according to claim 3, characterized in that the fixing element (5) and the insulating protection element (13) are arranged at an axial distance from the first rotation axis (23), the wire (4) being arranged between the fixing element (5) and the insulating protection element (13).

7. The electrically conductive surgical instrument according to any one of claims 1 to 6, wherein a contact groove is provided on a side of the actuating member (1) facing the electrically conductive member (3), at least a part of the electrically conductive member (3) is disposed in the contact groove, an end surface of the electrically conductive member (3) is bonded to a bottom surface of the contact groove, and a side wall of the electrically conductive member (3) is bonded to a side wall of the contact groove; and/or the number of the groups of groups,

Wrist mechanism (2) still include first connecting seat (21), be provided with two end engaging lugs (214) on first connecting seat (21), the both ends of first pivot (23) respectively with two end engaging lugs (214) are connected, electrically conductive piece (3) set up actuating part (1) with between end engaging lugs (214), electrically conductive piece (3) with be provided with elastic component (6) between end engaging lugs (214), elastic component (6) can make electrically conductive piece (3) with actuating part (1) butt.

8. The electrically conductive surgical instrument according to any one of claims 1 to 6, wherein the first shaft (23) comprises a shaft body (231) and an insulating protective sleeve (232), the insulating protective sleeve (232) is sleeved on the shaft body (231), and the actuating member (1) and the electrically conductive member (3) are both connected to the insulating protective sleeve (232); and/or the number of the groups of groups,

the conductive surgical instrument further comprises a conductive contact (7), wherein the conductive contact (7) is arranged between the conductive member (3) and the executing member (1), one end of the conductive contact (7) is in conductive connection with the conductive member (3) and the other end of the conductive contact is in conductive connection with the executing member (1), and the conductive contact (7) can change the axial length of the conductive contact along the first rotating shaft (23).

9. The device according to any one of claims 1 to 6, wherein the wrist mechanism (2) further comprises a first connecting seat (21), a second connecting seat (22), a second rotating shaft (24) and a third rotating shaft (25), the first rotating shaft (23) is connected to the first connecting seat (21), the second rotating shaft (24) is arranged on the first connecting seat (21) and is perpendicular to the first rotating shaft (23), a first pulley (241) is coaxially sleeved on the second rotating shaft (24), a first arc-shaped surface coaxially arranged with the second rotating shaft (24) is arranged on the first connecting seat (21), a first tooth structure (211) is arranged on the first arc-shaped surface, the third rotating shaft (25) is arranged on the second connecting seat (22) and is parallel to the second rotating shaft (24), a second pulley (251) is coaxially sleeved on the third rotating shaft (25), a second tooth structure (221) is arranged on the second arc-shaped surface coaxially arranged with the third rotating shaft (25), -the ratio of the radii of the pitch circle of the first tooth structure (211) to the second tooth structure (221) is the same as the ratio of the radii of the first pulley (241) to the second pulley (251);

The electrically conductive surgical instrument further comprises a pitch drive wire (8), the pitch drive wire (8) being adapted to manipulate the rotation of the first coupling seat (21);

the lead (4) is wound on the first pulley (241) and the second pulley (251) which are opposite to each other in an S-shaped manner.

10. Surgical robot comprising an electrically conductive surgical instrument according to any of claims 1-9.