CN216876591U - Electrically conductive surgical instrument and robot - Google Patents

Abstract

The embodiment of the utility model discloses a conductive surgical instrument and a robot. The conductive surgical instrument comprises a supporting assembly, a driven mechanism supported on the supporting assembly, and a conductive end effector connected with the driven mechanism; the driven mechanism comprises a first mechanism and a second mechanism which are oppositely arranged; the end effector comprises a first actuator and a second actuator arranged oppositely; the first mechanism is connected with the first actuator, the second mechanism is connected with the second actuator, and the first mechanism and the second mechanism are configured to cause the first actuator and the second actuator to oscillate by pushing or pulling the first mechanism and the second mechanism. The conductive surgical instrument and the robot have high flexibility.

Description

Electrically conductive surgical instrument and robot

Technical Field

The embodiment of the utility model relates to the field of medical instruments, in particular to a conductive surgical instrument and a robot.

Background

In recent years, the application of surgical robots in clinical surgery has been receiving more and more attention. The surgical robot includes a console and an operating arm. The manipulator arm includes a surgical instrument at an end, and an instrument drive unit operatively connected to the surgical instrument for actuating the surgical instrument. The surgical instrument includes a follower mechanism coupled to the instrument drive unit, and an end effector coupled to the follower mechanism. The instrument drive unit drives the driven mechanism to drive the end effector to perform a surgical operation in the human body in place of a human hand.

Existing driven mechanisms generally fall into two categories: a wire rope transmission type and a connecting rod transmission type. The steel wire rope transmission type driven mechanism has high flexibility and can realize more freedom of movement in a limited space. However, the wire rope transmission type driven mechanism has disadvantages of insufficient rigidity, easy occurrence of creep, and the like. The link transmission type driven mechanism can just solve these problems.

However, the present inventors have found that the conventional link transmission type driven mechanism is insufficient in flexibility.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a conductive surgical instrument with higher flexibility and a robot.

The embodiment of the utility model provides a conductive surgical instrument, which comprises a supporting component, a driven mechanism and a conductive end effector, wherein the driven mechanism is supported on the supporting component; the driven mechanism comprises a first mechanism and a second mechanism which are oppositely arranged; the end effector comprises a first actuator and a second actuator arranged oppositely; the first mechanism is connected with the first actuator, the second mechanism is connected with the second actuator, and the first mechanism and the second mechanism are configured to cause the first actuator and the second actuator to oscillate by pushing or pulling the first mechanism and the second mechanism. The first executing element is driven to swing through the first mechanism, and the second executing element is driven to swing through the second mechanism, so that the first executing element and the second executing element can move towards each other or move away from each other to realize opening and closing movement, and meanwhile, the first executing element and the second executing element can swing towards the same direction, so that the flexibility of the conductive surgical instrument is effectively improved, and the problem that the flexibility of the conductive surgical instrument in the prior art is not high is effectively solved.

Preferably, each of the first and second mechanisms includes a push rod slidably connected to the support assembly, a connecting rod rotatably connected to the push rod, and a crank rotatably connected to the connecting rod, the cranks of the first and second mechanisms being rotatably connected to the support assembly and to the first and second actuators, respectively. Form slider-crank mechanism through supporting component, push rod, connecting rod and crank to the realization makes the crank swing through promoting or pulling the push rod, and then makes end effector rotate, and the transmission is stable, and efficient.

Preferably, the electrically conductive surgical instrument further comprises first and second wires electrically connected to the first and second actuators, respectively. The end effector is conductive through the lead, and the end effector is low in cost, stable and reliable.

Optionally, the push rods are electrically connected with the corresponding connecting rods, and the connecting rods are electrically connected with the corresponding actuating elements. In such an embodiment, the end effector is made electrically conductive by the components of the follower mechanism itself, without the need to provide wires.

Preferably, the crank, and the support assembly are insulated. This helps to reduce the risk of electrocution.

Preferably, the support assembly includes a sheath and a bracket, the bracket includes a first cylindrical section and a second U-shaped section connected to the first section, the first section is connected to the sheath, the second section is provided with a rotating shaft, and the cranks of the first mechanism and the second mechanism are rotatably connected to the rotating shaft. This facilitates assembly of other components (e.g., push rods, wires).

Preferably, two guide holes are formed in the first section of the bracket, and the push rods of the first mechanism and the second mechanism respectively penetrate through one corresponding guide hole and are connected with the bracket in a sliding manner. The guide hole can effectively limit the motion of the push rod, so that the push rod can move back and forth along a straight line more stably.

Preferably, the support assembly includes a sheath and a bracket, the bracket includes a cylindrical first section and a U-shaped second section connected to the first section, the first section is connected to the sheath, two first through holes are provided in the first section, two second through holes are provided in the second section, and the first lead and the second lead respectively pass through a corresponding first through hole and a corresponding second through hole. The design of the through hole is beneficial to improving the fixing effect of the lead.

Optionally, the end effector is configured as a clip. It will be appreciated that in other embodiments, the end effector may take on other configurations.

An embodiment of the present invention further provides a robot, which includes the conductive surgical instrument.

Based on the scheme, the first executing element is driven to swing by pushing or pulling the first mechanism, the second executing element is driven to swing by pushing or pulling the second mechanism, therefore, when the first mechanism and the second mechanism are pushed or pulled simultaneously, the first executing element and the second executing element are close to or away from each other to realize opening and closing movement, and when one mechanism of the first mechanism and the second mechanism is pushed and the other mechanism is pulled simultaneously, and displacement difference of the first mechanism and the second mechanism is controlled, the first executing element and the second executing element swing in the same direction simultaneously, so that the flexibility of the conductive surgical instrument is effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

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

FIG. 2 is a partial perspective view of the electrically conductive surgical instrument illustrated in FIG. 1;

FIG. 3 is an exploded view of the electrically conductive surgical instrument illustrated in FIG. 1;

FIG. 4 is a partial perspective view of a follower mechanism of the conductive surgical instrument illustrated in FIG. 3;

FIG. 5 is a perspective view of a bracket of the electrically conductive surgical instrument illustrated in FIG. 3;

FIG. 6 is a partial perspective view of a second embodiment of the electrically conductive surgical instrument of the present invention;

FIG. 7 is a front view of an electrically conductive surgical instrument according to a third embodiment of the present invention;

FIG. 8 is a partial perspective view of the conductive surgical instrument illustrated in FIG. 7;

FIG. 9 is an exploded view of the electrically conductive surgical instrument illustrated in FIG. 7;

FIG. 10 is a perspective view of a bracket of the electrically conductive surgical instrument illustrated in FIG. 9;

FIG. 11 is a partial perspective view of an electrically conductive surgical instrument according to a fourth embodiment of the present invention;

fig. 12 is a schematic view of a surgical robot according to a fifth embodiment of the present invention.

Reference numbers in the figures:

100. an electrically conductive surgical instrument; 10. a support assembly; 11. a sheath tube; 12. a support; 120. an accommodating cavity; 121. a first section; 122. a second section; 123. an ear portion; 124. a ring portion; 125. an avoidance groove; 126. a guide hole; 127. a first through hole; 128. a second through hole; 20. a driven mechanism; 21. a push rod; 22. a connecting rod; 220. a U-shaped clamping groove; 221. a first connecting shaft; 222. a second connecting shaft; 223. a groove; 23. a crank; 230. a protrusion; 231. a rotating shaft; 232. a bump; 30. an end effector; 40. a wire; 50. a clamping block; 51. and (4) inserting the jack.

200. An electrically conductive surgical instrument;

300. an electrically conductive surgical instrument; 310. a support assembly; 312. a support; 313. a first section; 314. a guide hole; 315. an ear portion; 316. a first through hole; 317. a second through hole; 320. a driven mechanism; 321. a first mechanism; 322. a second mechanism; 323. a crank; 330. an end effector; 331. a first actuator; 332. a second actuator; 333. a first surface; 334. a second surface; 341. a first conductive line; 342. a second conductive line;

400. an electrically conductive surgical instrument.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for convenience in describing and simplifying the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model.

In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Electrically conductive surgical instruments typically include a driven mechanism coupled to an instrument drive unit, and an end effector coupled to the driven mechanism. The instrument drive unit drives the driven mechanism to drive the end effector to perform a surgical operation in the human body in place of a human hand. Existing driven mechanisms generally fall into two categories: a wire rope transmission type and a connecting rod transmission type. The steel wire rope transmission type driven mechanism has high flexibility, and can realize more freedom of movement in a limited space. However, the wire rope transmission type driven mechanism has disadvantages of insufficient rigidity, easy occurrence of creep, and the like. A link-drive type driven mechanism can just solve these problems.

However, the present inventors have found that the existing conductive surgical instrument has the following problems: the conductive surgical instrument with the end effector configured as a hook generally has only a fixed angle, is not flexible enough and has large application limitation; the conductive surgical instrument with the end effector configured as a clamp generally has only one degree of freedom (opening and closing movement), the flexibility is not enough, and the application limitation is large; the end effector of a conductive surgical instrument is relatively expensive to conduct.

Referring to fig. 1 and 2, an electrically conductive surgical instrument 100 according to a first embodiment of the present invention includes a support assembly 10, a driven mechanism 20 supported by the support assembly 10, and an end effector 30 connected to the driven mechanism 20. The follower mechanism 20 is configured to be pushed or pulled by a drive unit (not shown) to cause the end effector 30 to swing. The end effector 30 may be electrically conductive. Preferably, the electrically conductive surgical instrument 100 further includes a wire 40, the wire 40 being electrically connected to the end effector 30. The end effector 30 is powered by the lead 40, so that the manufacturing cost and the electric leakage risk can be effectively reduced, and particularly, the lead 40 is used for powering the end effector 30, so that the electric conduction stability is high.

Referring to fig. 3 and 4, preferably, the follower mechanism 20 includes a push rod 21, a connecting rod 22 rotatably connected to the push rod 21, and a crank 23 rotatably connected to the connecting rod 22. The push rod 21 is slidably connected to the support member 10. The crank 23 is rotatably connected to the support assembly 10. The end effector 30 is connected to the crank 23. The support assembly 10, the push rod 21, the connecting rod 22, and the crank 23 together form a crank 23 slider mechanism. When the driving unit pushes or pulls the push rod 21 to slide along the support assembly 10, the connecting rod 22 is driven by the push rod 21 to swing to drive the crank 23 to rotate, so that the end effector 30 rotates to a desired angle/position, and the flexibility is high.

The rigid push rod 21, the connecting rod 22 and the crank 23 are used for driving the end effector 30, so that the problems of low precision, easy creep, short service life and difficult modeling of a steel wire rope are solved, and the performance of the conductive surgical instrument 100 is more stable and reliable.

Optionally, one end of the push rod 21 is rotatably connected to one end of the connecting rod 22 through a first connecting shaft 221. Preferably, the end of the link 22 for connection to the push rod 21 has a clevis slot 220. One end of the push rod 21 is received in the U-shaped clip groove 220 and is rotatably connected with the connecting rod 22 through the first connecting shaft 221.

Optionally, the other end of the connecting rod 22 is rotatably connected to the crank 23 via a second connecting shaft 222. In this embodiment, the crank 23 has a protrusion 230 on its periphery away from its center. The other end of the connecting rod 22 is rotatably connected with the protrusion 230 through the second connecting shaft 222. Preferably, the eccentricity of the protrusion 230 (i.e., the distance between the second connecting shaft 222 and the center of rotation of the crank 23 (i.e., the rotational shaft 231 hereinafter) in the present embodiment) is 2-5mm, and most preferably 4.2 mm. The greater the eccentricity of the boss 230, the more flexible the end effector 30 is. However, an excessively large protrusion 230 will result in a larger overall size of the surgical instrument 100. Employing a protrusion 230 with an eccentricity in the aforementioned range not only ensures flexibility of end effector 30, but also helps to reduce the overall size of surgical instrument 100.

Optionally, the end effector 30 is fixedly connected to the crank 23. In this embodiment, the end effector 30 is configured as a hook. Preferably, the end effector 30 is fixedly connected to the crank 23 by a clamping block 50. Optionally, the end effector 30 is welded to the clamp block 50. Specifically, the clamp block 50 provides a receptacle for receiving the end effector 30. The clamping block 50 is fixedly connected with the crank 23. The clamping blocks 50 are made of conductive materials. The crank 23 is made of an insulating material. The crank 23 and the clamp block 50 are preferably secured together by over-molding. It is understood that in other embodiments, end effector 30 and clamp block 50 may be integrally formed. It is also understood that in other embodiments, the crank 23 may be made of an electrically conductive material (e.g., a metal material), and further, the crank 23 and the clamping block 50 may be made of an electrically conductive material (e.g., a metal material) as a single piece. In this case, the crank 23, the clamp block 50, and the end effector 30 may also be made of an electrically conductive material (e.g., a metallic material) as a single piece. It will also be appreciated that in other embodiments, the connecting rod 22 may be made of a conductive material (e.g., a metal material). In other words, when the wire 40 is used for conducting electricity, the support assembly 10 and the push rod 21 are made of an insulating material.

Optionally, the crank 23 is rotatably connected to the support assembly 10 via a rotating shaft 231. Preferably, the connecting rod 22 is provided with a groove 223 facing the rotating shaft 231 for avoiding the rotating shaft 231, which can effectively avoid the connecting rod 22 from interfering with the rotating shaft 231 during the swinging process.

Referring to fig. 2 and 3, in the present embodiment, the support assembly 10 is insulative and includes a sheath 11 and a bracket 12 connected to the sheath 11. Preferably, the sheath 11 and the stent 12 are separate components that are assembled and connected, which facilitates assembly of other components (e.g., the pushrod 21, the guidewire 40). In other embodiments, the sheath 11 and the stent 12 may also be constructed as a single piece.

The lead 40 is partially received in the sheath 11 and electrically connected to the clamp block 50 through the bracket 12. The push rod 21 is accommodated in the sheath tube 11 and is slidably connected to the holder 12. The bracket 12 has a receiving cavity 120 for receiving the connecting rod 22 and the crank 23. The rotating shaft 231 is fixedly connected to the bracket 12.

In particular, the bracket 12 comprises a first cylindrical section 121 and a second U-shaped section 122 connected to the first section 121. The sheath 11 is sleeved outside the first section 121. The second section 122 includes two ears 123 opposite and spaced from each other, and a ring 124 connecting the two ears 123 and the first section 121. The receiving cavity 120 is formed between two ears 123. That is, the link 22 and the crank 23 are accommodated between the two ear portions 123. The rotating shaft 231 penetrates through the crank 23 to be fixedly connected with the two ear portions 123. Preferably, the ring portion 124 further has two U-shaped avoiding grooves 125, and the two avoiding grooves 125 are located between the two ear portions 123 and are communicated with the receiving cavity 120. The avoiding groove 125 can effectively avoid the interference of the connecting rod 22 with the bracket 12 during the swinging process.

Referring to fig. 2 and 4, a projection 232 is preferably formed on the crank 23. The lugs 232 are located on the same side of the crank 23 as the connecting rod 22 and are flush with each other. The lug 232 and the connecting rod 22 abut against one of the ear portions 123, and the other side of the crank 23 opposite to the lug 232 and the connecting rod 22 abuts against the other ear portion 123, which helps to improve the motion stability of the driven mechanism 20. Preferably, the protrusion 232 has a fan shape, and surrounds the rotating shaft 231 and abuts against the rotating shaft 231, so as to further improve the motion stability of the driven mechanism 20, and prevent interference with the motion of the connecting rod 22.

Referring to fig. 2, 3 and 5, preferably, a guide hole 126 is formed in the first section 121 and axially penetrates through the first section, and the guide hole 126 is communicated with the accommodating cavity 120. The push rod 21 penetrates through the guide hole 126 and is connected with the first section 121 in a sliding manner. The guide hole 126 can effectively restrict the movement of the push rod 21 so that the push rod 21 can more smoothly reciprocate in a straight line. Preferably, the guide hole 126 is a circular hole.

It is also preferable that a first through hole 127 is formed in the first section 121 and extends axially therethrough, and the lead wire 40 extends in the sheath 11 and passes through the first through hole 127 to be electrically connected to the clamping block 50. The first through hole 127 helps to improve the fixing effect of the conductive line 40.

Preferably, one of the ear portions 123 of the second section 122 is provided with a second through hole 128, the second through hole 128 obliquely penetrates from a side of the ear portion 123 facing the accommodating cavity 120 to a side of the ear portion 123 facing away from the accommodating cavity 120, and the first through hole 127 is communicated with the second through hole 128. The lead wire 40 extends inside the sheath 11 and passes through the first through hole 127 and the second through hole 128 to be electrically connected to the clamp block 50. The second through hole 128 guides the wire 40 out of the receiving cavity 120 to prevent the wire 40 from interfering with the movement of the follower mechanism 20.

When the surgical instrument 100 of the present embodiment is used to perform a surgical operation, the end effector 30 and the electrode plate during the surgical operation form a loop, and when the lead 40 of the surgical instrument 100 is powered on, the end effector can effectively cut, electrocoagulate, etc. the tissue.

Referring to fig. 6, the conductive surgical instrument 200 according to the second embodiment of the present invention is substantially the same as the conductive surgical instrument 100 according to the first embodiment, and the description of the same parts is omitted here. The conductive surgical instrument 200 of the present embodiment differs from the conductive surgical instrument 100 of the first embodiment mainly in that: the present embodiment eliminates the use of wires 40 to make end effector 30 electrically conductive. In contrast, the conductive surgical instrument 200 of the present embodiment has the push rod 21 and the connecting rod 22 both conductive, and the clamping block 50 is electrically connected to the connecting rod 22. More specifically, the first connecting shaft 221 and the second connecting shaft 222 are both conductive, the push rod 21 and the connecting rod 22 are electrically connected through the first connecting shaft 221, the clamping block 50 and the connecting rod 22 are electrically connected through the second connecting shaft 222, and the clamping block 50 and the end effector 30 are electrically connected, so that when the push rod 21 is energized, the end effector 30 is energized.

Referring to fig. 7 to 10, the conductive surgical instrument 300 according to the third embodiment of the present invention is the same as the conductive surgical instrument 100 according to the first embodiment of the present invention in that: first, the end effector 330 of the present embodiment is also driven to swing by pushing or pulling the follower mechanism, and more specifically, the follower mechanism of the present embodiment is also driven to swing by the crank-slider mechanism; second, the end effector is also electrically conductive through a wire.

The conductive surgical instrument 300 according to the third embodiment of the present invention is different from the conductive surgical instrument 100 according to the first embodiment of the present invention in that: first, end effector 330 is configured as a clip comprising first and second oppositely disposed actuators 331 and 332; accordingly, the number of wires also becomes two: a first conductor 341 connected to the first actuator 331 and a second conductor 342 of the second actuator 332; secondly, the driven mechanism 320 comprises a first mechanism 321 and a second mechanism 322 which are oppositely arranged, the first mechanism 321 is connected with the first actuator 331 and is configured to make the first actuator 331 swing by pushing or pulling the first mechanism 321, the second mechanism 322 is connected with the second actuator 332 and is configured to make the second actuator 332 swing by pushing or pulling the second mechanism 322, and the first mechanism 321 and the second mechanism 322 are configured to make the first actuator 331 and the second actuator 332 swing by pushing or pulling the first mechanism 321 and the second mechanism 322; third, the support assembly 310 for supporting the driven mechanism 320 is different due to the difference of the driven mechanism 320.

Specifically, each of the first mechanism 321 and the second mechanism 322 includes a push rod 21, a link 22 rotatably connected to the push rod 21, and a crank 323 rotatably connected to the link 22. The push rod 21 is also rotatably connected to the link 22 via the first connecting shaft 221. The connecting rod 22 is also rotatably connected to the boss 230 of the crank 323 via the second connecting shaft 222. Preferably, the eccentricity of the protrusion 230 (i.e., the distance between the second connecting shaft 222 and the rotation center of the crank 323 (i.e., the rotation shaft 231 hereinafter) in the present embodiment) is 2-5mm, and most preferably 4.2 mm. The larger the eccentricity of the boss 230, the greater the clamping force that can be generated by the first actuator 331 and the second actuator 332. However, an excessively large protrusion 230 will result in a larger overall size of the surgical instrument 300. Employing a protrusion 230 with an eccentricity in the aforementioned range not only ensures a gripping force of the first and second actuators 331 and 332, but also helps to reduce the overall size of the surgical device 300.

Two guide holes 314 are provided in the first section 313 of the support 312 of the support assembly 310. The push rods 21 of the first mechanism 321 and the second mechanism 322 respectively pass through a corresponding guide hole 314 and are slidably connected with the bracket 312.

The crank 323 and the link 22 of the first mechanism 321 and the second mechanism 322 are also accommodated between the two lug portions 315 of the bracket 312, and the crank 323 of the first mechanism 321 and the second mechanism 322 is also rotatably connected to the two lug portions 315 via a rotating shaft 231. However, unlike the crank 323 in the first embodiment, the crank 323 of the first and second mechanisms 321 and 322 in this embodiment is not provided with the projection 232, and the sides of the crank 323 opposite to the connecting rod 22 respectively abut against an ear 315.

In this embodiment, each of the first actuator 331 and the second actuator 332 includes a first surface 333 and a second surface 334 opposite to each other, wherein the first surfaces 333 of the first actuator 331 and the second actuator 332 are opposite to each other for clamping an object to be clamped. Preferably, the first surfaces 333 of the first actuator 331 and the second actuator 332 are substantially perpendicular to the plane of the respective crank 323 to improve the clamping force and stability of the first actuator 331 and the second actuator 332. It is also preferred that the first surface 333 be formed with a saw-toothed configuration to further enhance the clamping force.

In this embodiment, the projection 230 of the crank 323 is further from the first surface 333 relative to the second surface 334 of its corresponding actuator. That is, the boss 230 is located on a side of the crank 323 adjacent/facing the second surface 334 of the actuator. Optionally, the protrusions 230 are adjacent to the corresponding actuator second surface 334.

In this embodiment, two first through holes 316 are disposed in the first section 313 of the support 312 and axially penetrate through the support, and the first wire 341 and the second wire 342 extend in the sheath and respectively pass through one of the first through holes 316 to be electrically connected to the first actuator 331 and the second actuator 332.

Preferably, two ear portions 315 of the second section are respectively provided with a second through hole 317, the second through hole 317 obliquely penetrates from one side of the corresponding ear portion 315 facing the accommodating cavity to one side of the ear portion 315 departing from the accommodating cavity, and each first through hole 316 is communicated with a corresponding second through hole 317. The first 341 and second 342 leads extend within the sheath and pass through a respective first 316 and second 317 via to electrically connect the first 331 and second 332 actuators.

When the surgical instrument 300 of the present embodiment is used to perform a surgical operation, the first actuator 331 and the second actuator 332 form a loop, and after the first actuator 331 and the second actuator 332 clamp tissue, the tissue can be effectively cut, electrocoagulated, etc. by the end effector.

Referring to fig. 11, the conductive surgical instrument 400 according to the fourth embodiment of the present invention is substantially the same as the conductive surgical instrument 300 according to the third embodiment, and the description of the same parts is omitted here. The conductive surgical instrument 400 of the present embodiment is mainly different from the conductive surgical instrument 300 of the third embodiment in that: the present embodiment eliminates the use of the first and second wires 341 and 342 to make the end effector 330 electrically conductive. In contrast, the push rod 21 and the connecting rod 22 of the present embodiment are electrically connected through the first connecting shaft 221, and the connecting rod 22 and the corresponding actuator are electrically connected through the second connecting shaft 222, so that when the push rod 21 is energized, the end effector 330 is energized.

Referring to fig. 12, a fifth embodiment of the present invention provides a surgical robot 500 including a conductive surgical instrument 100/200/300/400 according to any of the preceding embodiments.

In the present invention, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may be directly contacting the first feature and the second feature or indirectly contacting the first feature and the second feature through an intermediate.

Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An electrically conductive surgical instrument comprising a support assembly, a driven mechanism supported by the support assembly, and an electrically conductive end effector coupled to the driven mechanism; the driven mechanism comprises a first mechanism and a second mechanism which are oppositely arranged; the end effector comprises a first actuator and a second actuator arranged oppositely; the first mechanism is connected with the first actuator, the second mechanism is connected with the second actuator, and the first mechanism and the second mechanism are configured to cause the first actuator and the second actuator to oscillate by pushing or pulling the first mechanism and the second mechanism.

2. The electrically conductive surgical instrument of claim 1, wherein each of the first and second mechanisms includes a push rod slidably coupled to the support assembly, a link rotatably coupled to the push rod, and a crank rotatably coupled to the link, the cranks of the first and second mechanisms being rotatably coupled to the support assembly and to the first and second actuators, respectively.

3. The electrically conductive surgical instrument of claim 2, further comprising first and second wires electrically connected to the first and second actuators, respectively.

4. The electrically conductive surgical instrument of claim 2, wherein the push rods are electrically connected to the respective links, which are electrically connected to the respective actuating elements.

5. The electrically conductive surgical instrument as set forth in any one of claims 2 to 4 wherein said crank and said support assembly are insulated.

6. The electrically conductive surgical instrument of claim 5, wherein the support assembly includes a sheath and a bracket, the bracket including a first cylindrical section and a second U-shaped section connected to the first section, the first section being connected to the sheath, the second section having a rotational axis, the cranks of the first and second mechanisms being rotatably connected to the rotational axis.

7. The electrically conductive surgical instrument of claim 6, wherein two guide holes are provided in the first section of the frame, and the push rods of the first and second mechanisms each pass through a respective one of the guide holes and are slidably coupled to the frame.

8. The electrically conductive surgical instrument of claim 3, wherein the support assembly comprises a sheath and a bracket, the bracket comprising a first cylindrical section and a second U-shaped section connected to the first section, the first section being connected to the sheath, two first through holes being provided in the first section, two second through holes being provided in the second section, the first and second wires passing through a respective one of the first and second through holes.

9. The electrically conductive surgical instrument of claim 1, wherein the end effector is configured as a clip.

10. A robot, characterized in that the robot comprises an electrically conductive surgical instrument according to any one of claims 1 to 9.

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