WO2021136004A1 - 手术执行器、手术工具及手术机器人 - Google Patents

手术执行器、手术工具及手术机器人 Download PDF

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Publication number
WO2021136004A1
WO2021136004A1 PCT/CN2020/138011 CN2020138011W WO2021136004A1 WO 2021136004 A1 WO2021136004 A1 WO 2021136004A1 CN 2020138011 W CN2020138011 W CN 2020138011W WO 2021136004 A1 WO2021136004 A1 WO 2021136004A1
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WO
WIPO (PCT)
Prior art keywords
surgical
jaw
driving
supporting
support
Prior art date
Application number
PCT/CN2020/138011
Other languages
English (en)
French (fr)
Inventor
徐凯
任义唐
Original Assignee
北京术锐技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京术锐技术有限公司 filed Critical 北京术锐技术有限公司
Priority to EP20910042.9A priority Critical patent/EP4085863A4/en
Priority to JP2022540622A priority patent/JP7423791B2/ja
Priority to CN202080089090.XA priority patent/CN114929151A/zh
Priority to KR1020227022205A priority patent/KR20220110245A/ko
Priority to CA3165884A priority patent/CA3165884A1/en
Priority to US17/790,117 priority patent/US20230052924A1/en
Publication of WO2021136004A1 publication Critical patent/WO2021136004A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00862—Material properties elastic or resilient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A61B2017/294—Connection of actuating rod to jaw, e.g. releasable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2948—Sealing means, e.g. for sealing the interior from fluid entry

Definitions

  • the present disclosure relates to the field of medical equipment, and in particular to a surgical actuator, a surgical tool and a surgical robot.
  • surgical tools are usually used, and surgical tools include various surgical implements, such as clamps, cutting tools, or needle holders.
  • Surgical tools can be divided into charged or uncharged surgical tools according to their functions, and charged surgical tools such as bipolar or unipolar electric surgical tools.
  • the surgical actuator is usually installed at the end of the surgical tool. The surgical actuator is inserted directly or through a cannula into the patient's small incision or natural orifice, and then the corresponding surgical operation is completed.
  • Existing surgical tools can be divided into disposable surgical tools and reproducible surgical tools: most disposable surgical tools are combined with polymer materials and stainless steel materials, but there is a risk of stainless steel falling off, which is likely to cause surgical accidents; reproducible surgical tools
  • the main body is generally made of stainless steel.
  • the product is not easy to damage and can be repeatedly disinfected and used. However, the recovery procedure after the operation is complicated, and if the later disinfection and sterilization are not complete, it is easy to cause secondary pollution and infection.
  • the present disclosure provides an exemplary surgical implement, including: a support portion, the support portion includes an internal cavity; a jaw portion, the jaw portion is at least partially movably disposed at the distal end of the support portion
  • the driving part, the driving part is slidably arranged in the internal cavity of the support part and connected to the proximal end of the jaw head; the sealing member, the sealing member is hermetically connected to the driving part at the first end, and is hermetically connected to the second end At least a part of the supporting part and the sealing element is deformable.
  • the present disclosure also provides a surgical tool, including a driving part, a surgical tool arm, and the surgical actuator in the above technical solution; the surgical actuator is arranged at the distal end of the surgical tool arm, and the driving part is arranged at At the proximal end of the surgical tool arm, the driving part is used to drive the movement of the surgical tool arm or the surgical actuator.
  • the present disclosure also provides a surgical robot, including at least one control device, at least one surgical trolley, at least one mechanical arm, at least one surgical tool, and at least one surgical actuator in the above technical solutions; at least one The mechanical arm is arranged on at least one surgical pallet, the at least one surgical tool is respectively arranged on the distal end of the at least one mechanical arm, the at least one surgical implement is arranged on the distal end of the at least one surgical tool, and the at least one control device is used to control at least Movement of a surgical tool and/or at least one surgical actuator.
  • Fig. 1 shows a schematic diagram of a three-dimensional structure of a surgical implement according to some embodiments of the present disclosure
  • Figure 2 shows a left side view of a surgical implement according to some embodiments of the present disclosure
  • Figure 3 shows an axial cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • Figure 4 shows a cross-sectional view of a first jaw piece and a supporting part according to some embodiments of the present disclosure
  • Figure 5 shows a perspective view of a support part according to some embodiments of the present disclosure
  • Fig. 6 shows a perspective view of a supporting part according to other embodiments of the present disclosure
  • Figure 7 shows a perspective view of a second jaw member according to some embodiments of the present disclosure
  • Figure 8 shows a side view of a slidable body according to some embodiments of the present disclosure
  • Figure 9 shows a perspective view of a seal according to some embodiments of the present disclosure.
  • Figure 10 shows a cross-sectional view of two pliers heads according to some embodiments of the present disclosure when they are opened;
  • Figure 11 shows a perspective view of a surgical implement according to some embodiments of the present disclosure
  • Figure 12 shows a cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • Figure 13 shows a perspective view of a partial structure of a surgical actuator according to some embodiments of the present disclosure
  • Figure 14 shows a perspective view of a surgical implement according to some embodiments of the present disclosure
  • Figure 15 shows a cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • Figure 16 shows a perspective view of a partial structure of a surgical actuator according to some embodiments of the present disclosure
  • Figure 17 shows a three-dimensional view of the cooperation between the jaw head and the driving part according to some embodiments of the present disclosure
  • FIG. 18 shows a schematic structural diagram of a driving part according to some embodiments of the present disclosure.
  • Figure 19 shows a perspective view of a support part according to some embodiments of the present disclosure.
  • Figure 20 shows a perspective view of a protective cover according to some embodiments of the present disclosure
  • Figure 21 shows a perspective view of a surgical implement according to some embodiments of the present disclosure
  • Figure 22 shows a cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • Figure 23 shows a three-dimensional view of the cooperation between the jaw head and the driving part according to some embodiments of the present disclosure
  • FIG. 24 shows a schematic structural diagram of a supporting part according to some embodiments of the present disclosure.
  • FIG. 25 shows a perspective view of a driving part according to some embodiments of the present disclosure.
  • Figure 26 shows a perspective view of a seal according to some embodiments of the present disclosure
  • Figure 27 shows a perspective view of a protective cover according to some embodiments of the present disclosure
  • Figure 28 shows a perspective view of a surgical implement according to some embodiments of the present disclosure
  • Figure 29 shows a cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • FIG. 30 shows a schematic structural diagram of a supporting part according to some embodiments of the present disclosure.
  • Figure 31 shows a three-dimensional view of the cooperation between the jaw head and the driving part according to some embodiments of the present disclosure
  • Figure 32 shows a side view of the cooperation between the jaw head and the driving part according to some embodiments of the present disclosure
  • Figure 33 shows a perspective view of a driving part according to some embodiments of the present disclosure
  • Figure 34 shows a perspective view of a protective cover according to some embodiments of the present disclosure
  • Figure 35 shows a perspective view of a surgical implement according to some embodiments of the present disclosure
  • Figure 36 shows a cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • Figure 37 shows a partial structural cross-sectional view of a surgical implement according to some embodiments of the present disclosure
  • Fig. 38 shows a perspective view of a partial structure of a surgical implement according to some embodiments of the present disclosure
  • Figure 39 shows a perspective view of a surgical implement supporting part according to some embodiments of the present disclosure.
  • Figure 40 shows a perspective view of a surgical tool according to some embodiments of the present disclosure
  • Figure 41 shows a perspective view of a surgical robot according to some embodiments of the present disclosure.
  • connection should be understood in a broad sense.
  • connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the end close to the operator is defined as the proximal end, the proximal part or the rear end, and the rear end
  • the end close to the surgical patient is defined as the distal end, the distal part or the front end, and the front part.
  • the surgical implement 100 may include a forceps head 120, a supporting part 110, a driving part 130 and a sealing member 140.
  • the jaw head 120 is at least partially movably disposed at the distal end of the support part 110 and is supported by the support part 110.
  • the supporting part 110 may include an internal cavity 1121
  • the driving part 130 may be movably arranged in the internal cavity 1121 of the supporting part 110 and connected to the proximal end of the jaw part 120, so as to pass through the internal cavity 1121 of the supporting part 110
  • the movement drives at least a part of the jaw head 120 to move relative to the distal end of the support part 110.
  • the forceps head 120 can be any tool used in a surgical implement that can be opened and closed, such as a separating forceps, a grasping forceps, a needle holder, and a bending shear.
  • the seal 140 may be sealingly connected to the driving part 130 at a first end (for example, the proximal end or the distal end as shown in FIG. 3), and may be sealingly connected to the driving part 130 at a second end (for example, the distal end or the proximal end as shown in FIG. 3). ) Is hermetically connected to the support part 110, and at least a part of the sealing member 140 is deformable. Thus, when the driving part 130 relatively moves in the supporting part 110, the sealing member 140 can be adaptively deformed.
  • the seal 140 can seal the driving part 130 from the support part 110 and the forceps head 120 to prevent body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 100 through the pores during the operation, so as to facilitate the surgical actuator 100 repeated cleaning and disinfection.
  • At least a part of the sealing member 140 may include an elastic stretchable material, such as rubber or thermoplastic elastomer, or a flexible material, such as plastic, non-woven fabric, or the like.
  • the seal 140 may include a first end, a second end, and a transition between the first end and the second end. The first end portion and the second end portion may be respectively sealedly connected to the outer peripheral surface of the driving portion 130 and the proximal outer peripheral surface of the supporting portion 110, for example, by bonding, thermoplastic, clamps, or the like.
  • At least a part of the transition part may include a flexible material, or at least a part of the transition part may include a corrugated part, and the corrugated part can be extended, expanded or contracted and folded. Therefore, when the driving part 130 moves in the supporting part 110, the sealing member 140 can be adaptively deformed, so as to achieve sealing without affecting the relative movement between the driving part 130 and the supporting part 110.
  • the supporting portion 110 may include at least a pair of supporting portion sliding grooves 1122a-b.
  • the support sliding grooves 1122a-b may be a pair of axial sliding grooves radially opposite to each other and extending axially.
  • the support portion 110 may include two pairs of support portion sliding grooves 1122a-b, and the two pairs of support portion sliding grooves 1122a-b may be two pairs of shafts that are diametrically opposed to each other and extend axially. To the chute.
  • the support portion 110 may include a support connector 111 located at the proximal end and at least one support member (such as a pair of support members) arranged circumferentially at the distal end of the support connector 111.
  • the supporting connector 111 may be cylindrical, and the cross section may be circular, elliptical, rectangular or polygonal, and so on.
  • a hollow slideway 1123 arranged along the axial direction is formed therein (refer to FIG. 4 as well).
  • the supporting member 112a and the supporting member 112b may be disposed oppositely, and the supporting part sliding grooves 1122a-b may be formed on the supporting members 112a-b, respectively.
  • the supporting member 112 and the supporting connecting member 111 may be fixedly connected or integrally formed.
  • the supporting member 112 of the supporting portion 110 may be a cylindrical shape or a part of a cylindrical shape, and the cross section may be circular, elliptical, rectangular, polygonal, or the like.
  • the supporting part sliding grooves 1122a-b are formed on the sidewall of the supporting part 110 opposite to each other.
  • the supporting part 110 may include a plurality of supporting members 112 arranged at intervals to facilitate cleaning of surgical tools.
  • the jaw head 120 may include a first jaw piece 121 and a second jaw piece 122 that can cooperate with the first jaw piece 121.
  • the first jaw member 121 may be fixedly disposed at the distal end of the supporting part 110, for example, by welding, bonding or integral molding.
  • the second jaw member 122 may be rotatably connected with the first jaw member 121 or the supporting portion 110, for example, hinged.
  • FIG. 4 shows a cross-sectional view of the first jaw member 121 and the supporting part 110 according to some embodiments of the present disclosure. As shown in FIG. 4, the first jaw member 121 is fixedly arranged at the distal end of the supporting part 110. In some embodiments, the first jaw member 121 may be integrally formed with the support part 110.
  • FIG. 7 shows a perspective view of the second jaw member 122 according to some embodiments of the present disclosure.
  • the second pliers head member 122 may include a pliers head 1221 and a pair of pliers head support members 1222 a and 1222 b that connect and support the pliers head 1221.
  • a pair of pliers head support members 1222a-b can be symmetrically arranged on both sides of the proximal end of the pliers head 1221.
  • the distal ends of the jaw support members 1222a-b are respectively provided with connecting holes 1224a-b.
  • the clamp head supports 1222a-b may include clamp head sliding grooves 1223a-b, respectively.
  • the jaw sliding grooves 1223a-b may be arc-shaped sliding grooves, and the jaw sliding grooves 1223a-b are disposed on the jaw supports 1222a-b opposite to each other.
  • the contour of the arc-shaped chute can be, for example, an arc line A, as shown in FIG. 7.
  • the contour line of the arc chute is composed of one or more arcs. By adjusting the curvature of the arc, the clamping force output by the surgical tool can be adjusted.
  • the contour line of the arc-shaped chute may also be formed by multiple straight line segments to form an approximate arc.
  • the jaw supports 1222a-b may include connecting holes 1224a-b, respectively. The connecting holes 1224a-b can be used to install the second jaw member 122, as detailed below.
  • the driving part 130 includes a driving wire 131, as shown in FIGS. 1 and 3.
  • the driving wire 131 may be a Nitinol wire or a steel wire.
  • the driving of the pliers head is realized by pushing and pulling of the driving wire, and by driving one pliers head to move while the other pliers head is fixedly arranged, the driving structure can be simplified. Therefore, it can be widely used in various minimally invasive surgery, especially in minimally invasive surgical robots, such as endoscopic surgical robots.
  • the jaw supports 1222 a-b may be provided on the outside of the support part 110. Those skilled in the art can understand that, in some embodiments, the jaw supports 1222a-b may also be provided on the inner side of the support portion 110.
  • the driving part connecting pin 150 may be slidably inserted in the supporting part sliding grooves 1122a-b (as shown in FIG. 5) and the jaw sliding grooves 1223a-b (as shown in FIG. 7).
  • the rotating connecting pin 151 penetrates a pair of connecting holes 1224a-b (as shown in FIG. 7), and its two ends are respectively pivotally connected to the pair of supporting portion connecting holes 1124a-b of the supporting portion 110 (refer to FIGS.
  • the driving part connecting pin 150 is connected to the distal end of the driving wire 131.
  • the driving wire 131 is relatively pushed and pulled in the hollow slide 1123 of the supporting part 110
  • the driving part connecting pin 150 slides along the jaw sliding grooves 1223a-b and the supporting part.
  • the grooves 1122a-b slide back and forth, thereby driving the second jaw member 122 to perform an opening and closing movement relative to the first jaw member 121.
  • a pair of driving part connecting pins 150 slidably pass through the two pairs of supporting part sliding grooves 1122a-b (as shown in FIG. 6), and one of the driving part connecting pins 150 also slidably passes through The clamp head slide groove 1223a-b.
  • a pair of driving part connecting pins 150 are both connected to the distal end of the driving wire 131, so that under the driving of the driving wire 131, the pair of driving part connecting pins 150 can slide along the supporting part sliding grooves 1122a-b, which penetrate the pliers
  • the driving part connecting pins 150 in the head sliding grooves 1223a-b can also reciprocate along the supporting part sliding grooves 1122a-b, thereby driving the second jaw member 122 to open and close relative to the first jaw member 121.
  • the driving part 130 may further include a sliding body 132, and the driving part connecting pin 150 may be fixedly arranged at the distal end of the sliding body 132.
  • the distal end of the driving wire 131 is connected to the proximal end of the sliding body 132.
  • the sliding body 132 is slidably disposed in the internal cavity 1121 of the supporting part 110, and the driving wire 131 is used to drive the sliding body 132 to reciprocate within the supporting part 110.
  • FIG. 8 shows a side view of the slidable body 132 according to some embodiments of the present disclosure. As shown in FIGS.
  • the sealing member 140 may be sealed and sleeved on the outer peripheral surface of the sliding body 132 or the outer peripheral surface of the proximal part of the sliding body 132 at the first end, and the sealing member 140 may be at the second end. It is sealed and covered to the end of the proximal end of the support part 110.
  • the sealing member 140 may also be arranged to be sealingly combined with the inner wall of the proximal end of the support portion 110 at the second end. The sealing member 140 can seal the distal end portion of the driving part 130 with respect to the hollow slide 1123 of the supporting part 110.
  • the sliding body 132 may be cylindrical, cube-shaped, polyhedral, or a special-shaped structure, and the driving part connecting pin 150 may be fixedly penetrated at the distal end of the sliding block along the radial direction of the sliding block, or the driving part connecting pin There may be two 150, which are respectively fixedly arranged at the distal end of the slider in a radial direction.
  • the ferrule 180 may be provided on the outer circumference of the first end of the sealing member 140 for fastening the first end of the sealing member 140 to the proximal end of the sliding body 132.
  • Fig. 10 shows a cross-sectional view of two pliers heads opened according to some embodiments of the present disclosure.
  • the sliding body 132 may include a pin connecting portion 1321 extending radially and a sliding rod 1322 extending axially from the pin connecting portion 1321 toward the proximal side.
  • the pin connecting portion 1321 and the sliding rod 1322 may be integrally formed, or may be independent of each other and fixedly connected, such as welding, bonding or integral molding.
  • the driving part connecting pin 150 is fixedly arranged on the pin connecting part 1321.
  • the sliding rod 1322 and the driving wire 131 may also be sheathed with a sealing sleeve 133. As shown in FIG.
  • the outer distal end of the sealing sleeve 133 can also be sheathed with a sliding sleeve 134.
  • the sliding sleeve 134 may be provided with a driving portion connecting pin 150 extending radially.
  • the sliding sleeve 134 and the pin connecting portion 1321 may be integrally formed or fixedly connected.
  • the sealing element 140 may be sealingly sleeved on the outer peripheral surface of the sliding sleeve 134 at the first end, and the sealing element 140 may be sealingly covered to the proximal end of the support part 110 at the second end, so that the distal end of the driving part 130 And the jaw head 120 is sealed with respect to the hollow slide 1123 of the supporting part 110.
  • the driving part 130 may include a sliding body 132, a driving wire 131, a sealing sleeve 133, and a sliding sleeve 134, it should be understood that the driving part 130 may be integrally formed as a whole or at least partially.
  • the sealing sleeve 133 and the sliding rod 1322 may be insulators such as rubber, plastic, ceramic, etc., to avoid electrification of the surgical actuator and burning the patient during the operation.
  • FIG. 9 shows a perspective view of the seal 140 according to some embodiments of the present disclosure.
  • the sealing member 140 may include an inner cylinder part 141, an outer cylinder part 142 and a curved transition part 143.
  • the inner cylinder portion 141 can be sleeved on the outer peripheral surface of the proximal end of the sliding body 132 (for example, the sliding sleeve 134, the sealing sleeve 133 or the sliding rod 1322) and located in the internal cavity 1121 of the supporting portion 110, and the inner cylinder portion 141 can be placed on the sliding body. Driven by 132, it moves axially along the inner cavity 1121.
  • the inner wall of the outer cylinder portion 142 may be sealed and wrapped on the outer peripheral surface of the proximal end of the support portion 110. However, it should be understood that the outer wall of the outer cylinder portion 142 may be sealingly coupled to the inner peripheral surface of the proximal end of the support portion 110.
  • the outer cylinder portion 142 is connected to the inner cylinder portion 141 through a curved transition portion 143 to be integrated. Thereby, the sealing element 140 can seal the distal end of the sliding body 132 and the forceps head 120 and the driving wire 131 with respect to the distal side of the sealing element 140, so that the driving wire 131 is isolated from the surgical interface, and prevents the patient from being affected during the operation.
  • the sliding body and the drive wire can form an integral sealing structure. Therefore, the surgical actuator can be cleaned and disinfected without disassembling, and only the surface of the forceps head can be cleaned, which is convenient for cleaning and can reduce or avoid secondary infections. .
  • a hoop 180 may be sleeved on the outside of the inner cylindrical portion 141 of the sealing member 140 to make the sealing member 140 and the sliding body 132 tightly connected in a tightly sealed manner.
  • the provision of the ferrule 180 can further ensure the sealing performance between the sealing element 140 and the driving wire 131. The risk of the seal 140 slipping off during the telescopic movement is reduced.
  • a protective sleeve 170 may be further provided on the outer periphery of the proximal end of the support portion 110.
  • the protective cover 170 may include a proximal section 171 and a distal section 172, wherein the radial dimension of the distal section 172 is greater than the radial dimension of the proximal section 171.
  • the distal section 172 of the protective sheath 170 may include a receiving groove at the distal end.
  • the receiving groove of the protective sleeve 170 accommodates the proximal end of the support portion 110 and is sealed with the end of the support portion 110, and the proximal section 171 of the protective sleeve 170 contains the driving wire 131.
  • the end of the proximal section 171 of the protective sleeve 170 may be provided with a through hole for the driving wire 131 to pass through.
  • the protective cover 170 may be an insulator such as rubber, plastic, or ceramic.
  • the protective cover 170 can prevent electrification of the surgical actuator and burning the patient during the operation.
  • the protective sleeve 170 can insulate the surgical implement and the arm body of the surgical tool, and can prevent contaminants from entering the surgical tool, causing difficulty in cleaning.
  • 11, 12, and 13 respectively show a perspective view, a cross-sectional view, and a perspective view of a partial structure of a surgical implement 200 according to some embodiments of the present disclosure.
  • the surgical implement 200 may include a forceps head 220, a supporting part 210, a driving part 230 and a sealing member 240.
  • the forceps head 220 is at least partially movably disposed at the distal end of the supporting part 210.
  • the supporting part 210 may include an internal cavity (not shown in the figure), and the driving part 230 may be slidably disposed in the internal cavity of the supporting part 210 and connected to the proximal end of the jaw part 220, so as to be driven by movement inside the supporting part 210 At least a part of the jaw part 220 moves relative to the distal end of the support part 210.
  • the seal 240 may be sealingly connected to the outer peripheral surface of the driving part 230 at a first end (for example, the proximal end or the distal end as shown in FIG. 12), and may be connected to the outer circumferential surface of the driving part 230 at a second end (for example, the distal end or as shown in FIG. 12). At least a part of the sealing member 240 is deformable. Thus, when the driving part 230 relatively moves in the supporting part 210, the sealing member 240 can be adaptively deformed.
  • the seal 240 can make the driving part 230 and the support part 210 and the forceps head 220 form a sealed isolation to prevent body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 200 through the pores during the operation, so as to facilitate the surgical actuator 200 repeated cleaning and disinfection.
  • the support part 210 may include at least a pair of support part sliding grooves 2122.
  • the supporting portion 210 may include two pairs of supporting portion sliding grooves 2122, and the two pairs of supporting portion sliding grooves 2122 may be two pairs of axial sliding grooves that are diametrically opposed to each other and extend axially.
  • the supporting portion 210 may include a supporting connecting piece 211 at the proximal end and a pair of supporting pieces 212 arranged circumferentially at the distal end of the supporting connecting piece 211, and the supporting connecting piece 211 may be in the form of Cylindrical shape, the cross section can be round, oval, rectangular or polygonal, etc.
  • a hollow slideway (not shown in the figure) is formed in the axial direction.
  • the two pairs of supporting part sliding grooves 2122 may be formed on the supporting member 212 symmetrically, respectively.
  • the supporting member 212 and the supporting connecting member 211 may be fixedly connected or integrally formed.
  • the supporting member 212 of the supporting part 210 may be a cylindrical shape or a part of a cylindrical shape, and the cross section may be circular, elliptical, rectangular, polygonal, or the like.
  • the jaw head 220 may include a first jaw piece 221 and a second jaw piece 222 that can cooperate with the first jaw piece 221.
  • the first jaw piece 221 and the second jaw piece 222 may be rotatably connected with the supporting part 210, for example, hinged.
  • the second jaw member 222 may include a jaw member 2221 and a pair of jaw support members 2222a-b.
  • a pair of pliers head support members 2222a-b can be symmetrically arranged on both sides of the proximal end of the pliers head 2221.
  • the distal ends of the jaw supports 2222a-b are respectively provided with connecting holes 2224a-b, and the jaw supports 2222a-b may respectively include jaw sliding grooves 2223a-b, and the jaw sliding grooves 2223a-b are arranged opposite to each other in the jaws.
  • the jaw sliding grooves 2223a-b may be arc-shaped sliding grooves.
  • the structure of the first jaw piece 221 may be similar to the structure of the second jaw piece 222.
  • the first jaw part 221 may include a jaw head 2211 and a pair of jaw support parts 2212.
  • a pair of pliers head support members 2212 may be symmetrically arranged on both sides of the proximal end of the pliers head 2211.
  • the spacing between the pair of pliers support members 2212 may be larger or smaller than the spacing between the pair of pliers support members 2222a-b, so as to facilitate the pivotal hinged connection between the pair of pliers support members 2212 and the pliers support members 2222a-b.
  • the distal ends of the pair of pliers support members 2212 may respectively be provided with a pair of connecting holes 2214, and the pair of pliers support members 2212 may respectively include a pair of pliers slide grooves 2213.
  • the jaw sliding groove 2213 may be an arc-shaped sliding groove, and a pair of jaw sliding grooves 2213 may be disposed on a pair of jaw supporting members 2212 opposite to each other.
  • the connecting holes 2214 and 2224a-b can be used to install the first jaw piece 221 and the second jaw piece 222, respectively, as detailed below.
  • the driving part 230 includes a driving wire 231, as shown in FIG. 13.
  • the pair of pliers support members 2222a-b of the second pliers member 222 may be arranged on the inner side of the pair of support members 212 of the support part 210, and the first pliers member 221 A pair of pliers support members 2212 may be provided on the inner side of the pliers support members 2222a-b. It should be understood that the pair of pliers support members 2222a-b of the second pliers member 122 may also be arranged inside the pair of pliers support members 2212 of the first pliers member 221. As shown in FIGS.
  • most of the jaw head 2211 of the first jaw part 221 and the jaw support parts 2222a-b of the second jaw part 222 may be located on one side of the center line B of the support part 212, Most of the pair of jaw supports 2212 of the first jaw member 221 and the jaws 2221 of the second jaw member 222 may be located on the other side opposite to the side of the center line B.
  • a pair of driving part connecting pins 250a-b can be respectively slidably penetrated through two pairs of support part sliding grooves 2122 located on one side and the other side of the center line B of the support member 212 (refer to FIG. 12).
  • the driving part connecting pin 250b can also be slidably penetrated in the pair of jaw sliding grooves 2223a-b of the second jaw member 222, and the driving part connecting pin 250a can also be slidably penetrated in the first jaw.
  • the pair of connecting holes 2214 of the first jaw piece 221 and the pair of connecting holes 2224a-b of the second jaw piece 222 are aligned with each other, and the rotating connecting pin 251 can penetrate the pair of connecting holes 2214 and the pair of connecting holes in the radial direction. 2224a-b (shown in Figures 12 and 13), both ends of which can be pivotally connected to a pair of supporting portion connecting holes 2124 on the supporting portion 210, so that the first jaw piece 221 and the second jaw piece 222 is hinged to the supporting part 210 respectively.
  • the driving part connecting pins 250a-b can be connected to the distal end of the driving wire 231.
  • the driving part connecting pin 250b can be connected to the one along the jaw slide groove 2223a-b.
  • the supporting part sliding groove 2122 reciprocally slides, and the driving part connecting pin 250a can slide back and forth along a pair of jaw sliding grooves 2213 and another pair of supporting part sliding grooves 2122, thereby driving the first jaw piece 221 and the second jaw piece 222 performs opening and closing movements relative to each other.
  • the driving part 230 may further include a sliding body 232, and a pair of driving part connecting pins 250 a-b may be fixedly arranged at the distal end of the sliding body 232, respectively.
  • the distal end of the driving wire 231 is connected to the proximal end of the sliding body 232.
  • the sliding body 232 is slidably disposed in the internal cavity of the supporting part 210, and the driving wire 231 is used to drive the sliding body 232 to reciprocate within the supporting part 210.
  • the sealing member 240 may be sealed and sheathed at the first end on the outer peripheral surface of the sliding body 232 or the outer peripheral surface of the proximal end portion of the sliding body 232 or the outer periphery of the distal end of the driving wire 231, the sealing member 240 It may be sealingly joined to the inner peripheral surface of the proximal end of the support part 210 at the second end or sealingly wrapped to the outer periphery of the proximal end of the support part 210 at the second end. The sealing member 240 may seal the distal end portion of the driving part 230 with respect to the hollow slideway of the supporting part 210.
  • the sliding body 232 may have a cylindrical shape, a cube shape, a polyhedral shape, or a special-shaped structure.
  • a pair of driving part connecting pins 250 a-b can be fixedly penetrated at the distal end of the sliding body 232 along the transverse direction of the sliding body 232.
  • the ferrule 280 may be provided on the outer periphery of the first end of the sealing member 240 for fastening the first end of the sealing member 240 to the proximal end of the sliding body 232.
  • the outer circumference of the second end of the sealing member 240 may also be provided with a hoop to fasten the second end of the sealing member 240 to the supporting part 210.
  • the sealing member 240 may include an inner cylinder portion 241, an outer cylinder portion 242 and a curved transition portion 243.
  • the inner cylinder portion 241 may be sleeved on the outer peripheral surface of the proximal end of the sliding body 232 and located in the inner cavity of the supporting portion 210, and the inner cylinder portion 241 may move axially along the inner cavity under the driving of the sliding body 232.
  • the outer wall of the outer cylinder portion 242 can be sealed and attached to the inner peripheral surface of the proximal end of the support portion 210. However, it should be understood that the inner wall of the outer cylinder portion 242 may be sealed and wrapped on the outer peripheral surface of the proximal end of the support portion 210.
  • the outer cylinder portion 242 is integrally connected with the inner cylinder portion 241 through a curved transition portion 243.
  • the sealing element 240 can seal the distal end of the sliding body 232 and the forceps head 220 and the driving wire 231 relative to the distal side of the sealing element 240, so that the driving wire 231 is isolated from the surgical interface, and prevents the patient from being affected during the operation.
  • Body fluids and bacteria from the outside penetrate deep into the surgical actuator through the pores. Therefore, it is not necessary to disassemble the surgical actuator during cleaning and disinfection, but only clean the surface of the forceps head, which is convenient for cleaning and can reduce or avoid secondary infection.
  • a protective sleeve 270 may also be provided on the outer periphery of the proximal end of the support portion 210.
  • the protective sleeve 270 may include a proximal section 271 and a distal section 272, wherein the radial dimension of the distal section 272 is greater than the radial dimension of the proximal section 271.
  • the distal section 272 of the protective sleeve 270 may include a receiving groove (not shown in the figure) at the distal end.
  • the receiving groove of the protective sleeve 270 accommodates the proximal end of the supporting portion 210, such as the supporting connector 211, and is sealed with the end of the supporting portion 210.
  • the support connector 211 at the proximal end of the distal section 272 and the support portion 210 may be screwed, interference-fitted, welded, glued, or integrally formed.
  • the proximal section 271 of the protective cover 270 accommodates the driving wire 231.
  • the end of the proximal section 271 of the protective sleeve 270 may be provided with a through hole for the driving wire 231 to pass through.
  • the protective sleeve 270 can insulate the surgical actuator from the arm body of the surgical tool, and can prevent contaminants from entering the surgical tool, causing difficulty in cleaning.
  • the surgical implement 300 may include a forceps head 320, a supporting part 310, a driving part 330 (refer to FIG. 18), and a seal 340.
  • the forceps head 320 is at least partially movably disposed at the distal end of the support part 310.
  • the supporting part 310 may include an internal cavity 3121, and the driving part 330 (refer to FIG. 18) can be slidably arranged in the internal cavity 3121 of the supporting part 310 and connected to the proximal end of the jaw part 320, so as to pass through the inside of the supporting part 310
  • the movement of the forceps drives at least a part of the jaw head 320 to move relative to the distal end of the support portion 310.
  • the seal 340 may be hermetically connected to the driving part 330 (refer to FIG. 18) at the first end (for example, the proximal end or the distal end as shown in FIG. 15), and may be connected to the driving part 330 (refer to FIG. 18) at the second end (for example, the distal end or as shown in FIG.
  • the proximal end shown in 15) is connected to the supporting portion 310 in a sealing manner, and at least a part of the sealing member 340 is deformable.
  • the sealing member 340 can be adaptively deformed.
  • the seal 340 can seal and isolate the driving part 330 from the support part 310 and the forceps head 320, and prevent body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 300 through the pores during the operation, so as to facilitate the surgical actuator 300 repeated cleaning and disinfection.
  • the support part 310 may include at least a pair of support part sliding grooves.
  • FIG. 19 shows a perspective view of the supporting part 310 according to some embodiments of the present disclosure.
  • the supporting portion 310 may include a pair of supporting portion sliding grooves 3122a-b.
  • the support sliding grooves 3122a-b may be a pair of axial sliding grooves radially opposite to each other and extending axially.
  • the supporting portion 310 may include a supporting connecting piece 311 at the proximal end and a pair of supporting pieces 312a-b arranged circumferentially at the distal end of the supporting connecting piece 311.
  • the supporting connecting piece 311 It can be cylindrical, and the cross-section can be round, oval, rectangular or polygonal, and so on.
  • a hollow slide 3123 arranged along the axial direction is formed therein.
  • the supporting part sliding grooves 3122a-b may be relatively and symmetrically formed on the supporting members 312a-b, respectively.
  • the supporting member 312 and the supporting connecting member 311 may be fixedly connected or integrally formed.
  • the supporting member 312 of the supporting portion 310 may be a cylindrical shape or a part of a cylindrical shape, and the cross section may be circular, elliptical, rectangular, polygonal, or the like.
  • the jaw head 320 may include a first jaw piece 321 and a second jaw piece 322 capable of cooperating with the first jaw piece 321.
  • the first jaw member 321 may be fixedly disposed at the distal end of the support part 310, such as by welding, bonding or integral molding.
  • the second jaw member 322 may be rotatably connected with the first jaw member 321 or the supporting portion 310, for example, hinged.
  • the first jaw member 321 may be integrally formed or fixedly connected to one of the supporting member 312 a and the supporting member 312 b of the supporting part 310. It should be understood that the first jaw member 321 may also be integrally formed or fixedly connected with the pair of support members 312a-b.
  • FIG. 17 shows a perspective view of the cooperating forceps head 320 and the driving part 330 according to some embodiments of the present disclosure.
  • the second pliers head member 322 may include a pliers head 3221, a pliers head connection member 3225, and a pair of pliers head support members 3222a and 3222b.
  • the jaw connecting piece 3225 can be integrally formed or fixedly connected to the proximal end of the jaw 3221, and a pair of jaw support members 3222a-b can be symmetrically arranged on both sides of the proximal end of the jaw connecting piece 3225.
  • the pliers head 3221, the pliers head connector 3225, and the pair of pliers head support members 3222a-b may be integrally formed or partially integrally formed or fixedly connected.
  • a pair of connecting holes 3224 may be provided in the jaw connecting member 3225 opposite to each other.
  • the clamp head support 3222a-b may include clamp head sliding grooves 3223a-b, respectively.
  • the jaw sliding grooves 3223a-b may be arc-shaped sliding grooves, and the jaw sliding grooves 3223a-b are disposed on the jaw supports 3222a-b opposite to each other.
  • the driving part 330 includes a driving wire 331, as shown in FIGS. 14 to 18.
  • the clamp head supports 3222a-b may also be provided on the inner side of the support portion 310.
  • the driving part connecting pin 350 can be slidably inserted through the support part sliding grooves 3122a-b (as shown in FIG. 19) and the clamp head sliding grooves 3223a-b (as shown in FIG. 17) in.
  • the rotating connecting pin 351 penetrates a pair of connecting holes 3224 (as shown in FIG. 17), and its two ends are respectively pivotally connected to the pair of supporting portion connecting holes 3124a-b (refer to FIG. 19) of the supporting portion 310, so that the second The jaw member 322 is hinged to the support part 310.
  • the driving part connecting pin 350 is connected to the distal end of the driving wire 331.
  • the driving part connecting pin 350 slides along the jaw sliding grooves 3223a-b and the supporting part.
  • the grooves 3122a-b slide back and forth, thereby driving the second jaw member 322 to perform an opening and closing movement relative to the first jaw member 321.
  • FIG. 18 shows a schematic diagram of the structure of the driving part 330 according to some embodiments of the present disclosure.
  • the driving part 330 may further include a sliding body 332, and the driving part connecting pin 350 may be fixedly disposed at the distal end of the sliding body 332.
  • the distal end of the driving wire 331 is connected to the proximal end of the sliding body 332.
  • the sliding body 332 is slidably disposed in the internal cavity 3121 of the supporting part 310, and the driving wire 331 is used to drive the sliding body 332 to reciprocate within the supporting part 310.
  • the sealing member 340 may seal and cover the outer peripheral surface of the sliding body 332 or the outer peripheral surface of the proximal part of the sliding body 332 at the first end, and the sealing member 340 may also be arranged on the outer peripheral surface of the sliding body 332.
  • the second end is sealingly combined with the inner wall of the proximal end of the support part 310.
  • the sealing member 340 may be sealed to the end of the proximal end of the supporting portion 310 at the second end, for example, the outer peripheral surface of the supporting connecting member 311.
  • the sealing member 340 can seal the distal end portion of the driving part 330 with respect to the hollow slide 3123 of the supporting part 310.
  • the sliding body 332 may have a cylindrical shape, a cube shape, a polyhedral shape, or a special-shaped structure, and the driving part connecting pin 350 may be fixedly penetrated at the distal end of the sliding body 332 along the radial direction of the sliding body 332.
  • the sliding body 332 may include a pin connecting portion 3321 extending radially and a sliding rod 3322 extending axially from the pin connecting portion 3321 proximally.
  • the pin connecting portion 3321 and the sliding rod 3322 may be integrally formed, or may be independent of each other and fixedly connected, such as welding or bonding.
  • the driving part connecting pin 350 is fixedly arranged on the pin connecting part 3321.
  • a sliding sleeve 334 is sleeved on the outer circumference of the sliding rod 3322 and the driving wire 331.
  • the sliding sleeve 334 and the pin connecting portion 3321 may be integrally formed, and the pin connecting portion 3321 is provided with a diameter.
  • a pin 350 is connected to the extended driving part.
  • the sealing member 340 may be sealingly sleeved on the outer peripheral surface of the sliding sleeve 334 at the first end, and the sealing member 340 may be sealingly attached to the inner peripheral surface of the proximal end of the support part 310 at the second end, so that the driving part 330 is far away The end and the jaw head 320 are sealed with respect to the hollow slide 3123 of the supporting part 310.
  • the driving part 330 may include a sliding body 332, a driving wire 331, and a sliding sleeve 334, it should be understood that the driving part 330 may be integrally formed as a whole or at least partially.
  • the proximal end of the driving wire 331 may be connected to a power supply device (not shown in the figure) to form a conductive path between the second jaw member 322 and the driving wire 331.
  • the sliding body 332, the driving part connecting pin 350, and the supporting member 312 may all include a conductive material, such as metal. Those skilled in the art should understand that the sliding body 332, the driving part connecting pin 350 and the supporting member 312 may also be plated with a conductive layer on the surface thereof to realize the function of conduction.
  • the proximal end of the driving wire 331 is connected to the power supply device, the second jaw member 322 may form a conductive path between the sliding body 332 and the driving wire 331, and the first jaw member 321 may be connected by the support member 312 and the driving part connecting pin 350 To this conductive path, the conductive path can form a "single stage" with power supply for the first jaw member 321 and the second jaw member 322, so that operations such as electric shearing and electric cutting can be realized.
  • the outer circumference of the part of the driving wire 331 located outside the proximal end of the sliding body 332 may be covered with an insulating protective sleeve 333, and the distal end of the driving wire 331 The end passes through the insulating protective sleeve 333 and is connected to the proximal end of the sliding body 332.
  • the insulating protective sleeve 333 can prevent the proximal end of the surgical actuator from being electrically conductive, thereby causing potential safety hazards.
  • the outer peripheries of the pair of supporting members 312a-b of the supporting portion 310 may be covered with an insulating cover 390 (refer to FIG. 14), and the distal end portions of the first jaw piece 321 and the second jaw piece 322 It can extend beyond the insulating cover 390.
  • the insulating cover 390 may be a cylindrical member, and the cross section may be circular, oval, rectangular, or polygonal, and so on.
  • the insulating cover 390 may be an insulator such as rubber, plastic, or ceramic.
  • the insulating cover 390 can reduce the conductive area of the surgical actuator, and can prevent the surgical actuator from forming a conductive path with other body tissues except the target tissue, and burning the patient.
  • the sealing member 340 may include an inner cylindrical portion 341, an outer cylindrical portion 342 and a curved transition portion 343.
  • the inner cylinder portion 341 can be sleeved on the outer peripheral surface of the proximal end of the sliding body 332 (for example, the sliding sleeve 334 or the sliding rod 3322) and located in the internal cavity 3121 of the supporting portion 310.
  • the inner cylinder portion 341 can be driven by the sliding body 332.
  • the axial movement is carried out along the internal cavity 3121.
  • the outer wall of the outer cylinder portion 342 can be sealed and attached to the inner peripheral surface of the proximal end of the support portion 310.
  • the inner wall of the outer cylinder portion 342 may be sealed and wrapped on the outer peripheral surface of the proximal end of the support portion 310.
  • the outer cylinder portion 342 is connected with the inner cylinder portion 341 as a whole through a curved transition portion 343.
  • the sealing element 340 can seal the distal end of the sliding body 332 and the forceps head 320 and the driving wire 331 with respect to the distal side of the sealing element 340, so that the driving wire 331 is isolated from the surgical interface, and prevents the patient from being affected during the operation.
  • Body fluids and bacteria from the outside penetrate deep into the surgical actuator through the pores. Therefore, it is not necessary to disassemble the surgical actuator during cleaning and disinfection, but only clean the surface of the forceps head, which is convenient for cleaning and can reduce or avoid secondary infection.
  • a hoop 380 a may be sleeved on the outside of the inner cylinder portion 341 of the sealing member 340, so that the sealing member 340 and the sliding body 332 are tightly connected in a tightly sealed manner.
  • the outer cylinder portion 342 of the sealing member 340 may be sleeved with a ferrule 380b, and the ferrule 380b may be firmly connected to the proximal end of the support portion 310, so that the outer cylinder portion 342 and The supporting portion 310 is tightly connected in a sealed manner.
  • the hoops 380a-b can respectively ensure the sealability between the sealing element 340 and the driving wire 331 and between the sealing element 340 and the support portion 310, and can reduce the risk of the sealing element 340 slipping off during telescopic movement.
  • FIG. 20 shows a perspective view of a protective cover 370 according to some embodiments of the present disclosure.
  • a protective sleeve 370 may also be provided on the outer periphery of the proximal end of the support portion 310.
  • the protective sleeve 370 may include a proximal section 371 and a distal section 372, wherein the radial dimension of the distal section 372 is larger than the radial dimension of the proximal section 371.
  • the distal section 372 of the protective sleeve 370 may include a receiving groove (not shown in the figure) at the distal end.
  • the receiving groove of the protective sleeve 370 accommodates the proximal end of the support part 310 and is sealed with the end of the support part 310.
  • the proximal section 371 of the protective cover 370 accommodates the driving wire 331.
  • the end of the proximal section 371 of the protective sleeve 370 may be provided with a through hole 3711 for the driving wire 331 to pass through.
  • the protective cover 370 may be an insulator such as rubber, plastic, or ceramic.
  • the protective sleeve 370 can insulate the surgical actuator from the arm body of the surgical tool, and can prevent contaminants from entering the surgical tool, causing difficulty in cleaning.
  • 21 and 22 respectively show a perspective view and a cross-sectional view of a surgical implement 400 according to some embodiments of the present disclosure.
  • the surgical implement 400 may include a forceps head 420, a supporting part 410, a driving part 430 (refer to FIG. 25), and a seal 440.
  • the jaw head 420 is at least partially movably disposed at the distal end of the supporting part 410.
  • the supporting part 410 may include an internal cavity 4121, and the driving part 430 (refer to FIG. 25) can be slidably arranged in the internal cavity 4121 of the supporting part 410 and connected to the proximal end of the jaw part 420, so as to pass through the inside of the supporting part 410
  • the movement of ⁇ drives at least a part of the jaw head 420 to move relative to the distal end of the support portion 410.
  • the seal 440 may be hermetically connected to the driving part 430 at a first end (for example, the proximal end or the distal end as shown in FIG. 22), and may be sealingly connected to the driving part 430 at a second end (for example, the distal end or the proximal end as shown in FIG. 22). ) Is hermetically connected to the support part 410, and at least a part of the sealing member 440 is deformable. Thus, when the driving part 430 relatively moves in the supporting part 410, the sealing member 440 can be adaptively deformed.
  • the seal 440 can make the driving part 430 and the support part 410 and the forceps head 420 form a sealed isolation to prevent body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 400 through the pores during the operation, so as to facilitate the surgical actuator 400 repeated cleaning and disinfection.
  • the support part 410 may include at least a pair of support part sliding grooves.
  • FIG. 24 shows a schematic diagram of the structure of the supporting portion 410 according to some embodiments of the present disclosure.
  • the supporting part 410 may include a pair of supporting part sliding grooves 4122.
  • the pair of supporting part sliding grooves 4122 may be a pair of axial sliding grooves radially opposite to each other and extending axially.
  • the support portion 410 may include a support connector 411 at the proximal end and a pair of support members 412a-b circumferentially spaced at the distal end of the support connector 411, supporting
  • the connecting member 411 may be cylindrical, and the cross section may be circular, elliptical, rectangular or polygonal, etc., and a hollow slide 4123 arranged in the axial direction is formed in it (refer to FIG. 24).
  • a pair of supporting part sliding grooves 4122 may be symmetrically formed on the supporting members 412a-b, respectively.
  • the supporting members 412a-b and the supporting connecting member 411 may be fixedly connected or integrally formed.
  • the supporting member 412 of the supporting part 410 may be a cylindrical shape or a part of a cylindrical shape, and the cross section may be circular, elliptical, rectangular, polygonal, or the like.
  • the jaw head 420 may include a first jaw piece 421 and a second jaw piece 422 that can cooperate with the first jaw piece 421.
  • the first jaw member 421 may be fixedly disposed at the distal end of the support part 410, such as welding, bonding, integral molding, or the like.
  • the second jaw member 422 may be rotatably connected with the first jaw member 421 or the supporting portion 410, for example, hinged.
  • the first jaw member 421 can be integrally formed with a pair of supporting members 412 or fixedly connected. It should be understood that the first jaw member 421 may also be integrally formed or fixedly connected with one of the pair of supporting members 412 of the supporting portion 410.
  • FIG. 23 shows a perspective view of the cooperating forceps head 420 and the driving part 430 according to some embodiments of the present disclosure.
  • the second pliers head member 422 may include a pliers head 4221 and a pair of pliers head support members 4222 a and 4222 b connecting and supporting the pliers head 4221.
  • a pair of pliers head support members 4222a-b can be symmetrically arranged on both sides of the proximal end of the pliers head 4221.
  • the distal ends of the jaw support members 4222a-b are respectively provided with connecting holes 4224a-b.
  • the clamp head supports 4222a-b may include clamp head sliding grooves 4223a-b, respectively.
  • the jaw sliding grooves 4223a-b may be arc-shaped sliding grooves, and the jaw sliding grooves 4223a-b are disposed on the jaw supporting members 4222a-b opposite to each other.
  • the driving part 430 includes a driving wire 431, as shown in FIGS. 21-25.
  • the jaw supports 4222a-b may be provided on the inner side of the support portion 410.
  • the driving part connecting pin 450 can be slidably inserted in a pair of supporting part sliding grooves 4122 (as shown in FIG. 24) and a pair of jaw sliding grooves 4223a-b (as shown in FIG. 23).
  • the rotating connecting pin 451 penetrates a pair of connecting holes 4224a-b (as shown in FIG. 23), and its two ends are respectively pivotally connected to a pair of supporting portion connecting holes 4124 (refer to FIG. 24) of the supporting portion 410, so that the second The jaw 422 is hinged to the supporting part 410.
  • the driving part connecting pin 450 is connected to the distal end of the driving wire 431.
  • the driving wire 431 is relatively pushed and pulled in the hollow slide 4123 of the supporting part 410, the driving part connecting pin 450 is supported along the jaw sliding grooves 4223a-b.
  • the sliding groove 4122 slides back and forth, thereby driving the second jaw member 422 to perform an opening and closing movement relative to the first jaw member 421.
  • FIG. 25 shows a schematic diagram of the structure of the driving part 430 according to some embodiments of the present disclosure.
  • the driving part 430 may further include a sliding body 432, and the driving part connecting pin 450 may be fixedly disposed at the distal end of the sliding body 432.
  • the distal end of the driving wire 431 is connected to the proximal end of the sliding body 432.
  • the sliding body 432 is slidably disposed in the internal cavity 4121 of the supporting part 410, and the driving wire 431 is used to drive the sliding body 432 to reciprocate within the supporting part 410. As shown in FIG.
  • the sealing member 440 may be sealed and sheathed at the first end on the outer peripheral surface of the sliding body 432 or the outer peripheral surface of the proximal end portion of the sliding body 432, and the sealing member 440 may also be arranged at the second end. And the inner wall of the proximal end of the support part 410 is hermetically combined. In some embodiments, the sealing member 440 may be sealed to the end of the proximal end of the supporting portion 410 at the second end, for example, the outer peripheral surface of the supporting connecting member 411. The sealing member 440 may seal the distal end portion of the driving part 430 with respect to the hollow slide 4123 of the supporting part 410.
  • the sliding body 432 may have a cylindrical shape, a cube shape, a polyhedral shape, or a special-shaped structure, and the driving part connecting pin 450 may be fixedly penetrated at the distal end of the sliding body 432 along the radial direction of the sliding body 432.
  • the sliding body 432 may include a sliding rod 4322 and a pair of sliding body connecting portions 4321a-b symmetrically arranged at the distal end of the sliding rod 4322 and extending in the axial direction.
  • the sliding rod 4322 and the pair of sliding body connecting parts 4321a-b may be integrally formed, or may be independent of each other and fixedly connected, such as welding or bonding.
  • the driving part connecting pin 450 is fixedly arranged on the pair of sliding body connecting parts 4321a-b. In some embodiments, as shown in Figs.
  • a sliding sleeve 434 is sheathed on the outer circumference of the sliding rod 4322 and the driving wire 431, and the sliding sleeve 434 and the pair of sliding body connecting portions 4321a-b can be integrally formed. It should be understood that the sliding sleeve 434 and the pair of sliding body connecting portions 4321a-b may also be independent of each other and fixedly connected, such as welding or bonding.
  • the sealing member 440 may be sealingly sleeved on the outer peripheral surface of the sliding sleeve 434 at the first end, and the sealing member 440 may be sealingly attached to the inner peripheral surface of the proximal end of the support portion 410 at the second end, such as the inner wall of the supporting connector 411 , So that the distal end of the driving part 430 and the jaw part 420 are sealed with respect to the hollow slide 4123 of the supporting part 410.
  • the driving part 430 may include a sliding body 432, a driving wire 431, and a sliding sleeve 434, it should be understood that the driving part 430 may be integrally formed as a whole or at least partially.
  • the outer circumference of the part of the driving wire 431 located outside the sliding sleeve 434 is covered with an insulating protective sleeve 433, and the distal end of the driving wire 431 can pass through the insulating protective sleeve 433 and slide with it.
  • the proximal end of the body 432 is fastened and connected, for example, by welding, bonding, integral molding, or snapping.
  • the first jaw member 421 may be connected to a first power supply device (not shown) to form a first conductive path between the first jaw member 421 and the first power supply device.
  • the proximal end of the driving wire 431 may be connected to a second power supply device (not shown in the figure) to form a second conductive path between the second jaw 422 and the driving wire 431.
  • the first conductive path and the second conductive path are insulated from each other when the first jaw piece 421 and the second jaw piece 422 are not in contact with each other.
  • the first conductive path and the second conductive path respectively supply power to the first jaw member 421 and the second jaw member 422 to form a "bipolar", so that operations such as clamping and electrocoagulation can be realized.
  • the sliding body 432 may be a conductive material, such as metal. Those skilled in the art should understand that the sliding body 432 may also be plated with a conductive layer on its surface to achieve the function of conduction.
  • the proximal end of the driving wire 431 is connected to the second power supply device, and the second jaw member 422 can form a second conductive path between the sliding body 432 and the driving wire 431.
  • the first power supply device may directly form a first conductive path with the first clamp member 421 through a wire 490 (refer to FIGS. 22 and 23), or the first power supply device may be electrically connected to the supporting portion 410 through a wire 490, and the supporting portion 410 is electrically connected to the first pliers 421.
  • a clamp head 421 is electrically connected to form a first conductive path.
  • An insulating part 460 (refer to FIG. 21) may be provided between at least one of the first jaw piece 421 and the second jaw piece 422 and the supporting part 410, so that the first jaw piece 421 and the second jaw piece 422 are insulated from each other when they are separated.
  • an insulating part 460 may be provided between the first jaw 421 and the supporting part 410.
  • the supporting portion 410 may be directly made of insulating material
  • the insulating portion 460 may be directly a part of the supporting portion 410 or the insulating portion 460 may include a first insulating member fixedly arranged on the supporting portion 410 (not shown in the figure).
  • the first insulating member may include an insulating layer or an insulating fixing member disposed at the connection between the first jaw member 421 and the supporting portion 410, so as to achieve insulation between the first jaw member 421 and the supporting portion 410, and thereby realize the insulation between the first jaw member 421 and the supporting portion 410.
  • the first jaw member 421 is fixedly or integrally formed on the supporting part 410 or fixedly arranged on the first insulating member.
  • the first power supply device can be directly electrically connected to the first jaw member 421 through a wire 490 to form a first conductive path.
  • the first jaw member 421 may be provided on a pair of support members 412 of the support part 410.
  • the supporting portion 410 may be a conductive material
  • the first power supply device forms a conductive path with the supporting portion 410 through the wire 490
  • the first jaw member 421 forms a first conductive path with the first power supply device through the supporting portion 410.
  • An insulating part 460 may be provided between the second jaw 422 and the supporting part 410.
  • the insulating portion 460 may include a support frame insulating lining 462 closely attached to the inner wall of the support portion 410, and a second insulating member 463 disposed at the contact position of the second jaw member 422 and the support portion 410 .
  • the first jaw member 421 is fixedly arranged at the distal end of the support members 412a-b or is integrally formed with the support members 412a-b.
  • the insulating lining 462 of the support frame can be made of insulating materials such as rubber, plastic or ceramic.
  • the insulating lining 462 of the support frame can prevent the second jaw 422 from contacting the inner peripheral surface of the support portion 410 to form a conductive path during movement. In some embodiments, as shown in FIG.
  • the shape of the insulating lining 462 of the support frame can match the shape of the support portion 410, the insulating lining 462 of the support frame has an internal cavity, and the jaw support of the second jaw 422
  • the 4222a-b, the sliding body 432 and the sealing element 440 are all located in the inner cavity of the insulating lining 462 of the support frame.
  • the outer wall of the support frame insulating lining 462 is closely attached to the inner wall of the support part 410.
  • the support frame insulating lining 462 is provided with a pair of sliding grooves corresponding to the pair of support part sliding grooves 4122, and connecting holes 4224a-b and a pair of sliding grooves. A pair of connecting holes corresponding to the supporting part connecting holes 4124.
  • the jaw support members 4222a-b can be respectively located on both sides of the sliding body connecting parts 4321a-b, the driving part connecting pin 450 is fixed through the sliding body connecting part 4321a-b, and the driving part connecting pin 450
  • the two ends of the can be slidably inserted in the clamp head sliding grooves 4223a-b, a pair of sliding grooves of the insulating lining 462 of the support frame, and a pair of supporting part sliding grooves 4122, respectively.
  • the two ends of the rotating connecting pin 451 can respectively pass through the pair of connecting holes on the clamp head supports 4222a-b and the insulating lining 462 of the support frame, and then pass through the pair of connecting holes 4224a-b of the support portion 410.
  • the insulating lining 462 of the support frame can also be any structure that can prevent the second jaw 422 from contacting the inner peripheral surface of the support portion 410 to form a conductive path, and it does not depart from the scope of the present disclosure.
  • the contact position of the jaw support members 4222a-b of the second jaw member 422 with the support portion 410 may include the inner circumferential surface of the support portion 410 or the driving portion connecting pin 450 and the rotation connecting pin 451 or the support portion sliding groove 4122a of the support portion 410 -b surface or the jaw sliding grooves 4223a-b of the jaw support 4222a-b.
  • the second insulating member 463 may be a connecting pin insulating sleeve or an insulating layer covering the outer circumference or both ends of the driving part connecting pin 450 and the rotating connecting pin 451.
  • the second insulating member 463 may also be an insulating layer provided on the surface of the support sliding groove 4122a-b. Therefore, when the contact position between the second jaw member 422 and the supporting portion 410 is connected by the driving portion connecting pin 450 and the rotating connecting pin 451, mutual insulation between the two can be ensured.
  • the second jaw piece 422 can form a second conductive path between the connecting pin 450, the sliding body 432, the drive wire 431 and the second power supply device through the driving part, or the second jaw piece 422 can pass through the sliding body 432 and the drive wire 431. A second conductive path is formed between the second power supply device.
  • the second conductive path and the first conductive path can be insulated from each other, and the structure of the insulating part can be simplified, so that the first jaw piece 421 and the second jaw piece 422 are respectively A conductive path is formed, and the two conductive paths are insulated from each other.
  • the first jaw piece 421, the second jaw piece 422, the driving wire 431, the sliding body 432, the driving part connecting pin 450 and the rotating connecting pin 451 may all be conductive materials, such as metal and stainless steel, or they may also be made of conductive materials.
  • the surface is plated with a conductive layer to realize the conductive function.
  • the driving part connecting pin 450 and the rotating connecting pin 451 may also be made of insulating materials.
  • insulation is formed between the surgical actuators, as well as between the surgical actuators and the surgical tool arm body or the robotic arm of the surgical robot, so as to ensure the outside of the surgical actuator The place will not burn patients and users, avoid damage to equipment, etc.
  • the end of the support portion 410 away from the first jaw 421 is provided with a ring-shaped conductive plate 413, the wire 490 is connected to the ring-shaped conductive plate 413, and the conductor in the wire 490 is in contact with the ring-shaped conductive plate 413 to form an electric Connect as shown in Figure 23.
  • the provision of the ring-shaped conductive plate 413 can increase the contact surface with the support portion 410, so that the wire 490 can more easily form a conductive path with the support portion 410.
  • Figure 26 shows a perspective view of a seal 440 according to some embodiments of the present disclosure.
  • the sealing member 440 may include an inner cylinder portion 441, an outer cylinder portion 442 and a curved transition portion 443.
  • the inner cylinder portion 441 can be sleeved on the outer peripheral surface of the proximal end of the sliding body 432 (for example, the sliding sleeve 434 or the sliding rod 4322) and located in the internal cavity 4121 of the support portion 410.
  • the inner cylinder portion 441 can be driven by the sliding body 432. The axial movement is carried out along the inner cavity 4121.
  • the outer wall of the outer cylinder portion 442 may be sealedly attached to the inner peripheral surface of the proximal end of the support portion 410 or sealed and wrapped on the outer peripheral surface of the proximal end of the support portion 410.
  • the outer wall of the outer cylinder portion 442 may be sealingly attached to the inner peripheral surface of the proximal end of the insulating lining 462 of the support frame.
  • the inner wall of the outer cylinder portion 442 may be sealed and wrapped on the outer peripheral surface of the proximal end of the insulating lining 462 of the support frame.
  • the outer cylinder portion 442 is connected to the inner cylinder portion 441 as a whole through a curved transition portion 443. Thereby, the sealing member 440 can seal the distal end of the sliding body 432 and the forceps head 420 and the driving wire 431 relative to the distal side of the sealing member 440, so that the driving wire 431 is isolated from the surgical interface.
  • a hoop 480 may be sleeved on the outside of the inner cylinder portion 441 of the sealing member 440, so that the sealing member 440 and the sliding body 432 are tightly connected in a tightly sealed manner.
  • the outer cylinder portion 442 of the sealing member 440 can also be sleeved with a hoop (not shown in the figure), and the hoop can be firmly connected to the proximal end of the support portion 410, so that the outer cylinder portion 442 and the support The part 410 is sealed and tightly connected.
  • the setting of the hoop can further ensure the sealability between the sealing element 440 and the driving wire 431 and between the sealing element 440 and the supporting portion 410, and can reduce the risk of the sealing element 440 slipping off during the telescopic movement.
  • Figure 27 shows a perspective view of a protective cover 470 according to some embodiments of the present disclosure.
  • a protective sleeve 470 may also be provided on the outer periphery of the proximal end of the support portion 410.
  • the protective sleeve 470 may include a proximal section 471 and a distal section 472, wherein the radial dimension of the distal section 472 is larger than the radial dimension of the proximal section 471.
  • the distal section 472 of the protective sleeve 470 may include a receiving groove (not shown in the figure) at the distal end.
  • the receiving groove of the protective sleeve 470 accommodates the proximal end of the support part 410 and is sealed with the end of the support part 410.
  • the proximal section 471 of the protective cover 470 accommodates the driving wire 431.
  • the end of the proximal section 471 of the protective sleeve 470 may be provided with a driving wire through hole 4711 and at least one wire through hole 4712 for the driving wire 431 and the wire 490 to pass through, respectively.
  • the protective cover 470 may be an insulator such as rubber, plastic, or ceramic.
  • the protective sleeve 470 can insulate the surgical actuator from the arm body of the surgical tool, and can prevent contaminants from entering the surgical tool, causing difficulty in cleaning.
  • the surgical implement 500 may include a forceps head 520, a supporting part 510, a driving part 530 and a sealing member 540.
  • the jaw head 520 is at least partially movably disposed at the distal end of the support part 510.
  • the supporting part 510 may include an internal cavity 5121, and the driving part 530 (refer to FIG. 33) can be slidably arranged in the internal cavity 5121 of the supporting part 510 and connected to the proximal end of the jaw 520, so as to pass through the inside of the supporting part 510
  • the movement of ⁇ drives at least a part of the jaw head 520 to move relative to the distal end of the supporting portion 510.
  • the seal 540 may be hermetically connected to the driving part 530 at a first end (for example, the proximal end or the distal end as shown in FIG. 29), and may be sealingly connected to the driving part 530 at a second end (for example, the distal end or the proximal end as shown in FIG. 29). ) Is connected to the supporting portion 510 in a sealing manner, and at least a part of the sealing member 540 is deformable. Thus, when the driving part 530 relatively moves in the supporting part 510, the sealing member 540 can be adaptively deformed.
  • the seal 540 can seal and isolate the driving part 530 from the support part 510 and the forceps head 520, and prevent body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 500 through the pores during the operation, so as to facilitate the surgical actuator. 500 repeated cleaning and disinfection.
  • the support part 510 may include at least a pair of support part sliding grooves 5122.
  • FIG. 30 shows a schematic diagram of the structure of the supporting portion 510 according to some embodiments of the present disclosure. As shown in FIG. 30, the supporting portion 510 may include supporting portion sliding grooves 5122a-d, and the supporting portion sliding grooves 5122a-b and 5122c-d may respectively be two pairs of axial sliding grooves radially opposite to each other and extending axially.
  • the support portion 510 may include a support connector 511 at the proximal end and a pair of support members 512a-b circumferentially spaced at the distal end of the support connector 511, supporting
  • the connecting member 511 may be cylindrical, and the cross section may be circular, elliptical, rectangular or polygonal, and so on.
  • a hollow slide 5123 arranged in the axial direction is formed therein.
  • the two pairs of supporting part sliding grooves 5122a-b and 5122c-d may be symmetrically formed on the supporting members 512a-b, respectively.
  • the supporting members 512a-b and the supporting connecting member 511 may be fixedly connected or integrally formed.
  • the supporting member 512 of the supporting part 510 may be a cylindrical shape or a part of a cylindrical shape, and the cross section may be a circle, an oval, a rectangle, a polygon, or the like. .
  • the jaw head 520 may include a first jaw piece 521 and a second jaw piece 522 capable of cooperating with the first jaw piece 521.
  • the first jaw member 521 may be fixedly disposed at the distal end of the support part 510, such as welding, bonding, integral molding, and so on.
  • the second jaw member 522 may be rotatably connected with the first jaw member 521 or the supporting portion 510, for example, hinged.
  • the first jaw member 521 may be integrally formed or fixedly connected with a pair of supporting members 512a-b. It should be understood that the first jaw member 521 may also be integrally formed or fixedly connected with one of the support members 512a-b of the support part 510.
  • the second pliers head member 522 may include a pliers head 5221 and a pair of pliers head support members 5222 a and 5222 b connecting and supporting the pliers head 5221.
  • a pair of pliers head support members 5222a-b can be symmetrically arranged on both sides of the proximal end of the pliers head 5221.
  • the distal ends of the jaw support members 5222a-b are respectively provided with connecting holes 5224a-b opposite to each other. As shown in FIG.
  • the jaw support members 5222a-b may include jaw sliding grooves 5223a-b, respectively.
  • the jaw sliding grooves 5223a-b may be arc-shaped sliding grooves, and the jaw sliding grooves 5223a-b are disposed on the jaw supporting members 5222a-b opposite to each other.
  • FIG. 33 shows a perspective view of a driving part according to some embodiments of the present disclosure.
  • the driving part 530 includes a driving wire 531.
  • the jaw support members 5222a-b may be provided on the inner side of the support portion 510.
  • a pair of driving part connecting pins 550a-b can be slidably inserted in the two pairs of supporting part sliding grooves 5122a-b and 5122c-d (as shown in FIG. 30), wherein the driving part connecting pins 550a It can also be slidably inserted into the sliding grooves 5223a-b of the clamp head.
  • the rotating connecting pin 551 penetrates a pair of connecting holes 5224a-b, and its two ends are respectively pivotally connected to the pair of supporting portion connecting holes 5124a-b (refer to FIG.
  • a pair of driving part connecting pins 550a-b are connected to the distal end of the driving wire 531.
  • the driving part connecting pin 550a is driven along the clamp head slide groove 5223a-b
  • a pair of supporting part sliding grooves 5122a-b to reciprocate, driving the driving part connecting pin 550b to reciprocate sliding along the other pair of supporting part sliding grooves 5122c-d, thereby driving the second jaw member 522 relative to the first jaw member 521 Opening and closing movement.
  • the driving part 530 may further include a sliding body 532, and the driving part connecting pins 550 a-b may be fixedly arranged at the distal end of the sliding body 532.
  • the distal end of the driving wire 531 is connected to the proximal end of the sliding body 532.
  • the sliding body 532 is slidably disposed in the internal cavity 5121 of the supporting part 510, and the driving wire 531 is used to drive the sliding body 532 to reciprocate within the supporting part 510.
  • the sealing element 540 may be sealed and sheathed at the first end on the outer peripheral surface of the sliding body 532 or the outer peripheral surface of the proximal part of the sliding body 532, and the sealing element 540 may also It is arranged to be hermetically combined with the inner wall of the proximal end of the support part 510 at the second end.
  • the sealing member 540 may be hermetically covered to the proximal end of the support part 510 at the second end. The sealing member 540 can seal the distal end portion of the driving part 530 with respect to the hollow slide 5123 of the supporting part 510.
  • the sliding body 532 may have a cylindrical shape, a cube shape, a polyhedral shape, or a special-shaped structure, and the driving part connecting pins 550 a-b may be fixedly penetrated at the distal end of the sliding body 532 along the lateral interval of the sliding body 532.
  • the sliding body 532 may include a pin connecting portion 5321 extending radially and a sliding rod 5322 extending axially from the pin connecting portion 5321 toward the proximal side.
  • the sliding rod 5322 and the pin connecting portion 5321 may be integrally formed, or may be independent of each other and fixedly connected, such as welding or bonding.
  • the driving portion connecting pins 550a-b are fixedly provided on the pin connecting portion 5321. In some embodiments, as shown in FIGS.
  • a sliding sleeve 534 is sheathed on the outer circumference of the sliding rod 5322 and the driving wire 531, and the sliding sleeve 534 and the pair of sliding body connecting portions 5321a-b can be integrally formed. It should be understood that the sliding sleeve 534 and the pair of sliding body connecting portions 5321a-b may also be independent of each other and fixedly connected, such as welding or bonding.
  • the sealing member 540 may be sealingly sleeved on the outer peripheral surface of the sliding sleeve 534 at the first end, and the sealing member 540 may be sealingly attached to the inner peripheral surface of the proximal end of the support portion 510 at the second end, so that the distal end of the driving portion 530 The end and the jaw head 520 are sealed with respect to the hollow slide 5123 of the support part 510.
  • the driving part 530 may include a sliding body 532, a driving wire 531, and a sliding sleeve 534, it should be understood that the driving part 530 may be integrally formed as a whole or at least partially.
  • the outer circumference of the part of the driving wire 531 located outside the sliding sleeve 534 is covered with an insulating protective sleeve 533, and the distal end of the driving wire 531 can pass through the insulating protective sleeve 533 and connect with The proximal end of the sliding body 532 is fastened and connected, for example, by welding, bonding, integral molding, or snapping.
  • the first jaw member 521 may be connected to a first power supply device (not shown in the figure) to form a first conductive path between the first jaw member 521 and the first power supply device.
  • the proximal end of the driving wire 531 may be connected to a second power supply device (not shown in the figure) to form a second conductive path between the second jaw 522 and the driving wire 531.
  • the first conductive path and the second conductive path are insulated from each other when the first jaw piece 521 and the second jaw piece 522 are not in contact with each other.
  • the first conductive path and the second conductive path respectively supply power to the first jaw member 521 and the second jaw member 522 to form a "bipolar", so that operations such as clamping and electrocoagulation can be realized.
  • the sliding body 532 may be a conductive material, such as metal. Those skilled in the art should understand that the sliding body 532 may also be plated with a conductive layer on its surface to realize the conductive function.
  • the proximal end of the driving wire 531 is connected to the second power supply device, and the second jaw member 522 can form a second conductive path between the sliding body 532 and the driving wire 531.
  • the first power supply device may directly form a first conductive path through the wire 590 and the first clamp member 521 (refer to FIG.
  • the first power supply device may be electrically connected to the supporting portion 510 through the wire 590, and the supporting portion 510 is electrically connected to the A clamp head 521 is electrically connected to form a first conductive path.
  • At least one of the first jaw piece 521 and the second jaw piece 522 may be provided with an insulating portion 560 (refer to FIG. 28) between the support portion 510, so that the first jaw piece 521 and the second jaw piece 522 are insulated from each other when they are separated, and the first forceps head 521 and the second forceps head 522 can form a conductive path through the tissue when the tissue is grasped, so as to achieve operations such as tissue grasping and electrocoagulation.
  • an insulating portion 560 may be provided between the first jaw 521 and the supporting portion 510.
  • the supporting portion 510 may be directly made of insulating material, and the insulating portion 560 may be directly a part of the supporting portion 510 or the insulating portion 560 may include a first insulating member 561 fixedly arranged on the supporting portion 510, as shown in FIG. 31 Shown.
  • the first insulating member 561 may include an isolation insulating layer or an insulating fixing member disposed at the connection between the first jaw member 521 and the supporting portion 510, so as to realize the first jaw member 521 and the supporting portion
  • the insulation of 510 is further realized with the insulation of the second clamp member 522.
  • the first jaw member 521 is fixedly or integrally formed on the support part 510 or fixedly arranged on the first insulating member 561.
  • the first power supply device can be directly connected to the first jaw member 521 through a wire 590. It is electrically connected to form a first conductive path.
  • the first jaw member 521 may be provided on a pair of support members 512a-b of the support part 510.
  • the supporting portion 510 may be a conductive material
  • the first power supply device forms a conductive path with the supporting portion 510 through the wire 590
  • the first jaw member 521 forms a first conductive path with the first power supply device through the supporting portion 510.
  • An insulating part 560 may be provided between the second jaw 522 and the supporting part 510.
  • the insulating part 560 may include a second insulating part (not shown in the figure) disposed at the contact position of the second jaw part 522 and the supporting part 510.
  • the contact position of the jaw support members 5222a-b of the second jaw member 522 with the support portion 510 may include the two ends of the driving portion connecting pin 550a-b and the rotating connecting pin 551 or the support portion sliding groove 5122a of the support portion 510. -d surface.
  • the second insulating member may include insulating members provided on the supporting portion sliding grooves 5122a-d that are in contact with the second jaw member 522, the driving portion connecting pins 550a-b, and the insulating layer provided on both ends of the rotating connecting pin 551 or other contacts. Insulating layer or insulating piece provided at the place.
  • the second clamp part 522 and the supporting part 510 can be insulated, and the second conductive path and the first conductive path can be insulated from each other, and the structure of the insulating part can be simplified, so that the first clamp part 521 and the second clamp head can be insulated from each other.
  • the pieces 522 respectively form conductive paths, and the two conductive paths are insulated from each other.
  • the first jaw piece 521, the second jaw piece 522, the driving wire 531, and the sliding body 532 can all be conductive materials, such as metal and stainless steel, or they can be plated with a conductive layer on the surface to achieve a conductive function.
  • the driving part connecting pins 550a-b and the rotating connecting pins 551 may be conductive materials or insulating materials.
  • the sealing member 540 may include an inner cylinder portion 541, an outer cylinder portion 542 and a curved transition portion 543.
  • the inner cylinder portion 541 can be sleeved on the outer peripheral surface of the proximal end of the sliding body 532 (for example, the sliding sleeve 534 or the sliding rod 5322) and located in the internal cavity 5121 of the support portion 510.
  • the inner cylinder portion 541 can be driven by the sliding body 532. The axial movement is carried out along the inner cavity 5121.
  • the outer wall of the outer cylinder portion 542 may be sealedly attached to the inner peripheral surface of the proximal end of the support portion 510 or sealed and wrapped on the outer peripheral surface of the proximal end of the support portion 510.
  • the outer cylinder portion 542 is connected to the inner cylinder portion 541 through a curved transition portion 543 to be integrated.
  • the sealing element 540 can seal the distal end of the sliding body 532 and the forceps head 520 and the driving wire 531 with respect to the distal side of the sealing element 540, so that the driving wire 531 is isolated from the surgical interface.
  • a hoop 580 may be sleeved on the outside of the inner cylinder portion 541 of the sealing member 540 to make the sealing member 540 and the sliding body 532 tightly connected in a tightly sealed manner.
  • the outer cylinder portion 542 of the sealing member 540 can also be sleeved with a hoop (not shown in the figure), and the hoop can be firmly connected to the proximal end of the support portion 510, so that the outer cylinder portion 542 and the support The part 510 is sealed and tightly connected.
  • the setting of the hoop can further ensure the sealability between the sealing element 540 and the driving wire 531 and between the sealing element 540 and the supporting portion 510, and can reduce the risk of the sealing element 540 slipping off during the telescopic movement.
  • FIG. 34 shows a perspective view of a protective cover 570 according to some embodiments of the present disclosure.
  • a protective sleeve 570 may be further provided on the outer periphery of the proximal end of the support part 510.
  • the protective sleeve 570 may include a proximal section 571 and a distal section 572, wherein the radial dimension of the distal section 572 is larger than the radial dimension of the proximal section 571.
  • the distal section 572 of the protective sleeve 570 may include a receiving groove (not shown) at the distal end.
  • the receiving groove of the protective sleeve 570 accommodates the proximal end of the support part 510 and is sealed with the end of the support part 510.
  • the distal section 572 and the proximal end of the support portion 510 may be screwed, interference-fitted, welded, glued, or integrally formed.
  • the proximal section 571 of the protective cover 570 accommodates the driving wire 531.
  • the end of the proximal section 571 of the protective sleeve 570 may be provided with a driving wire through hole 5711 and a wire through hole 5712 for the driving wire 531 and the wire 590 to pass through, respectively. As shown in FIG.
  • the wire through hole 5712 may be a wire groove provided along the side wall of the protective cover 570.
  • the protective cover 570 may be an insulator such as rubber, plastic, or ceramic. The protective sleeve 570 can insulate the surgical actuator from the arm body of the surgical tool, and can prevent contaminants from entering the surgical tool, causing difficulty in cleaning.
  • 35, 36, and 37 respectively show a perspective view, a cross-sectional view, and a partial cross-sectional view of a surgical implement 600 according to some embodiments of the present disclosure.
  • the surgical performer 600 may include a forceps head 620, a supporting part 610, a driving part 630, and a seal 640.
  • the jaw portion 620 is at least partially movably disposed at the distal end of the supporting portion 610.
  • Fig. 38 shows a perspective view of a partial structure of a surgical implement according to some embodiments of the present disclosure.
  • the bracing part 610 may include an internal cavity 6121, and the driving part 630 can be slidably arranged in the internal cavity 6121 of the supporting part 610 and connected to the proximal end of the jaw 620, so as to pass through the supporting part 620.
  • the movement inside 610 drives at least a part of the jaw head 620 to move relative to the distal end of the support portion 610.
  • the seal 640 may be sealingly connected to the outer peripheral surface of the driving part 630 at a first end (for example, the proximal end or the distal end as shown in FIG. 36), and may be connected to the outer peripheral surface of the driving part 630 at a second end (for example, the distal end or as shown in FIG. 36). At least a part of the sealing member 640 is deformable. Therefore, when the driving part 630 relatively moves in the supporting part 610, the sealing member 640 can be adaptively deformed.
  • the seal 640 can seal the driving part 630 from the support part 610 and the forceps head 620, and prevent body fluids, bacteria, and viruses from the patient from entering the interior of the surgical actuator 600 through the pores during the operation, so as to facilitate the surgical actuator. 600 repeated cleaning and disinfection.
  • FIG. 39 shows a perspective view of a surgical implement supporting part 610 according to some embodiments of the present disclosure.
  • the support portion 610 may include a support connector 611 at the proximal end and a pair of support members 612a-b circumferentially spaced at the distal end of the support connector 611.
  • the support connector 611 It can be cylindrical, and the cross-section can be round, oval, rectangular or polygonal, and so on.
  • the supporting members 612a-b and the supporting connecting member 211 may be fixedly connected or integrally formed.
  • the supporting member of the supporting part 610 may be a cylindrical shape or a part of a cylindrical shape, and the cross section may be circular, elliptical, rectangular, or polygonal, and so on.
  • the first jaw member 621 may include a jaw 6211 and a pair of first extension portions 6212a-b extending inwardly from both sides of the jaw 6211.
  • the first extension portions 6212a-b are located in the first jaw 6211.
  • the first extension portions 6212a-b may include a pair of connecting shaft holes 6214a-b disposed oppositely.
  • the second jaw part 622 may include a jaw head 6221 and a pair of second extension parts 6222a-b extending inwardly from both sides of the jaw head 6221, and the second extension parts 6222a-b are located inside the second jaw part 622,
  • the second extension portion 6222a-b may include a pair of connecting shaft through holes 6224a-b disposed oppositely.
  • the first jaw member 621 may include an axially extending jaw groove 6213
  • the second jaw member 622 may include an axially extending jaw groove 6223, a jaw groove 6213 and a jaw groove 6223 are arranged oppositely to form a pair of pliers head grooves. As shown in FIGS.
  • a pair of driving part connecting pins 650a-b can be respectively disposed in the connecting shaft hole 6214a-b of the first jaw piece 621 and the connecting shaft hole 6224a-b of the second jaw piece 622, respectively.
  • the connecting shaft through holes 6214a-b and 6224a-b can be respectively used for connecting with the driving part 630, as detailed below.
  • first jaw piece 621 and the second jaw piece 622 are fixedly disposed at the distal end of the support portion 610, and the first jaw piece 621 and/or the second jaw piece 622 and the support pieces 612a-b
  • the connection of the distal end of the pliers is flexible, or the first pliers member 621 and the second pliers member 622 themselves are flexible.
  • the first jaw piece 621 and the second jaw piece 622 may be integrally formed with the support pieces 612a-b, as shown in FIG. 35.
  • the first jaw piece 621 and the second jaw piece 622 can be movably arranged at the distal ends of the support pieces 612a-b, respectively.
  • the first pliers 621 and the second pliers 622 can be driven by the driving wire 631 to realize the expansion and closing movement, thereby reducing the size of the surgical actuator 600, thereby meeting the surgical requirements of tissue parts with a small space, and can solve Existing surgical actuators are too large to cause inconvenience in operation.
  • the driving part 630 includes a driving wire 631, as shown in FIGS. 35 and 38.
  • the driving part connecting pins 650a-b and the driving wire 631 may be connected by a first connecting rod 635 and a second connecting rod 636, respectively.
  • the inner ends of the first link 635 and the second link 636 are hinged to each other, and the distal end of the driving wire 631 is connected to the hinge of the first link 635 and the second link 636.
  • the outer ends of the first connecting rod 635 and the second connecting rod 636 are respectively connected with the driving part connecting pins 650a-b, so that the first jaw member 621 and the second jaw member 622 can be driven by the driving wire 631 Move closer to each other or move away from each other.
  • the driving part connecting pin 650a may be fixedly penetrated in the connecting shaft hole 6214a-b of the first jaw member 621, and the driving part connecting pin 650b may be fixedly penetrated into the connecting shaft of the second jaw member 622.
  • the inner ends of the first connecting rod 635 and the second connecting rod 636 can be hinged by rotating the connecting pin 651, and the outer end of the first connecting rod 635 can be hinged with the driving part connecting pin 650a.
  • the outer end of the two connecting rod 636 can be hinged with the driving part connecting pin 650b.
  • the rotating connecting pin 651 can be fixedly connected with the distal end of the driving wire 631.
  • the inner ends of the first link 635 and the second link 636 may be directly hinged with the distal end of the driving wire 631.
  • the driving wire 631 When the driving wire 631 is pulled toward the proximal end, the outer ends of the first connecting rod 635 and the second connecting rod 636 approach each other, thereby driving the first jaw member 621 and the second jaw member 622 to approach each other.
  • the driving wire 631 moves distally, the outer ends of the first connecting rod 635 and the second connecting rod 636 move away from each other, thereby driving the first jaw member 621 and the second jaw member 622 to move away from each other.
  • the second jaw member 622 can move in the direction indicated by the movement track C, and the first jaw member 621 can move in the direction deviating from the direction indicated by the movement track C, as shown in FIG. 35.
  • the jaw grooves 6213 and 6223 are used for the outer ends of the first connecting rod 635 and the second connecting rod 636 to extend in.
  • the outer ends of the first connecting rod 635 and the second connecting rod 636 can move in the jaw grooves 6213 and 6223, respectively.
  • the jaw grooves 6213 and 6223 can further reduce the lateral size of the jaw head 620.
  • the driving part 630 may further include a sliding body 632, and the inner ends of the first link 635 and the second link 636 may be connected to the distal end of the sliding body 232 by rotating the connecting pin 651. End hinged.
  • the distal end of the driving wire 631 is connected to the proximal end of the sliding body 632.
  • the sliding body 632 is slidably disposed in the internal cavity of the supporting part 610, and the driving wire 631 is used to drive the sliding body 632 to reciprocate within the supporting part 610.
  • the sliding body 632 may include a sliding body connecting portion 6321 and a sliding rod 6322 axially extending from the sliding body connecting portion 6321 to the proximal side.
  • the sliding rod 6322 and the sliding body connecting portion 6321 may be integrally formed, or may be independent of each other and fixedly connected, such as welding, bonding or integral molding.
  • the rotating connecting pin 651 may be fixedly arranged on the sliding body connecting portion 6321. In some embodiments, as shown in FIG.
  • a sliding sleeve 634 is sheathed on the outer circumference of the sliding rod 6322 and the driving wire 631, and the sliding sleeve 634 and the sliding rod 6322 or the sliding body connecting portion 6321 may be integrally formed. It should be understood that the sliding sleeve 634 and the sliding rod 6322 or the sliding body connecting portion 6321 may also be independent of each other and fixedly connected, such as welding, bonding or integral molding. In some embodiments, the sliding body 632 may be an insulator such as rubber, plastic, or ceramic.
  • the sealing member 640 may be sealingly sleeved on the outer peripheral surface of the sliding sleeve 634 at the first end, and the sealing member 640 may be sealingly attached to the inner peripheral surface of the proximal end of the support portion 610 or with the proximal end of the support portion 610 at the second end. Sealing, so that the distal end of the driving part 630 and the jaw part 620 are sealed relative to the inner side of the proximal end of the supporting part 610.
  • the driving part 630 may include a sliding body 632, a driving wire 631, and a sliding sleeve 634, it should be understood that the driving part 630 may be integrally formed as a whole or at least partially.
  • the sliding body 632 may have a cylindrical shape, a cube shape, a polyhedral shape, or a special-shaped structure.
  • the outer periphery of the driving wire 631 located at the proximal end of the sliding sleeve 634 and the portion outside the proximal end of the sliding sleeve 634 may be covered with an insulating protective sleeve 633, and the distal end of the driving wire 631 may be insulated from
  • the protective sleeve 633 passes through and is firmly connected to the proximal end of the sliding body 632, for example, by welding, bonding, integral molding or snapping and fastening.
  • the insulating protective sleeve 633 can ensure that during the operation, even if the surgical actuator is in contact with the live equipment, the current will not be conducted to the surgical tool arm, so that the patient and the user will not be burned, and potential safety hazards and damage to the equipment can be avoided.
  • a protective sleeve 670 may also be provided at the proximal end of the support portion 610.
  • the protective cover 670 may include a proximal section 671 and a distal section 672, wherein the radial dimension of the distal section 672 is smaller than the radial dimension of the proximal section 671.
  • the proximal end of the support portion 610 is tightly sleeved on the outer circumference of the proximal section 671 of the protective sleeve 670.
  • the supporting portion 610 and the protective cover 670 may be fixedly connected or integrally formed.
  • proximal section 671 and the proximal end of the supporting portion 610 may be screwed, connected by interference fit, welded, glued, or integrally formed.
  • the proximal section 671 and the distal section 672 may be cylindrical, and the cross-section may be circular, elliptical, rectangular, or polygonal, etc., and formed therein along the axial direction Set the hollow slide 6123.
  • the outer wall of the protective sleeve 670 closely fits the inner wall of the supporting connector 611, the proximal end of the protective sleeve 670 may be provided with a through hole for the driving wire 631 to pass through, and the distal end of the protective sleeve 670 is formed with an edge
  • the hollow slideway arranged in the axial direction is used for sliding the sliding body 632 and the driving wire 631.
  • the sealing member 640 may be sealingly sleeved on the outer peripheral surface of the sliding sleeve 634 at the first end, and the sealing member 640 may be tightly sleeved on the outer peripheral surface of the distal end of the protective sleeve 670 at the second end, so as to achieve close proximity to the support portion 610.
  • the end is sealed, so that the distal end of the driving part 630 and the jaw part 620 are sealed with respect to the hollow slide 6123 of the protective sleeve 670.
  • the protective cover 670 can be made of ceramic material, which can achieve insulation and reduce friction, so that the sliding body 632 can slide in the hollow slide 6123. It should be understood that the protective cover 670 may also be an insulator such as rubber or plastic.
  • the proximal end of the protective sleeve 670 is provided with a fixing member 673, and the fixing member 673 and the proximal end of the protective sleeve 670 can be directly fixedly connected.
  • the fixing member 673 and the protective sleeve 670 may be fixedly connected by a transition member 674.
  • the fixing member 673 may be provided with a through hole for the driving wire 631 to pass through, and the fixing member 673 may be sealed with the proximal end of the driving part 630 to prevent the tissue fluid from penetrating into the driving part 630 and causing difficulty in cleaning. It should be understood that the fixing member 673 may be integrally formed with the protective cover 670.
  • the sealing member 640 may be cylindrical, and the cross section may be circular, oval, rectangular, or polygonal, and so on.
  • the distal end of the seal 640 forms a first end, and the proximal end of the seal 640 forms a second end.
  • the sealing member 640 may be sealingly sheathed and sleeved on the outer circumference of the sliding body 632 at the first end, and the sealing member 640 may be sealingly sheathed and sleeved on the outer circumference of the distal section 672 of the protective sleeve 670 at the second end, and the sealing member 640
  • the distal end of the sliding body 632 and the forceps head 620 and the driving wire 631 can be sealed with respect to the hollow slide 6123 of the protective sleeve 670, so that the driving wire 631 is isolated from the surgical interface.
  • a ferrule 680 a may be sleeved on the outer portion of the distal end of the sealing member 640, so that the sealing member 640 and the sliding body 632 are tightly connected to each other in a tightly sealed manner.
  • a ferrule 680b may be sleeved outside the proximal end of the sealing member 640, and the ferrule 680b may tightly connect the sealing member 640 with the distal section 672 of the protective sleeve 670.
  • the hoops 680a-b can respectively ensure the sealability between the sealing element 640 and the driving wire 631 and between the sealing element 640 and the protective sleeve 670, and can reduce the risk of slippage of the sealing element 640 during telescopic movement.
  • the proximal end of the support portion 610 may be provided with a mask 675
  • the mask 675 may be a cylindrical member
  • the cross section may be a circle, an oval, a rectangle, a polygon, or the like.
  • the distal end of the cover cover 675 is fastened and sleeved on the outer circumference of the proximal end of the protective cover 670 and the outer circumference of the fixing member 673.
  • the inner wall of the cover cover 675 is fixedly connected with the outer wall of the fixing member 673.
  • the proximal end of the cover cover 675 is provided with A through hole through which the driving wire 631 passes.
  • the masking cover 675 may be fixedly connected to the supporting part 610 or integrally formed. The mask 675 can further prevent body fluids from entering the surgical actuator.
  • FIG. 40 shows a perspective view of a surgical tool 10 according to some embodiments of the present disclosure.
  • the surgical tool 10 may include a transmission part 11, a surgical tool arm body 12, and a surgical implement 100 (or any one of the surgical implements 200-600).
  • the surgical actuator 100 is arranged at the distal end of the surgical tool arm body 12, and the transmission part 11 is arranged at the proximal end of the surgical tool arm body 12.
  • the transmission part 11 can drive the driving wire 131 in the surgical actuator 100 to move.
  • the movement of the forceps head 120 can be driven by the driving wire 131.
  • the transmission part 11 can also drive the movement of the surgical tool arm 12 to adjust the posture of the surgical implement 100 through the surgical tool arm 12.
  • the transmission part 11 may include a transmission unit for connecting to an external motor driving unit, so that the driving wire can be driven.
  • the transmission part 11 may further include a motor drive unit, and the motor drive unit can drive the transmission unit, and the drive wire can be driven by the transmission unit.
  • the surgical tool arm 12 may be a rigid arm. In some embodiments, at least a part of the surgical tool arm body 12 may be flexible, and can be bent under the driving of the transmission part 11, so that the posture of the surgical implement at the distal end can be adjusted.
  • FIG. 41 shows a perspective view of the surgical robot 1 according to some embodiments of the present disclosure.
  • the surgical robot 1 may include a control device (not shown in the figure), an operating trolley 101, at least one mechanical arm 102, at least one surgical tool or endoscope 10, and at least one surgical implement 100 (or surgical Any one of actuators 200-600).
  • a control device not shown in the figure
  • an operating trolley 101 at least one mechanical arm 102, at least one surgical tool or endoscope 10, and at least one surgical implement 100 (or surgical Any one of actuators 200-600).
  • At least one robotic arm 102 is provided on the operating trolley 101, and the operating trolley 101 can be used to support the robotic arm 102.
  • At least one surgical tool 10 is provided at the distal end of at least one mechanical arm 102, and at least one surgical implement 100 may be provided at the distal end of at least one surgical tool 10, respectively.
  • the control device may be used to remotely control the movement of the robotic arm 102, the at least one surgical tool 10, and/or the at least one surgical implement 100.
  • the mechanical arm 102 may include at least one movable joint 1021, and the posture of the surgical tool 10 can be adjusted through the movable joint 1021.
  • at least one mechanical arm 102 may also be provided on multiple surgical carts 101 respectively.
  • a surgical actuator including:
  • a supporting portion including an internal cavity
  • a pliers head is at least partially movably arranged at the distal end of the support part
  • a driving part is slidably disposed in the internal cavity of the support part and connected to the proximal end of the jaw head;
  • Item 2 The surgical implement according to item 1, wherein the forceps head includes a first forceps member and a second forceps member capable of cooperating with the first forceps member.
  • Item 3 The surgical implement according to item 2, wherein the driving part includes a driving wire.
  • Item 4 In the surgical implement according to item 3, the driving wire and the second forceps are connected by at least one first driving part connecting pin, and the first driving part connecting pin is used for transmitting the The driving force of the driving wire on the second jaw member.
  • Item 5 In the surgical implement according to item 4, the driving wire and the first forceps are connected by at least one second driving portion connecting pin, and the second driving portion connecting pin is used for transmitting the The driving force of the driving wire to the first jaw member.
  • Item 6 The surgical implement according to item 5, wherein the driving part includes a first connecting rod and a second connecting rod;
  • the distal end of the driving wire is connected to the hinge joint of the first connecting rod and the second connecting rod;
  • first connecting rod and the second connecting rod are respectively connected to the corresponding first driving part connecting pin and the second driving part connecting pin, and the second driving part connecting pin and The first driving part connecting pin is respectively connected to the first jaw piece and the second jaw piece, so that the first jaw piece and the second jaw piece are on the drive wire Drive closer to each other or move away from each other.
  • Item 7 The surgical actuator according to Item 4 or 5, wherein the driving part further includes: a sliding body;
  • the sliding body is slidably arranged in the internal cavity of the supporting part, and the distal end of the sliding body is connected with the connecting pin of the driving part;
  • the distal end of the driving wire is connected with the proximal end of the sliding body, and is used to drive the sliding body to reciprocate in the support part.
  • Item 8 The surgical implement according to item 4, wherein the first forceps member is fixedly arranged at the distal end of the support part, and the second forceps member is movably arranged at the distal end of the support part .
  • Item 9 The surgical implement according to item 4, wherein the support portion includes at least a pair of support portion sliding grooves, and at least one first driving portion connecting pin is slidably penetrated through the at least one pair of supports In the chute.
  • Item 10 The surgical implement according to item 9, wherein the second forceps member includes a forceps head and a forceps support member connecting and supporting the forceps, and the forceps support member is symmetrically arranged on the On both sides of the proximal end of the second pliers head member, the pliers head support member is pivotally connected to the support portion by a rotating connecting pin;
  • the clamp head support includes a clamp head sliding groove, and at least one first driving part connecting pin is slidably inserted in the at least one pair of support part sliding grooves and the clamp head sliding groove.
  • Item 11 The surgical implement according to item 10, wherein the supporting part sliding grooves are at least a pair of axial sliding grooves symmetrically arranged on the supporting part, and the forceps sliding grooves are symmetrically arranged on the supporting part.
  • Item 12 The surgical implement according to Item 5, wherein the first jaw member and the second jaw member are pivotally connected to the distal end of the support part by a rotating connecting pin.
  • Item 13 The surgical implement according to item 12, wherein the support portion includes at least two pairs of support portion sliding grooves, and at least one of the first driving portion connecting pin and the second driving portion connecting pin is slidably passed through It is arranged in the at least two pairs of supporting part sliding grooves.
  • Item 14 The surgical implement according to item 13, wherein the first forceps member includes a first forceps head and a first forceps support member connecting and supporting the first forceps head, the first forceps
  • the head support is symmetrically arranged on both sides of the proximal end of the first pliers head, and the first pliers head support is pivotally connected to the support part by a rotating connecting pin;
  • the first jaw support includes a first jaw sliding groove, and at least one of the second driving portion connecting pins is slidably inserted in a pair of the supporting portion sliding groove and the first jaw sliding groove ;
  • the second pliers head member includes a second pliers head and a second pliers head support connected to and supported by the second pliers head, and the second pliers head support is symmetrically arranged at the proximal end of the second pliers head On both sides, the second pliers support member is pivotally connected to the support part by a rotating connecting pin;
  • the second pliers head support includes a second pliers head sliding groove, and at least one of the first driving part connecting pins slidably penetrates through another pair of the support part sliding grooves and the pliers head sliding groove.
  • Item 15 The surgical implement according to item 6, wherein the first forceps member and the second forceps member are fixedly arranged at the distal end of the support part, and the first forceps member and/ Either the connection between the second jaw piece and the distal end of the support portion is flexible, or the first jaw piece and the second jaw piece themselves are flexible.
  • Item 16 The surgical implement according to any one of Items 2-14, wherein the proximal end of the driving wire is connected to a power supply device to form a conduction between the second jaw member and the driving wire path.
  • Item 17 The surgical implement according to Item 16, wherein the first jaw member is connected to another power supply device to form another power supply device between the first jaw member and the other power supply device. Conductive path
  • the conductive path and the other conductive path are insulated from each other.
  • Item 18 The surgical implement according to Item 17, an insulating portion is provided between at least one of the first forceps member and the second forceps member and the support portion, so that the The first jaw piece and the second jaw piece are insulated from each other.
  • Item 19 The surgical implement according to Item 18, wherein the insulating part includes a first insulating part arranged at the connection between the first forceps part and the supporting part; or
  • the insulating part includes an insulating lining of the support frame closely attached to the inner wall of the support part and a second insulating part arranged at the contact position of the second jaw part and the support part.
  • Item 20 The surgical implement according to any one of items 7 to 19, wherein the seal is sealed to the outer periphery of the proximal end of the sliding body at the first end; or the seal is at the second end.
  • the end is hermetically wrapped to the proximal end of the support part; or the seal is hermetically joined to the inner wall of the support part at the second end.
  • Item 21 The surgical implement according to Item 14, further comprising: a cuff fastened on the outer circumference at the first end and/or the second end of the sealing member.
  • Item 22 The surgical implement according to item 14, wherein the sliding body further comprises: a sliding rod and a pin connecting portion;
  • the sealing member sealably covers at least a part of the outer circumference of the sliding rod at the first end.
  • Item 23 The surgical implement according to any one of items 1-20, wherein the sealing member includes an inner cylinder portion, an outer cylinder portion, and a transition portion connecting the inner cylinder portion and the outer cylinder portion, so The distal end of the inner cylinder part forms the first end, and the distal end of the outer cylinder part forms the second end.
  • the sealing member includes an inner cylinder portion, an outer cylinder portion, and a transition portion connecting the inner cylinder portion and the outer cylinder portion, so The distal end of the inner cylinder part forms the first end, and the distal end of the outer cylinder part forms the second end.
  • Item 24 The surgical implement according to any one of Items 1 to 20, wherein the sealing member is cylindrical, the distal end of the sealing member forms the first end, and the proximal end of the sealing member forms The second end.
  • Item 25 The surgical actuator according to any one of items 1-22, further comprising: a protective cover;
  • the protective sleeve includes a receiving groove at the distal end, and the receiving groove is tightly sleeved on the outer periphery of the proximal end of the support part;
  • the proximal end of the protective sleeve is provided with a through hole for the driving part to pass through.
  • Item 26 The surgical implement according to any one of items 2-23, wherein the distal end of the supporting portion is provided with at least one supporting member spaced in the circumferential direction and extending in the axial direction, and the first pliers head The piece and the second jaw piece are arranged at the distal end of the support piece.
  • Item 27 The surgical implement according to any one of Items 1 to 24, wherein at least a part of the sealing member includes an elastic material or a flexible material.
  • Item 28 The surgical actuator according to any one of Items 1-25, wherein the forceps head includes one of the following: a separating forceps, a grasping forceps, a needle holder, and a bending shear.
  • Item 29 A surgical tool, including a transmission part, a surgical tool arm, and the surgical actuator according to any one of items 1-26;
  • the surgical implement is arranged at the distal end of the surgical tool arm, the transmission part is arranged at the proximal end of the surgical tool arm, and the transmission part is used to drive the surgical tool arm and/or surgery The movement of the actuator.
  • Item 30 A surgical robot, comprising at least one control device, at least one surgical pallet, at least one mechanical arm, at least one surgical tool, and at least one surgical actuator according to any one of items 1-26;
  • At least one of the robotic arms is provided on at least one of the operating trolleys, at least one of the surgical tools is respectively provided on the distal end of at least one of the robotic arms, and at least one of the surgical implements is respectively provided on at least one of the At the distal end of the surgical tool, at least one of the control devices is used to control the movement of at least one of the surgical tools and/or at least one of the surgical implements.

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

Abstract

本公开涉及医疗器械领域，公开了一种手术执行器，包括支撑部、钳头部、驱动部和密封件。支撑部包括内部空腔，钳头部至少部分可动地设置于支撑部的远端处，驱动部滑动设置于支撑部的内部空腔并连接至钳头部的近端，密封件在第一端处密封连接至驱动部，并且在第二端处密封连接至支撑部，密封件的至少一部分可变形。从而提供一种密封性能好，能够反复清洗消毒使用的手术执行器，进一步的目的在于提供具有良好的绝缘性能，可以兼顾小型化优势的手术执行器、手术工具及手术机器人。

Description

手术执行器、手术工具及手术机器人 技术领域
本公开涉及医疗器械领域，尤其涉及一种手术执行器、手术工具及手术机器人。
背景技术
在微创医疗程序中，通常会使用手术工具，而手术工具又包括各种手术执行器，例如夹钳、切割工具或持针器等。手术工具按功能又可以分为带电或不带电手术工具，带电手术工具例如双极或单极电能手术工具。手术执行器通常安装在手术工具的末端，手术执行器通过直接插入或通过套管插入患者的小切口或自然孔口，然后完成相应手术操作。
现有的手术工具可分为一次性手术工具和可重复型手术工具：一次性手术工具大多采用高分子材料和不锈钢材料结合，但存在不锈钢脱落的风险，容易造成手术事故；可重复型手术工具主体一般采用不锈钢材料，产品不易损坏，可以重复消毒使用，但是手术后回收程序复杂，且如果后期消毒灭菌不彻底，易造成二次污染和感染等问题。
现有的可重复型手术工具在消毒灭菌时往往通过拆卸手术工具零部件或者通过清洗通道进行消毒，前者的清洗方式成本高、工序复杂，且易造成磨损和零件松动。后者的清洗方式由于通道较长，不易冲刷干净，容易造成消毒不彻底，有残留且不易发现，导致后期出现二次污染。
发明内容
在一些实施例中，本公开提供一种示例性的手术执行器，包括：支撑部，支撑部包括内部空腔；钳头部，钳头部至少部分可动地设置于支撑部的远端处；驱动部，驱动部滑动设置于支撑部的内部空腔并连接至钳头部的近端；密封件，密封件在第一端处密封连接至驱动部，并且在第二端处密封连接至支撑部，密封件的至少一部分可变形。
在一些实施例中，本公开还提供一种手术工具，包括驱动部、手术工具臂体以及上述技术方案中的手术执行器；手术执行器设置在手术工具臂体的远端，驱动部设置在手术工具臂体的近端，驱动部用于驱动手术工具臂体或手术执行器的运动。
在一些实施例中，本公开还提供一种手术机器人，包括至少一个控制设备、至少一个手术台车、至少一个机械臂、至少一个手术工具以及至少一个上述技术方案中的手术执行器；至少一个机械臂设置在至少一个手术台车上，至少一个手术工具分别设置在至少一个机械臂的远端，至少一个手术执行器分别设置在至少一个手术工具的远端，至少一个控制设备用于控制至少一个手术工具和/或至少一个手术执行器的运动。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对本公开实施例描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据本公开实施例的内容和这些附图获得其他的附图。
图1示出根据本公开一些实施例的手术执行器的立体结构示意图；
图2示出根据本公开一些实施例的手术执行器的左视图；
图3示出根据本公开一些实施例的手术执行器的轴向剖视图；
图4示出根据本公开一些实施例的第一钳头件和支撑部的剖视图；
图5示出根据本公开一些实施例的支撑部的立体图；
图6示出根据本公开另一些实施例的支撑部的立体图；
图7示出根据本公开一些实施例的第二钳头件的立体图；
图8示出根据本公开一些实施例的可滑动体的侧视图；
图9示出根据本公开一些实施例的密封件的立体图；
图10示出根据本公开一些实施例的两钳头张开时的剖视图；
图11示出根据本公开一些实施例的手术执行器的立体图；
图12示出根据本公开一些实施例的手术执行器的剖视图；
图13示出根据本公开一些实施例的手术执行器部分结构的立体图；
图14示出根据本公开一些实施例的手术执行器的立体图；
图15示出根据本公开一些实施例的手术执行器的剖视图；
图16示出根据本公开一些实施例的手术执行器部分结构的立体图；
图17示出根据本公开一些实施例的钳头部和驱动部配合的立体图；
图18示出根据本公开一些实施例的驱动部的结构示意图；
图19示出根据本公开一些实施例的支撑部的立体图；
图20示出根据本公开一些实施例的保护套的立体图；
图21示出根据本公开一些实施例的手术执行器的立体视图；
图22示出根据本公开一些实施例的手术执行器的剖面图；
图23示出根据本公开一些实施例的钳头部和驱动部配合的立体图；
图24示出根据本公开一些实施例的支撑部的结构示意图；
图25示出根据本公开一些实施例的驱动部的立体图；
图26示出根据本公开一些实施例的密封件的立体图；
图27示出根据本公开一些实施例的保护套的立体图；
图28示出根据本公开一些实施例的手术执行器的立体视图；
图29示出根据本公开一些实施例的手术执行器的剖面图；
图30示出根据本公开一些实施例的支撑部的结构示意图；
图31示出根据本公开一些实施例的钳头部和驱动部配合的立体图；
图32示出根据本公开一些实施例的钳头部和驱动部配合的侧视图；
图33示出根据本公开一些实施例的驱动部的立体图；
图34示出根据本公开一些实施例的保护套的立体图；
图35示出根据本公开一些实施例的手术执行器的立体视图；
图36示出根据本公开一些实施例的手术执行器的剖面图；
图37示出根据本公开一些实施例的手术执行器的部分结构剖面图；
图38示出根据本公开一些实施例的手术执行器的部分结构的立体图；
图39示出根据本公开一些实施例的手术执行器支撑部的立体图；
图40示出根据本公开一些实施例的手术工具的立体图；
图41示出根据本公开一些实施例的手术机器人的的立体图。
具体实施方式
为使本公开解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本公开实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、仅用于描述目的，而不能理解为指示或暗示相对重要性。其中，术语“第一位置”和“第二位置”为两个不同的位置。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
在本公开中，定义靠近操作者的一端为近端、近部或后端、后部，靠近手术患者的一端为远端、远部或前端、前部。
图1至图3分别示出了根据本公开一些实施例的手术执行器100的立体结构示意图、左视图和轴向剖视图。手术执行器100可以包括钳头部120、支撑部110、驱动部130和密封件140。
钳头部120至少部分可动地设置在支撑部110的远端处，由支撑部110提供支撑。如图3所示，支撑部110可以包括内部空腔1121，驱动部130可以运动设置于支撑部110的内部空腔1121并连接至钳头部120的近端，从而通过在支撑部110内部的运动驱动钳头部120的至少一部分相对于支撑部110的远端运动。可以理解，钳头部120可以是手术执行器中使用的任何能够实现开合的工具，例如分离钳、抓钳、持针器以及弯剪等。
密封件140可以在第一端(例如，近端或者如图3所示的远端)处密封连接至驱动部130，并且在第二端(例如，远端或者如图3所示的近端)处密封连接至支撑部110，密封件140的至少一部分可变形。从而，当驱动部130在支撑部110内相对运动时，密封件140能够进行适应性变形。密封件140可以使得驱动部130与支撑部110以及钳头部120之间形成密封隔离，阻止手术过程中来自患者的体液、细菌、病毒通过孔隙进入手术执行器100的内部，以便于手术执行器100的反复清洗和消毒。
密封件140的至少一部分可以包括弹性可伸缩材料，例如橡胶或热塑性弹性体等，或柔性材料，例如塑料、无纺布等。在一些实施例中，如图3所示，密封件140可以包括第一端部、第二端部以及在第一端部和第二端部之间的过渡部。第一端部、第二端部可以分别密封连接至驱动部130的外周面和支撑部110的近端外周面，例如通过粘合、热塑、卡箍等。过渡部的至少一部分可以包括柔性材料，或者过渡部的至少一部分可以包括褶皱部，褶皱部可以延长展开或收缩折叠。因此，在驱动部130在支撑部110内运动时，密封件140可进行适应性变形，从而实现密封但不影响驱动部130与支撑部110之间的相对运动。
图5和图6分别示出根据本公开一些实施例的支撑部110的立体图。在一些实施例中，支撑部110可以包括至少一对支撑部滑槽1122a-b。如图5所示，支撑部滑槽1122a-b可以为彼此径向相对且轴向延伸的一对轴向滑槽。在一些实施例中，如图6所示，支撑部110可以包括两对支撑部滑槽1122a-b，两对支撑部滑槽1122a-b可以为彼此径向相对且轴向延伸的两对轴向滑槽。
在一些实施例中，如图5和图6所示，支撑部110可以包括位于近端的支撑连接件111和在支撑连接件111远端周向间隔设置的至少一个支撑件(例如一 对支撑件112a-b)。支撑连接件111可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等。其内形成有沿轴向设置的中空滑道1123(也可参照图4中所示)。支撑件112a和支撑件112b可以相对设置，支撑部滑槽1122a-b可以相对地分别形成于支撑件112a-b上。支撑件112和支撑连接件111可以固定连接或一体成型。在一些实施例中，支撑部110的支撑件112可以为筒状或者筒状的一部分，横截面可以呈圆形、椭圆形、矩形、多边形等等。通过设置周向间隔的支撑件112，从而增加支撑部110远端的镂空结构，减少内部孔隙和遮蔽面积，以便于手术工具远端的清洗。支撑部滑槽1122a-b相对形成于支撑部110的侧壁上。在一些实施例中，支撑部110可以包括多个间隔设置的支撑件112，以便于手术工具的清洗。
如图1至图3所示，钳头部120可以包括第一钳头件121和能与第一钳头件121配合的第二钳头件122。在一些实施例中，如图1和图2所示，第一钳头件121可以固定设置在支撑部110的远端，例如焊接、粘合或一体成型。第二钳头件122可以与第一钳头件121或支撑部110可转动连接，例如铰接。图4示出根据本公开一些实施例的第一钳头件121和支撑部110的剖视图。如图4所示，第一钳头件121固定设置在支撑部110的远端。在一些实施例中，第一钳头件121可以与支撑部110一体成型。
图7示出根据本公开一些实施例的第二钳头件122的立体图。如图7所示，第二钳头件122可以包括钳头1221以及连接并支撑钳头1221的一对钳头支撑件1222a和1222b。一对钳头支撑件1222a-b可以对称设置在钳头1221的近端两侧。钳头支撑件1222a-b的远端分别相对设有连接孔1224a-b。如图7所示，钳头支撑件1222a-b可以分别包括钳头滑槽1223a-b。在一些实施例中，钳头滑槽1223a-b可以为弧形滑槽，钳头滑槽1223a-b彼此相对设置在钳头支撑件 1222a-b上。弧形滑槽的轮廓可以例如弧线A，如图7所示。弧形滑槽的轮廓线由一段或多段弧线组成，通过调整弧线的曲率，可以调整手术工具输出的夹持力。本领域技术人员应该理解，弧形滑槽的轮廓线还可以由多段直线段形成近似弧线。在一些实施例中，如图7所示，钳头支撑件1222a-b可以分别包括连接孔1224a-b。连接孔1224a-b可以用于安装第二钳头件122，如下详述。
在一些实施例中，驱动部130包括驱动丝131，如图1、3所示。在一些实施例中，驱动丝131可以是镍钛合金丝或钢丝。通过驱动丝的推拉实现对钳头部的驱动，以及通过驱动一个钳头运动而另一个钳头固定设置，可以简化驱动结构。因此可广泛应用于各种微创手术中，尤其是应用于微创手术机器人、如腔镜手术机器人中。
在一些实施例中，如图1所示，钳头支撑件1222a-b可以设置在支撑部110的外侧。本领域技术人员可以理解，在一些实施例中，钳头支撑件1222a-b还可以设置于支撑部110的内侧。如图2中所示，驱动部连接销150可以可滑动穿设在支撑部滑槽1122a-b(如图5所示)和钳头滑槽1223a-b(如图7中所示)中。转动连接销151贯穿一对连接孔1224a-b(如图7所示)，其两端分别枢接于支撑部110的一对支撑部连接孔1124a-b(可参考图5和图6)中，以使第二钳头件122与支撑部110铰接。驱动部连接销150与驱动丝131的远端连接，驱动丝131在支撑部110的中空滑道1123内相对推拉运动时，驱动驱动部连接销150沿钳头滑槽1223a-b和支撑部滑槽1122a-b往复滑动，从而驱动第二钳头件122相对于第一钳头件121进行开合运动。
在一些实施例中，一对驱动部连接销150分别可滑动地穿设在两对支撑部滑槽1122a-b(如图6所示)中，其中一个驱动部连接销150还滑动穿设在钳头滑槽1223a-b中。一对驱动部连接销150均与驱动丝131的远端连接，由此在驱 动丝131的驱动下，一对驱动部连接销150可以沿支撑部滑槽1122a-b滑动，其中穿设在钳头滑槽1223a-b中的驱动部连接销150还可以沿支撑部滑槽1122a-b往复运动，从而驱动第二钳头件122相对于第一钳头件121进行开合运动。通过设置两对支撑部滑槽1122a-b，且在其中分别设置驱动部连接销150，从而使得驱动更加稳定。
在一些实施例中，如图3所示，驱动部130还可以包括滑动体132，驱动部连接销150可以固定设置在滑动体132的远端。驱动丝131的远端与滑动体132的近端连接。滑动体132可滑动地设置在支撑部110的内部空腔1121中，驱动丝131用于驱动滑动体132在支撑部110内往复运动。图8示出根据本公开一些实施例的可滑动体132的侧视图。如图3和图8所示，密封件140可以在第一端处密封包覆套设在滑动体132的外周面或者滑动体132的近端部分的外周面，密封件140可以在第二端处密封包覆至支撑部110近端的端部。在一些实施例中，密封件140也可以设置为在第二端处与支撑部110近端的内壁密封结合。密封件140可以使驱动部130的远端部分相对于支撑部110的中空滑道1123密封。在一些实施例中，滑动体132可以呈圆柱状、立方体状、多面体状或者异形结构，驱动部连接销150可以沿滑块的径向固定穿设在滑块的远端，或者驱动部连接销150可以为两个，分别径向相对固定设置在滑块的远端。在一些实施例中，如图8所示，套箍180可以设置在密封件140第一端的外周，用于将密封件140的第一端紧固到滑动体132的近端。
图10示出根据本公开一些实施例的两钳头张开时的剖视图。如图10所示，滑动体132可以包括径向延伸的销连接部1321以及从销连接部1321向近侧轴向延伸的滑杆1322。销连接部1321和滑杆1322可一体形成，也可彼此独立并固定连接，例如焊接、粘合或一体成型。驱动部连接销150固定设置在销 连接部1321上。在一些实施例中，如图10所示，滑杆1322和驱动丝131外周还可以套设有密封套133。如图10所示，密封套133外部远端还可以套设有滑套134。在一些实施例中，替代销连接部1321，滑套134上可以设有径向延伸的驱动部连接销150。在一些实施例中，滑套134可以和销连接部1321一体成型或固定连接。密封件140可以在第一端处密封套设在滑套134的外周面，密封件140可以在第二端处密封包覆至支撑部110近端的端部，以使驱动部130的远端以及钳头部120相对于支撑部110的中空滑道1123密封。尽管在上述实施例中，驱动部130可以包括滑动体132、驱动丝131、密封套133、以及滑套134，但应理解，驱动部130可整体上或至少部分地一体成型。在一些实施例中，密封套133和滑杆1322可以为橡胶、塑料或陶瓷等绝缘体，以避免手术执行器带电，在手术过程中灼烧患者。
图9示出根据本公开一些实施例密封件140的立体图。如图8和图9所示，密封件140可以包括内筒部141、外筒部142和弯曲过渡部143。内筒部141可以套设在滑动体132近端(例如滑套134、密封套133或滑杆1322)的外周面且位于支撑部110的内部空腔1121中，内筒部141可在滑动体132的带动下沿内部空腔1121进行轴向运动。外筒部142的内壁可以密封包裹在支撑部110近端的外周面上。但应理解，外筒部142的外壁可以密封结合在支撑部110近端的内周面上。外筒部142通过弯曲过渡部143与内筒部141连接成一体。由此，密封件140可以使滑动体132的远端以及钳头部120与驱动丝131相对于密封件140的远侧密封，以使得驱动丝131与手术界面隔离，阻止手术过程中来自患者的体液以及来自外界的细菌等通过孔隙深入到手术执行器的内部。通过设置可变形的密封件可以使滑动体与驱动丝形成整体密封结构，因此，在清洗消毒时可以不拆卸手术执行器，只清洗钳头表面，便于清洗，而且能够减轻或避 免造成二次感染。
在一些实施例中，如图10所示，密封件140的内筒部141的外部可以套设套箍180，以使密封件140和滑动体132密封紧固连接。设置套箍180可以进一步保证密封件140与驱动丝131之间的密封性。密封件140在伸缩运动时滑脱的风险得到减轻。
在一些实施例中，如图1和图2所示，在支撑部110的近端外周还可以设置保护套170。保护套170可以包括近段171和远段172，其中远段172的径向尺寸大于近段171的径向尺寸。保护套170的远段172在远端处可以包括容纳槽。保护套170的容纳槽容纳支撑部110的近端且与支撑部110的端部密封，保护套170的近段171容纳驱动丝131。保护套170的近段171端部可以设有供驱动丝131通过的通孔。在一些实施例中，保护套170可以为橡胶、塑料或陶瓷等绝缘体。保护套170可以避免手术执行器带电，在手术过程中灼烧患者。在一些实施例中，保护套170可以使手术执行器与手术工具的臂体绝缘，可以防止污染物进入到手术工具内部，造成清洗困难。
图11、图12和图13分别示出了根据本公开一些实施例手术执行器200的立体图、剖视图和部分结构立体图。
在一些实施例中，手术执行器200可以包括钳头部220、支撑部210、驱动部230和密封件240。
如图11和图13所示，钳头部220至少部分可动地设置在支撑部210的远端处。支撑部210可以包括内部空腔(图中未示)，驱动部230可以滑动设置于支撑部210的内部空腔并连接至钳头部220的近端，从而通过在支撑部210内部的运动驱动钳头部220的至少一部分相对于支撑部210的远端运动。
密封件240可以在第一端(例如，近端或者如图12所示的远端)处密封连 接至驱动部230的外周面，并且在第二端(例如，远端或者如图12所示的近端)处密封连接至支撑部210的近端内周面，密封件240的至少一部分可变形。从而，当驱动部230在支撑部210内相对运动时，密封件240能够进行适应性变形。密封件240可以使得驱动部230与支撑部210以及钳头部220之间形成密封隔离，阻止手术过程中来自患者的体液、细菌、病毒通过孔隙进入手术执行器200的内部，以便于手术执行器200的反复清洗和消毒。
在一些实施例中，支撑部210可以包括至少一对支撑部滑槽2122。如图11所示，支撑部210可以包括两对支撑部滑槽2122，两对支撑部滑槽2122可以为彼此径向相对且轴向延伸的两对轴向滑槽。在一些实施例中，如图11所示，支撑部210可以包括位于近端的支撑连接件211和在支撑连接件211远端周向间隔设置的一对支撑件212，支撑连接件211可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等。其内形成有沿轴向设置的中空滑道(图中未示)。两对支撑部滑槽2122可以相对地分别对称形成于支撑件212上。支撑件212和支撑连接件211可以固定连接或一体成型。在一些实施例中，支撑部210的支撑件212可以为筒状或者筒状的一部分，横截面可以呈圆形、椭圆形、矩形、多边形等等。
在一些实施例中，如图11和图12所示，钳头部220可以包括第一钳头件221和能与第一钳头件221配合的第二钳头件222。第一钳头件221和第二钳头件222可以分别与支撑部210可转动地连接，例如铰接。
在一些实施例中，如图13，第二钳头件222可以包括钳头2221和一对钳头支撑件2222a-b。一对钳头支撑件2222a-b可以对称设置在钳头2221的近端两侧。钳头支撑件2222a-b的远端分别相对设有连接孔2224a-b，钳头支撑件2222a-b可以分别包括钳头滑槽2223a-b，钳头滑槽2223a-b彼此相对设置在钳头 支撑件2222a-b上。钳头滑槽2223a-b可以为弧形滑槽。
如图12所示，第一钳头件221的结构可以与第二钳头件222的结构相似。第一钳头件221可以包括钳头2211和一对钳头支撑件2212。一对钳头支撑件2212可以对称设置在钳头2211的近端两侧。一对钳头支撑件2212之间的间距可以大于或者小于一对钳头支撑件2222a-b之间的间距，以便于钳头支撑件2212与钳头支撑件2222a-b之间的转动铰接。一对钳头支撑件2212的远端可以分别相对设有一对连接孔2214，一对钳头支撑件2212可以分别包括钳头滑槽2213。在一些实施例中，如图12所示，钳头滑槽2213可以为弧形滑槽，一对钳头滑槽2213可以彼此相对设置在一对钳头支撑件2212上。连接孔2214和2224a-b可以分别用于安装第一钳头件221和第二钳头件222，如下详述。
在一些实施例中，驱动部230包括驱动丝231，如图13所示。
在一些实施例中，如图11所示，第二钳头件222的一对钳头支撑件2222a-b可以设置在支撑部210的一对支撑件212的内侧，第一钳头件221的一对钳头支撑件2212可以设置在钳头支撑件2222a-b的内侧。应当理解，第二钳头件122的一对钳头支撑件2222a-b也可以设置在第一钳头件221的一对钳头支撑件2212的内侧。如图11和图12所示，第一钳头件221的钳头2211和第二钳头件222的钳头支撑件2222a-b的大部分可以位于支撑件212的中心线B的一侧，第一钳头件221的一对钳头支撑件2212的大部分和第二钳头件222的钳头2221可以位于与中心线B的一侧相对的另一侧。
如图11所示，一对驱动部连接销250a-b可以分别滑动穿设在位于支撑件212的中心线B(可参考图12)的一侧与另一侧的两对支撑部滑槽2122中。如图12所示，驱动部连接销250b还可以滑动穿设在第二钳头件222的一对钳头滑槽2223a-b中，驱动部连接销250a还可以滑动穿设在第一钳头件221的一对 钳头滑槽2213中。第一钳头件221的一对连接孔2214和第二钳头件222的一对连接孔2224a-b彼此对准，转动连接销251可以沿径向贯穿一对连接孔2214和一对连接孔2224a-b(如图12和图13所示)，其两端可以分别枢接于支撑部210上的一对支撑部连接孔2124中，以使第一钳头件221和第二钳头件222分别与支撑部210铰接。驱动部连接销250a-b可以与驱动丝231的远端连接，驱动丝231在支撑部210的中空滑道内相对推拉运动时，驱动驱动部连接销250b可以沿钳头滑槽2223a-b和一对支撑部滑槽2122往复滑动，驱动驱动部连接销250a可以沿一对钳头滑槽2213和另一对支撑部滑槽2122往复滑动，从而驱动第一钳头件221和第二钳头件222相对于彼此进行开合运动。
在一些实施例中，如图12和图13所示，驱动部230还可以包括滑动体232，一对驱动部连接销250a-b可以分别固定设置在滑动体232的远端。驱动丝231的远端与滑动体232的近端连接。滑动体232可滑动地设置在支撑部210的内部空腔中，驱动丝231用于驱动滑动体232在支撑部210内往复运动。
如图12所示，密封件240可以在第一端处密封包覆套设在滑动体232的外周面或者滑动体232的近端部分的外周面或者驱动丝231的远端外周，密封件240可以在第二端处密封接合至支撑部210近端的内周面或者在第二端处密封包覆至支撑部210近端外周。密封件240可以使驱动部230的远端部分相对于支撑部210的中空滑道密封。在一些实施例中，滑动体232可以呈圆柱状、立方体状、多面体状或者异形结构。一对驱动部连接销250a-b可以沿滑动体232的横向固定穿设在滑动体232的远端。在一些实施例中，如图12所示，套箍280可以设置在密封件240第一端的外周，用于将密封件240的第一端紧固到滑动体232的近端。在一些实施例中，密封件240第二端的外周也可以设置套箍，用于将密封件240的第二端紧固到支撑部210上。
如图12所示，密封件240可以包括内筒部241、外筒部242和弯曲过渡部243。内筒部241可以套设在滑动体232近端的外周面且位于支撑部210的内部空腔中，内筒部241可在滑动体232的带动下沿内部空腔进行轴向运动。外筒部242的外壁可以密封贴合在支撑部210近端的内周面上。但应理解，外筒部242的内壁可以密封包裹在支撑部210近端的外周面上。外筒部242通过弯曲过渡部243与内筒部241连接成一体。由此，密封件240可以使滑动体232的远端以及钳头部220与驱动丝231相对于密封件240的远侧密封，以使得驱动丝231与手术界面隔离，阻止手术过程中来自患者的体液以及来自外界的细菌等通过孔隙深入到手术执行器的内部。因此，在清洗消毒时可以不拆卸手术执行器，只清洗钳头表面，便于清洗，而且能够减轻或避免造成二次感染。
在一些实施例中，如图12所示，在支撑部210的近端外周还可以设置保护套270。保护套270可以包括近段271和远段272，其中远段272的径向尺寸大于近段271的径向尺寸。保护套270的远段272在远端处可以包括容纳槽(图中未示)。保护套270的容纳槽容纳支撑部210的近端，例如支撑连接件211，且与支撑部210的端部密封。本领域技术人员应当理解，远段272与支撑部210的近端的支撑连接件211可以螺纹连接、过盈配合连接、焊接、粘合或一体成型等。保护套270的近段271容纳驱动丝231。保护套270的近段271端部可以设有供驱动丝231通过的通孔。保护套270可以使手术执行器与手术工具的臂体绝缘，可以防止污染物进入到手术工具内部，造成清洗困难。
图14、图15和图16分别示出了根据本公开一些实施例手术执行器300的立体图、剖视图和部分结构立体图。
在一些实施例中，手术执行器300可以包括钳头部320、支撑部310、驱动 部330(可参考图18)和密封件340。
如图14和图15所示，钳头部320至少部分可动地设置在支撑部310的远端处。支撑部310可以包括内部空腔3121，驱动部330(可参考图18)可以滑动运动设置于支撑部310的内部空腔3121并连接至钳头部320的近端，从而通过在支撑部310内部的运动驱动钳头部320的至少一部分相对于支撑部310的远端运动。
密封件340可以在第一端(例如，近端或者如图15所示的远端)处密封连接至驱动部330(可参考图18)，并且在第二端(例如，远端或者如图15所示的近端)处密封连接至支撑部310，密封件340的至少一部分可变形。从而，当驱动部330在支撑部310内相对运动时，密封件340能够进行适应性变形。密封件340可以使得驱动部330与支撑部310以及钳头部320之间形成密封隔离，阻止手术过程中来自患者的体液、细菌、病毒通过孔隙进入手术执行器300的内部，以便于手术执行器300的反复清洗和消毒。
在一些实施例中，支撑部310可以包括至少一对支撑部滑槽。图19示出根据本公开一些实施例支撑部310的立体图。如图19所示，支撑部310可以包括一对支撑部滑槽3122a-b。支撑部滑槽3122a-b可以为彼此径向相对且轴向延伸的一对轴向滑槽。
在一些实施例中，如图19所示，支撑部310可以包括位于近端的支撑连接件311和在支撑连接件311远端周向间隔设置的一对支撑件312a-b，支撑连接件311可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等。其内形成有沿轴向设置的中空滑道3123。支撑部滑槽3122a-b可以相对地分别对称形成于支撑件312a-b上。支撑件312和支撑连接件311可以固定连接或一体成型。在一些实施例中，支撑部310的支撑件312可以为筒状或者筒状的一部 分，横截面可以呈圆形、椭圆形、矩形、多边形等等。
如图15所示，钳头部320可以包括第一钳头件321和能与第一钳头件321配合的第二钳头件322。在一些实施例中，第一钳头件321可以固定设置在支撑部310的远端，例如焊接、粘合或一体成型。第二钳头件322可以和第一钳头件321或支撑部310可转动连接，例如铰接。如图19所示，第一钳头件321可以与支撑部310的支撑件312a和支撑件312b中的一个一体成型或固定连接。应当理解，第一钳头件321还可以与一对支撑件312a-b一体成型或固定连接。
图17示出根据本公开一些实施例钳头部320和驱动部330配合的立体图。如图17所示，第二钳头件322可以包括钳头3221、钳头连接件3225以及一对钳头支撑件3222a和3222b。钳头连接件3225可以一体成型或固定连接在钳头3221的近端，一对钳头支撑件3222a-b可以对称设置在钳头连接件3225的近端两侧。钳头3221、钳头连接件3225以及一对钳头支撑件3222a-b可以一体成型或部分一体成型或固定连接。钳头连接件3225可以分别相对设有一对连接孔3224。如图17所示，钳头支撑件3222a-b可以分别包括钳头滑槽3223a-b。在一些实施例中，钳头滑槽3223a-b可以为弧形滑槽，钳头滑槽3223a-b彼此相对设置在钳头支撑件3222a-b上。
在一些实施例中，驱动部330包括驱动丝331，如图14至图18所示。
在一些实施例中，钳头支撑件3222a-b还可以设置于支撑部310的内侧。如图15和图16所示，驱动部连接销350可以可滑动穿设在支撑部滑槽3122a-b(如图19所示)和钳头滑槽3223a-b(如图17中所示)中。转动连接销351贯穿一对连接孔3224(如图17所示)，其两端分别枢接于支撑部310的一对支撑部连接孔3124a-b(可参考图19)中，以使第二钳头件322与支撑部310铰接。驱动部连接销350与驱动丝331的远端连接，驱动丝331在支撑部310的中空滑道 3123内相对推拉运动时，驱动驱动部连接销350沿钳头滑槽3223a-b和支撑部滑槽3122a-b往复滑动，从而驱动第二钳头件322相对于第一钳头件321进行开合运动。
图18示出根据本公开一些实施例驱动部330的结构示意图。在一些实施例中，如图15和图18所示，驱动部330还可以包括滑动体332，驱动部连接销350可以固定设置在滑动体332的远端。驱动丝331的远端与滑动体332的近端连接。滑动体332可滑动地设置在支撑部310的内部空腔3121中，驱动丝331用于驱动滑动体332在支撑部310内往复运动。如图15和图17所示，密封件340可以在第一端处密封包覆套设在滑动体332的外周面或者滑动体332的近端部分的外周面，密封件340也可以设置为在第二端处与支撑部310近端的内壁密封结合。在一些实施例中，密封件340可以在第二端处密封包覆至支撑部310近端的端部，例如支撑连接件311外周面。密封件340可以使驱动部330的远端部分相对于支撑部310的中空滑道3123密封。在一些实施例中，滑动体332可以呈圆柱状、立方体状、多面体状或者异形结构，驱动部连接销350可以沿滑动体332的径向固定穿设在滑动体332的远端。
如图15所示，滑动体332可以包括径向延伸的销连接部3321以及从销连接部3321向近侧轴向延伸的滑杆3322。销连接部3321和滑杆3322可一体形成，也可彼此独立并固定连接，例如焊接或粘合等。驱动部连接销350固定设置在销连接部3321上。在一些实施例中，如图15和图18所示，滑杆3322和驱动丝331外周套设有滑套334，滑套334与销连接部3321可以一体成型，销连接部3321上设有径向延伸的驱动部连接销350。应当理解，滑套334与销连接部3321也可彼此独立并固定连接，例如焊接或粘合等。密封件340可以在第一端处密封套设在滑套334的外周面，密封件340可以在第二端处密封贴合至 支撑部310近端的内周面，以使驱动部330的远端以及钳头部320相对于支撑部310的中空滑道3123密封。尽管在上述实施例中，驱动部330可以包括滑动体332、驱动丝331以及滑套334，但应理解，驱动部330可整体上或至少部分地一体成型。
在一些实施例中，驱动丝331的近端可以与供电装置(图中未示)连接，以在所述第二钳头件322与所述驱动丝331之间形成导电通路。在一些实施例中，滑动体332、驱动部连接销350和支撑件312均可以包括导电材料，例如金属。本领域技术人员应当理解，滑动体332、驱动部连接销350和支撑件312也可以在其表面镀导电层，以实现导电的功能。驱动丝331的近端与供电装置连接，第二钳头件322可以通过滑动体332和驱动丝331之间形成导电通路，第一钳头件321可以通过支撑件312和驱动部连接销350连接到该导电通路，导电通路可以为第一钳头件321和第二钳头件322供电形成“单级”，从而可以实现电剪切和电切割等操作。
在一些实施例中，如图15所示，驱动丝331位于滑动体332近端(例如滑套334或者滑杆3322)以外的部分的外周可以包覆有绝缘保护套333，驱动丝331的远端穿过绝缘保护套333与滑动体332近端连接。绝缘保护套333可以避免手术执行器的近端外部导电，从而造成安全隐患。
在一些实施例中，支撑部310的一对支撑件312a-b的外周可以包覆有绝缘罩390(可参考图14)，第一钳头件321及第二钳头件322的远端部分可以延伸出绝缘罩390之外。绝缘罩390可以为筒状件，横截面可以是圆形、椭圆形、矩形或多边形等等。绝缘罩390可以为橡胶、塑料或陶瓷等绝缘体。绝缘罩390可以减少手术执行器的导电面积，可以避免手术执行器除与目标组织以外的其他身体组织之间形成导电通路，灼烧患者。
如图17所示，密封件340可以包括内筒部341、外筒部342和弯曲过渡部343。内筒部341可以套设在滑动体332近端(例如滑套334或滑杆3322)的外周面且位于支撑部310的内部空腔3121中，内筒部341可在滑动体332的带动下沿内部空腔3121进行轴向运动。外筒部342的外壁可以密封贴合在支撑部310近端的内周面上。但应理解，外筒部342的内壁可以密封包裹在支撑部310近端的外周面上。外筒部342通过弯曲过渡部343与内筒部341连接成一体。由此，密封件340可以使滑动体332的远端以及钳头部320与驱动丝331相对于密封件340的远侧密封，以使得驱动丝331与手术界面隔离，阻止手术过程中来自患者的体液以及来自外界的细菌等通过孔隙深入到手术执行器的内部。因此，在清洗消毒时可以不拆卸手术执行器，只清洗钳头表面，便于清洗，而且能够减轻或避免造成二次感染。
在一些实施例中，如图15所示，密封件340的内筒部341的外部可以套设套箍380a，以使密封件340和滑动体332密封紧固连接。在一些实施例中，如图15所示，密封件340的外筒部342外部可以套设套箍380b，套箍380b可以与支撑部310的近端紧固连接，以使外筒部342与支撑部310密封紧固连接。设置套箍380a-b可以分别保证密封件340与驱动丝331之间以及密封件340与支撑部310之间的密封性，可以使密封件340在伸缩运动时滑脱的风险得到减轻。
图20示出根据本公开一些实施例保护套370的立体图。在一些实施例中，在支撑部310的近端外周还可以设置保护套370。如图16和图20所示，保护套370可以包括近段371和远段372，其中远段372的径向尺寸大于近段371的径向尺寸。保护套370的远段372在远端处可以包括容纳槽(图中未示)。保护套370的容纳槽容纳支撑部310的近端且与支撑部310的端部密封。本领域技 术人员应当理解，远段372与支撑部310的近端可以螺纹连接、过盈配合连接、焊接、粘合或一体成型等。保护套370的近段371容纳驱动丝331。保护套370的近段371端部可以设有供驱动丝331通过的通孔3711。在一些实施例中，保护套370可以为橡胶、塑料或陶瓷等绝缘体。保护套370可以使手术执行器与手术工具的臂体绝缘，可以防止污染物进入到手术工具内部，造成清洗困难。
图21和图22分别示出了根据本公开一些实施例的手术执行器400的立体图和剖视图。
在一些实施例中，手术执行器400可以包括钳头部420、支撑部410、驱动部430(可参考图25)和密封件440。
如图21和图22所示，钳头部420至少部分可动地设置在支撑部410的远端处。支撑部410可以包括内部空腔4121，驱动部430(可参考图25)可以滑动运动设置于支撑部410的内部空腔4121并连接至钳头部420的近端，从而通过在支撑部410内部的运动驱动钳头部420的至少一部分相对于支撑部410的远端运动。
密封件440可以在第一端(例如，近端或者如图22所示的远端)处密封连接至驱动部430，并且在第二端(例如，远端或者如图22所示的近端)处密封连接至支撑部410，密封件440的至少一部分可变形。从而，当驱动部430在支撑部410内相对运动时，密封件440能够进行适应性变形。密封件440可以使得驱动部430与支撑部410以及钳头部420之间形成密封隔离，阻止手术过程中来自患者的体液、细菌、病毒通过孔隙进入手术执行器400的内部，以便于手术执行器400的反复清洗和消毒。
在一些实施例中，支撑部410可以包括至少一对支撑部滑槽。图24示出根据本公开一些实施例支撑部410的结构示意图。如图24所示，支撑部410可以包括一对支撑部滑槽4122。一对支撑部滑槽4122可以为彼此径向相对且轴向延伸的一对轴向滑槽。
在一些实施例中，如图22和图24所示，支撑部410可以包括位于近端的支撑连接件411和在支撑连接件411远端周向间隔设置的一对支撑件412a-b，支撑连接件411可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等，其内形成有沿轴向设置的中空滑道4123(可参考图24)。一对支撑部滑槽4122可以相对地分别对称形成于支撑件412a-b上。支撑件412a-b和支撑连接件411可以固定连接或一体成型。在一些实施例中，支撑部410的支撑件412可以为筒状或者筒状的一部分，横截面可以呈圆形、椭圆形、矩形、多边形等等。
如图21所示，钳头部420可以包括第一钳头件421和能与第一钳头件421配合的第二钳头件422。在一些实施例中，第一钳头件421可以固定设置在支撑部410的远端，例如焊接、粘合、一体成型等。第二钳头件422可以和第一钳头件421或支撑部410可转动连接，例如铰接。如图21所示，第一钳头件421可以与一对支撑件412一体成型或固定连接。应当理解，第一钳头件421还可以与支撑部410的一对支撑件412中的一个一体成型或固定连接。
图23示出根据本公开一些实施例钳头部420和驱动部430配合的立体图。如图23所示，第二钳头件422可以包括钳头4221以及连接并支撑钳头4221的一对钳头支撑件4222a和4222b。一对钳头支撑件4222a-b可以对称设置在钳头4221的近端两侧。钳头支撑件4222a-b的远端分别相对设有连接孔4224a-b。如图23所示，钳头支撑件4222a-b可以分别包括钳头滑槽4223a-b。在一些实施例中，钳头滑槽4223a-b可以为弧形滑槽，钳头滑槽4223a-b彼此相对设置在钳头 支撑件4222a-b上。
在一些实施例中，驱动部430包括驱动丝431，如图21至图25所示。
在一些实施例中，钳头支撑件4222a-b可以设置于支撑部410的内侧。如图21所示，驱动部连接销450可以可滑动穿设在一对支撑部滑槽4122(如图24所示)和一对钳头滑槽4223a-b(如图23中所示)中。转动连接销451贯穿一对连接孔4224a-b(如图23所示)，其两端分别枢接于支撑部410的一对支撑部连接孔4124(可参考图24)中，以使第二钳头件422与支撑部410铰接。驱动部连接销450与驱动丝431的远端连接，驱动丝431在支撑部410的中空滑道4123内相对推拉运动时，驱动驱动部连接销450沿钳头滑槽4223a-b和一对支撑部滑槽4122往复滑动，从而驱动第二钳头件422相对于第一钳头件421进行开合运动。
图25示出根据本公开一些实施例驱动部430的结构示意图。在一些实施例中，如图22和图25所示，驱动部430还可以包括滑动体432，驱动部连接销450可以固定设置在滑动体432的远端。驱动丝431的远端与滑动体432的近端连接。滑动体432可滑动地设置在支撑部410的内部空腔4121中，驱动丝431用于驱动滑动体432在支撑部410内往复运动。如图22所示，密封件440可以在第一端处密封包覆套设在滑动体432的外周面或者滑动体432的近端部分的外周面，密封件440也可以设置为在第二端处与支撑部410近端的内壁密封结合。在一些实施例中，密封件440可以在第二端处密封包覆至支撑部410近端的端部，例如支撑连接件411的外周面。密封件440可以使驱动部430的远端部分相对于支撑部410的中空滑道4123密封。在一些实施例中，滑动体432可以呈圆柱状、立方体状、多面体状或者异形结构，驱动部连接销450可以沿滑动体432的径向固定穿设在滑动体432的远端。
如图22和图25所示，滑动体432可以包括滑杆4322和对称设置在滑杆4322的远端且沿轴向延伸的一对滑动体连接部4321a-b。滑杆4322和一对滑动体连接部4321a-b可一体形成，也可彼此独立并固定连接，例如焊接或粘合。驱动部连接销450固定设置在一对滑动体连接部4321a-b上。在一些实施例中，如图22和图25所示，滑杆4322和驱动丝431外周套设有滑套434，滑套434与一对滑动体连接部4321a-b可以一体成型。应当理解，滑套434与一对滑动体连接部4321a-b也可彼此独立并固定连接，例如焊接或粘合。密封件440可以在第一端处密封套设在滑套434的外周面，密封件440可以在第二端处密封贴合至支撑部410近端的内周面，例如支撑连接件411的内壁，以使驱动部430的远端以及钳头部420相对于支撑部410的中空滑道4123密封。尽管在上述实施例中，驱动部430可以包括滑动体432、驱动丝431以及滑套434，但应理解，驱动部430可整体上或至少部分地一体成型。
在一些实施例中，如图22所示，驱动丝431位于滑套434以外的部分的外周包覆有绝缘保护套433，驱动丝431的远端可以从绝缘保护套433中穿出并与滑动体432的近端端部紧固连接，例如可以通过焊接、粘合、一体成型或卡合紧固连接。
在一些实施例中，第一钳头件421可以与第一供电装置(图中未示)连接，以在第一钳头件421与第一供电装置之间形成第一导电通路。驱动丝431的近端可以与第二供电装置(图中未示)连接，以在第二钳头件422与驱动丝431之间形成第二导电通路。第一导电通路和第二导电通路在第一钳头件421和第二钳头件422彼此未接触时相互绝缘。第一导电通路和第二导电通路分别为第一钳头件421和第二钳头件422供电形成“双极”，从而可以实现夹取和电凝等操作。
在一些实施例中，滑动体432可以为导电材料，例如金属。本领域技术人员应当理解，滑动体432也可以在其表面镀导电层，以实现导电的功能。驱动丝431的近端与第二供电装置连接，第二钳头件422可以通过滑动体432和驱动丝431之间形成第二导电通路。第一供电装置可以通过导线490(可参考图22、23)与第一钳头件421直接形成第一导电通路，或者第一供电装置通过导线490与支撑部410电连接，支撑部410与第一钳头件421电连接，形成第一导电通路。第一钳头件421和第二钳头件422中的至少一个可以与支撑部410之间设置有绝缘部460(可参考图21)，以使第一钳头件421和第二钳头件422在分离时彼此绝缘，第一钳头件421和第二钳头件422可以在夹取组织时，两者之间通过组织形成导电通路，从而实现对组织夹取和电凝等操作。
在一些实施例中，第一钳头件421和支撑部410之间可以设置有绝缘部460。本领域技术人员应当理解，支撑部410可以直接为绝缘材料，绝缘部460可以直接为支撑部410的一部分或者绝缘部460可以包括固定设置在支撑部410上的第一绝缘件(图中未示)，第一绝缘件可以包括设置于第一钳头件421与支撑部410连接处的绝缘层或者绝缘固定件，以实现第一钳头件421和支撑部410的绝缘，进而实现与第二钳头件422的绝缘。第一钳头件421固定或一体成型地设置在支撑部410上或者固定设置在第一绝缘件上，第一供电装置可以通过导线490与第一钳头件421直接电连接，形成第一导电通路。如图24所示，第一钳头件421可以设置在支撑部410的一对支撑件412上。
在一些实施例中，支撑部410可以为导电材料，第一供电装置通过导线490与支撑部410形成导电通路，第一钳头件421通过支撑部410与第一供电装置形成第一导电通路。第二钳头件422和支撑部410之间可以设置有绝缘部460。如图22和图24所示，绝缘部460可以包括紧密贴设于支撑部410内壁的支撑 架绝缘内衬462以及设置于第二钳头件422与支撑部410接触位置的第二绝缘件463。第一钳头件421固定设置在支撑件412a-b的远端或者与支撑件412a-b一体成型。支撑架绝缘内衬462可以为橡胶、塑料或陶瓷等绝缘材料，支撑架绝缘内衬462可以防止第二钳头件422在运动时与支撑部410的内周面之间接触形成导电通路。在一些实施例中，如图24所示，支撑架绝缘内衬462的形状可以匹配支撑部410的形状，支撑架绝缘内衬462具有内部空腔，第二钳头件422的钳头支撑件4222a-b、滑动体432和密封件440均位于支撑架绝缘内衬462的内部空腔中。支撑架绝缘内衬462的外壁紧贴于支撑部410的内壁，支撑架绝缘内衬462上设有与一对支撑部滑槽4122对应的一对滑槽，以及与连接孔4224a-b和一对支撑部连接孔4124对应的一对连接孔。如图23所示，钳头支撑件4222a-b可以分别位于滑动体连接部4321a-b的两侧，驱动部连接销450固定穿设在滑动体连接部4321a-b上，驱动部连接销450的两端可以分别滑动穿设在钳头滑槽4223a-b、支撑架绝缘内衬462的一对滑槽和一对支撑部滑槽4122中。转动连接销451的两端可以分别穿过钳头支撑件4222a-b、支撑架绝缘内衬462上的一对连接孔后，穿设在支撑部410的一对连接孔4224a-b中。应当理解，支撑架绝缘内衬462还可以为其他能阻止第二钳头件422与支撑部410的内周面之间接触形成导电通路的任何结构，均不脱离本公开的范围。
第二钳头件422的钳头支撑件4222a-b与支撑部410接触位置可以包括支撑部410的内周面或者驱动部连接销450和转动连接销451或者支撑部410的支撑部滑槽4122a-b表面或者钳头支撑件4222a-b的钳头滑槽4223a-b。如图23所示，第二绝缘件463可以是在驱动部连接销450和转动连接销451的外周或者两端部外周包覆的连接销绝缘套或绝缘层。应当理解，在一些实施例中，第二绝缘件463也可以为在支撑部滑槽4122a-b的表面设置的绝缘层。从而可以使第 二钳头件422与支撑部410的接触位置在通过驱动部连接销450、转动连接销451连接时保证两者之间的相互绝缘。第二钳头件422可以通过驱动部连接销450、滑动体432、驱动丝431与第二供电装置之间形成第二导电通路，或者第二钳头件422可以通过滑动体432、驱动丝431与第二供电装置之间形成第二导电通路。通过支撑架绝缘内衬462和第二绝缘件463的配合可以实现第二导电通路和第一导电通路相互绝缘，可以简化绝缘部结构，使第一钳头件421和第二钳头件422分别形成导电通路，且两导电通路彼此绝缘。其中，第一钳头件421、第二钳头件422、驱动丝431、滑动体432、驱动部连接销450和转动连接销451均可以为导电材料，例如金属和不锈钢材料，或者也可以在其表面镀导电层，以实现导电的功能。在一些实施例中，驱动部连接销450和转动连接销451也可以为绝缘材料。通过实现小尺寸手术执行器的单级或者双极工具的绝缘，使得手术执行器之间，以及手术执行器与手术工具臂体或者手术机器人的机械臂之间形成绝缘，从而保证手术执行器以外的地方不会灼伤患者及使用者，避免损坏设备等。
在一些实施例中，支撑部410远离第一钳头件421的端部设置有环形导电板413，导线490连接到环形导电板413，并且导线490中的导体与环形导电板413接触，形成电连接，如图23所示。设置环形导电板413可以增加与支撑部410的接触面，使导线490更容易与支撑部410形成导电通路。
图26示出根据本公开一些实施例密封件440的立体图。如图22和图26所示，密封件440可以包括内筒部441、外筒部442和弯曲过渡部443。内筒部441可以套设在滑动体432近端(例如滑套434或滑杆4322)的外周面且位于支撑部410的内部空腔4121中，内筒部441可在滑动体432的带动下沿内部空腔4121进行轴向运动。外筒部442的外壁可以密封贴合在支撑部410近端的内周 面上或者密封包裹在支撑部410近端的外周面上。在一些实施例中，如图22所示，外筒部442的外壁可以密封贴合在支撑架绝缘内衬462近端的内周面上。但应理解，外筒部442的内壁可以密封包裹在支撑架绝缘内衬462近端的外周面上。外筒部442通过弯曲过渡部443与内筒部441连接成一体。由此，密封件440可以使滑动体432的远端以及钳头部420与驱动丝431相对于密封件440的远侧密封，以使得驱动丝431与手术界面隔离。
在一些实施例中，如图23所示，密封件440的内筒部441的外部可以套设套箍480，以使密封件440和滑动体432密封紧固连接。在一些实施例中，密封件440的外筒部442外部也可以套设套箍(图中未示)，套箍可以与支撑部410的近端紧固连接，以使外筒部442与支撑部410密封紧固连接。设置套箍可以进一步保证密封件440与驱动丝431之间以及密封件440与支撑部410之间的密封性，可以使密封件440在伸缩运动时滑脱的风险得到减轻。
图27示出根据本公开一些实施例保护套470的立体图。在一些实施例中，在支撑部410的近端外周还可以设置保护套470。如图27所示，保护套470可以包括近段471和远段472，其中远段472的径向尺寸大于近段471的径向尺寸。保护套470的远段472在远端处可以包括容纳槽(图中未示)。保护套470的容纳槽容纳支撑部410的近端且与支撑部410的端部密封。本领域技术人员应当理解，远段472与支撑部410的近端可以螺纹连接、过盈配合连接、焊接、粘合或一体成型等。保护套470的近段471容纳驱动丝431。如图27所示，保护套470的近段471端部可以设有分别供驱动丝431和导线490通过的驱动丝通孔4711和至少一个导线通孔4712。在一些实施例中，保护套470可以为橡胶、塑料或陶瓷等绝缘体。保护套470可以使手术执行器与手术工具的臂体绝缘，可以防止污染物进入到手术工具内部，造成清洗困难。
图28和图29分别示出了根据本公开一些实施例的手术执行器500的立体图和剖视图。
在一些实施例中，手术执行器500可以包括钳头部520、支撑部510、驱动部530和密封件540。
如图28和图29所示，钳头部520至少部分可动地设置在支撑部510的远端处。支撑部510可以包括内部空腔5121，驱动部530(可参考图33)可以滑动运动设置于支撑部510的内部空腔5121并连接至钳头部520的近端，从而通过在支撑部510内部的运动驱动钳头部520的至少一部分相对于支撑部510的远端运动。
密封件540可以在第一端(例如，近端或者如图29所示的远端)处密封连接至驱动部530，并且在第二端(例如，远端或者如图29所示的近端)处密封连接至支撑部510，密封件540的至少一部分可变形。从而，当驱动部530在支撑部510内相对运动时，密封件540能够进行适应性变形。密封件540可以使得驱动部530与支撑部510以及钳头部520之间形成密封隔离，阻止手术过程中来自患者的体液、细菌、病毒通过孔隙进入手术执行器500的内部，以便于手术执行器500的反复清洗和消毒。
在一些实施例中，支撑部510可以包括至少一对支撑部滑槽5122。图30示出根据本公开一些实施例支撑部510的结构示意图。如图30所示，支撑部510可以包括支撑部滑槽5122a-d，支撑部滑槽5122a-b和5122c-d可以分别为彼此径向相对且轴向延伸的两对轴向滑槽。
在一些实施例中，如图29和图30所示，支撑部510可以包括位于近端的支撑连接件511和在支撑连接件511远端周向间隔设置的一对支撑件512a-b， 支撑连接件511可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等。其内形成有沿轴向设置的中空滑道5123。两对支撑部滑槽5122a-b和5122c-d可以相对地分别对称形成于支撑件512a-b上。支撑件512a-b和支撑连接件511可以固定连接或一体成型。在一些实施例中，支撑部510的支撑件512可以为筒状或者筒状的一部分，横截面可以是圆形、椭圆形、矩形或多边形等等。。
如图28所示，钳头部520可以包括第一钳头件521和能与第一钳头件521配合的第二钳头件522。在一些实施例中，第一钳头件521可以固定设置在支撑部510的远端，例如焊接、粘合、一体成型等等。第二钳头件522可以和第一钳头件521或支撑部510可转动连接，例如铰接。如图28和图30所示，第一钳头件521可以与一对支撑件512a-b一体成型或固定连接。应当理解，第一钳头件521还可以与支撑部510的支撑件512a-b中的一个一体成型或固定连接。
图31和图32分别示出根据本公开一些实施例钳头部520和驱动部530配合的立体图和侧视图。如图31所示，第二钳头件522可以包括钳头5221以及连接并支撑钳头5221的一对钳头支撑件5222a和5222b。一对钳头支撑件5222a-b可以对称设置在钳头5221的近端两侧。钳头支撑件5222a-b的远端分别相对设有连接孔5224a-b。如图31所示，钳头支撑件5222a-b可以分别包括钳头滑槽5223a-b。在一些实施例中，钳头滑槽5223a-b可以为弧形滑槽，钳头滑槽5223a-b彼此相对设置在钳头支撑件5222a-b上。
图33示出根据本公开一些实施例驱动部的立体图。如图33所示，在一些实施例中，驱动部530包括驱动丝531。
在一些实施例中，钳头支撑件5222a-b可以设置于支撑部510的内侧。如图31所示，一对驱动部连接销550a-b可以分别可滑动穿设在两对支撑部滑槽 5122a-b和5122c-d(如图30所示)中，其中驱动部连接销550a还可以滑动穿设在钳头滑槽5223a-b中。转动连接销551贯穿一对连接孔5224a-b，其两端分别枢接于支撑部510的一对支撑部连接孔5124a-b(可参考图30)中，以使第二钳头件522与支撑部510铰接。一对驱动部连接销550a-b与驱动丝531的远端连接，驱动丝531在支撑部510的中空滑道5123内相对推拉运动时，驱动驱动部连接销550a沿钳头滑槽5223a-b和一对支撑部滑槽5122a-b往复滑动，驱动驱动部连接销550b沿另一对支撑部滑槽5122c-d往复滑动，从而驱动第二钳头件522相对于第一钳头件521进行开合运动。
在一些实施例中，如图29和图33所示，驱动部530还可以包括滑动体532，驱动部连接销550a-b可以固定设置在滑动体532的远端。驱动丝531的远端与滑动体532的近端连接。滑动体532可滑动地设置在支撑部510的内部空腔5121中，驱动丝531用于驱动滑动体532在支撑部510内往复运动。如图29、图31和图32所示，密封件540可以在第一端处密封包覆套设在滑动体532的外周面或者滑动体532的近端部分的外周面，密封件540也可以设置为在第二端处与支撑部510近端的内壁密封结合。在一些实施例中，密封件540可以在第二端处密封包覆至支撑部510近端的端部。密封件540可以使驱动部530的远端部分相对于支撑部510的中空滑道5123密封。在一些实施例中，滑动体532可以呈圆柱状、立方体状、多面体状或者异形结构，驱动部连接销550a-b可以沿滑动体532的横向间隔固定穿设在滑动体532的远端。
如图29和图33所示，滑动体532可以包括径向延伸的销连接部5321以及从销连接部5321向近侧轴向延伸的滑杆5322。滑杆5322和销连接部5321可一体形成，也可彼此独立并固定连接，例如焊接或粘合。驱动部连接销550a-b固定设置销连接部5321上。在一些实施例中，如图29和图33所示，滑杆5322 和驱动丝531外周套设有滑套534，滑套534与一对滑动体连接部5321a-b可以一体成型。应当理解，滑套534与一对滑动体连接部5321a-b也可彼此独立并固定连接，例如焊接或粘合。密封件540可以在第一端处密封套设在滑套534的外周面，密封件540可以在第二端处密封贴合至支撑部510近端的内周面，以使驱动部530的远端以及钳头部520相对于支撑部510的中空滑道5123密封。尽管在上述实施例中，驱动部530可以包括滑动体532、驱动丝531以及滑套534，但应理解，驱动部530可整体上或至少部分地一体成型。
在一些实施例中，如图29所示，驱动丝531位于滑套534以外的部分的外周均包覆有绝缘保护套533，驱动丝531的远端可以从绝缘保护套533中穿出并与滑动体532的近端端部紧固连接，例如可以通过焊接、粘合、一体成型或卡合紧固连接。
在一些实施例中，第一钳头件521可以与第一供电装置(图中未示)连接，以在第一钳头件521与第一供电装置之间形成第一导电通路。驱动丝531的近端可以与第二供电装置(图中未示)连接，以在第二钳头件522与驱动丝531之间形成第二导电通路。第一导电通路和第二导电通路在第一钳头件521和第二钳头件522彼此未接触时相互绝缘。第一导电通路和第二导电通路分别为第一钳头件521和第二钳头件522供电形成“双极”，从而可以实现夹取和电凝等操作。
在一些实施例中，滑动体532可以为导电材料，例如金属。本领域技术人员应当理解，滑动体532也可以在其表面镀导电层，以实现导电的功能。驱动丝531的近端与第二供电装置连接，第二钳头件522可以通过滑动体532和驱动丝531之间形成第二导电通路。第一供电装置可以通过导线590与第一钳头件521直接形成第一导电通路(可参考图32所示)，或者第一供电装置通过导 线590与支撑部510电连接，支撑部510与第一钳头件521电连接，形成第一导电通路。第一钳头件521和第二钳头件522中的至少一个可以与支撑部510之间设置有绝缘部560(可参考图28)，以使第一钳头件521和第二钳头件522在分离时彼此绝缘，第一钳头件521和第二钳头件522可以在夹取组织时，两者之间通过组织形成导电通路，从而实现对组织夹取和电凝等操作。
如图28所示，在一些实施例中，第一钳头件521和支撑部510之间可以设置有绝缘部560。本领域技术人员应当理解，支撑部510可以直接为绝缘材料，绝缘部560可以直接为支撑部510的一部分或者绝缘部560可以包括固定设置在支撑部510上的第一绝缘件561，如图31所示。如图30和图32所示，第一绝缘件561可以包括设置于第一钳头件521与支撑部510连接处的隔离绝缘层或者绝缘固定件，以实现第一钳头件521和支撑部510的绝缘，进而实现与第二钳头件522的绝缘。如图30所示，第一钳头件521固定或一体成型地设置在支撑部510上或者固定设置在第一绝缘件561上，第一供电装置可以通过导线590与第一钳头件521直接电连接，形成第一导电通路。如图30所示，第一钳头件521可以设置在支撑部510的一对支撑件512a-b上。
在一些实施例中，支撑部510可以为导电材料，第一供电装置通过导线590与支撑部510形成导电通路，第一钳头件521通过支撑部510与第一供电装置形成第一导电通路。第二钳头件522和支撑部510之间可以设置有绝缘部560。绝缘部560可以包括设置于第二钳头件522与支撑部510接触位置的第二绝缘件(图中未示)。应当理解，第二钳头件522的钳头支撑件5222a-b与支撑部510接触位置可以包括驱动部连接销550a-b和转动连接销551的两端或者支撑部510的支撑部滑槽5122a-d表面。第二绝缘件可以包括与第二钳头件522接触的支撑部滑槽5122a-d上设置的绝缘件、驱动部连接销550a-b和转动连接销551 的两端设置的绝缘层或者其他接触处设置的绝缘层或绝缘件。从而可以使第二钳头件522与支撑部510之间绝缘，进而可以实现第二导电通路和第一导电通路相互绝缘，可以简化绝缘部结构，使第一钳头件521和第二钳头件522分别形成导电通路，且两导电通路彼此绝缘。其中，第一钳头件521、第二钳头件522、驱动丝531、滑动体532均可以为导电材料，例如金属和不锈钢材料，或者也可以在其表面镀导电层，以实现导电的功能。在一些实施例中，驱动部连接销550a-b和转动连接销551可以为导电材料或者为绝缘材料。
如图29和图32所示，密封件540可以包括内筒部541、外筒部542和弯曲过渡部543。内筒部541可以套设在滑动体532近端(例如滑套534或滑杆5322)的外周面且位于支撑部510的内部空腔5121中，内筒部541可在滑动体532的带动下沿内部空腔5121进行轴向运动。外筒部542的外壁可以密封贴合在支撑部510近端的内周面上或者密封包裹在支撑部510近端的外周面上。外筒部542通过弯曲过渡部543与内筒部541连接成一体。由此，密封件540可以使滑动体532的远端以及钳头部520与驱动丝531相对于密封件540的远侧密封，以使得驱动丝531与手术界面隔离。
在一些实施例中，如图29和图32所示，密封件540的内筒部541的外部可以套设套箍580，以使密封件540和滑动体532密封紧固连接。在一些实施例中，密封件540的外筒部542外部也可以套设套箍(图中未示)，套箍可以与支撑部510的近端紧固连接，以使外筒部542与支撑部510密封紧固连接。设置套箍可以进一步保证密封件540与驱动丝531之间以及密封件540与支撑部510之间的密封性，可以使密封件540在伸缩运动时滑脱的风险得到减轻。
图34示出根据本公开一些实施例保护套570的立体图。在一些实施例中，在支撑部510的近端外周还可以设置保护套570。如图34所示，保护套570可 以包括近段571和远段572，其中远段572的径向尺寸大于近段571的径向尺寸。保护套570的远段572在远端处可以包括容纳槽(图中未示)。保护套570的容纳槽容纳支撑部510的近端且与支撑部510的端部密封。本领域技术人员应当理解，远段572与支撑部510的近端可以螺纹连接、过盈配合连接、焊接、粘合或一体成型等。保护套570的近段571容纳驱动丝531。保护套570的近段571端部可以设有分别供驱动丝531和导线590通过的驱动丝通孔5711和导线通孔5712。如图34所示，导线通孔5712可以为沿保护套570的侧壁设置的导线槽。在一些实施例中，保护套570可以为橡胶、塑料或陶瓷等绝缘体。保护套570可以使手术执行器与手术工具的臂体绝缘，可以防止污染物进入到手术工具内部，造成清洗困难。
图35、图36、图37分别示出了根据本公开一些实施例手术执行器600的立体图、剖视图和部分剖视图。
在一些实施例中，手术执行器600可以包括钳头部620、支撑部610、驱动部630和密封件640。
如图35所示，钳头部620至少部分可动地设置在支撑部610的远端处。图38示出根据本公开一些实施例手术执行器的部分结构的立体图。如图35和37所示，撑部610可以包括内部空腔6121，驱动部630可以滑动运动设置于支撑部610的内部空腔6121并连接至钳头部620的近端，从而通过在支撑部610内部的运动驱动钳头部620的至少一部分相对于支撑部610的远端运动。
密封件640可以在第一端(例如，近端或者如图36所示的远端)处密封连接至驱动部630的外周面，并且在第二端(例如，远端或者如图36所示的近端)处密封连接至支撑部610的近端内周面，密封件640的至少一部分可变形。从 而，当驱动部630在支撑部610内相对运动时，密封件640能够进行适应性变形。密封件640可以使得驱动部630与支撑部610以及钳头部620之间形成密封隔离，阻止手术过程中来自患者的体液、细菌、病毒通过孔隙进入手术执行器600的内部，以便于手术执行器600的反复清洗和消毒。
图39示出根据本公开一些实施例手术执行器支撑部610的立体图。在一些实施例中，如图39所示，支撑部610可以包括位于近端的支撑连接件611和在支撑连接件611远端周向间隔设置的一对支撑件612a-b，支撑连接件611可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等。支撑件612a-b和支撑连接件211可以固定连接或一体成型。支撑部610的支撑件可以为筒状或者筒状的一部分，横截面可以是圆形、椭圆形、矩形或多边形等等。
如图39所示，第一钳头件621可以包括钳头6211和从钳头6211两侧向内延伸形成的一对第一延伸部6212a-b，第一延伸部6212a-b位于第一钳头件621的内侧，第一延伸部6212a-b可以包括相对设置的一对连接轴穿孔6214a-b。第二钳头件622可以包括钳头6221和从钳头6221两侧向内延伸形成的一对第二延伸部6222a-b，第二延伸部6222a-b位于第二钳头件622的内侧，第二延伸部6222a-b可以包括相对设置的一对连接轴穿孔6224a-b。在一些实施例中，第一钳头件621可以包括沿轴向延伸的钳头槽6213，第二钳头件622可以包括沿轴向延伸的钳头槽6223，钳头槽6213和钳头槽6223相对设置，形成钳头槽对。如图35和图38所示，一对驱动部连接销650a-b可以分别设置于第一钳头件621的连接轴穿孔6214a-b和第二钳头件622的连接轴穿孔6224a-b内。连接轴穿孔6214a-b和6224a-b可以分别用于与驱动部630连接，如下详述。
在一些实施例中，第一钳头件621和第二钳头件622固定设置在支撑部610的远端，第一钳头件621和/或第二钳头件622与支撑件612a-b的远端的连接处 为挠性的，或者第一钳头件621和第二钳头件622本身为挠性的。在一些实施例中，第一钳头件621和第二钳头件622可以与支撑件612a-b一体成型，如图35所示。在一些实施例中，第一钳头件621和第二钳头件622可以分别活动设置在支撑件612a-b的远端。第一钳头件621和第二钳头件622可以在驱动丝631的驱动下实现张合运动，从而减小手术执行器600的尺寸，从而满足空间较小的组织部位的手术要求，可以解决现有的手术执行器尺寸过大而引起的操作不便的问题。
在一些实施例中，驱动部630包括驱动丝631，如图35和图38所示。
在一些实施例中，驱动部连接销650a-b与驱动丝631可以分别通过第一连杆635和第二连杆636连接。第一连杆635和第二连杆636的内端端部彼此铰接，驱动丝631的远端与第一连杆635和第二连杆636的铰接处连接。第一连杆635和第二连杆636的外端端部分别与驱动部连接销650a-b连接，从而可以使第一钳头件621和第二钳头件622在驱动丝631的驱动下相互靠近或者相互远离运动。
在一些实施例中，驱动部连接销650a可以固定穿设在第一钳头件621的连接轴穿孔6214a-b内，驱动部连接销650b可以固定穿设在第二钳头件622的连接轴穿孔6214a-b中，第一连杆635和第二连杆636的内端端部可以通过转动连接销651铰接，第一连杆635的外端端部可以与驱动部连接销650a铰接，第二连杆636的外端端部可以与驱动部连接销650b铰接。转动连接销651可以与驱动丝631的远端固定连接。在一些实施例中，第一连杆635和第二连杆636的内端端部可以直接与驱动丝631的远端铰接。在驱动丝631受拉向近端运动时，第一连杆635和第二连杆636的外端端部彼此靠近，从而带动第一钳头件621和第二钳头件622彼此靠近。当在驱动丝631向远端运动时，第一连杆635 和第二连杆636的外端端部彼此远离，从而带动第一钳头件621和第二钳头件622彼此远离。第二钳头件622可以沿运动轨迹C指示的方向运动，第一钳头件621可以沿背离运动轨迹C指示的方向运动，图35所示。
在一些实施例中，如图39所示，钳头槽6213和6223用于供第一连杆635和第二连杆636的外端端部伸入，在第一连杆635和第二连杆636随驱动丝631往复运动时，第一连杆635和第二连杆636的外端端部可以分别在钳头槽6213和6223内运动。钳头槽6213和6223可以进一步减小钳头部620的横向尺寸。
在一些实施例中，如图36所示，驱动部630还可以包括滑动体632，第一连杆635和第二连杆636的内端端部可以通过转动连接销651与滑动体232的远端铰接。驱动丝631的远端与滑动体632的近端连接。滑动体632可滑动地设置在支撑部610的内部空腔中，驱动丝631用于驱动滑动体632在支撑部610内往复运动。
在一些实施例中，滑动体632可以包括滑动体连接部6321以及从滑动体连接部6321向近侧轴向延伸的滑杆6322。滑杆6322和滑动体连接部6321可一体形成，也可彼此独立并固定连接，例如焊接、粘合或一体成型。转动连接销651可以固定设置在滑动体连接部6321上。在一些实施例中，如图37所示，滑杆6322和驱动丝631外周套设有滑套634，滑套634与滑杆6322或滑动体连接部6321可以一体成型。应当理解，滑套634与滑杆6322或滑动体连接部6321也可彼此独立并固定连接，例如焊接、粘合或一体成型。在一些实施例中，滑动体632可以为橡胶、塑料或陶瓷等绝缘体。密封件640可以在第一端处密封套设在滑套634的外周面，密封件640可以在第二端处密封贴合至支撑部610近端的内周面或者与支撑部610的近端密封，以使驱动部630的远端以及钳头部620相对于支撑部610的近端内侧密封。尽管在上述实施例中，驱动部630 可以包括滑动体632、驱动丝631以及滑套634，但应理解，驱动部630可整体上或至少部分地一体成型。在一些实施例中，滑动体632可以呈圆柱状、立方体状、多面体状或者异形结构。
在一些实施例中，如图37所示，驱动丝631位于滑套634的近端及滑套634近端以外部分的外周可以包覆有绝缘保护套633，驱动丝631的远端可以从绝缘保护套633中穿出并与滑动体632的近端端部紧固连接，例如可以通过焊接、粘合、一体成型或卡合紧固连接。绝缘保护套633可以保证在手术过程中，即使手术执行器与带电设备相接触，也不会将电流传导至手术工具臂，从而不会灼伤患者及使用者，可以避免安全隐患和损坏设备。
在一些实施例中，如图36和图37所示，在支撑部610的近端还可以设置保护套670。保护套670可以包括近段671和远段672，其中远段672的径向尺寸小于近段671的径向尺寸。如图36所示，支撑部610的近端紧密套设在保护套670的近段671的外周。在一些实施例中，支撑部610和保护套670可以固定连接或一体成型。本领域技术人员应当理解，近段671与支撑部610的近端可以螺纹连接、过盈配合连接、焊接、粘合或一体成型等。在一些实施例中，如图36和图37所示，近段671和远段672可以呈筒状，横截面可以是圆形、椭圆形、矩形或多边形等等，其内形成有沿轴向设置的中空滑道6123。在一些实施例中，保护套670的外壁紧密贴合支撑连接件611的内壁，保护套670的近端端部可以设有供驱动丝631通过的通孔，保护套670的远端形成有沿轴向设置的中空滑道，用于供滑动体632和驱动丝631滑动。密封件640可以在第一端处密封套设在滑套634的外周面，密封件640可以在第二端处紧密套设在保护套670的远端外周面，以实现对支撑部610的近端密封，以使驱动部630的远端以及钳头部620相对于保护套670的中空滑道6123密封。
在一些实施例中，保护套670可以为陶瓷材料，既可以实现绝缘又可以减小摩擦力，便于滑动体632在中空滑道6123中滑动。应当理解，保护套670还可以为橡胶、塑料等绝缘体。在一些实施例中，如图36所示，保护套670的近端端部设置有固定件673，固定件673与保护套670的近端端部可以直接固定连接。在一些实施例中，如图36所示，固定件673与保护套670可以通过一个过渡件674固定连接。固定件673可以设有供驱动丝631通过的通孔，固定件673可以与驱动部630近端的密封，以防止组织液深入到驱动部630内部，造成清洗困难。应当理解，固定件673可以与保护套670一体成型。
在一些实施例中，密封件640可以为筒状，横截面可以是圆形、椭圆形、矩形或多边形等等。密封件640的远端形成第一端，密封件640的近端形成第二端。密封件640可以在第一端处密封包覆套设在滑动体632的外周面，密封件640可以在第二端处密封包覆套设在保护套670的远段672的外周，密封件640可以使滑动体632的远端以及钳头部620与驱动丝631相对于保护套670的中空滑道6123密封，以使得驱动丝631与手术界面隔离。
在一些实施例中，如图36所示，密封件640的远端外部可以套设套箍680a，以使密封件640和滑动体632密封紧固连接。在一些实施例中，密封件640的近端外部也可以套设套箍680b，套箍680b可以使密封件640与保护套670的远段672密封紧固连接。设置套箍680a-b可以分别保证密封件640与驱动丝631之间以及密封件640与保护套670之间的密封性，可以使密封件640在伸缩运动时滑脱的风险得到减轻。
在一些实施例中，如图36所示，支撑部610的近端可以设置有掩饰罩675，掩饰罩675可以为筒状件，横截面可以是圆形、椭圆形、矩形或多边形等等。掩饰罩675的远端紧固套设在保护套670的近端外周和固定件673的外周， 掩饰罩675的内壁与固定件673的外壁固定连接，掩饰罩675的近端端部设有供驱动丝631通过的通孔。在一些实施例中，掩饰罩675可以与支撑部610固定连接或者一体成型。掩饰罩675可以进一步避免体液进入到手术执行器内部。
图40示出根据本公开一些实施例手术工具10的立体图。手术工具10可以包括传动部11、手术工具臂体12和手术执行器100(或手术执行器200-600中的任一个)。如图40所示，手术执行器100设置在手术工具臂体12的远端，传动部11设置在手术工具臂体12的近端，传动部11可以驱动手术执行器100中的驱动丝131运动，通过驱动丝131可以驱动钳头部120的运动。在一些实施例中，传动部11还可以驱动手术工具臂体12的运动，从而通过手术工具臂体12调节手术执行器100的位姿。
在一些实施例中，传动部11可以包括传动单元，用于连接到外接电机驱动单元，从而可以对驱动丝进行驱动。在一些实施例中，传动部11还可以包括电机驱动单元，电机驱动单元可以驱动传动单元，通过传动单元可以实现对驱动丝的驱动。
在一些实施例中，手术工具臂体12可以为刚性臂体。在一些实施例中，手术工具臂体12的至少一部分可以为柔性的，可以在传动部11的驱动下发生弯曲运动，从而可以调整远端的手术执行器的位姿。
图41示出根据本公开一些实施例手术机器人1的立体图。
如图41所示，手术机器人1可以包括控制设备(图中未示)、手术台车101、至少一个机械臂102、至少一个手术工具或内窥镜10以及至少一个手术执 行器100(或手术执行器200-600中的任一个)。
如图41所示，至少一个机械臂102设置在手术台车101上，手术台车101可以用于支撑机械臂102。至少一个手术工具10分别设置在至少一个机械臂102的远端，至少一个手术执行器100可以分别设置在至少一个手术工具10的远端。控制设备可以用于遥操作控制机械臂102、至少一个手术工具10和/或至少一个手术执行器100的运动。机械臂102可以包括至少一个活动关节1021，通过活动关节1021可以调整手术工具10的位姿。本领域技术人员应当理解，至少一个机械臂102还可以分别设置在多个手术台车101上。
本公开还公开了以下：
第1项：一种手术执行器，包括：
支撑部，所述支撑部包括内部空腔；
钳头部，所述钳头部至少部分可动地设置于所述支撑部的远端处；
驱动部，所述驱动部滑动设置于所述支撑部的内部空腔中并连接至所述钳头部的近端；
密封件，所述密封件在第一端处密封连接至所述驱动部，并且在第二端处密封连接至所述支撑部，所述密封件的至少一部分可变形。
第2项：如第1项所述的手术执行器，所述钳头部包括第一钳头件和能与第一钳头件配合的第二钳头件。
第3项：如第2项所述的手术执行器，所述驱动部包括驱动丝。
第4项：如第3项所述的手术执行器，所述驱动丝与所述第二钳头件通过至少一个第一驱动部连接销连接，所述第一驱动部连接销用于传递所述驱动丝对所述第二钳头件的驱动力。
第5项：如第4项所述的手术执行器，所述驱动丝与所述第一钳头件通过 至少一个第二驱动部连接销连接，所述第二驱动部连接销用于传递所述驱动丝对所述第一钳头件的驱动力。
第6项：如第5项所述的手术执行器，所述驱动部包括第一连杆和第二连杆；
所述第一连杆和所述第二连杆的内端端部彼此铰接；
所述驱动丝的远端与所述第一连杆和所述第二连杆的铰接处连接；
所述第一连杆和所述第二连杆的外端端部分别与相应的所述第一驱动部连接销和所述第二驱动部连接销连接，所述第二驱动部连接销和所述第一驱动部连接销分别连接到所述第一钳头件和所述第二钳头件，以使所述第一钳头件和所述第二钳头件在所述驱动丝的驱动下相互靠近或者相互远离运动。
第7项：如第4或5项所述的手术执行器，所述驱动部还包括：滑动体；
所述滑动体可滑动地设置在所述支撑部的所述内部空腔中，所述滑动体的远端与所述驱动部连接销连接；
所述驱动丝的远端与所述滑动体的近端连接，用于驱动所述滑动体在所述支撑部内往复运动。
第8项：如第4项所述的手术执行器，所述第一钳头件固定设置在所述支撑部的远端，所述第二钳头件活动设置在所述支撑部的远端。
第9项：如第4项所述的手术执行器，所述支撑部包括至少一对支撑部滑槽，至少一个所述第一驱动部连接销可滑动地穿设在所述至少一对支撑部滑槽中。
第10项：如第9项所述的手术执行器，所述第二钳头件包括钳头以及连接并支撑所述钳头的钳头支撑件，所述钳头支撑件对称设置在所述第二钳头件的近端两侧，所述钳头支撑件通过转动连接销枢接于所述支撑部上；
所述钳头支撑件包括钳头滑槽，至少一个所述第一驱动部连接销可滑动地穿设在所述至少一对支撑部滑槽和所述钳头滑槽中。
第11项：如第10项所述的手术执行器，所述支撑部滑槽为对称设置在所述支撑部上的至少一对轴向滑槽，所述钳头滑槽为对称设置在所述钳头支撑件上的弧形滑槽。
第12项：如第5项所述的手术执行器，所述第一钳头件和所述第二钳头件通过转动连接销枢接于所述支撑部的远端。
第13项：如第12项所述的手术执行器，所述支撑部包括至少两对支撑部滑槽，至少一个所述第一驱动部连接销和第二驱动部连接销分别可滑动地穿设在所述至少两对支撑部滑槽中。
第14项：如第13项所述的手术执行器，所述第一钳头件包括第一钳头以及连接并支撑所述第一钳头的第一钳头支撑件，所述第一钳头支撑件对称设置在所述第一钳头的近端两侧，所述第一钳头支撑件通过转动连接销枢接于所述支撑部上；
所述第一钳头支撑件包括第一钳头滑槽，至少一个所述第二驱动部连接销可滑动地穿设在一对所述支撑部滑槽和所述第一钳头滑槽中；
所述第二钳头件包括第二钳头以及连接并支撑所述第二钳头的第二钳头支撑件，所述第二钳头支撑件对称设置在所述第二钳头的近端两侧，所述第二钳头支撑件通过转动连接销枢接于所述支撑部上；
所述第二钳头支撑件包括第二钳头滑槽，至少一个所述第一驱动部连接销可滑动地穿设在另一对所述支撑部滑槽和所述钳头滑槽中。
第15项：如第6项所述的手术执行器，所述第一钳头件和所述第二钳头件固定设置在所述支撑部的远端，所述第一钳头件和/或所述第二钳头件与所述支 撑部的远端的连接处为挠性的，或者所述第一钳头件和所述第二钳头件本身为挠性的。
第16项：如第2-14项任一项所述的手术执行器，所述驱动丝的近端与供电装置连接，以在所述第二钳头件与所述驱动丝之间形成导电通路。
第17项：如第16项所述的手术执行器，所述第一钳头件与另一供电装置连接，以在所述第一钳头件与所述另一供电装置之间形成另一导电通路；
所述导电通路和所述另一导电通路相互绝缘。
第18项：如第17项所述的手术执行器，所述第一钳头件和所述第二钳头件中的至少一个与所述支撑部之间设置有绝缘部，以使所述第一钳头件和所述第二钳头件彼此绝缘。
第19项：如第18项所述的手术执行器，所述绝缘部包括设置于所述第一钳头件与所述支撑部连接处的第一绝缘件；或者
所述绝缘部包括紧密贴设于所述支撑部内壁的支撑架绝缘内衬以及设置于所述第二钳头件与所述支撑部接触位置的第二绝缘件。
第20项：如第7-19项任一项所述的手术执行器，所述密封件在第一端处密封包覆至所述滑动体的近端外周；或者所述密封件在第二端处密封包覆至所述支撑部的近端；或者所述密封件在第二端处密封接合至所述支撑部的内壁上。
第21项.如第14项所述的手术执行器，还包括：紧固在所述密封件的第一端处和/或第二端处的外周上的套箍。
第22项.如第14项所述的手术执行器，所述滑动体还包括：滑杆和销连接部；
所述密封件在第一端处密封包覆至所述滑杆的外周至少一部分。
第23项：如第1-20项任一项所述的手术执行器，所述密封件包括内筒部、 外筒部和连接所述内筒部和所述外筒部的过渡部，所述内筒部的远端形成所述第一端，所述外筒部的远端形成所述第二端。
第24项：如第1-20项任一项所述的手术执行器，所述密封件呈筒状，所述密封件的远端形成所述第一端，所述密封件的近端形成所述第二端。
第25项：如第1-22项任一项所述的手术执行器，还包括：保护套；
所述保护套在远端处包括容纳槽，所述容纳槽紧密套设在所述支撑部的近端外周；
所述保护套的近端端部设有供所述驱动部通过的通孔。
第26项：如第2-23项任一项所述的手术执行器，所述支撑部的远端设有沿周向间隔并沿轴向延伸的至少一个支撑件，所述第一钳头件和所述第二钳头件设置在所述支撑件的远端。
第27项：如第1-24项任一项所述的手术执行器，所述密封件的至少一部分包括弹性材料或柔性材料。
第28项：如第1-25项任一项所述的手术执行器，所述钳头部包括以下中的一个：分离钳、抓钳、持针器以及弯剪。
第29项：一种手术工具，包括传动部、手术工具臂体以及如1-26项任一项所述的手术执行器；
所述手术执行器设置在所述手术工具臂体的远端，所述传动部设置在所述手术工具臂体的近端，所述传动部用于驱动所述手术工具臂体和/或手术执行器的运动。
第30项：一种手术机器人，包括至少一个控制设备、至少一个手术台车、至少一个机械臂、至少一个手术工具以及至少一个如第1-26项任一项所述的手术执行器；
至少一个所述机械臂设置在至少一个所述手术台车上，至少一个所述手术工具分别设置在至少一个所述机械臂的远端，至少一个所述手术执行器分别设置在至少一个所述手术工具的远端，至少一个所述控制设备用于控制至少一个所述手术工具和/或至少一个所述手术执行器的运动。
注意，上述仅为本公开的示例性实施例及所运用技术原理。本领域技术人员会理解，本公开不限于这里的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本公开的保护范围。因此，虽然通过以上实施例对本公开进行了较为详细的说明，但是本公开不仅仅限于以上实施例，在不脱离本公开构思的情况下，还可以包括更多其他等效实施例，而本公开的范围由所附的权利要求范围决定。

Claims (20)

  1. 一种手术执行器，包括：
    支撑部，所述支撑部包括内部空腔；
    钳头部，所述钳头部至少部分可动地设置于所述支撑部的远端处；
    驱动部，所述驱动部滑动设置于所述支撑部的内部空腔中并连接至所述钳头部的近端；
    密封件，所述密封件在第一端处密封连接至所述驱动部，并且在第二端处密封连接至所述支撑部，所述密封件的至少一部分可变形。
  2. 根据权利要求1所述的手术执行器，其特征在于，所述钳头部包括第一钳头件和能与第一钳头件配合的第二钳头件；
    所述驱动部包括驱动丝。
  3. 根据权利要求2所述的手术执行器，其特征在于，所述驱动丝与所述第二钳头件通过至少一个第一驱动部连接销连接，所述第一驱动部连接销用于传递所述驱动丝对所述第二钳头件的驱动力。
  4. 根据权利要求3所述的手术执行器，其特征在于，所述驱动丝与所述第一钳头件通过至少一个第二驱动部连接销连接，所述第二驱动部连接销用于传递所述驱动丝对所述第一钳头件的驱动力。
  5. 根据权利要求4所述的手术执行器，其特征在于，所述驱动部包括第一连杆和第二连杆；
    所述第一连杆和所述第二连杆的内端端部彼此铰接；
    所述驱动丝的远端与所述第一连杆和所述第二连杆的铰接处连接；
    所述第一连杆和所述第二连杆的外端端部分别与相应的所述第一驱动部连接销和所述第二驱动部连接销连接，所述第二驱动部连接销和所述第一驱动部连接销分别连接到所述第一钳头件和所述第二钳头件，以使所述第一钳头件和 所述第二钳头件在所述驱动丝的驱动下相互靠近或者相互远离运动。
  6. 根据权利要求3所述的手术执行器，其特征在于，所述驱动部还包括：滑动体；
    所述滑动体可滑动地设置在所述支撑部的所述内部空腔中，所述滑动体的远端与所述驱动部连接销连接；
    所述驱动丝的远端与所述滑动体的近端连接，用于驱动所述滑动体在所述支撑部内往复运动。
  7. 根据权利要求3所述的手术执行器，其特征在于，
    所述第一钳头件固定设置在所述支撑部的远端，所述第二钳头件活动设置在所述支撑部的远端。
  8. 根据权利要求3所述的手术执行器，其特征在于，
    所述支撑部包括至少一对支撑部滑槽，至少一个所述第一驱动部连接销可滑动地穿设在所述至少一对支撑部滑槽中。
  9. 根据权利要求8所述的手术执行器，其特征在于，所述第二钳头件包括钳头以及连接并支撑所述钳头的钳头支撑件，所述钳头支撑件对称设置在所述第二钳头件的近端两侧，所述钳头支撑件通过转动连接销枢接于所述支撑部上；
    所述钳头支撑件包括钳头滑槽，至少一个所述第一驱动部连接销可滑动地穿设在所述至少一对支撑部滑槽和所述钳头滑槽中。
  10. 根据权利要求4所述的手术执行器，其特征在于，所述第一钳头件和所述第二钳头件通过转动连接销枢接于所述支撑部的远端。
  11. 根据权利要求2所述的手术执行器，其特征在于，
    所述驱动丝的近端与供电装置连接，以在所述第二钳头件与所述驱动丝之 间形成导电通路。
  12. 根据权利要求11所述的手术执行器，其特征在于，
    所述第一钳头件与另一供电装置连接，以在所述第一钳头件与所述另一供电装置之间形成另一导电通路；
    所述导电通路和所述另一导电通路相互绝缘。
  13. 根据权利要求12所述的手术执行器，其特征在于，
    所述第一钳头件和所述第二钳头件中的至少一个与所述支撑部之间设置有绝缘部，以使所述第一钳头件和所述第二钳头件彼此绝缘。
  14. 根据权利要求6所述的手术执行器，其特征在于，
    所述密封件在第一端处密封包覆至所述滑动体的近端外周；或者所述密封件在第二端处密封包覆至所述支撑部的近端；或者所述密封件在第二端处密封接合至所述支撑部的内壁上。
  15. 根据权利要求14所述的手术执行器，其特征在于，还包括：紧固在所述密封件的第一端处和/或第二端处的外周上的套箍。
  16. 根据权利要求14所述的手术执行器，其特征在于，所述滑动体还包括：滑杆和销连接部；
    所述密封件在第一端处密封包覆至所述滑杆的外周的至少一部分。
  17. 根据权利要求1所述的手术执行器，其特征在于，
    所述密封件包括内筒部、外筒部和连接所述内筒部和所述外筒部的过渡部，所述内筒部的远端形成所述第一端，所述外筒部的远端形成所述第二端。
  18. 根据权利要求1所述的手术执行器，其特征在于，所述密封件的至少一部分包括弹性材料或柔性材料。
  19. 一种手术工具，其特征在于，包括传动部、手术工具臂体以及如权利 要求1所述的手术执行器；
    所述手术执行器设置在所述手术工具臂体的远端，所述传动部设置在所述手术工具臂体的近端，所述传动部用于驱动所述手术工具臂体和/或手术执行器的运动。
  20. 一种手术机器人，其特征在于，包括至少一个控制设备、至少一个手术台车、至少一个机械臂、至少一个手术工具以及至少一个如权利要求1所述的手术执行器；
    至少一个所述机械臂设置在至少一个所述手术台车上，至少一个所述手术工具分别设置在至少一个所述机械臂的远端，至少一个所述手术执行器分别设置在至少一个所述手术工具的远端，至少一个所述控制设备用于控制至少一个所述手术工具和/或至少一个所述手术执行器的运动。
PCT/CN2020/138011 2019-12-30 2020-12-21 手术执行器、手术工具及手术机器人 WO2021136004A1 (zh)

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