CN-122005007-A - Monopole combined type surgical tool and surgical robot

CN122005007ACN 122005007 ACN122005007 ACN 122005007ACN-122005007-A

Abstract

The invention relates to a monopole combined type surgical tool and a surgical robot, the tool comprises a first clamp member, a second clamp member and a driving part, the first clamp member comprises a first clamping part at a distal end and a first shearing part at a middle part, the second clamp member comprises a second clamping part at the distal end and a second shearing part at the middle part, the second clamping part is used for being matched with the first clamping part to realize clamping, the second shearing part is used for being matched with the first shearing part to realize shearing, the driving part is used for driving the second clamp member to move, the distal end of a driving wire of the driving part is connected with the second clamp member, and the proximal end of the driving wire is used for receiving monopole energy to form a conductive path between the second clamp member and the driving wire. By selectively performing monopolar, clamping, or shearing operations on the same surgical tool, a physician can be prevented from frequently switching between monopolar, clamping, and shearing tools during the surgical operation, reducing the surgical time.

Inventors

DONG QIANTONG
SHEN XIAN
ZHANG WEITENG
CHEN CHENBIN
LIU SHU

Assignees

温州医科大学附属第一医院

Dates

Publication Date: 20260512
Application Date: 20260212
Priority Date: 20250214

Claims (13)

1. A monopolar composite surgical tool, comprising: A clamp head base; The first clamp member is fixedly arranged at the distal end of the clamp head base and comprises a first clamping part positioned at the distal end and a first shearing part positioned at the middle part; the second clamp member is rotatably arranged at the distal end of the clamp head base and comprises a second clamping part at the distal end and a second shearing part at the middle part, the second clamping part is used for being matched with the first clamping part to realize clamping, and the second shearing part is used for being matched with the first shearing part to realize shearing; The driving part comprises a driving wire and a sliding block, the sliding block is slidably arranged in the inner cavity of the clamp head base and is connected with the proximal end of the second clamp member, the distal end of the driving wire is connected with the sliding block, and the proximal end of the driving wire is used for receiving push-pull force and monopole energy; the driving wire, the sliding block and the second clamp component are sequentially connected in series and jointly form a conductive path for conducting monopole energy to the second clamp component; And The sealing piece comprises an inner cylinder part, an outer cylinder part and a transition part for connecting the inner cylinder part and the outer cylinder part, wherein the far end of the inner cylinder part is connected to the sliding block or the driving wire in a sealing way, the far end of the outer cylinder part is connected to the clamp head base in a sealing way, and the transition part is of a deformable structure.
2. The monopolar composite surgical tool of claim 1, wherein, The middle part of the first clamp component is provided with a containing groove which is recessed inwards from one side, and the first shearing part is arranged in the containing groove and extends along the edge of the containing groove; The second shearing portion projects at least partially in the direction of the receiving slot for entering the receiving slot and forming a shearing fit with the first shearing portion when the second jaw member is closed.
3. The monopolar composite surgical tool of claim 1, wherein, The first clamping portion and the first shearing portion together form a first continuous contact surface curved in the direction of the second jaw member; the second clamping portion and the second shearing portion together form a second continuous contact surface in curved engagement with the first continuous contact surface.
4. The monopolar composite surgical tool of claim 1, wherein, The first clamping portion and the second clamping portion having a cross-sectional area that decreases from the proximal end to the distal end, and/or The first and second shears taper in cross-sectional area from the proximal end to the distal end.
5. The monopolar composite surgical tool of claim 1, wherein, A first tooth structure is arranged on one side of the first clamping part facing the second clamping part; a second tooth structure is arranged on one side of the second clamping part facing the first clamping part; The first tooth structure intermeshes with the second tooth structure when the first clamping portion and the second clamping portion are closed.
6. The monopolar composite surgical tool of claim 1, wherein, The clamp head base includes: a main body portion which is cylindrical and forms the internal cavity; at least one pair of first supporting members disposed at a distal end of the supporting link and spaced apart in a circumferential direction; the first clamp component is fixedly connected with or integrally formed with the at least one pair of first supporting pieces; the second jaw member is pivotally connected to the at least one pair of first supports.
7. The monopolar composite surgical tool of claim 6, wherein, The at least one pair of first supporting pieces are provided with a pair of base sliding grooves extending along the axial direction; A pair of supporting parts are symmetrically arranged on two sides of the proximal end of the second forceps member, and the pair of supporting parts are pivoted on the pair of first supporting pieces; a pair of clamp head sliding grooves are formed in the pair of supporting parts; The driving part further comprises a sliding pin, the sliding pin is arranged on the sliding block in a penetrating mode, and two ends of the sliding pin are arranged in the pair of base sliding grooves and the pair of clamp head sliding grooves in a penetrating mode in a sliding mode.
8. The monopolar composite surgical tool of claim 7, wherein, The base sliding groove is a linear sliding groove; the clamp head sliding groove is an arc-shaped sliding groove; The sliding pin is driven by the sliding block to simultaneously perform linear motion in the base sliding groove and arc motion in the clamp head sliding groove so as to drive the second clamp member to rotate around the pivot.
9. The monopolar composite surgical tool of claim 7, wherein, The drive wire, the slider, the sliding pin and the second jaw are serially connected in sequence and together form a single conductive path for conducting monopolar energy to the second jaw.
10. The monopolar composite surgical tool of claim 1, wherein, An inner cylinder portion of the seal is sealingly fastened to a distal end periphery of the slider or the drive wire by a ferrule; The outer barrel part of the sealing piece is sealed and coated to the periphery of the proximal end of the clamp head base or is sealed and jointed to the inner wall of the clamp head base; the transition portion includes a fold that expands as the slider moves distally and contracts as the slider moves proximally.
11. The monopolar composite surgical tool of claim 1, further comprising: a tool arm, the proximal end of the clamp head base being disposed at the distal end of the tool arm, the drive wire extending through the tool arm; the transmission part is arranged at the proximal end of the tool arm and is connected with the proximal end of the driving wire; The transmission portion includes a lead screw nut mechanism for converting rotational motion into linear motion to apply a push-pull force to the drive wire.
12. The monopolar composite surgical tool of claim 11, wherein, The tool arm includes at least one continuum of segments; The continuous body structure section comprises a plurality of structural bones and a plurality of disc bodies which are arranged at intervals; The distal ends of the plurality of structural bones are fixedly connected with the distal ends of the tool arms, and the proximal ends of the plurality of structural bones are connected with the transmission part; the transmission part drives the continuous body structure section to bend by pushing and pulling the structural bones cooperatively.
13. A surgical robot, comprising: a surgical trolley comprising at least one mechanical arm; At least one monopolar composite surgical tool of any of claims 1-12, disposed distally of said at least one robotic arm; A monopolar energy generator is electrically connected to the proximal end of the drive wire for providing a monopolar high frequency energy to the second jaw member via the drive wire.

Description

Monopole combined type surgical tool and surgical robot Technical Field The invention belongs to the field of medical instruments, and particularly relates to a monopole composite surgical tool and a surgical robot. Background Minimally invasive surgery has become an important means in clinical surgery because of its remarkable advantages of small trauma, less bleeding, rapid recovery, etc. In minimally invasive surgery, a physician typically manipulates focal tissue with the aid of surgical tools such as graspers, split-jaws, scissors, electrical hooks, needle holders, and the like, either directly inserted or introduced through a cannula penetrator. Traditional surgical tools are relatively single in function. Specifically, most surgical tools have only one core function: On the one hand, the physical operation type tools such as tissue grasping forceps, separating forceps and bending scissors can only realize simple mechanical clamping or mechanical shearing, and do not have an electrosurgical function; On the other hand, energy-operated tools such as monopolar electrocoagulation hooks, bipolar electrocoagulation pliers can only perform electrocutting or electrocoagulation, which in itself is difficult to perform effective physical clamping or physical shearing without energizing. The US patent 2023052924A1 discloses a monopolar surgical actuator which performs both the dual functions of mechanical transmission and monopolar energy conduction by driving the wire, effecting tissue clamping and monopolar electrotomy/electrocoagulation. However, the instrument relies solely on electricity to effect tissue separation without the provision of a physical shear. For scab tissues, blood vessels with stronger toughness or tissues which are not easy to cut after being coagulated, the pure electric cutting efficiency is lower, and the risk of thermal injury diffusion exists. Chinese patent No. CN107106198a discloses a high-frequency scissors, which has a claw portion at the front end of the blade for clamping, and a blade portion for shearing, so as to implement the physical integration of mechanical clamping and mechanical shearing. However, the instrument is in a bipolar mode, wherein energy is applied between a pair of blades, and the blade and the claw are continuously distributed along the length direction of the blades, so that independent arrangement spaces of monopolar energy conduction paths are not reserved. If the structure is directly transplanted into a monopolar instrument, the driving wire and the electrified component need to be electrically isolated from the shearing cutting edge in a complex manner, and the risk of structural bulkiness or short circuit is easily caused. Therefore, how to further integrate independent physical shearing functions based on a monopolar energy conduction architecture, and not interfere with the original energy conduction path and motion mechanism, and realize physical partitioning and electrical decoupling of three functions of mechanical clamping-mechanical shearing-monopolar electrosurgery is an unsolved technical problem in the field. Disclosure of Invention A first object of the present invention is to provide a monopolar composite surgical tool that addresses the problems of the prior art. For this purpose, the above object of the present invention is achieved by the following technical solutions: a monopolar composite surgical tool comprising: A clamp head base; The first clamp member is fixedly arranged at the distal end of the clamp head base and comprises a first clamping part positioned at the distal end and a first shearing part positioned at the middle part; the second clamp member is rotatably arranged at the distal end of the clamp head base and comprises a second clamping part at the distal end and a second shearing part at the middle part, the second clamping part is used for being matched with the first clamping part to realize clamping, and the second shearing part is used for being matched with the first shearing part to realize shearing; The driving part comprises a driving wire and a sliding block, the sliding block is slidably arranged in the inner cavity of the clamp head base and is connected with the proximal end of the second clamp member, the distal end of the driving wire is connected with the sliding block, and the proximal end of the driving wire is used for receiving push-pull force and monopole energy; the driving wire, the sliding block and the second clamp component are sequentially connected in series and jointly form a conductive path for conducting monopole energy to the second clamp component; And The sealing piece comprises an inner cylinder part, an outer cylinder part and a transition part for connecting the inner cylinder part and the outer cylinder part, wherein the far end of the inner cylinder part is connected to the sliding block or the driving wire in a sealing way, the far end of the outer cylinder part is connected to t