Minimally invasive surgical instrument with flexible wrist part

Abstract

The invention discloses a minimally invasive surgical instrument with a flexible wrist part. The minimally invasive surgical instrument comprises an operating handle, a wrist part drive device, a connecting conduit, the flexible wrist part and an end executor. During the surgery process, due to the arrangement of a pricking and clamping hole in the body surface of a patient, a doctor can hold the intelligent minimally invasive surgical instrument and perform the surgery in the body. With the minimally invasive surgical instrument, all the operations of the common minimally invasive surgical instrument, including the instrument end opening and closing movements, can be completed, and meanwhile, the three-degree-of-freedom movements of the instrument end, including the pitching movement, the swinging movement and the autoroatation movement, can be completed by controlling the operating handle and the wrist part drive device. With the adoption of the minimally invasive surgical instrument, the spatial multi-degree-of-freedom surgery movements can be output, the movements are flexible, the operating force is large, and therefore, the minimally invasive surgical instrument is particularly suitable for carrying out the minimally invasive surgery with complicated movements.

Description

technical field [0001] The invention relates to a minimally invasive surgical medical device, in particular to a minimally invasive surgical instrument with a flexible wrist structure. Background technique [0002] During minimally invasive surgery, doctors perform surgical tasks with the help of slender minimally invasive surgical instruments. One end of the surgical instrument is held by the doctor, and the other end is inserted into the body through a tiny incision on the surface of the human body for surgical operations. Therefore, the surgical instrument is the only part that is in contact with the diseased tissue of the human body, and it is also the only tool that directly performs surgical actions. During the operation, since the movement of the end of the surgical instrument and the movement of the hand-held part of the instrument have a special mapping relationship, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, ...

AI Technical Summary

Problems solved by technology

During the operation, since the movement of the end of the surgical instrument and the movement of the hand-held part of the instrument have a special mapping relationship, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting, etc.), the doctor needs to hold the surgical instrument in a wide range. Movement reduces the flexibility of the end of the instrument to perform surgical actions. At the same time, long-term and large-scale operations make doctors prone to fatigue, which virtually increases the difficulty of surgery.

The main problems of the existing products are that the number of degrees of freedom at the end of the instrument is small, and the working space is small, resulting in inflexible operation, difficult to complete complex operations in the operation, and insufficient operating force to achieve wound closure.

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