Hand-controlled minimally invasive surgical instrument with swing self-locking and decoupling functions

Abstract

A hand-controlled minimally invasive surgical instrument with yaw self-locking and decoupling functions relates to the field of thoracic and abdominal minimally invasive surgical medical equipment, including an end effector, an operating rod, an opening and closing motion drive mechanism, an opening and closing motion guide wheel group, a yaw motion drive mechanism with a self-locking function, and an instrument box. The end effector is installed at the front end of the operating rod, and the instrument box is installed at the rear end of the operating rod. The opening and closing motion drive mechanism is connected to the end effector and the instrument box respectively, and the opening and closing motion guide wheel group and the yaw motion drive mechanism with a self-locking function are both installed in the instrument box. The present invention has the advantages of convenient operation, strong flexibility, and self-locking. While improving the degree of freedom of the end effector, it also increases the working space of the surgical instrument; the end effector of the present invention adopts a double guide wheel structure and a unique cross winding method to achieve a decoupling function; the present invention is small in size, can be operated by a doctor with one hand, and is comfortable and convenient to operate; the system of the present invention has high precision and good dynamic performance.

Description

Technical Field

[0001] The invention relates to the technical field of thoracic and abdominal minimally invasive surgical medical equipment, in particular to a hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions. Background Art

[0002] Minimally invasive surgery is regarded as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the surgeon cutting a small hole in the patient's body surface and using surgical instruments and endoscopes to treat the patient's lesions. Compared with traditional surgery, minimally invasive surgery has the advantages of small incisions, no secondary damage to the patient's body surface, and short recovery time. At present, minimally invasive surgery is widely used in many medical fields such as thoracic and abdominal surgery, gynecology, and urology.

[0003] Surgical instruments are used as tools in minimally invasive surgery. Surgeons need to use surgical instruments to complete surgical operations such as cutting, clamping, suturing, lifting and freeing of organ tissues. During the operation, surgical instruments interact directly with the operated tissues, so the specific structure and performance indicators of surgical instruments have a direct impact on the quality and safety of the operation. Therefore, in order to reduce the difficulty of surgeons' execution and improve the flexibility and comfort of the operation during minimally invasive surgery, it is crucial to develop a set of minimally invasive surgical instruments with good performance to improve the quality of the operation.

[0004] Limited by the popularity of surgical robots, minimally invasive surgeries in most hospitals in my country are still performed by doctors holding surgical instruments, and the surgical instruments used are still mainly hand-controlled minimally invasive surgical instruments. For example, the invention patent with publication number CN102271596A discloses a "surgical instrument, surgical instrument handle and surgical instrument system". The end effector of the surgical instrument in this patent can only achieve two degrees of freedom, resulting in a small surgical operation space, and the surgical instrument is mainly rigidly connected, resulting in reduced operational flexibility and increased difficulty for surgeons. For example, the invention patent with publication number CN103237504A discloses a "minimally invasive surgical instrument", which is mainly composed of an end effector, a hollow rod, a handle, a gear mechanism and an electric drive unit. The hollow rod is used for wire routing, and the gear mechanism is installed on the wrist. The end effector can be driven to complete pitch and yaw motions through the interaction between the electric drive unit, the gear mechanism and the wire. However, the actual yaw motion angle of the end effector of the surgical instrument is small, resulting in a small surgical operation space range and low flexibility. In addition, the yaw motion of the end effector of the surgical instrument does not have a self-locking capability, which increases the difficulty of the surgical operation for the surgeon. Summary of the invention

[0005] In order to solve the problems of existing minimally invasive surgical instruments such as inconvenient operation, low flexibility, lack of self-locking characteristics of the swing motion and inability to fix the swing position, and existing motion coupling, the present invention provides a hand-controlled minimally invasive surgical instrument with swing self-locking and decoupling functions.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] The hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions of the present invention comprises:

[0008] Operating lever;

[0009] An end effector mounted on one end of the operating rod;

[0010] An instrument box mounted on the other end of the operating lever;

[0011] an opening and closing motion driving mechanism connected to the end effector and the instrument box;

[0012] An opening and closing motion guide wheel group and a yaw motion driving mechanism are both installed in the instrument box; the opening and closing motion guide wheel group drives the end effector to complete the opening and closing motion; the yaw motion driving mechanism drives the end effector to complete the yaw motion; the yaw motion driving mechanism is used to complete the yaw self-locking;

[0013] The yaw motion driving mechanism includes: a worm shaft, a worm wheel sleeved and fixed on the worm shaft, a third bearing and a fourth bearing both sleeved on the worm shaft and respectively located on both sides of the worm wheel, a worm shaft, a worm sleeved and fixed on the worm shaft, a fifth bearing and a sixth bearing both sleeved on the worm shaft and respectively located on both sides of the worm, a thumbwheel sleeved and fixed on one end of the worm shaft, two large wire wheels both sleeved and fixed on the worm shaft, two second guide wheel shafts, two guide wheels sleeved on the two second guide wheel shafts respectively and one by one, two guide wheel shaft bearings sleeved on both ends of the second guide wheel shafts, and fixed retaining springs respectively installed on the worm shaft and the worm shaft and both ends of the second guide wheel shaft; the third bearing, the fourth bearing, the fifth bearing, the sixth bearing, and the guide wheel shaft bearings are all connected to the instrument box.

[0014] Furthermore, the end actuator includes: a wrist support, a first end small claw and a second end small claw connected to the wrist support through the end small claw rotating shaft, a first guide wheel shaft, a wrist rotating shaft, an end actuator connecting member connected to the wrist support through the first small guide wheel and the wrist rotating shaft, and a retaining spring installed at the upper and lower ends of the first guide wheel shaft, and two first small guide wheels are respectively provided at the upper and lower ends of the first guide wheel shaft.

[0015] Furthermore, the front end of the wrist support body is provided with an opening, the upper and lower ends of the opening are provided with a first through hole, the middle and rear ends of the wrist support body are respectively provided with a second through hole and a third through hole, the rear end side of the wrist support body is provided with a first wire groove and a first stepped hole located in the first wire groove; the front end and rear end of the first end small claw body are respectively provided with a first serration and a fourth through hole, the rear end side of the first end small claw body is provided with a second wire groove and a second stepped hole located in the second wire groove; the front end and rear end of the second end small claw body are respectively provided with a second serration and a fifth through hole, the first serration is meshed with the second serration, and the rear end side of the second end small claw body is provided with a third wire groove and a third stepped hole located in the third wire groove; the first wire groove, the first stepped hole, the second wire groove, the second stepped hole, the third wire groove and the third stepped hole are all used to fix two oscillating motion steel ropes and the winding and lengthening of the steel ropes;

[0016] Arrange the rear ends of the first end claw and the second end claw up and down and insert them into the front end opening of the wrist support; pass the rotating shaft of the end claw through the first through hole at the upper end of the front end opening of the wrist support, the fourth through hole of the first end claw, the fifth through hole of the second end claw and the first through hole at the lower end of the front end opening of the wrist support in sequence; the first guide wheel shaft passes through the second through hole in the middle of the wrist support body; the first small guide wheel is provided with an inner hole in the center, and the outer ring side wall of the first small guide wheel is provided with a fourth wire groove for routing four opening and closing motion steel ropes;

[0017] The rear end of the end actuator connecting member body is provided with a first stepped shoulder for connecting with the operating rod, and the front end of the end actuator connecting member body is provided with an opening, and the upper and lower ends of the opening are provided with connecting holes, and the rear side walls of the opening are respectively provided with two sixth through holes, two seventh through holes and two eighth through holes for routing four opening and closing motion steel ropes and two swing motion steel ropes, the two sixth through holes are symmetrically arranged on both sides of the first stepped shoulder; the two seventh through holes are symmetrically arranged on both sides of the first stepped shoulder; the two eighth through holes are symmetrically arranged on both sides of the first stepped shoulder; the rear end of the wrist support member is inserted into the front end opening of the end actuator connecting member, and two first small guide wheels are respectively installed on the upper and lower surfaces of the rear end of the wrist support member, and the wrist rotating shaft is sequentially passed through the connecting hole at the upper end of the front end opening of the end actuator connecting member, the two first small guide wheels on the upper surface of the rear end of the wrist support member, the third through hole at the rear end of the wrist support member body, the two first small guide wheels on the lower surface of the rear end of the wrist support member, and the connecting hole at the lower end of the front end opening of the end actuator connecting member.

[0018] Furthermore, the opening and closing motion driving mechanism includes: a fixed handle connected to the instrument box, a handle rotating shaft connected to the instrument box, two first small wire wheels connected to the handle rotating shaft, a handle lever and two second small wire wheels, small bearings mounted on both ends of the handle rotating shaft and installed in the instrument box, and a movable handle connected to the handle lever.

[0019] Furthermore, the upper end surface of the fixed handle is provided with a fourth step hole for connecting with the instrument box; the inner side of the upper end of the movable handle is provided with a fifth step hole for connecting with the handle lever; the first small wire wheel and the second small wire wheel are respectively provided with a first inner hole and a third inner hole in the center, and the first small wire wheel and the second small wire wheel are respectively provided with a sixth step hole and a twelfth step hole on the outer ring side walls for fixing four opening and closing movement steel ropes, and the first small wire wheel and the second small wire wheel are respectively provided with a first threaded hole and a sixth threaded hole on the outer ring side walls, and the first small wire wheel and the second small wire wheel are respectively provided with a first notch and a third notch on the surface; a second inner hole is provided at the upper end center of the handle lever, a second notch is provided on the upper end surface of the handle lever, and a second threaded hole is provided on the outer ring side wall of the handle lever; the handle rotating The moving shaft passes through the first inner hole of the first first small wire wheel, the third inner hole of the first second small wire wheel, the second inner hole of the handle lever, the first inner hole of the second first small wire wheel, and the third inner hole of the second second small wire wheel in sequence; screws are installed in the first threaded hole of the first small wire wheel and the sixth threaded hole of the second small wire wheel, and tightening the screws shrinks the first notch and the second notch, so that the inner hole of the small wire wheel and the second inner hole of the handle lever are deformed and fixed on the handle rotating shaft; pinch or open the moving handle and the fixed handle, and the moving handle drives the handle lever, and the handle rotating shaft and the small wire wheel move accordingly, realizing the winding and lengthening of the four opening and closing steel wire ropes, driving the opening and closing of the first end small claw and the second end small claw, and realizing the opening and closing movement.

[0020] Furthermore, the opening and closing motion guide wheel group includes: 2 short guide wheel shafts and 4 long guide wheel shafts, all of which are connected to the instrument box; each short guide wheel shaft is equipped with 2 second small guide wheels, 4 third retaining springs, 2 first bearings and 2 fourth retaining springs, 2 fourth retaining springs, 2 first bearings and 2 second small guide wheels are symmetrically installed on the short guide wheel shaft, and third retaining springs are installed between adjacent second small guide wheels and first bearings, and 2 third retaining springs are installed between the 2 second small guide wheels; each long guide wheel shaft is equipped with 2 third small guide wheels, 4 fifth retaining springs, 2 second bearings and 2 sixth retaining springs, 2 sixth retaining springs, 2 second bearings and 2 third small guide wheels are symmetrically installed on the long guide wheel shaft, and fifth retaining springs are installed between adjacent third small guide wheels and second bearings, and 2 fifth retaining springs are installed between the 2 third small guide wheels.

[0021] Furthermore, the first end small claw is connected to two opening and closing movement steel ropes, and the second end small claw is connected to the other two opening and closing movement steel ropes; one end of the two opening and closing movement steel ropes are respectively knotted and buried in the second stepped hole of the first end small claw, and the other end passes through the second wire groove, and the left and right opening and closing movement steel ropes extend downward, wrap around the fourth wire groove of the two first small guide wheels at the upper end of the first guide wheel shaft, cross and then wrap around the fourth wire groove of the two first small guide wheels at the upper end of the wrist rotating shaft, continue to extend downward, pass through the two seventh through holes on the end effector connecting piece, enter the hollow cavity of the operating rod, pass through and reach the instrument box, and wrap around The third small guide wheel in the opening and closing motion guide wheel group, one opening and closing motion steel wire rope extends upward from the top of the worm gear shaft to pass through the sixth step hole of the first first small wire wheel on the left side of the handle rotation shaft, and the other extends downward from the bottom of the worm gear shaft to pass through the twelfth step hole of the first second small wire wheel on the right side of the handle rotation shaft. These two opening and closing motion steel wire ropes avoid the yaw motion driving mechanism and reach the sixth step hole and the twelfth step hole of the small wire wheel, and are knotted and fixed; the routing arrangement of the two opening and closing motion steel wire ropes corresponding to the first end small claw is mirror-symmetrical to the routing arrangement of the two opening and closing motion steel wire ropes corresponding to the second end small claw.

[0022] Furthermore, the worm gear shaft is processed with a first plane, a second step shoulder and a third retaining spring groove, the worm wheel presses against the second step shoulder, and the worm wheel is fixed by the cooperation of the top screw and the first plane, and a fixed retaining spring is installed in the third retaining spring groove to limit the position of the worm wheel; the worm shaft is processed with a second plane, a third step shoulder and a fourth retaining spring groove, the worm presses against the third step shoulder, and the worm is fixed by the cooperation of the top screw and the second plane, and a fixed retaining spring is installed in the fourth retaining spring groove to limit the position of the worm; the lower part of the worm shaft is processed into a D-shaped shaft, the center of the dial wheel is provided with a D-shaped hole, and the D-shaped shaft is inserted into the D-shaped hole; the large wire wheel is processed with a fourth inner hole for the worm gear shaft to pass through, a fifth wire groove for the routing of the yaw motion wire rope, a seventh step hole for fixing the yaw motion wire rope and a third threaded hole.

[0023] Furthermore, one end of the two yaw motion steel wire ropes are knotted and buried in the first step hole of the wrist support, respectively passing through the first wire grooves on the left and right sides of the wrist support, passing through the sixth through hole of the end actuator connecting piece, until passing through the hollow cavity of the operating rod, and then passing through the two guide wheels of the yaw motion driving mechanism, winding around the fifth wire groove of the large wire wheel, passing through the seventh step hole, and knotted and fixed; the dial wheel is turned to drive the worm to rotate, and the rotation of the worm wheel drives the large wire wheel to rotate, respectively tightening and loosening the two yaw motion steel wire ropes, driving the end actuator to realize the yaw motion, and after the end actuator reaches the specified position, the yaw motion driving mechanism is used to realize self-locking after yaw.

[0024] Furthermore, the instrument box includes: a front cover support, a main shell, an upper cover and multiple plastic plugs; two rectangular protrusion structures are provided on the inner side of the front cover support, and four stepped holes are provided on the two rectangular protrusion structures. Both ends of the two short guide wheel shafts and the two second guide wheel shafts are installed in the corresponding stepped holes through bearings to achieve connection with the front cover support; a ninth through hole is provided in the center of the front cover support, and a fourth threaded hole is provided in the ninth through hole. The other end of the operating rod is installed in the central through hole of the front cover support, and the top screw is screwed into the fourth threaded hole to fix the operating rod; two connecting ears are provided at the rear end of the main shell, and each connecting ear is provided with a tenth through hole for installing a small bearing of the handle rotating shaft. The first small wire wheel, the second small wire wheel and the handle shift lever are connected to the handle rotating shaft, the small bearing and the small bearing. The two connecting ears at the rear end of the main shell are connected; the upper surface of each connecting ear is provided with a fifth threaded hole for connecting to a fixed handle; the rear end of the main shell is provided with a rectangular through hole for routing four opening and closing movement steel ropes; the front end of the main shell is provided with an opening, and the lower bottom surface of the front end of the main shell is provided with a step hole six for installing the sixth bearing of the worm shaft, and the worm shaft is connected to the main shell through the sixth bearing and the step hole six; the fifth bearing at the upper end of the worm shaft is installed in the blind hole of the upper cover plate; stepped holes one to five are provided on the two side walls at the front end of the main shell, and the two ends of the worm shaft are respectively connected to the main shell through the third bearing, the fourth bearing, and two step holes three, and the two ends of the long guide wheel shaft are connected to the main shell through the second bearing and step holes one to five; the plastic plug is installed on the outside of step holes one to six.

[0025] The beneficial effects of the present invention are:

[0026] 1. The yaw motion drive mechanism designed by the present invention has a simplified structural design and a self-locking characteristic. During the clamping operation using the surgical instrument, the yaw motion can be achieved by relying on the self-locking characteristic of the yaw motion drive mechanism itself, which can avoid the doctor spending more energy to fix the yaw angle of the end effector of the surgical instrument, and the posture of the end effector of the surgical instrument can be adjusted at any time so that it does not change with external force and remains fixed, providing convenience for the doctor during the operation. Therefore, the present invention has the advantages of easy operation, strong flexibility, and self-locking.

[0027] 2. The present invention uses a wrist support to enable the end effector to work at any position within 180° (90° on the left and right), thereby increasing the degree of freedom of the end effector and the working space of the surgical instrument.

[0028] 3. At present, due to the introduction of the humanoid wrist joint, the end effector has problems such as motion coupling. Therefore, in the present invention, the end effector cleverly adopts a double guide wheel structure and a unique cross winding method, which perfectly solves the problem of end effector motion coupling in traditional wire transmission instruments and realizes the decoupling function.

[0029] 4. The present invention optimizes the overall structure of the surgical instrument and sets the outer diameter of the operating rod of the hand-controlled rigid minimally invasive surgical instrument to 8 mm. The surgical instrument is compact and can be operated comfortably by the doctor with one hand.

[0030] 5. The wire rope precision transmission method adopted by the present invention has the advantages of low noise, no backlash, high rigidity, small inertia, stable transmission and low maintenance cost. The wire rope precision transmission has high cost performance, and the wire rope transmission is non-slip, the mechanism is stable, the movement accuracy is high, and the wire rope and the main parts can be subjected to stress analysis, and the length of the wire rope can be continuously adjusted according to the fatigue of the wire rope, which has strong flexibility.

[0031] 6. In the present invention, the two small claws at the end can realize a maximum opening and closing movement of ±90° (i.e. 180°), and the end actuator can realize a maximum swing movement of ±90°. The working space achieved by this movement angle meets the actual requirements of minimally invasive thoracic and abdominal surgery, and has the advantages of a large effective operating space range, high system precision, and good dynamic performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an axonometric diagram of the hand-controlled minimally invasive surgical instrument with yaw self-locking and decoupling functions of the present invention.

[0033] Figure 2 Schematic diagram of the overall structure of the end effector.

[0034] Figure 3 Schematic diagram of the explosion of the end effector.

[0035] Figure 4 It is a schematic diagram of the structure of the wrist support.

[0036] Figure 5 It is a schematic diagram of the structure of the first end claw and the second end claw.

[0037] Figure 6 It is a schematic diagram of the overall structure of the opening and closing motion drive mechanism.

[0038] Figure 7 An exploded diagram of the opening and closing motion drive mechanism.

[0039] Figure 8 This is an exploded diagram of the opening and closing motion guide wheel assembly.

[0040] Fig. 9 It is the overall structural diagram of the yaw motion driving mechanism.

[0041] Fig.10 Schematic diagram of the explosion of the yaw motion drive mechanism.

[0042] Fig.11Schematic diagram of the overall structure of the device shell.

[0043] Fig.12 Schematic diagram of the explosion of the device shell.

[0044] Fig.13 Schematic diagram of the routing of the wire rope for yaw motion.

[0045] Fig.14 This is a schematic diagram of the routing of the first end claw in the end effector part.

[0046] Fig.15 This is a schematic diagram of the wiring of the first end small claw in the opening and closing motion drive mechanism and the instrument box.

[0047] In the figure, 1, end effector, 1-1, wrist support, 1-2, first end small claw, 1-3, second end small claw, 1-4, end small claw rotation axis, 1-5, first guide wheel axis, 1-6, first small guide wheel, 1-7, wrist rotation axis, 1-8, end effector connecting member, 1-9, first retaining spring, 1-10, second retaining spring;

[0048] 2. Operating lever;

[0049] 3. Opening and closing motion driving mechanism, 3-1. Fixed handle, 3-2. Moving handle, 3-3. Handle rotating shaft, 3-4. First small wire wheel, 3-5. Handle lever, 3-6. Small bearing, 3-7. Second small wire wheel;

[0050] 4. Opening and closing motion guide wheel assembly, 4-1, short guide wheel shaft, 4-2, long guide wheel shaft;

[0051] 5. yaw motion driving mechanism, 5-1. worm gear shaft, 5-2. worm shaft, 5-3. worm gear, 5-4. worm, 5-5. third bearing, 5-6. fourth bearing, 5-7. fifth bearing, 5-8. sixth bearing, 5-9. dial wheel, 5-10. second guide wheel shaft, 5-11. guide wheel, 5-12. guide wheel shaft bearing, 5-13. large wire wheel, 5-14. fixing retaining spring;

[0052] 6. Instrument box, 6-1. Front cover support, 6-2. Main shell, 6-3. Upper cover, 6-4. Plastic plug. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0054] The present invention combines the characteristics of robotic minimally invasive surgery technology with traditional minimally invasive surgery technology, studies a series of minimally invasive surgical instruments for the thoracic and abdominal cavities, and designs a set of hand-controlled minimally invasive surgical instruments with multiple degrees of freedom, self-locking and decoupling functions.

[0055] like Figure 1 As shown, the hand-controlled minimally invasive surgical instrument with yaw self-locking and decoupling functions of the present invention mainly includes: an end effector 1, an operating rod 2, an opening and closing motion driving mechanism 3, an opening and closing motion guide wheel group 4, a yaw motion driving mechanism 5 with a self-locking function, and an instrument box 6. The end effector 1 is installed at the front end of the operating rod 2, the instrument box 6 is installed at the rear end of the operating rod 2, the opening and closing motion driving mechanism 3 is connected to the end effector 1, the opening and closing motion driving mechanism 3 is connected to the instrument box 6, and the opening and closing motion guide wheel group 4 and the yaw motion driving mechanism 5 with a self-locking function are both installed in the instrument box 6. The opening and closing motion guide wheel group 4 is used to drive the end effector 1 to realize the opening and closing motion; the yaw motion driving mechanism 5 is used to drive the end effector 1 to realize the yaw motion; the yaw motion driving mechanism 5 is used to complete the self-locking function.

[0056] like Figure 2 and Figure 3 As shown, the end effector 1 mainly includes: a wrist support 1-1, two end claws (a first end claw 1-2 and a second end claw 1-3), an end claw rotation shaft 1-4, a first guide wheel shaft 1-5, eight first small guide wheels 1-6, a wrist rotation shaft 1-7, an end effector connector 1-8 and two retaining springs (a first retaining spring 1-9 and a second retaining spring 1-10). The first end claw 1-2 and the second end claw 1-3 are connected to the wrist support 1-1 through the end claw rotation shaft 1-4. Among them, the four first small guide wheels 1-6 are connected to the wrist support 1-1 through the first guide wheel shaft 1-5, and the four first small guide wheels 1-6 are symmetrically arranged, that is, two first small guide wheels 1-6 are respectively arranged at the upper and lower ends of the first guide wheel shaft 1-5, and the first retaining spring 1-9 and the second retaining spring 1-10 are respectively installed at the upper and lower ends of the first guide wheel shaft 1-5. The end effector connector 1-8 is connected to the wrist support 1-1 through another four first small guide wheels 1-6 and the wrist shaft 1-7, wherein the four first small guide wheels 1-6 are symmetrically arranged, that is, two first small guide wheels 1-6 are respectively arranged at the upper and lower ends of the wrist shaft 1-7.

[0057] The specific structures and connection relationships of the components in the end effector 1 are as follows:

[0058] like Figure 4As shown, an opening is provided at the front end of the wrist support 1-1 body, and first through holes 1-1-1 are provided at the upper and lower ends of the front end opening of the wrist support 1-1 body, a second through hole 1-1-2 is provided in the middle of the wrist support 1-1 body, a third through hole 1-1-3 is provided at the rear end of the wrist support 1-1 body, a first wire groove 1-1-5 is provided on the side surface of the rear end of the wrist support 1-1 body, a first stepped hole 1-1-4 is provided on the side surface of the rear end of the wrist support 1-1 body, and the first stepped hole 1-1-4 is located in the first wire groove 1-1-5. The first wire groove 1-1-5 and the first stepped hole 1-1-4 are used for fixing the yaw motion wire ropes (two wires) and winding and releasing the wire ropes.

[0059] like Figure 5 As shown, the first end claw 1-2 and the second end claw 1-3 have the same structural composition. A first sawtooth 1-2-4 is provided on the inner side of the front end of the first end claw 1-2 body, a fourth through hole 1-2-1 is provided on the rear end of the first end claw 1-2 body, a second wire groove 1-2-3 is provided on the side of the rear end of the first end claw 1-2 body, a second stepped hole 1-2-2 is provided on the side of the rear end of the first end claw 1-2 body, the second stepped hole 1-2-2 is located in the second wire groove 1-2-3, and the second wire groove 1-2-3 and the second stepped hole 1-2-2 are used to fix the opening and closing movement wire ropes (four wires) and the winding and unwinding of the wire ropes. A second serration 1-3-4 is arranged on the inner side of the front end of the second end small claw 1-3 body, the first serration 1-2-4 is meshed with the second serration 1-3-4, a fifth through hole 1-3-1 is arranged on the rear end of the second end small claw 1-3 body, a third wire groove 1-3-3 is arranged on the side of the rear end of the second end small claw 1-3 body, a third step hole 1-3-2 is arranged on the side of the rear end of the second end small claw 1-2 body, the third step hole 1-3-2 is located in the third wire groove 1-3-3, the third wire groove 1-3-3 and the third step hole 1-3-2 are used for fixing the opening and closing movement wire ropes (four wires) and the winding and releasing of the wire ropes.

[0060] The first guide wheel shaft 1-5 is provided with a first retaining spring groove 1-5-1 and a second retaining spring groove 1-5-2 at the upper and lower ends thereof respectively.

[0061] The center of the first small guide wheel 1-6 is provided with an inner hole 1-6-1, and the side wall of the outer ring of the first small guide wheel 1-6 is provided with a fourth wire groove 1-6-2. The fourth wire groove 1-6-2 is provided for the opening and closing movement wire ropes (four wires) to be routed.

[0062] The rear end of the end effector connector 1-8 body is provided with a first stepped shoulder 1-8-4 for connecting with the operating rod 2, the front end of the end effector connector 1-8 body is provided with an opening, the upper and lower ends of the front end opening of the end effector connector 1-8 body are provided with connecting holes 1-8-5, and the rear side walls of the front end opening of the end effector connector 1-8 body are respectively provided with a sixth through hole 1-8-1, a seventh through hole 1-8-2 and an eighth through hole 1-8-3, wherein the sixth through hole 1-8-1 is 2, and the two sixth through holes 1-8-1 are respectively located at the first stepped shoulder 1- On the left and right sides of 8-4, the two sixth through holes 1-8-1 are symmetrical about the center axis of the first step shaft shoulder 1-8-4; there are two seventh through holes 1-8-2, and the two seventh through holes 1-8-2 are respectively located on the left and right sides of the first step shaft shoulder 1-8-4, and the two seventh through holes 1-8-2 are symmetrical about the center axis of the first step shaft shoulder 1-8-4; there are two eighth through holes 1-8-3, and the two eighth through holes 1-8-3 are respectively located on the left and right sides of the first step shaft shoulder 1-8-4, and the two eighth through holes 1-8-3 are symmetrical about the center axis of the first step shaft shoulder 1-8-4. The sixth through hole 1-8-1, the seventh through hole 1-8-2 and the eighth through hole 1-8-3 are used for the opening and closing motion steel wire ropes (four) and the yaw motion steel wire ropes (two) to pass through.

[0063] Arrange the rear ends of the first terminal claw 1-2 and the second terminal claw 1-3 up and down and insert them into the front end opening of the wrist support 1-1, and then pass the terminal claw rotation shaft 1-4 through the first through hole 1-1-1 at the upper end of the front end opening of the wrist support 1-1, the fourth through hole 1-2-1 of the first terminal claw 1-2, the fifth through hole 1-3-1 of the second terminal claw 1-3 and the first through hole 1-1-1 at the lower end of the front end opening of the wrist support 1-1 from top to bottom, thereby connecting the wrist support 1-1, the first terminal claw 1-2 and the second terminal claw 1-3 together.

[0064] The first guide wheel shaft 1-5 passes through the second through hole 1-1-2 in the middle of the wrist support 1-1 body, and two first small guide wheels 1-6 are installed on the upper end of the first guide wheel shaft 1-5, and two first small guide wheels 1-6 are installed on the lower end of the first guide wheel shaft 1-5, and then the first retaining spring 1-9 is installed in the first retaining spring groove 1-5-1 of the first guide wheel shaft 1-5, and the second retaining spring 1-10 is installed in the second retaining spring groove 1-5-2 of the first guide wheel shaft 1-5. The first retaining spring 1-9 and the second retaining spring 1-10 can prevent the first small guide wheel 1-6 from falling off.

[0065] Insert the rear end of the wrist support 1-1 and the four first small guide wheels 1-6 into the front end opening of the end effector connector 1-8, wherein two first small guide wheels 1-6 are arranged on the upper surface of the rear end of the wrist support 1-1, and two first small guide wheels 1-6 are arranged on the lower surface of the rear end of the wrist support 1-1, and then the wrist shaft 1-7 passes through the connecting hole 1-8-5 at the upper end of the front end opening of the end effector connector 1-8, the two first small guide wheels 1-6 on the upper surface of the rear end of the wrist support 1-1, the third through hole 1-1-3 at the rear end of the wrist support body 1-1, the two first small guide wheels 1-6 on the lower surface of the rear end of the wrist support 1-1, and the connecting hole 1-8-5 at the lower end of the front end opening of the end effector connector 1-8 from top to bottom, thereby, the wrist support 1-1, the wrist shaft 1-7 and the end effector connector 1-8 are connected together.

[0066] The operating rod 2 is made of a stainless steel pipe, one end of the operating rod 2 is connected to the first step shoulder 1-8-4 of the end effector connector 1-8 with a pin, and the other end of the operating rod 2 is connected to the instrument box 6.

[0067] like Figure 6 and Figure 7 As shown, the opening and closing motion driving mechanism 3 mainly includes: a fixed handle 3-1, a movable handle 3-2, a handle rotating shaft 3-3, two first small wire wheels 3-4, a handle lever 3-5, two small bearings 3-6 and two second small wire wheels 3-7. Among them, the structures of the two first small wire wheels 3-4 and the two second small wire wheels 3-7 are similar, and the difference is that the directions of the wire grooves, stepped holes and threaded fixing holes on the wire wheels are different. The fixed handle 3-1 is connected to the instrument box 6, and the two first small wire wheels 3-4 and the two second small wire wheels 3-7 are connected to the instrument box 6 through the handle rotating shaft 3-3 with the handle shift lever 3-5. The first small wire wheel 3-4, the second small wire wheel 3-7 and the handle shift lever 3-5 are deformed by tightening the screws to make the inner holes smaller so as to hold the handle rotating shaft 3-3 and be fixedly connected with the handle rotating shaft 3-3. Small bearings 3-6 are installed at both ends of the handle rotating shaft 3-3. The movable handle 3-2 is connected to the handle shift lever 3-5 with a pin and fixedly connected by screws.

[0068] The specific structures and connection relationships of the components in the opening and closing motion driving mechanism 3 are as follows:

[0069] The upper surface of the fixed handle 3-1 is provided with a fourth step hole 3-1-1 for connecting with the instrument box 6. The inner side of the upper end of the movable handle 3-2 is provided with a fifth step hole 3-2-1. The first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a first inner hole 3-4-1 and a third inner hole 3-7-1 in the center, and the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a sixth step hole 3-4-2 and a twelfth step hole 3-7-2 on the outer ring side wall for fixing the opening and closing movement wire ropes (four wire ropes), and the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a first threaded hole 3-4-3 and a sixth threaded hole 3-7-3 on the outer ring side wall, and the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a first notch 3-4-4 and a third notch 3-7-4 on the surface. A second inner hole 3-5-1 is arranged at the center of the upper end of the handle lever 3-5, a second notch 3-5-2 is arranged on the upper end surface of the handle lever 3-5, a rectangular parallelepiped 3-5-3 is arranged at the lower end of the handle lever 3-5, and a second threaded hole is arranged on the outer side wall of the handle lever 3-5.

[0070] The handle rotating shaft 3-3 passes through the first inner hole 3-4-1 of the first first small wire wheel 3-4, the third inner hole 3-7-1 of the first second small wire wheel 3-7, the second inner hole 3-5-1 of the handle lever 3-5, the first inner hole 3-4-1 of the second first small wire wheel 3-4, and the third inner hole 3-7-1 of the second second small wire wheel 3-7 in sequence, and then small bearings 3-6 are set at both ends of the handle rotating shaft 3-3, and the small bearings 3-6 are installed in the instrument box 6. Screws are installed in the first threaded hole 3-4-3 of the first small wire wheel 3-4 and the sixth threaded hole 3-7-3 of the second small wire wheel 3-7, and the first notch 3-4-4 and the third notch 3-7-4 thereof can be reduced by tightening the screws, so that the first inner hole 3-4-1 of the first small wire wheel 3-4 and the third inner hole 3-7-1 of the second small wire wheel 3-7 are reduced and deformed, and then are tightly fixed on the handle rotating shaft 3-3. A screw is installed in the second threaded hole of the handle lever 3-5. By tightening the screw, the second notch 3-5-2 can be reduced, so that the second inner hole 3-5-1 of the handle lever 3-5 is deformed and fixed on the handle rotating shaft 3-3. The second small wire wheel 3-7 and the first small wire wheel 3-4 on the inner side adjacent to the left and right sides of the handle lever 3-5 are used to drive the first end small claw 1-2 and the second end small claw 1-3 to "close"; the first small wire wheel 3-4 and the second small wire wheel 3-7 on the outer side are used to drive the first end small claw 1-2 and the second end small claw 1-3 to "open" movement. The movable handle 3-2 is sleeved on the rectangular parallelepiped 3-5-3 of the handle lever 3-5, and the fifth stepped hole 3-2-1 of the movable handle 3-2 is fixedly connected to the rectangular parallelepiped 3-5-3 by screws.

[0071] During operation, one only needs to pinch or open the movable handle 3-2 and the fixed handle 3-1, and the movement of the movable handle 3-2 will drive the handle lever 3-5, and the handle rotating shaft 3-3 and the first small wire wheel 3-4 and the second small wire wheel 3-7 will move accordingly, realizing the winding and lengthening of the opening and closing movement wire ropes (four wires), thereby driving the opening and closing of the first end small claw 1-2 and the second end small claw 1-3, realizing the opening and closing movement.

[0072] like Figure 8 As shown, the opening and closing motion guide wheel group 4 mainly includes: 2 short guide wheel shafts 4-1 and 4 long guide wheel shafts 4-2; the 2 short guide wheel shafts 4-1 and the 4 long guide wheel shafts 4-2 are connected to the instrument box 6. Each short guide wheel shaft 4-1 is equipped with 2 second small guide wheels 4-7, 4 third retaining springs 4-9, 2 first bearings 4-10 and 2 fourth retaining springs 4-8, wherein the 2 fourth retaining springs 4-8, the 2 first bearings 4-10 and the 2 second small guide wheels 4-7 are symmetrically mounted on the short guide wheel shaft 4-1, a third retaining spring 4-9 is installed between the adjacent second small guide wheels 4-7 and the first bearing 4-10, and 2 third retaining springs 4-9 are installed between the 2 second small guide wheels 4-7, the whole is fixed by the third retaining springs 4-9 at both ends, and the position of the first bearing 4-10 is limited by the fourth retaining spring 4-8. Each long guide wheel shaft 4-2 is provided with two third small guide wheels 4-6, four fifth retaining springs 4-5, two second bearings 4-3 and two sixth retaining springs 4-4, wherein the two sixth retaining springs 4-4, the two second bearings 4-3 and the two third small guide wheels 4-6 are symmetrically mounted on the long guide wheel shaft 4-2, a fifth retaining spring 4-5 is mounted between each adjacent third small guide wheel 4-6 and the second bearing 4-3, two fifth retaining springs 4-5 are mounted between the two third small guide wheels 4-6, the whole is fixed by the sixth retaining springs 4-4 at both ends, and the position of the second bearing 4-3 is limited by the sixth retaining springs 4-4.

[0073] like Fig. 9 and Fig.10As shown, the yaw motion driving mechanism 5 has a self-locking function, and mainly includes: a worm gear shaft 5-1, a worm shaft 5-2, a worm wheel 5-3, a worm 5-4, 4 bearings (a third bearing 5-5, a fourth bearing 5-6, a fifth bearing 5-7, and a sixth bearing 5-8), a thumbwheel 5-9, two second guide wheel shafts 5-10, two guide wheels 5-11, four guide wheel shaft bearings 5-12, two large wire wheels 5-13, and a plurality of fixing springs 5-14; the worm wheel 5-3 is sleeved on the worm gear shaft 5-1 and is used for The two ends of the worm wheel 5-3 are fixed by the fixing circlip 5-14 and the shoulder of the worm wheel shaft 5-1 to limit the position of the worm wheel 5-3. The two ends of the worm wheel shaft 5-1 are connected to the instrument box 6 through the third bearing 5-5 and the fourth bearing 5-6 respectively; the worm 5-4 is sleeved on the worm shaft 5-2 and fixed by the jackscrew. The two ends of the worm shaft 5-2 are fixed by the fixing circlip 5-14 and the shoulder of the worm shaft 5-2 to limit the position of the worm 5-4. The fifth bearing 5-7 and the sixth bearing 5-8 are both sleeved on the worm shaft 5-2. The upper end of the worm shaft 5-2 is connected to the instrument box 6 through the fifth bearing 5-7, and the lower end of the worm shaft 5-2 is connected to the instrument box 6 through the sixth bearing 5-8. The thumbwheel 5-9 is mounted on the protruding end of the worm shaft 5-2 and fixedly connected with screws, the two large wire wheels 5-13 are mounted on the worm shaft 5-1 and fixedly connected with screws, the two guide wheels 5-11 are respectively mounted on the two second guide wheel shafts 5-10 in a one-to-one manner, and both ends of the second guide wheel shafts 5-10 are limited in position by fixed retaining springs 5-14, each of the second guide wheel shafts 5-10 is equipped with two guide wheel shaft bearings 5-12 at both ends, both ends of the second guide wheel shaft 5-10 are connected to the instrument box 6 through the guide wheel shaft bearings 5-12, and both ends of the second guide wheel shaft 5-10 are limited in position by fixed retaining springs 5-14.

[0074] The specific structures and connection relationships of the components in the yaw motion driving mechanism 5 are as follows:

[0075] The worm shaft 5-1 is processed with a first plane 5-1-1, a second step shoulder 5-1-2 and a third retaining ring groove 5-1-3. The worm 5-3 can be fixed with a top screw through the first plane 5-1-1, one end of the worm 5-3 abuts against the second step shoulder 5-1-2, and a fixed retaining ring 5-14 is installed in the third retaining ring groove 5-1-3. The fixed retaining ring 5-14 is used to limit the position of the worm 5-3. The worm shaft 5-2 is processed with a second plane 5-2-1, a third step shoulder 5-2-2 and a fourth retaining ring groove 5-2-3. The worm 5-4 can be fixed with a top screw through the second plane 5-2-1, one end of the worm 5-4 abuts against the third step shoulder 5-2-2, and a fixed retaining ring 5-14 is installed in the fourth retaining ring groove 5-2-3. The fixed retaining ring 5-14 is used to limit the position of the worm 5-4. The large wire wheel 5-13 is processed with a fourth inner hole 5-13-1, a fifth wire groove 5-13-2, a seventh stepped hole 5-13-3 and a third threaded hole 5-13-4. The fourth inner hole 5-13-1 is convenient for the worm shaft 5-1 to pass through. The fifth wire groove 5-13-2 is used for routing the yaw motion wire rope. The seventh stepped hole 5-13-3 is used to fix the yaw motion wire rope. Two large wire wheels 5-13 are respectively installed with two yaw motion wire ropes. Screws are installed in the third threaded hole 5-13-4. When the screws are tightened, the fourth inner hole 5-13-1 of the large wire wheel 5-13 is deformed and shrunk, and the worm shaft 5-1 is firmly held. The lower part of the worm shaft 5-2 is processed into a D-shaped shaft 5-2-4, and a D-shaped hole 5-9-1 is set in the center of the dial wheel 5-9. The D-shaped shaft 5-2-4 at the lower end of the worm shaft 5-2 is installed together with the D-shaped hole 5-9-1 in the center of the dial wheel 5-9 and fixed with screws to prevent the dial wheel 5-9 from falling.

[0076] like Fig.11 and Fig.12 As shown, the instrument box 6 mainly includes: a front cover support 6-1, a main housing 6-2, an upper cover 6-3 and a plurality of plastic plugs 6-4; the front cover support 6-1 is connected to the operating rod 2, the front cover support 6-1 is installed at the front end of the main housing 6-2, the upper cover 6-3 is installed at the upper end of the main housing 6-2, and the plurality of plastic plugs 6-4 are installed on the main housing 6-2. Among them, the front cover support 6-1, the main housing 6-2, and the upper cover 6-3 are all made of aluminum alloy.

[0077] The specific structures and connection relationships of the components in the instrument box 6 are as follows:

[0078] Two rectangular protrusions are arranged on the inner side of the front cover support 6-1, and four stepped holes (eighth step hole 6-1-1, ninth step hole 6-1-2, tenth step hole 6-1-3, eleventh step hole 6-1-4) are arranged on the two rectangular protrusions. The eighth step hole 6-1-1 and the ninth step hole 6-1-2 are used to install the first bearings 4-10 of the two short guide wheel shafts 4-1 in the opening and closing motion guide wheel group 4. Both ends of one short guide wheel shaft 4-1 are installed in the eighth step hole 6-1-1 through the first bearing 4-10 to realize connection with the front cover support 6-1, and the other short guide wheel shaft 4-1 Both ends are installed in the ninth step hole 6-1-2 through the first bearing 4-10 to connect with the front cover support 6-1; the tenth step hole 6-1-3 and the eleventh step hole 6-1-4 are used to install the four guide wheel shaft bearings 5-12 in the yaw motion drive mechanism 5, and both ends of a second guide wheel shaft 5-10 are installed in the tenth step hole 6-1-3 through the guide wheel shaft bearings 5-12 to connect with the front cover support 6-1, and both ends of another second guide wheel shaft 5-10 are installed in the eleventh step hole 6-1-4 through the guide wheel shaft bearings 5-12 to connect with the front cover support 6-1. A ninth through hole 6-1-5 is provided at the center of the front cover support 6-1, and a fourth threaded hole 6-1-6 is provided in the ninth through hole 6-1-5. The other end of the operating rod 2 is installed in the ninth through hole 6-1-5 at the center of the front cover support 6-1, and then a top screw is screwed into the fourth threaded hole 6-1-6 to fix the operating rod 2.

[0079] The main shell 6-2 is set as a rectangular structure as a whole. Two connecting ears are set at the rear end of the main shell 6-2. Each connecting ear is set with a tenth through hole 6-2-1. The tenth through hole 6-2-1 is used to install the small bearing 3-6 of the handle rotating shaft 3-3. The first small wire wheel 3-4, the second small wire wheel 3-7 and the handle lever 3-5 are connected to the two connecting ears at the rear end of the main shell 6-2 through the handle rotating shaft 3-3 and the small bearing 3-6; and each connecting ear is set on the upper surface of the fifth threaded hole 6-2-9. 6-2-9 is used to connect with the fixed handle 3-1, and the fixed handle 3-1 is connected to the two connecting ears at the rear end of the main housing 6-2 through a pin and fixedly connected with screws; a rectangular through hole 6-2-8 is provided at the rear end of the main housing 6-2, and the rectangular through hole 6-2-8 is used for routing the opening and closing moving wire ropes (four wires), and an opening is provided at the front end of the main housing 6-2, and a stepped hole six 6-2-7 is provided on the lower bottom surface of the front end of the main housing 6-2, and the stepped hole six 6-2-7 is used to install the sixth bearing 5-8 at the lower end of the worm shaft 5-2, and the worm shaft 5- 2 is connected to the main housing 6-2 through the sixth bearing 5-8 and the step hole 6-2-7. The two side walls at the front end of the main housing 6-2 are provided with a step hole 1 6-2-2, a step hole 2 6-2-3, a step hole 3 6-2-4, a step hole 4 6-2-5, and a step hole 5 6-2-6. The step hole 3 6-2-4, which is the largest of the five groups of step holes, is used to install the third bearing 5-5 and the fourth bearing 5-6 at both ends of the worm shaft 5-1. The two ends of the worm shaft 5-1 are respectively connected through the third bearing 5-5 and the fourth bearing 5-6. The bearing 5-6 and two step holes 3 6-2-4 are connected to the main housing 6-2. The step hole 1 6-2-2, the step hole 2 6-2-3, the step hole 4 6-2-5 and the step hole 5 6-2-6 are used to install the second bearing 4-3 on the four long guide wheel shafts 4-2. Both ends of the long guide wheel shaft 4-2 are connected to the main housing 6-2 through the second bearing 4-3. The four long guide wheel shafts 4-2 are installed one by one with the step hole 1 6-2-2, the step hole 2 6-2-3, the step hole 4 6-2-5 and the step hole 5 6-2-6. A plastic plug 6-4 is installed outside all the step holes 1 6-2-2, the step holes 2 6-2-3, the step holes 3 6-2-4, the step holes 4 6-2-5, the step holes 5 6-2-6 and the step holes 6 6-2-7 to ensure a neat appearance. The fifth bearing 5-7 at the upper end of the worm shaft 5-2 is installed in the blind hole of the upper cover plate 6-3. Thus, the front cover plate support 6-1, the main housing 6-2, the upper cover plate 6-3 and the plurality of plastic plugs 6-4 form a closed space with a neat appearance, enclosing the opening and closing motion guide wheel group 4 and the yaw motion driving mechanism 5 in the instrument box 6, and only the thumbwheel 5-9 is exposed to operate the surgical instrument.

[0080] The hand-controlled minimally invasive surgical instrument with the yaw self-locking and decoupling functions of the present invention mainly relies on the self-locking characteristics of the yaw motion driving mechanism 5 itself to achieve the yaw self-locking function. The specific implementation process is as follows:

[0081] like Fig.13 As shown, the routing process of the yaw motion wire rope is as follows (the interior of the operating rod 2 is omitted): there are two yaw motion wire ropes in total, one end of the yaw motion wire rope is knotted and buried in the first step hole 1-1-4 of the wrist support 1-1, and the yaw motion wire rope passes through the first wire groove 1-1-5 on the left and right sides of the wrist support 1-1 respectively, and then the yaw motion wire rope passes through the sixth through hole 1-8-1 of the end actuator connector 1-8, until it passes through the hollow cavity of the operating rod 2, and then passes through the two guide wheels 5-11 of the yaw motion driving mechanism 5, and then is wrapped around the fifth wire groove 5-13-2 of the large wire wheel 5-13, and then passes through the seventh step hole 5-13-3 and is knotted and fixed. When driving, it is only necessary to rotate the dial wheel 5-9 to drive the worm 5-4 to rotate. Under the action of the yaw motion driving mechanism 5, the worm wheel 5-3 rotates, driving the large wire wheel 5-13 to rotate, respectively tightening and loosening the two yaw motion wire ropes, thereby driving the end effector 1 to achieve yaw motion. After the end effector 1 reaches the specified position, since the yaw motion driving mechanism 5 itself has a self-locking function, self-locking after yaw can be achieved without any other operation.

[0082] When a person manually turns the dial 5-9, the worm gear shaft 5-1 and the large wire wheel 5-13 will rotate accordingly, pulling the yaw motion wire rope, and the yaw motion wire rope will drive the wrist support 1-1 to yaw left and right. This is the yaw drive process for adjusting the posture. At the same time, when the worm gear shaft 5-1 and the large wire wheel 5-13 are rotated relative to each other, the yaw motion wire rope can be tightened and then screwed in to fix it, so as to prevent the yaw motion wire rope from failing in transmission due to relaxation. When the appropriate posture is adjusted, the person's hand leaves the dial 5-9. At this time, due to the self-locking characteristics of the yaw motion drive mechanism 5, self-locking is formed without any operation, so that the yaw posture of the surgical instrument end effector is not affected by external forces and is not changed.

[0083] The hand-controlled minimally invasive surgical instrument with the deflection self-locking and decoupling functions of the present invention mainly relies on the joint action of the opening and closing movement driving mechanism 3, the opening and closing movement guide wheel group 4 and the instrument box 6 to realize the opening and closing movement of the small claw at the end. The specific implementation process is as follows:

[0084] like Fig.14 and Fig.15As shown, the routing process of the opening and closing motion steel wire rope is as follows (the inside of the operating rod 2 is omitted): there are four opening and closing motion steel wire ropes in total, the first end small claw 1-2 is connected to two opening and closing motion steel wire ropes, and the second end small claw 1-3 is connected to two opening and closing motion steel wire ropes. These four opening and closing motion steel wire ropes control the opening and closing motion of the end small claws respectively. The routing arrangement of the two opening and closing motion steel wire ropes corresponding to the first end small claw 1-2 is mirror-symmetrical with the routing arrangement of the two opening and closing motion steel wire ropes corresponding to the second end small claw 1-3, so the following only introduces the routing process of the two opening and closing motion steel wire ropes corresponding to one of the end small claws. One end of the two opening and closing motion steel ropes are respectively knotted and buried in the second stepped hole 1-2-2 of the first end small claw 1-2, and the other end is passed through the second wire groove 1-2-3, one opening and closing motion steel rope on each side, extending downward, and the two opening and closing motion steel ropes are both wound around the fourth wire groove 1-6-2 of the two first small guide wheels 1-6 at the upper end of the first guide wheel shaft 1-5 (the two opening and closing motion steel ropes corresponding to the second end small claw 1-3 are both wound around the lower end of the first guide wheel shaft 1-5 The two opening and closing motion steel cables cross and then wind around the fourth groove 1-6-2 of the two first small guide wheels 1-6 at the upper end of the wrist shaft 1-7 (the two opening and closing motion steel cables corresponding to the second end small claw 1-3 are both wound around the fourth groove 1-6-2 of the two first small guide wheels 1-6 at the lower end of the wrist shaft 1-7), and the two opening and closing motion steel cables extend downward and pass through the upper end of the end effector connector 1-8. The two opening and closing motion steel wire ropes pass through the two seventh through holes 1-8-2 (the two opening and closing motion steel wire ropes corresponding to the second end small claw 1-3 pass through the eighth through hole 1-8-3), and then enter the hollow cavity of the operating rod 2 and pass through it, and then pass through the inside of the instrument box 6 and wrap around the third small guide wheel 4-6 in the opening and closing motion guide wheel group 4, one of the opening and closing motion steel wire ropes extends upward from the top of the worm gear shaft 5-1 to pass through the sixth step hole 3-4-2 of the first first small wire wheel 3-4 on the left side of the handle rotation shaft 3-3, and the other extends downward from the bottom of the worm gear shaft 5-1 to pass through the twelfth step hole 3-7-2 of the first second small wire wheel 3-7 on the right side of the handle rotation shaft 3-3. In this way, the two opening and closing motion steel wire ropes can avoid the yaw motion driving mechanism 5, and after reaching the sixth step hole 3-4-2 of the first small wire wheel 3-4 and the twelfth step hole 3-7-2 of the second small wire wheel 3-7, the two opening and closing motion steel wire ropes are also fixed in the corresponding step holes in the same way as knotting and fixing.

[0085] The present invention adopts the method of pinching the movable handle 3-2 with fingers to control the opening and closing movement of the small claw of the end actuator. During operation, when the movable handle 3-2 is opened, it will drive the handle lever 3-5 and the first small wire wheel 3-4 and the second small wire wheel 3-7 to rotate simultaneously, so that the opening and closing movement of the outer side of the small claw at the end drives the "open" wire rope to pull back, and pull the small claw at the end to open; when the movable handle 3-2 is closed, the first small wire wheel 3-4 and the second small wire wheel 3-7 rotate in the opposite direction, and the small claw at the end is closed.

[0086] The hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions of the present invention has a specific implementation process of the terminal decoupling function as follows:

[0087] When the surgical instrument is manipulated to achieve the oscillating movement of the end effector 1 and the movable handle 3-2 remains stationary, due to the upper and lower groups of first small guide wheels 1-6 on the wrist support 1-1 and its unique wire rope winding method, when the wrist support 1-1 oscillates left and right, the change in the length of the wire rope will not cause the end small claw to move in the vertical direction, thereby solving the coupling movement problem existing in traditional wire-driven minimally invasive surgical instruments and realizing the decoupling function.

[0088] The hand-controlled minimally invasive surgical instrument with yaw self-locking and decoupling functions of the present invention has a certain self-locking ability, which can keep the posture of the end effector 1 unchanged under the action of external force; while improving the degree of freedom of the end effector 1, the present invention increases the working space of the surgical instrument, and the yaw motion drive mechanism 5 can effectively avoid the problem of coupling between the yaw motion and the opening and closing motion, thereby solving the motion coupling problem existing in traditional wire-driven minimally invasive surgical instruments and realizing the convenience of minimally invasive surgery.

[0089] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection content of the present invention.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions, characterized in that: include: Operating lever; An end effector mounted on one end of the operating rod; An instrument box mounted on the other end of the operating lever; an opening and closing motion driving mechanism connected to the end effector and the instrument box; An opening and closing motion guide wheel group and a yaw motion driving mechanism are both installed in the instrument box; the opening and closing motion guide wheel group drives the end effector to complete the opening and closing motion; the yaw motion driving mechanism drives the end effector to complete the yaw motion; the yaw motion driving mechanism is used to complete the yaw self-locking; The yaw motion driving mechanism includes: a worm gear shaft, a worm wheel sleeved and fixed on the worm gear shaft, a third bearing and a fourth bearing both sleeved on the worm gear shaft and respectively located on both sides of the worm gear, a worm shaft, a worm sleeved and fixed on the worm shaft, a fifth bearing and a sixth bearing both sleeved on the worm shaft and respectively located on both sides of the worm, a thumbwheel sleeved and fixed on one end of the worm shaft, two large wire wheels both sleeved and fixed on the worm gear shaft, two second guide wheel shafts, two guide wheels sleeved on the two second guide wheel shafts in one-to-one correspondence, two guide wheel shaft bearings sleeved on both ends of the second guide wheel shafts, and fixed retaining springs respectively installed on the worm gear shaft and the worm shaft and both ends of the second guide wheel shaft; the third bearing, the fourth bearing, the fifth bearing, the sixth bearing, and the guide wheel shaft bearings are all connected to the instrument box; The end effector comprises: a wrist support, a first end small claw and a second end small claw connected to the wrist support through an end small claw rotating shaft, a first guide wheel shaft, a wrist rotating shaft, an end effector connecting member connected to the wrist support through a first small guide wheel and the wrist rotating shaft, and a retaining spring installed at the upper and lower ends of the first guide wheel shaft, wherein two first small guide wheels are respectively arranged at the upper and lower ends of the first guide wheel shaft; The wrist support body is provided with an opening at the front end, and the first through hole is provided at the upper and lower ends of the opening, and the second through hole and the third through hole are respectively provided in the middle and rear end of the wrist support body, and the rear end side of the wrist support body is provided with a first wire groove and a first stepped hole located in the first wire groove; the front end and rear end of the first end small claw body are respectively provided with a first serration and a fourth through hole, and the rear end side of the first end small claw body is provided with a second wire groove and a second stepped hole located in the second wire groove; the front end and rear end of the second end small claw body are respectively provided with a second serration and a fifth through hole, the first serration is meshed with the second serration, and the rear end side of the second end small claw body is provided with a third wire groove and a third stepped hole located in the third wire groove; the first wire groove, the first stepped hole, the second wire groove, the second stepped hole, the third wire groove and the third stepped hole are all used to fix two oscillating motion steel ropes and the winding and lengthening of the steel ropes; Arrange the rear ends of the first end claw and the second end claw up and down and insert them into the front end opening of the wrist support; pass the rotating shaft of the end claw through the first through hole at the upper end of the front end opening of the wrist support, the fourth through hole of the first end claw, the fifth through hole of the second end claw and the first through hole at the lower end of the front end opening of the wrist support in sequence; the first guide wheel shaft passes through the second through hole in the middle of the wrist support body; the first small guide wheel is provided with an inner hole in the center, and the outer ring side wall of the first small guide wheel is provided with a fourth wire groove for routing four opening and closing motion steel ropes; The rear end of the end effector connecting member body is provided with a first stepped shoulder for connecting with the operating rod, and the front end of the end effector connecting member body is provided with an opening, and the upper and lower ends of the opening are provided with connecting holes, and the rear side walls of the opening are respectively provided with two sixth through holes, two seventh through holes and two eighth through holes for routing four opening and closing motion steel ropes and two swing motion steel ropes, and the two sixth through holes are symmetrically arranged on both sides of the first stepped shoulder; the two seventh through holes are symmetrically arranged on both sides of the first stepped shoulder; the two eighth through holes are symmetrically arranged on both sides of the first stepped shoulder; the rear end of the wrist support member is inserted into the front end opening of the end effector connecting member, and two first small guide wheels are respectively installed on the upper and lower surfaces of the rear end of the wrist support member, and the wrist shaft is sequentially passed through the connecting hole at the upper end of the front end opening of the end effector connecting member, the two first small guide wheels on the upper surface of the rear end of the wrist support member, the third through hole at the rear end of the wrist support member body, the two first small guide wheels on the lower surface of the rear end of the wrist support member, and the connecting hole at the lower end of the front end opening of the end effector connecting member; The opening and closing motion driving mechanism comprises: a fixed handle connected to the instrument box, a handle rotating shaft connected to the instrument box, two first small wire wheels connected to the handle rotating shaft, a handle lever and two second small wire wheels, small bearings sleeved on both ends of the handle rotating shaft and installed in the instrument box, and a movable handle connected to the handle lever; The upper end surface of the fixed handle is provided with a fourth step hole for connecting with the instrument box; the inner side of the upper end of the movable handle is provided with a fifth step hole for connecting with the handle lever; the first small wire wheel and the second small wire wheel are respectively provided with a first inner hole and a third inner hole in the center, and the first small wire wheel and the second small wire wheel are respectively provided with a sixth step hole and a twelfth step hole on the outer ring side walls for fixing four opening and closing movement steel ropes, and the first small wire wheel and the second small wire wheel are respectively provided with a first threaded hole and a sixth threaded hole on the outer ring side walls, and the first small wire wheel and the second small wire wheel are respectively provided with a first notch and a third notch on the surface; a second inner hole is provided at the upper end center of the handle lever, a second notch is provided on the upper end surface of the handle lever, and a second threaded hole is provided on the outer ring side wall of the handle lever; the handle rotating shaft The screws are installed in the first threaded hole of the first small thread wheel and the sixth threaded hole of the second small thread wheel, and the first threaded hole of the second small thread wheel are tightened to reduce the first notch and the second notch, so that the inner hole of the small thread wheel and the second inner hole of the handle lever are deformed and fixed on the handle rotating shaft; pinch or open the movable handle and the fixed handle, and the movable handle drives the handle lever, and the handle rotating shaft and the small thread wheel move accordingly, so that the four opening and closing steel wire ropes are wound and lengthened, and the first end small claw and the second end small claw are driven to open and close, so as to realize the opening and closing movement; The opening and closing motion guide wheel group includes: 2 short guide wheel shafts and 4 long guide wheel shafts, all of which are connected to the instrument box; each short guide wheel shaft is equipped with 2 second small guide wheels, 4 third retaining springs, 2 first bearings and 2 fourth retaining springs, 2 fourth retaining springs, 2 first bearings and 2 second small guide wheels are symmetrically installed on the short guide wheel shaft, and third retaining springs are installed between adjacent second small guide wheels and first bearings, and 2 third retaining springs are installed between the 2 second small guide wheels; each long guide wheel shaft is equipped with 2 third small guide wheels, 4 fifth retaining springs, 2 second bearings and 2 sixth retaining springs, 2 sixth retaining springs, 2 second bearings and 2 third small guide wheels are symmetrically installed on the long guide wheel shaft, and fifth retaining springs are installed between adjacent third small guide wheels and second bearings, and 2 fifth retaining springs are installed between the 2 third small guide wheels; The first end small claw is connected to two opening and closing movement steel wire ropes, and the second end small claw is connected to the other two opening and closing movement steel wire ropes; one end of the two opening and closing movement steel wire ropes are respectively knotted and buried in the second stepped hole of the first end small claw, and the other end passes through the second wire groove, and the left and right opening and closing movement steel wire ropes extend downward, wrap around the fourth wire groove of the two first small guide wheels at the upper end of the first guide wheel shaft, cross and wrap around the fourth wire groove of the two first small guide wheels at the upper end of the wrist shaft, continue to extend downward, pass through the two seventh through holes on the end effector connector and enter the hollow cavity of the operating rod, and reach the instrument box after passing through, and wrap around the opening and closing The third small guide wheel in the motion guide wheel group, one opening and closing motion steel wire rope extends upward from the top of the worm gear shaft to pass through the sixth step hole of the first first small wire wheel on the left side of the handle rotation shaft, and the other extends downward from the bottom of the worm gear shaft to pass through the twelfth step hole of the first second small wire wheel on the right side of the handle rotation shaft. These two opening and closing motion steel wire ropes avoid the yaw motion driving mechanism and reach the sixth step hole and the twelfth step hole of the small wire wheel, and are knotted and fixed; the routing arrangement of the two opening and closing motion steel wire ropes corresponding to the first end small claw is mirror-symmetrical to the routing arrangement of the two opening and closing motion steel wire ropes corresponding to the second end small claw; When the surgical instrument is manipulated to achieve the yaw movement of the end effector and the movable handle remains stationary, due to the upper and lower sets of first small guide wheels and the wire rope winding method on the wrist support, when the wrist support yaws left and right, the change in the length of the wire rope will not cause the end small claw to move in the vertical direction.

2. The hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions according to claim 1, characterized in that: The worm gear shaft is processed with a first plane, a second step shoulder and a third retaining spring groove, the worm wheel presses against the second step shoulder, and the worm wheel is fixed by the top screw and the first plane, and a fixed retaining spring is installed in the third retaining spring groove to limit the position of the worm wheel; the worm shaft is processed with a second plane, a third step shoulder and a fourth retaining spring groove, the worm presses against the third step shoulder, and the worm is fixed by the top screw and the second plane, and a fixed retaining spring is installed in the fourth retaining spring groove to limit the position of the worm; the lower part of the worm shaft is processed into a D-shaped shaft, and a D-shaped hole is provided at the center of the dial wheel, and the D-shaped shaft is inserted into the D-shaped hole; the large wire wheel is processed with a fourth inner hole for the worm gear shaft to pass through, a fifth wire groove for the routing of the yaw motion wire rope, a seventh step hole for fixing the yaw motion wire rope and a third threaded hole.

3. The hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions according to claim 2, characterized in that: One end of the two yaw motion steel ropes are knotted and buried in the first stepped hole of the wrist support, respectively passing through the first wire grooves on the left and right sides of the wrist support, passing through the sixth through hole of the end actuator connecting piece, until passing through the hollow cavity of the operating rod, and then passing through the two guide wheels of the yaw motion driving mechanism, winding around the fifth wire groove of the large wire wheel, passing through the seventh stepped hole, and knotted and fixed; rotating the dial wheel drives the worm to rotate, and the rotation of the worm wheel drives the large wire wheel to rotate, respectively tightening and loosening the two yaw motion steel ropes, driving the end actuator to realize the yaw motion, and after the end actuator reaches the specified position, the yaw motion driving mechanism is used to realize self-locking after yaw.

4. The hand-controlled minimally invasive surgical instrument with deflection self-locking and decoupling functions according to claim 3, characterized in that: The instrument box comprises: a front cover support, a main shell, an upper cover and a plurality of plastic plugs; two rectangular protrusion structures are provided on the inner side of the front cover support, and four stepped holes are provided on the two rectangular protrusion structures, and both ends of the two short guide wheel shafts and the two second guide wheel shafts are installed in the corresponding stepped holes through bearings to realize connection with the front cover support; a ninth through hole is provided in the center of the front cover support, and a fourth threaded hole is provided in the ninth through hole, and the other end of the operating rod is installed in the central through hole of the front cover support, and the top screw is screwed into the fourth threaded hole to fix the operating rod; two connecting ears are provided at the rear end of the main shell, and each connecting ear is provided with a tenth through hole for installing a small bearing of the handle rotating shaft, and the first small wire wheel, the second small wire wheel and the handle shift rod are connected to the main shell through the handle rotating shaft and the small bearing. The two connecting ears at the rear end of the body are connected; the upper surface of each connecting ear is provided with a fifth threaded hole for connecting to a fixed handle; the rear end of the main shell is provided with a rectangular through hole for routing four opening and closing movement steel ropes; the front end of the main shell is provided with an opening, and the lower bottom surface of the front end of the main shell is provided with a step hole six for installing the sixth bearing of the worm shaft, and the worm shaft is connected to the main shell through the sixth bearing and the step hole six; the fifth bearing at the upper end of the worm shaft is installed in the blind hole of the upper cover plate; the two side walls at the front end of the main shell are provided with step holes one to five, and the two ends of the worm shaft are respectively connected to the main shell through the third bearing, the fourth bearing, and two step holes three, and the two ends of the long guide wheel shaft are connected to the main shell through the second bearing and step holes one to five; the plastic plug is installed on the outside of step holes one to six.

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