Compound yaw control device and laparoscopic surgical instrument

Abstract

This invention relates to the field of medical device technology, and discloses a composite yaw control device and a laparoscopic surgical instrument. The composite yaw control device includes: a first tube; a second tube, the inner peripheral wall of which is radially spaced from the outer peripheral wall of the first tube to form a receiving gap; a yaw control mechanism disposed at the proximal end of the first tube, one end of which is provided with a plurality of first yaw control lines; a flexible motion joint disposed at the distal end of the second tube, one end of which is provided with a plurality of second yaw control lines; and a plurality of transmission rods movably disposed within the receiving gap, each transmission rod having one axial end connected to a first yaw control line and the other end connected to a second yaw control line. This invention not only avoids the yaw control lines from being stretched and / or sag due to their own tension during operation, improving the force application accuracy, but also ensures the directionality and correspondence of the assembly of the transmission rods and the first and second yaw control lines at both ends.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a composite oscillation control device and a laparoscopic surgical instrument. Background Technology

[0002] Laparoscopic minimally invasive surgery typically involves manipulating laparoscopic surgical instruments outside the abdominal cavity to explore, electrocoagulate, stop bleeding, separate and cut tissues, and suture lesions within the abdominal cavity.

[0003] Existing laparoscopic minimally invasive surgical instruments, such as the patent document with publication number CN116942222A, have a yaw control mechanism that can yaw relative to the central axis of the rod in any direction under the action of external force, and can determine the yaw angle in any yaw direction. Under the traction of the yaw control mechanism, multiple yaw control lines can change their stroke simultaneously, thereby enabling the flexible joint to yaw in the direction specified by the surgeon and to determine any specified yaw angle in that yaw direction, thus exhibiting high flexibility.

[0004] However, for laparoscopic minimally invasive surgical instruments with a relatively long overall length, the yaw control line is stretched and / or suspended during operation due to its own tension, which can easily reduce the accuracy of force application. Summary of the Invention

[0005] In view of this, the present invention provides a composite yaw control device and a laparoscopic surgical instrument to solve the problem that the yaw control line of existing laparoscopic minimally invasive surgical instruments is stretched and / or suspended during operation due to its own tension, which easily reduces the force application accuracy.

[0006] In a first aspect, the present invention provides a composite yaw control device, comprising:

[0007] first tube body;

[0008] The second tube is coaxially arranged with the first tube, and the inner peripheral wall of the second tube and the outer peripheral wall of the first tube are radially spaced to form a receiving gap.

[0009] A yaw control mechanism is located at the near end of the first tube, and a number of first yaw control lines are provided at the end of the yaw control mechanism near the first tube.

[0010] The flexible motion section is located at the far end of the second tube. Several second yaw control lines are provided at the end of the flexible motion section near the first tube. The flexible motion section is suitable for driving the end effector to yaw under the traction of the second yaw control lines.

[0011] Several transmission rods are movably arranged within the receiving gap. One axial end of each transmission rod is connected to the first deflection control line, and the other end is connected to the second deflection control line.

[0012] The yaw control mechanism is adapted to pull the first yaw control line, so that the first yaw control line drives the second yaw control line through the transmission rod, so that the second yaw control line drives the flexible motion section to yaw in any direction relative to the central axis of the second tube.

[0013] Beneficial Effects: The composite yaw control device provided by this invention has a plurality of first yaw control lines at one end of the yaw control mechanism near the first tube body, and a plurality of second yaw control lines at one end of the flexible motion joint near the first tube body. Compared with the yaw control mechanism of laparoscopic minimally invasive surgical instruments in related technologies, by setting a rigid transmission rod between the first and second yaw control lines, one axial end of each transmission rod is connected to the first yaw control line, and the other end is connected to the second yaw control line. Thus, the precise transmission between the yaw control mechanism and the flexible motion joint is achieved through the structure of first yaw control line-transmission rod-second yaw control line. This not only avoids the yaw control lines from being stretched and / or sag due to their own tension during operation, improving the force application accuracy, but also effectively avoids the entanglement of multiple control lines during assembly, ensuring the directionality and correspondence of the assembly of the transmission rod and the first and second yaw control lines at both ends, while also effectively reducing production costs.

[0014] In one alternative embodiment, lubricating grease is provided within the accommodating gap.

[0015] Beneficial effects: By placing lubricating grease in the accommodating gap, the transmission rod can be lubricated on the one hand, and appropriate sliding damping can be generated between the transmission rod and the first tube and / or the second tube, thereby appropriately increasing the damping feeling during operation, making the control and switching of the yaw direction smoother, and thus improving real-time controllability while improving the operation flexibility.

[0016] In one alternative implementation, the yaw control mechanism includes:

[0017] The gourd shell is fixedly installed at the near end of the second tube;

[0018] The first shaft section is built into the hoist shell and is fixedly set at the near end of the first tube body; the first shaft section has a first hinge part on both radial sides, and the first hinge part is hinged to the hoist shell at the first hinge shaft; the first shaft section has a second hinge part at the end away from the first tube body along the axial direction.

[0019] The second shaft joint is located at the end of the first shaft joint that is axially away from the first tube body, and the end of the second shaft joint that is axially close to the first shaft joint is provided with a third hinge part.

[0020] The first cross shaft is disposed between the first shaft section and the second shaft section. The first cross shaft is hinged to the second hinge section at the second hinge shaft. The first cross shaft is hinged to the third hinge section at the third hinge shaft. The second hinge shaft and the third hinge shaft are arranged perpendicular to each other.

[0021] Beneficial effects: It enables the second shaft joint to swing in any direction relative to the central axis of the first shaft joint, so that the second shaft joint drives the transmission rod to move axially through the first swing control line, and then drives the second swing control line through the transmission rod, so that the second swing control line drives the flexible motion joint to swing in a specified direction and can determine any specified swing angle in the swing direction.

[0022] In one optional embodiment, a boss is provided on the inner peripheral wall of the gourd shell, and the boss is adapted to be hinged to the first hinge part.

[0023] A hinge hole is provided on the boss, which is suitable for rotational engagement with the first hinge shaft;

[0024] A groove is provided on the outer peripheral wall of the gourd shell, and the groove is connected to the hinge hole; the first hinge shaft passes through the groove and the hinge hole, and the first hinge shaft is threadedly connected to the first hinge part.

[0025] Beneficial effects: During the assembly process, the first hinge shaft is fixed entirely outside the hoist shell, providing sufficient operating space and avoiding interference from the first shaft section and its components with the assembly operation, thus reducing the assembly difficulty.

[0026] In one optional embodiment, a first limiting groove is provided at the end of the first shaft joint that is axially close to the second shaft joint; a second limiting groove is provided at the end of the second shaft joint that is axially close to the first shaft joint.

[0027] The yaw control mechanism also includes a first spring, which is coaxially arranged with the first cross shaft; one axial end of the first spring is built into the first limiting groove, and the other end is built into the second limiting groove; the first spring is pre-compressed between the first shaft joint and the second shaft joint.

[0028] Beneficial effects: First, the first spring is pre-compressed between the first and second shaft joints. During operation, the first spring can tension the first yaw control line and the entire structure of the first yaw control line-transmission rod-second yaw control line through its own elastic restoring force, which helps to counteract the influence of the control line's own tension and improve the accuracy of force application. Second, the first spring can simultaneously provide support for the first shaft joint, the second shaft joint, and the first cross shaft through its own elastic restoring force, ensuring that the yaw control mechanism remains coaxial with the first tube and / or the second tube in its natural and / or initial state, or ensuring that the yaw control mechanism tends to remain coaxial with the first tube and / or the second tube, and resets the yaw control mechanism during operation. Third, during operation, the first spring can provide real-time force feedback to the surgeon through its own elastic restoring force, which facilitates the surgeon to adjust the magnitude of the applied force in real time, helps the surgeon to control the flexible joint to yaw in the direction specified by the surgeon, and can determine any specified yaw angle in that yaw direction.

[0029] In one optional embodiment, a lead wire block is provided at one end of the second tube body close to the hoist shell along the axial direction. The lead wire block is provided with a plurality of first guide holes. The plurality of first guide holes are evenly spaced along the circumference of the first tube body. The first guide holes are adapted to guide the first sway control line so that the transmission rod and the first tube body always remain parallel.

[0030] A lead wire disc is provided at one end of the first shaft section near the first tube body along the axial direction. A number of second guide holes are provided on the lead wire disc. The number of second guide holes are evenly spaced along the circumference of the first tube body. The radial distance between the second guide holes and the first tube body is greater than the radial distance between the first guide holes and the first tube body.

[0031] A fixing plate is provided at one end of the second shaft joint close to the first shaft joint along the axial direction. Several third guide holes are provided on the fixing plate, and the third guide holes are provided in a one-to-one correspondence with the second guide holes.

[0032] The second guide hole is adapted to guide the first yaw control line from the first guide hole to the third guide hole, so that the fixing plate can fix the first yaw control line.

[0033] Beneficial effects: By setting a lead block, the distal end of each first yaw control line passes through the corresponding first guide hole on the lead block and extends into the receiving gap to connect with the corresponding transmission rod. The proximal end of each first yaw control line passes through the second guide hole and the third guide hole in sequence and is fixed by the fixing plate of the second shaft joint. This allows the first yaw control line to drive the transmission rod to move only axially under the traction of the yaw control mechanism, and ensures that the transmission rod remains parallel to the first tube and / or the second tube during the axial reciprocating movement. This ensures the accuracy and correspondence of the transmission direction and force application precision of the entire first yaw control line-transmission rod-second yaw control line transmission structure during operation.

[0034] In one alternative implementation, the flexible kinematic joint includes:

[0035] The first segment is fixedly installed at the far end of the second tube;

[0036] The second segment is fixedly installed at the proximal end of the end effector;

[0037] Several third segments are located between the first and second segments. The third segments are connected to the first segment, the third segments to the second segment, and each pair of adjacent third segments are connected by a second cross axis.

[0038] The second spring is coaxially arranged with the third segment and the second cross shaft. One axial end of the second spring is built into the first segment, and the other end is built into the second segment. The second spring is pre-compressed between the first segment and the second segment.

[0039] Beneficial effects: First, during operation, the yaw control mechanism can make the second segment yaw relative to the central axis of the first segment in any direction through the transmission structure of the first yaw control line-transmission rod-second yaw control line, so as to realize that the flexible motion segment yaws in a specified direction and can determine any specified yaw angle in that yaw direction. Secondly, on the one hand, during operation, the second spring can tension the second yaw control line and the entire structure of the first yaw control line-transmission rod-second yaw control line through its own elastic restoring force, which helps to counteract the influence of the control line's own tension and improve the accuracy of force application. On the other hand, the second spring can simultaneously provide support for the first segment, several third segments, several second cross shafts, and the second segment through its own elastic restoring force, ensuring that the flexible motion segment remains coaxial with the first tube and / or the second tube in its natural and / or initial state, or ensuring that the flexible motion segment tends to remain coaxial with the first tube and / or the second tube, and resets the flexible motion segment during operation. Furthermore, the second spring and the first spring can jointly provide real-time force feedback to the surgeon through their own elastic restoring force during operation, which facilitates the surgeon to adjust the magnitude of the applied force in real time, helps the surgeon to control the flexible motion segment to yaw in the direction specified by the surgeon, and can determine any specified yaw angle in that yaw direction.

[0040] In one optional embodiment, the first segment is provided with a plurality of fourth guide holes along the axial direction. The plurality of fourth guide holes are evenly spaced along the circumference of the first tube body. The fourth guide holes are adapted to guide the second yaw control line so that the transmission rod and the first tube body always remain parallel.

[0041] Each third segment is provided with several fifth guide holes along the axial direction. The fifth guide holes are set in a one-to-one correspondence with the fourth guide holes. The fifth guide holes are suitable for guiding the second yaw control line through the third segment.

[0042] The second segment has several sixth guide holes at one end along the axial direction near the second tube body. The sixth guide holes are arranged in a one-to-one correspondence with the fifth guide holes. The sixth guide holes are suitable for guiding the second yaw control line to the second segment so that the second segment can fix the second yaw control line.

[0043] Beneficial effects: By opening a fourth guide hole along the axial direction in the first segment, the proximal end of each second yaw control line passes through the corresponding fourth guide hole on the first segment and extends into the receiving gap to connect with the corresponding transmission rod. The distal end of each second yaw control line passes through the fifth and sixth guide holes in sequence and is fixed by the second segment. This ensures that the transmission rod between the second yaw control line and the first yaw control line only moves back and forth along the axial direction, and that the transmission rod remains parallel to the first tube and / or the second tube during the axial back and forth movement. This guarantees the accuracy and correspondence of the transmission direction and force application precision of the entire first yaw control line-transmission rod-second yaw control line transmission structure during operation.

[0044] In one alternative embodiment, the second cross shaft includes four fourth hinge shafts arranged perpendicularly to each other, the fourth hinge shafts being integrally formed with the second cross shaft.

[0045] The first, second, and third segments are each provided with a fourth hinge part corresponding to the fourth hinge axis;

[0046] The fourth hinge part is provided with a fastening groove, which is suitable for axial fastening with the fourth hinge shaft.

[0047] Beneficial effects: During assembly, the fastening slot only needs to be axially engaged with the fourth hinge shaft to complete the assembly, reducing the assembly difficulty; the tension length of the entire first yaw control line-transmission rod-second yaw control line transmission structure during operation is extremely small, avoiding any impact on the axial engagement of the fastening slot and the fourth hinge shaft. At the same time, the axial resistance provided by the elastic force of the first spring during operation ensures the stable engagement of the fastening slot and the fourth hinge shaft.

[0048] Secondly, the present invention also provides a laparoscopic surgical instrument, comprising:

[0049] The frame, and the composite yaw control device as described above, are provided at the near end of the first tube and are adapted to position the yaw control mechanism.

[0050] The opening and closing control mechanism includes an opening and closing control line and a top swing arm. The opening and closing control line is axially movable in the cavity of the first tube. The distal end of the opening and closing control line is connected to the end effector, and the proximal end of the opening and closing control line passes through the cavity of the first tube and is fixedly mounted on the top swing arm.

[0051] The top swing arm is hinged to the frame at the fifth hinge axis. The top swing arm is adapted to pull the opening and closing control line to control the opening and closing of the end effector.

[0052] Beneficial effects: First, the laparoscopic surgical instrument of the second aspect includes the compound yaw control device of the first aspect; therefore, the laparoscopic surgical instrument of the second aspect includes all the beneficial effects of the compound yaw control device of the first aspect. Second, during operation, the top swing arm can form a force-saving lever with the fifth hinge axis as the rotation center. The short lever arm of the top swing arm can abut against the opening and closing control line, and the long lever arm of the top swing arm can fix the proximal end of the opening and closing control line. By applying external force to the long lever arm of the top swing arm, the short lever arm of the top swing arm abuts against the opening and closing control line, thereby enabling the opening and closing of the end effector to be controlled more precisely and flexibly with a smaller external force.

[0053] In one optional embodiment, the top swing arm includes a first arm and a second arm set at a fixed angle, and a first roller and a second roller are rotatably mounted on the first arm.

[0054] The first roller is located at the end of the first arm and is adapted to abut against the opening and closing control line; the second roller is located between the first roller and the fifth hinge shaft and is adapted to guide the opening and closing control line from the first roller to the end of the second arm for fixation.

[0055] The second arm is longer than the first arm. The second arm is adapted to drive the first arm to rotate around the fifth hinge axis as the rotation center under the action of external force, so that the first arm drives the first roller shaft to abut against the opening and closing control line.

[0056] Beneficial effects: By rotating the first roller shaft at the end of the first arm, the first roller shaft is rolled and connected to the opening and closing control line, thereby reducing friction during the contact process between the first roller shaft and the opening and closing control line, which helps to reduce operating resistance. By rotating the second roller shaft between the first roller shaft and the fifth hinge shaft, the opening and closing control line is guided and further tensioned, thus guiding the opening and closing control line from the first roller shaft to the end of the second arm, where the end of the second arm fixes the proximal end of the opening and closing control line, preventing the control line from loosening during the resetting process of the top swing arm. The length of the second arm is greater than that of the first arm, so that during operation, the lever arm length of the second arm is greater than that of the first arm. Therefore, only a small external force is needed to push the second arm to drive the first arm to rotate around the fifth hinge shaft, so that the first roller shaft contacts the opening and closing control line. This requires less operating force to pull the opening and closing control line, thus enabling more precise and flexible control of the opening and closing of the end effector. Attached Figure Description

[0057] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram illustrating the working principle of a composite yaw control device according to an embodiment of the present invention.

[0059] Figure 2 for Figure 1 A magnified view of a portion of point Q;

[0060] Figure 3 for Figure 1 A magnified view of a portion of point P in the middle;

[0061] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure at section DD;

[0062] Figure 5 This is a cross-sectional view of the gourd shell of a composite oscillation control device according to an embodiment of the present invention.

[0063] Figure 6 This is a three-dimensional structural diagram of the first shaft section of a composite yaw control device according to an embodiment of the present invention;

[0064] Figure 7 This is a three-dimensional structural diagram of the second shaft segment of a composite yaw control device according to an embodiment of the present invention;

[0065] Figure 8 This is a schematic diagram illustrating the traction principle of the yaw control mechanism of a composite yaw control device according to an embodiment of the present invention on the first yaw control line.

[0066] Figure 9 for Figure 1 A magnified view of a portion of point B in the middle;

[0067] Figure 10 This is an assembly diagram of the flexible motion joint of a composite yaw control device according to an embodiment of the present invention;

[0068] Figure 11 for Figure 1 A magnified view of a portion of the T-section;

[0069] Figure 12 for Figure 11 A schematic diagram illustrating the working principle of the opening and closing control mechanism.

[0070] Explanation of reference numerals in the attached figures:

[0071] 11. First tube body; 12. Second tube body; 13. Accommodation gap; 14. Lubricating grease; 15. Lead block; 151. First guide hole;

[0072] 20. Yaw control mechanism; 201. First hinge shaft; 202. Second hinge shaft; 203. Third hinge shaft;

[0073] 21. Hoist shell; 211. Boss; 212. Hinge hole; 213. Slot;

[0074] 22. First shaft joint; 221. First hinge part; 222. Second hinge part; 223. First limiting groove; 224. Lead wire reel; 225. Second guide hole; 226. Slot; 227. Screw hole;

[0075] 23. Second shaft joint; 231. Third hinge; 232. Second limiting groove; 233. Fixed plate; 234. Third guide hole;

[0076] 24. First cross shaft;

[0077] 25. The first spring;

[0078] 26. Limit block;

[0079] 30. Flexible joint; 301. Fourth hinge shaft; 302. Fourth hinge part; 303. Fastening groove;

[0080] 31. First segment; 311. Fourth guide hole;

[0081] 32. Second segment; 321. Sixth guide hole;

[0082] 33. Third segment; 331. Fifth guide hole;

[0083] 34. Second cross shaft;

[0084] 35. The second spring;

[0085] 41. First yaw control line; 42. Second yaw control line; 43. Transmission rod;

[0086] 50. End effector;

[0087] 60. Frame; 601. Fifth hinge shaft; 61. Trigger; 62. Push roller;

[0088] 70. Opening and closing control mechanism; 71. Opening and closing control line; 72. Top swing arm; 721. First arm; 722. Second arm; 723. First roller; 724. Second roller. Detailed Implementation

[0089] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0090] The following is combined with Figures 1 to 12 The following describes embodiments of the present invention.

[0091] According to an embodiment of the present invention, in one aspect, a composite yaw control device is provided, comprising:

[0092] first tube body 11;

[0093] The second tube 12 is coaxially arranged with the first tube 11, and the inner peripheral wall of the second tube 12 and the outer peripheral wall of the first tube 11 are radially spaced to form a receiving gap 13.

[0094] The yaw control mechanism 20 is located at the proximal end of the first tube 11. Under the action of external force, the yaw control mechanism 20 can yaw in any direction relative to the central axis of the second tube 12. A plurality of first yaw control lines 41 are provided at the end of the yaw control mechanism 20 near the first tube 11. The yaw control mechanism 20 is adapted to pull any one or more of the first yaw control lines 41 under the action of external force.

[0095] The flexible motion section 30 is located at the far end of the second tube 12. The end of the flexible motion section 30 near the first tube 11 is provided with several second yaw control lines 42. The flexible motion section 30 is adapted to drive the end effector 50 to yaw relative to the central axis of the second tube 12 in any direction under the traction of the second yaw control lines 42.

[0096] Several transmission rods 43 are made of rigid material and are movably disposed within the receiving gap 13. One axial end of each transmission rod 43 is connected to the first yaw control line 41 and the other end is connected to the second yaw control line 42.

[0097] The yaw control mechanism 20 is adapted to pull the first yaw control line 41, so that the first yaw control line 41 drives the second yaw control line 42 via the transmission rod 43, so that the second yaw control line 42 drives the flexible motion section 30 to yaw relative to the central axis of the second tube 12 in any direction.

[0098] It should be noted that, for better understanding, the terms "proximal" and "distal" are defined from the perspective of the physician (or other surgeon). Therefore, "proximal" refers to the side or end of the device closest to the external body wall and / or the surgeon, while "distal" refers to the side or end of the structure in the direction opposite to the external body wall and / or the surgeon. The composite yaw control device of this invention and the laparoscopic surgical instruments incorporating it can be applied to electrocoagulation, hemostasis, tissue separation and incision, and suturing of intra-abdominal lesions. Depending on the surgical application, the actuator at the distal end of the composite yaw control device can be a clamp, a dissecting forceps, or scissors, or other actuators, thus forming various specialized laparoscopic minimally invasive surgical instruments with different functions. These can be adjusted according to actual needs and are not limited to the situation in this embodiment.

[0099] Of particular note is that the laparoscopic minimally invasive surgical instrument yaw control mechanism in related technologies all uses control cord assemblies. On the one hand, the simple control cord assembly method is easily affected by the tension of the control cord assembly itself. During operation, the control cords will inevitably stretch and / or sag, which can easily reduce the accuracy of force application. On the other hand, during the assembly process, the simple control cord assembly method will experience a "chopstick effect" because multiple control cords need to pass through the radial gap between two coaxial tubes. The multiple control cords are prone to tangling, and it is difficult to distinguish the direction and correspondence when the multiple control cords pass through the tube opening. Furthermore, considering the precision of rope transmission, the control cords of the simple control cord assembly method are generally preferably made of tungsten wire, which is more expensive.

[0100] It should be noted that in the composite yaw control device provided by this invention, the transmission rod 43 can be made of steel pipe, which can be a solid pipe or a hollow pipe. Since the length of the transmission rod 43 is much greater than the length of the first yaw control line 41 and the second yaw control line 42, and the transmission rod 43 is made of rigid material, stretching and / or sagging are effectively avoided during operation. Furthermore, tungsten wire rope is expensive, and the steel pipe transmission rod 43 can replace most of the length of tungsten wire rope in related technologies, thereby effectively reducing costs. Under this premise, the first yaw control line 41 and the second yaw control line 42 can be made of steel wire rope, and the tension length of the first yaw control line 41 and the second yaw control line 42 during operation is extremely small, not affecting the overall precision of the control line-transmission rod-control line transmission. Of course, the first yaw control line 41 and the second yaw control line 42 can also be made of tungsten wire rope, thereby further improving the overall precision of the composite transmission structure of the first yaw control line 41-transmission rod 43-second yaw control line 42. At the same time, since the transmission rod 43 is rigid within the accommodating gap 13, entanglement between multiple control wires is effectively avoided during the assembly process, ensuring the directionality and correspondence of the assembly of the transmission rod 43 and the first yaw control line 41 and the second yaw control line 42 at both ends.

[0101] The composite yaw control device provided in this embodiment has a plurality of first yaw control lines 41 arranged at one end of the yaw control mechanism 20 near the first tube 11, and a plurality of second yaw control lines 42 arranged at one end of the flexible motion joint 30 near the first tube 11. Compared with the yaw control mechanism of laparoscopic minimally invasive surgical instruments in related technologies, a rigid transmission rod 43 is arranged between the first yaw control lines 41 and the second yaw control lines 42, so that one axial end of each transmission rod 43 is connected to the first yaw control line 41, and the other end is connected to the second yaw control line 42. 42, thereby achieving precise transmission between the yaw control mechanism 20 and the flexible motion joint 30 through the structure of the first yaw control line 41-transmission rod 43-second yaw control line 42. This not only avoids the yaw control line from being stretched and / or sag due to its own tension during operation, thus improving the force application accuracy, but also effectively avoids the entanglement of multiple control lines during assembly, ensuring the directionality and correspondence of the transmission rod 43 and the first yaw control line 41 and the second yaw control line 42 at both ends, while also effectively reducing production costs.

[0102] In some embodiments, see Figure 2 As shown, lubricating grease 14 is provided in the accommodating gap 13.

[0103] In this embodiment, by providing lubricating grease 14 in the accommodating gap 13, the transmission rod 43 can be lubricated on the one hand, and on the other hand, appropriate sliding damping can be generated between the transmission rod 43 and the first tube 11 and / or the second tube 12, thereby appropriately increasing the damping feeling during the operation process, making the control and switching of the yaw direction smoother, and thus improving real-time controllability on the basis of improving the operation flexibility.

[0104] It should be noted that in the composite yaw control device provided by the present invention, the diameter of the transmission rod 43 is larger than the diameter of the control rope in the related technology, and the radial gap between the transmission rod 43 and the first tube 11 and the second tube 12 is smaller. Therefore, only a very small amount of lubricating grease 14 needs to be filled in the accommodating gap 13 to increase the damping feel during operation.

[0105] In some embodiments, the yaw control mechanism 20 includes:

[0106] The gourd shell 21 is fixedly installed at the near end of the second tube 12;

[0107] The first shaft section 22 is built into the gourd shell 21 and is fixedly installed at the proximal end of the first tube 11; please combine them together. Figure 4 and Figure 6 As shown, the first shaft joint 22 has first hinge portions 221 on both radial sides. The first hinge portions 221 are hinged to the hoist shell 21 by the first hinge shaft 201. The first hinge shaft 201 is independently arranged from the first shaft joint 22 and the hoist shell 21. The first hinge shaft 201 is adapted to position the first shaft joint 22 inside the hoist shell 21 to realize the disassembly and connection between the first shaft joint 22 and the hoist shell 21, which facilitates the preparation and assembly of each component. The first shaft joint 22 has a second hinge portion 222 at one end away from the first tube body 11 along the axial direction.

[0108] The second shaft joint 23 is located at the end of the first shaft joint 22 that is axially away from the first tube body 11. Please assemble them together. Figure 3 and Figure 7 As shown, the second shaft joint 23 is provided with a third hinge portion 231 at one end along the axial direction close to the first shaft joint 22;

[0109] The first cross shaft 24 is positioned between the first shaft section 22 and the second shaft section 23. Please assemble them together. Figure 4 and Figure 8 As shown, the first cross shaft 24 and the second hinge part 222 are hinged to the second hinge shaft 202. Please connect them together. Figure 3 and Figure 8 As shown, the first cross shaft 24 and the third hinge part 231 are hinged to the third hinge shaft 203, and the second hinge shaft 202 and the third hinge shaft 203 are arranged perpendicular to each other.

[0110] It should be noted that the yaw control mechanism 20 mainly includes a gourd shell 21, a first shaft joint 22, a second shaft joint 23, and a first cross shaft 24. The gourd shell 21 is fixedly disposed near the proximal end of the second tube 12. The first shaft joint 22 is built into the gourd shell 21 and is relatively fixed to the gourd shell 21. The first shaft joint 22 is adapted to guide the first yaw control line 41 to the second shaft joint 23. The second shaft joint 23 is disposed at the end of the first shaft joint 22 that is axially away from the first tube 11, and is adapted to fix the proximal end of the first yaw control line 41. A second hinge portion 222 is provided at the end of the first shaft joint 22 that is axially away from the first tube 11, and the second shaft joint 23 is axially close to the first shaft joint 24. One end of section 22 is provided with a third hinge portion 231. The first cross shaft 24 and the second hinge portion 222 are hinged to the second hinge shaft 202, and the first cross shaft 24 and the third hinge portion 231 are hinged to the third hinge shaft 203. The second hinge shaft 202 and the third hinge shaft 203 are arranged perpendicular to each other, so that the second shaft section 23 can swing in any direction relative to the central axis of the first shaft section 22. The second shaft section 23 drives the transmission rod 43 to move axially by pulling the first swing control line 41, and then drives the second swing control line 42 through the transmission rod 43. The second swing control line 42 pulls the flexible motion section 30 to swing in a specified direction and can determine any specified swing angle in the swing direction.

[0111] In some embodiments, see Figure 5 As shown, a boss 211 is provided on the inner peripheral wall of the gourd shell 21, and the boss 211 is adapted to be hinged with the first hinge part 221.

[0112] The boss 211 has a hinge hole 212, which is adapted to rotate with the first hinge shaft 201.

[0113] A groove 213 is formed on the outer peripheral wall of the gourd shell 21, and the groove 213 is connected to the hinge hole 212; please combine them together. Figure 4 As shown, the first hinge shaft 201 passes through the hinge hole 212 via the countersunk groove 213, and the first hinge shaft 201 is threadedly connected to the first hinge part 221.

[0114] Furthermore, a retaining platform (not shown in the figure) is provided radially protruding on the inner peripheral wall of the gourd shell 21; please refer to Figure 6 As shown, a slot 226 is provided on the first shaft section 22, which is adapted to engage with the slot platform to limit the position of the first shaft section 22.

[0115] Further, please see Figure 6 As shown, a screw hole 227 is provided radially on the first hinge part 221, and the first hinge shaft 201 is threadedly connected to the screw hole 227.

[0116] Furthermore, a limiting block 26 is provided in the settling trough 213, and the limiting block 26 is interference-fitted with the settling trough 213; one end of the limiting block 26 is adapted to abut against the first hinge shaft 201 to limit the first hinge shaft 201, thereby preventing the first hinge shaft 201 from disengaging from the first hinge part 221; the other end of the limiting block 26 is adapted to smoothly transition with the outer peripheral wall of the gourd shell 21 to enhance the surface smoothness and sealing of the entire gourd shell 21.

[0117] It should be noted that in the laparoscopic minimally invasive surgical instrument deflection control mechanism of the related technology, the first tube shaft is connected to the hoist by screws. During the assembly process, the screw fixing must be carried out inside the hoist throughout the process, which is a small operating space and makes the assembly difficult.

[0118] In this embodiment, by creating a slot 226 on the first shaft section 22, the first shaft section 22 can be directly embedded into the hoist shell 21 during assembly. The slot 226 engages with a locking platform on the inner peripheral wall of the hoist shell 21, thereby achieving circumferential and radial positioning of the first shaft section 22. A boss 211 is provided on the inner peripheral wall of the hoist shell 21, and a hinge hole 212 is provided on the boss 211. A countersunk groove 213 is provided on the outer peripheral wall of the hoist shell 21, and the countersunk groove 213 is connected to the hinge hole 212. During assembly, the first hinge shaft 201 can pass through the hinge hole 212 from the outside of the hoist shell 21 via the countersunk groove 213 and be threaded into the screw hole 227, thereby axially positioning the first shaft joint 22 and achieving relative fixation between the first shaft joint 22 and the hoist shell 21. During the assembly process, the fixation of the first hinge shaft 201 is carried out entirely outside the hoist shell 21, with sufficient operating space, avoiding interference from the first shaft joint 22 and its components on the assembly operation, and reducing the assembly difficulty.

[0119] In some embodiments, please combine Figure 3 and Figure 6 As shown, the first shaft joint 22 has a first limiting groove 223 at one end along the axial direction near the second shaft joint 23; please refer to the diagram. Figure 3 and Figure 7 As shown, the second shaft joint 23 has a second limiting groove 232 at one end along the axial direction close to the first shaft joint 22;

[0120] Please combine them together Figure 3 and Figure 4 As shown, the yaw control mechanism 20 also includes a first spring 25, which is coaxially arranged with the first cross shaft 24 and abuts against the inner peripheral wall of the first cross shaft 24; one axial end of the first spring 25 is built into the first limiting groove 223 and the other end is built into the second limiting groove 232; the first spring 25 is pre-compressed between the first shaft joint 22 and the second shaft joint 23.

[0121] It should be noted that, firstly, the first spring 25 is pre-compressed between the first shaft joint 22 and the second shaft joint 23. During operation, the first spring 25 can tension the first yaw control line 41 and the entire composite transmission structure of the first yaw control line 41-transmission rod 43-second yaw control line 42 through its own elastic restoring force, which helps to counteract the influence of the tension of the control line itself and improve the force application accuracy. Secondly, the first spring 25 can simultaneously provide support for the first shaft joint 22, the second shaft joint 23 and the first cross shaft 24 through its own elastic restoring force, ensuring the yaw control mechanism 20 In its natural state and / or initial state, the first spring 25 is coaxial with the first tube 11 and / or the second tube 12, or ensures that the yaw control mechanism 20 is coaxial with the first tube 11 and / or the second tube 12, and resets the yaw control mechanism 20 during operation; third, during operation, the first spring 25 can provide real-time force feedback to the surgeon through its own elastic restoring force, which facilitates the surgeon to adjust the magnitude of the applied force in real time, and helps the surgeon to control the flexible motion joint 30 to yaw in the direction specified by the surgeon and to determine any specified yaw angle in the yaw direction.

[0122] In some embodiments, please combine Figure 1 and Figure 8 As shown, a lead wire block 15 is fixedly provided at one end of the second tube 12 near the hoist shell 21 along the axial direction. A plurality of first guide holes 151 are provided on the lead wire block 15. The plurality of first guide holes 151 are evenly spaced along the circumference of the first tube 11. The first guide holes 151 are suitable for guiding the first sway control line 41 so that the transmission rod 43 and the first tube 11 always remain parallel.

[0123] Please combine them together Figure 6 and Figure 8 As shown, a lead wire disk 224 is provided at one end of the first shaft joint 22 close to the first tube body 11 along the axial direction. A plurality of second guide holes 225 are provided on the lead wire disk 224. The plurality of second guide holes 225 are evenly spaced along the circumference of the first tube body 11. The radial distance between the second guide holes 225 and the first tube body 11 is greater than the radial distance between the first guide holes 151 and the first tube body 11.

[0124] Please combine them together Figure 7 and Figure 8 As shown, a fixing plate 233 is provided at one end of the second shaft joint 23 close to the first shaft joint 22 along the axial direction. The fixing plate 233 is provided with a plurality of third guide holes 234, and the third guide holes 234 are provided in a one-to-one correspondence with the second guide holes 225.

[0125] The second guide hole 225 is adapted to guide the first yaw control line 41 from the first guide hole 151 to the third guide hole 234 so that the fixing plate 233 fixes the first yaw control line 41.

[0126] It should be noted that, by setting the lead block 15, the distal end of each first yaw control line 41 passes through the corresponding first guide hole 151 on the lead block 15 and extends into the receiving gap 13 to connect with the corresponding transmission rod 43. The proximal end of each first yaw control line 41 passes through the second guide hole 225 and the third guide hole 234 in sequence and is fixed by the fixing plate 233 of the second shaft joint 23, so that the first yaw control line 41 can drive the transmission rod 43 to move only axially under the traction of the yaw control mechanism 20, and make the transmission rod 43 always parallel to the first tube 11 and / or the second tube 12 during the axial reciprocating movement, thereby ensuring the accuracy and correspondence of the transmission direction and force application precision of the entire first yaw control line 41-transmission rod 43-second yaw control line 42 transmission structure during operation.

[0127] In some embodiments, please combine Figure 1 and Figure 9 As shown, the flexible motion segment 30 includes:

[0128] The first segment 31 is fixedly installed at the far end of the second tube 12;

[0129] The second segment 32 is fixedly installed at the proximal end of the end effector 50;

[0130] Several third segments 33 are disposed between the first segment 31 and the second segment 32. The third segments 33 are connected to the first segment 31, the third segments 33 are connected to the second segment 32, and each pair of adjacent third segments 33 are connected by a second cross shaft 34.

[0131] The second spring 35 is coaxially arranged with the third segment 33 and the second cross shaft 34. One axial end of the second spring 35 is built into the first segment 31, and the other end is built into the second segment 32. The second spring 35 is pre-compressed between the first segment 31 and the second segment 32.

[0132] First, it should be noted that please refer to Figure 9As shown, the flexible motion segment 30 mainly includes a first segment 31, a second segment 32, a third segment 33, a second cross shaft 34, and a second spring 35. The first segment 31 is fixedly disposed at the distal end of the second tube 12 and is adapted to guide the second yaw control line 42 to the third segment 33 and the second segment 32. The second segment 32 is fixedly disposed at the proximal end of the end effector 50 and is adapted to fix the second yaw control line 42. Several third segments 33 are disposed between the first segment 31 and the second segment 32. Figure 10 As shown, the third segment 33 is connected to the first segment 31, the third segment 33 is connected to the second segment 32, and every two adjacent third segments 33 are connected by a second cross shaft 34, thereby realizing a universal connection between the first segment 31 and the second segment 32. At the same time, the distal end of the second yaw control line 42 passes through the first segment 31, several third segments 33, and the proximal part of the second segment 32 in sequence and is fixedly connected to the second segment 32, so as to achieve the specified yaw action of the flexible motion segment 30 by traction control of the first segment 31, the second segment 32, and the third segment 33 through the second yaw control line 42. During the operation, the yaw control mechanism 20 can make the second segment 32 yaw in any direction relative to the central axis of the first segment 31 through the composite transmission structure of the first yaw control line 41-transmission rod 43-second yaw control line 42, so as to realize that the flexible motion segment 30 yaws in a specified direction and can determine any specified yaw angle in the yaw direction.

[0133] Secondly, it should be noted that the second spring 35 passes sequentially through the first segment 31, several third segments 33, several second cross shafts 34, and the second segment 32. The second spring 35 is pre-compressed between the first segment 31 and the second segment 32. On the one hand, during operation, the second spring 35 can tension the second yaw control line 42 and the entire composite transmission structure of the first yaw control line 41-transmission rod 43-second yaw control line 42 through its own elastic restoring force, which helps to counteract the influence of the tension of the control line itself and improve the force application accuracy. On the other hand, the second spring 35 can tension the first segment 31, several third segments 33, several second cross shafts 34, and the second segment 32 through its own elastic restoring force. 4. The second segment 32 provides support to ensure that the flexible joint 30 remains coaxial with the first tube 11 and / or the second tube 12 in its natural and / or initial state, or to ensure that the flexible joint 30 tends to remain coaxial with the first tube 11 and / or the second tube 12, and to reset the flexible joint 30 during operation. On the other hand, the second spring 35 and the first spring 25 can work together to provide real-time force feedback to the surgeon through their own elastic restoring force during operation, which makes it easy for the surgeon to adjust the magnitude of the applied force in real time, and helps the surgeon to control the flexible joint 30 to swing in the direction specified by the surgeon and to determine any specified swing angle in the swing direction.

[0134] In some embodiments, see Figure 10 As shown, the first segment 31 has a plurality of fourth guide holes 311 along the axial direction. The plurality of fourth guide holes 311 are evenly spaced along the circumference of the first tube 11. The fourth guide holes 311 are corresponding to the first guide holes 151 one by one. The fourth guide holes 311 are suitable for guiding the second yaw control line 42 so that the transmission rod 43 and the first tube 11 always remain parallel.

[0135] Each third segment 33 is provided with several fifth guide holes 331 along the axial direction. The fifth guide holes 331 are provided in a one-to-one correspondence with the fourth guide holes 311. The fifth guide holes 331 are suitable for guiding the second yaw control line 42 through the third segment 33.

[0136] The second segment 32 has a plurality of sixth guide holes 321 at one end along the axial direction near the second tube 12. The sixth guide holes 321 are provided in correspondence with the fifth guide holes 331. The sixth guide holes 321 are suitable for guiding the second yaw control line 42 to the second segment 32 so that the second segment 32 can fix the second yaw control line 42.

[0137] It should be noted that by opening a fourth guide hole 311 along the axial direction in the first segment 31, the proximal end of each second yaw control line 42 passes through the corresponding fourth guide hole 311 on the first segment 31 and extends into the receiving gap 13 to connect with the corresponding transmission rod 43. The distal end of each second yaw control line 42 passes through the fifth guide hole 331 and the sixth guide hole 321 in sequence and is fixed by the second segment 32, so that the transmission rod 43 between the second yaw control line 42 and the first yaw control line 41 only moves back and forth along the axial direction, and the transmission rod 43 remains parallel to the first tube 11 and / or the second tube 12 during the axial back and forth movement, thereby ensuring the accuracy and correspondence of the transmission direction and force application precision of the entire first yaw control line 41-transmission rod 43-second yaw control line 42 composite transmission structure during operation.

[0138] In some embodiments, see Figure 10 As shown, the second cross shaft 34 includes four fourth hinge shafts 301 arranged perpendicularly in pairs, and the fourth hinge shafts 301 are integrally formed with the second cross shaft 34.

[0139] The first segment 31, the second segment 32 and the third segment 33 are each provided with a fourth hinge part 302 corresponding to the fourth hinge shaft 301;

[0140] The fourth hinge portion 302 is provided with a fastening groove 303, which is suitable for axial fastening with the fourth hinge shaft 301.

[0141] It should be noted that the second cross shaft 34 includes four fourth hinge shafts 301. These four fourth hinge shafts 301 are evenly spaced around the outer circumferential wall of the second cross shaft 34. Each pair of adjacent fourth hinge shafts 301 is perpendicular to each other. The fourth hinge shafts 301 are integrally formed with the second cross shaft 34, facilitating processing, forming, and assembly. Please refer to [link to relevant documentation]. Figure 10 As shown, the first segment 31, the second segment 32, and the third segment 33 are all provided with a fourth hinge part 302 corresponding to the fourth hinge shaft 301. The fourth hinge part 302 is provided with a fastening groove 303. During the assembly process, the fastening groove 303 only needs to be fastened to the fourth hinge shaft 301 axially to complete the assembly, which reduces the assembly difficulty. It should be noted that the tension length of the entire first yaw control line 41-transmission rod 43-second yaw control line 42 transmission structure is extremely small during the operation, which avoids affecting the axial fastening of the fastening groove 303 and the fourth hinge shaft 301. At the same time, during the operation, the elastic force of the first spring 25 provides axial support, ensuring the stable fastening of the fastening groove 303 and the fourth hinge shaft 301.

[0142] According to an embodiment of the present invention, in another aspect, a laparoscopic surgical instrument is also provided, comprising:

[0143] The frame 60, and the aforementioned compound yaw control device, should be combined together. Figure 1 and Figure 11 As shown, the frame 60 is located at the near end of the first tube 11, and the frame 60 is adapted to position the yaw control mechanism 20.

[0144] The opening and closing control mechanism 70 includes an opening and closing control line 71 and a top swing arm 72. The opening and closing control line 71 is axially movably disposed in the cavity of the first tube 11. The distal end of the opening and closing control line 71 is connected to the end effector 50, and the proximal end of the opening and closing control line 71 passes through the cavity of the first tube 11 and is fixedly disposed on the top swing arm 72.

[0145] The top swing arm 72 is hinged to the frame 60 at the fifth hinge shaft 601. The top swing arm 72 is adapted to pull the opening and closing control line 71 to control the opening and closing of the end effector 50.

[0146] It should be noted that, please refer to Figure 11 As shown, during operation, the push-top swing arm 72 can form a force-saving lever with the fifth hinge shaft 601 as the rotation center. The short arm of the push-top swing arm 72 can abut against the opening and closing control line 71, and the long arm of the push-top swing arm 72 can fix the proximal end of the opening and closing control line 71. By applying external force to the long arm of the push-top swing arm 72, the short arm of the push-top swing arm 72 abuts against the opening and closing control line 71, thereby enabling the opening and closing of the end effector 50 to be controlled more precisely and flexibly with a smaller external force to pull the opening and closing control line 71.

[0147] Furthermore, a trigger 61 is rotatably mounted on the frame 60, and a stop wheel 62 is rotatably mounted on the side of the trigger 61 near the top swing arm 72. The stop wheel 62 is adapted to abut against the top swing arm 72 under the drive of the trigger 61.

[0148] In some embodiments, see Figure 12 As shown, the top swing arm 72 includes a first arm 721 and a second arm 722 set at a fixed angle, and a first roller shaft 723 and a second roller shaft 724 are rotatably mounted on the first arm 721.

[0149] The first roller 723 is disposed at the end of the first arm 721 and is adapted to abut against the opening and closing control line 71; the second roller 724 is disposed between the first roller 723 and the fifth hinge shaft 601 and is adapted to guide the opening and closing control line 71 from the first roller 723 to the end of the second arm 722 and the end of the second arm 722 is adapted to fix the proximal end of the opening and closing control line 71.

[0150] The length of the second arm 722 is greater than the length of the first arm 721. The second arm 722 is adapted to drive the first arm 721 to rotate around the fifth hinge shaft 601 as the rotation center under the action of external force, so that the first arm 721 drives the first roller shaft 723 to abut against the opening and closing control line 71.

[0151] It should be noted that by rotatably arranging the first roller shaft 723 at the end of the first arm 721, the first roller shaft 723 is rolledly connected to the opening and closing control line 71, thereby reducing the friction during the contact process between the first roller shaft 723 and the opening and closing control line 71, which helps to reduce the operating resistance. By rotatably arranging the second roller shaft 724 between the first roller shaft 723 and the fifth hinge shaft 601, the opening and closing control line 71 is guided and further tensioned, thereby guiding the opening and closing control line 71 from the first roller shaft 723 to the end of the second arm 722, where the end of the second arm 722 secures the proximal end of the opening and closing control line 71. To prevent the opening and closing control line 71 from coming loose during the reset process of the top swing arm 72; the length of the second arm 722 is greater than the length of the first arm 721, so that during operation, the lever arm length of the second arm 722 is greater than the lever arm length of the first arm 721, so that only a small external force is needed to push the second arm 722 to drive the first arm 721 to rotate around the fifth hinge shaft 601 as the rotation center, so that the first roller shaft 723 abuts against the opening and closing control line 71, so that only a smaller operating force is needed to pull the opening and closing control line 71, thereby controlling the opening and closing of the end effector 50 more precisely and flexibly.

[0152] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A composite yaw control device, characterized in that, include: The first tube body (11); The second tube (12) is coaxially arranged with the first tube (11), and the inner peripheral wall of the second tube (12) and the outer peripheral wall of the first tube (11) are radially spaced to form a receiving gap (13). A yaw control mechanism (20) is provided at the near end of the first tube (11), and a plurality of first yaw control lines (41) are provided at the end of the yaw control mechanism (20) near the first tube (11). A flexible motion section (30) is provided at the far end of the second tube (12). A plurality of second yaw control lines (42) are provided at one end of the flexible motion section (30) near the first tube (11). The flexible motion section (30) is adapted to drive the end effector (50) to yaw under the traction of the second yaw control lines (42). A plurality of transmission rods (43) are movably disposed within the receiving gap (13). One axial end of each transmission rod (43) is connected to the first yaw control line (41), and the other end is connected to the second yaw control line (42). The yaw control mechanism (20) is adapted to pull the first yaw control line (41), so that the first yaw control line (41) drives the second yaw control line (42) via the transmission rod (43), so that the second yaw control line (42) drives the flexible motion segment (30) to yaw in any direction relative to the central axis of the second tube (12); The yaw control mechanism (20) includes: The gourd shell (21) is fixedly disposed at the proximal end of the second tube (12); The first shaft section (22) is built into the gourd shell (21) and is fixedly disposed at the proximal end of the first tube (11); the first shaft section (22) is provided with a first hinge portion (221) on both radial sides, and the first hinge portion (221) is hinged to the gourd shell (21) at a first hinge shaft (201); the first shaft section (22) is provided with a second hinge portion (222) at one end of the first shaft section (22) away from the first tube (11) along the axial direction. The second shaft segment (23) is disposed at one end of the first shaft segment (22) away from the first tube body (11) along the axial direction, and a third hinge portion (231) is disposed at one end of the second shaft segment (23) close to the first shaft segment (22) along the axial direction. The first cross shaft (24) is disposed between the first shaft joint (22) and the second shaft joint (23). The first cross shaft (24) is hinged to the second hinge part (222) on the second hinge shaft (202). The first cross shaft (24) is hinged to the third hinge part (231) on the third hinge shaft (203). The second hinge shaft (202) and the third hinge shaft (203) are arranged perpendicular to each other.

2. The composite yaw control device according to claim 1, characterized in that, The accommodating gap (13) is provided with lubricating grease (14).

3. The composite yaw control device according to claim 2, characterized in that, A boss (211) is provided on the inner peripheral wall of the gourd shell (21), and the boss (211) is adapted to be hinged to the first hinge part (221). The boss (211) is provided with a hinge hole (212), which is adapted to rotate with the first hinge shaft (201); A groove (213) is provided on the outer peripheral wall of the gourd shell (21), and the groove (213) is connected to the hinge hole (212); the first hinge shaft (201) passes through the hinge hole (212) via the groove (213), and the first hinge shaft (201) is threadedly connected to the first hinge part (221).

4. The composite yaw control device according to claim 2, characterized in that, The first shaft joint (22) has a first limiting groove (223) at one end along the axial direction close to the second shaft joint (23); the second shaft joint (23) has a second limiting groove (232) at one end along the axial direction close to the first shaft joint (22). The yaw control mechanism (20) further includes a first spring (25), which is coaxially arranged with the first cross shaft (24); one axial end of the first spring (25) is built into the first limiting groove (223), and the other end is built into the second limiting groove (232); the first spring (25) is pre-compressed between the first shaft joint (22) and the second shaft joint (23).

5. The composite yaw control device according to claim 2, characterized in that, The second tube (12) is provided with a lead wire block (15) at one end of the axial direction close to the gourd shell (21). The lead wire block (15) is provided with a plurality of first guide holes (151). The plurality of first guide holes (151) are evenly spaced along the circumference of the first tube (11). The first guide holes (151) are adapted to guide the first sway control line (41) so that the transmission rod (43) and the first tube (11) always remain parallel. The first shaft joint (22) is provided with a lead wire disk (224) at one end of the first tube body (11) along the axial direction. The lead wire disk (224) is provided with a plurality of second guide holes (225). The plurality of second guide holes (225) are evenly spaced along the circumference of the first tube body (11). The radial distance between the second guide hole (225) and the first tube body (11) is greater than the radial distance between the first guide hole (151) and the first tube body (11). The second shaft joint (23) is provided with a fixed plate (233) at one end along the axial direction close to the first shaft joint (22). The fixed plate (233) is provided with a plurality of third guide holes (234), and the third guide holes (234) are provided in a one-to-one correspondence with the second guide holes (225). The second guide hole (225) is adapted to guide the first yaw control line (41) from the first guide hole (151) to the third guide hole (234) so ​​that the fixing plate (233) fixes the first yaw control line (41).

6. The composite yaw control device according to any one of claims 1-5, characterized in that, The flexible joint (30) includes: The first segment (31) is fixedly installed at the far end of the second tube (12); The second segment (32) is fixedly disposed at the proximal end of the end effector (50); Several third segments (33) are disposed between the first segment (31) and the second segment (32). The third segments (33) are connected to the first segment (31), to the second segment (32), and to each adjacent pair of third segments (33) by a second cross shaft (34). The second spring (35) is coaxially arranged with the third segment (33) and the second cross shaft (34). One axial end of the second spring (35) is built into the first segment (31), and the other end is built into the second segment (32). The second spring (35) is pre-compressed between the first segment (31) and the second segment (32).

7. The composite yaw control device according to claim 6, characterized in that, The first segment (31) has a plurality of fourth guide holes (311) along the axial direction. The plurality of fourth guide holes (311) are evenly spaced along the circumference of the first tube (11). The fourth guide holes (311) are adapted to guide the second yaw control line (42) so that the transmission rod (43) and the first tube (11) always remain parallel. Each of the third segments (33) is provided with a plurality of fifth guide holes (331) along the axial direction. The fifth guide holes (331) are provided in a one-to-one correspondence with the fourth guide holes (311). The fifth guide holes (331) are adapted to guide the second yaw control line (42) through the third segment (33). The second segment (32) has a plurality of sixth guide holes (321) at one end along the axial direction close to the second tube body (12). The sixth guide holes (321) are provided in correspondence with the fifth guide holes (331). The sixth guide holes (321) are adapted to guide the second yaw control line (42) to the second segment (32) so that the second segment (32) fixes the second yaw control line (42).

8. The composite yaw control device according to claim 6, characterized in that, The second cross shaft (34) includes four fourth hinge shafts (301) arranged perpendicularly to each other, and the fourth hinge shafts (301) are integrally formed with the second cross shaft (34); The first segment (31), the second segment (32) and the third segment (33) are each provided with a fourth hinge part (302) corresponding to the fourth hinge shaft (301); The fourth hinge portion (302) is provided with a fastening groove (303), which is adapted to be fastened axially with the fourth hinge shaft (301).

9. A laparoscopic surgical instrument, characterized in that, include: A frame (60), and a composite yaw control device as described in any one of claims 1 to 8, the frame (60) being disposed at the proximal end of the first tube (11), the frame (60) being adapted to position the yaw control mechanism (20); The opening and closing control mechanism (70) includes an opening and closing control line (71) and a top swing arm (72). The opening and closing control line (71) is axially movably disposed in the cavity of the first tube body (11). The distal end of the opening and closing control line (71) is connected to the end effector (50). The proximal end of the opening and closing control line (71) passes through the cavity of the first tube body (11) and is fixedly disposed on the top swing arm (72). The top swing arm (72) is hinged to the frame (60) at the fifth hinge axis (601). The top swing arm (72) is adapted to pull the opening and closing control line (71) to control the opening and closing of the end effector (50).

10. The laparoscopic surgical instrument according to claim 9, characterized in that, The top swing arm (72) includes a first arm (721) and a second arm (722) set at a fixed angle. A first roller (723) and a second roller (724) are rotatably mounted on the first arm (721). The first roller (723) is disposed at the end of the first arm (721) and is adapted to abut against the opening and closing control line (71); the second roller (724) is disposed between the first roller (723) and the fifth hinge shaft (601) and is adapted to guide the opening and closing control line (71) from the first roller (723) to the end of the second arm (722) for fixing; The length of the second arm (722) is greater than the length of the first arm (721). The second arm (722) is adapted to drive the first arm (721) to rotate around the fifth hinge shaft (601) as the rotation center under the action of external force, so that the first arm (721) drives the first roller shaft (723) to abut against the opening and closing control line (71).

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