Control end rotating assembly and minimally invasive surgical forceps

Abstract

The utility model discloses a control end rotating assembly and minimally invasive operating forceps, the control end rotating assembly comprises a handle shell, a flexible joint group, a rotating part and an adjusting part, and the flexible joint group is provided with a near end and a far end which are arranged in a linkage mode; the rotating part is arranged in the handle shell, the adjusting part is movably connected with the handle shell, and the rotating part is fixedly connected with the near end of the flexible joint set; the adjusting end of the adjusting part actuates the rotating part to rotate, the rotating part drives the near end of the flexible joint set to rotate, the near end of the flexible joint set acts on the far end of the flexible joint set in a linkage mode, and the adjusting operation in the rotating process is facilitated to be convenient and fast. Actuating action force of the adjusting end is received through the connecting wheel, the actuating action force is transmitted to the rotating wheel and the near end of the flexible joint set fixed to the rotating wheel through the force transmission piece, the rotating posture of the far end of the operating forceps can be flexibly adjusted through the adjusting end, and the requirement for surgical operation in minimally invasive surgery can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical forceps, in particular to a control end rotating component and minimally invasive surgical forceps. Background Art

[0002] Minimally invasive surgery is the result of surgeons' exploration of the surgical principle of "reducing trauma and alleviating pain" and patients' requirements for "painless, scarless, and small incision". Early minimally invasive surgery was a single-finger laparoscopic surgery, but now, with the popularization and development of minimally invasive surgery technology, it has been widely used in various surgeries.

[0003] In minimally invasive surgery, minimally invasive surgical forceps are medical instruments that medical personnel often use to clamp and process internal tissues of the human body. Existing minimally invasive surgical forceps can usually open and close the forceps head through an operating handle, and lock the forceps head through a locking assembly to fix the posture of the forceps head; in actual operation, it is necessary to rotate the distal forceps head to rotate the tissue clamped by the forceps head. The inventor found that the existing minimally invasive surgical forceps are inconvenient to adjust when rotating, and do not have the ability to flexibly adjust the rotation posture of the forceps head, making it difficult to adapt well to the complex surgical operating conditions in minimally invasive surgery. Utility Model Content

[0004] The technical problem that the present invention is intended to solve or at least partially solve is that in the related art, the existing surgical forceps are inconvenient to adjust during the rotation process, do not have the ability to flexibly adjust the rotation posture of the forceps head, and are difficult to adapt well to the complex surgical operating conditions in minimally invasive surgery.

[0005] In a first aspect, the utility model provides a control end rotating assembly, comprising:

[0006] Handle housing;

[0007] A flexible joint group having a proximal end and a distal end of a linkage arrangement;

[0008] A rotating component and an adjusting component, wherein the rotating component is installed in the handle housing, and the adjusting component is movably connected to the handle housing; the rotating component comprises a connecting wheel, a force transmitting member and a rotating wheel, wherein the connecting wheel and the rotating wheel are respectively rotatably arranged in the handle housing, the force transmitting member is installed between the connecting wheel and the rotating wheel, and the rotating wheel and the proximal end of the flexible joint group are fixedly arranged;

[0009] The adjusting end of the adjusting component is connected to the connecting wheel, and the adjusting end actuates the connecting wheel to rotate through external force, so that the force transmission member drives the rotating wheel and the flexible joint group to rotate synchronously.

[0010] Optionally, the adjusting component includes a first actuating member, which is transmission-connected to the connecting wheel to actuate the connecting wheel to rotate.

[0011] As a preferred embodiment, the first actuator is configured as a thumbwheel structure, the thumbwheel structure and the connecting wheel are coaxially fixed, a slotted area is provided on the side wall of the handle shell, the first actuator extends the slotted area to the outside of the handle shell, and an avoidance space for the thumbwheel structure to rotate is provided in the handle shell.

[0012] As a preferred solution, the rotation plane of the thumbwheel structure and the rotation axis of the rotating wheel are arranged to intersect.

[0013] As a preferred embodiment, the adjustment component also includes a second actuator, which is arranged at the front end of the handle shell, and is suitable for locking the adjustment angle of the proximal ball joint sleeve of the flexible joint group. The actuating end of the second actuator is fixedly connected to a connecting rod structure, one end of the connecting rod structure is rotatably connected to an angle locking ring, and the middle section of the angle locking ring is rotatably connected to the handle shell.

[0014] As a preferred embodiment, the first actuator is configured as a lever structure, which is installed at the front end of the handle housing, and the rotation direction of the lever structure and the rotation direction of the connecting wheel are coaxial or parallel, and the lever structure and the connecting wheel are configured to be slidingly connected along the axial direction of the connecting wheel.

[0015] As a preferred solution, the rotation plane of the lever structure and the rotation axis of the rotating wheel are arranged perpendicularly.

[0016] Optionally, a connecting rod structure is rotatably connected to the first actuating member, one end of the connecting rod structure is rotatably connected to an angle locking ring, and a middle section of the angle locking ring is rotatably connected to the handle housing;

[0017] The first actuating member and the connecting rod structure are configured to be connected in a limit position along a sliding direction of the first actuating member, so that the sliding of the first actuating member actuates the connecting rod structure to slide.

[0018] Optionally, at least one connecting groove is provided on the connecting wheel, the connecting groove and the force transmission member are conformally abutted, and the connecting groove and the connecting wheel are coaxially arranged; and / or

[0019] At least one connecting groove is provided on the rotating wheel, the connecting groove is in conforming contact with the force transmission member, and the connecting groove and the connecting wheel are coaxially arranged.

[0020] As a preferred solution, the force transmission member is configured as a force transmission belt, and the force transmission belt is installed and connected between the correspondingly arranged connection groove and the coupling groove; or

[0021] The force transmission member is configured as a force transmission rope or a force transmission wire, the connecting wheel is provided with an assembly hole, the rotating wheel is provided with a mounting hole, two force transmission members are provided, one end of the force transmission member is fixedly connected in the assembly hole, and the other end of the force transmission member is fixedly connected in the mounting hole.

[0022] As a preferred embodiment, the rotating component also includes a guide wheel assembly, which is installed in the handle housing; the guide wheel assembly includes a guide rod, a first guide wheel and a second guide wheel, the first guide wheel and the second guide wheel are installed at two ends of the guide rod with intervals, the guide rod and the handle housing; any guide wheel is provided with a guide groove, and the guide groove is connected to the force transmission member.

[0023] As a preferred embodiment, the rotating component also includes a support rod, which is fixedly connected to the handle housing, and the guide wheel assembly is configured with two groups. The support rod is arranged between the two groups of guide wheel assemblies, and the support rod is fixedly connected to the guide rod in any group of the guide wheel assemblies, and any guide wheel and the guide rod are configured to rotate relative to each other.

[0024] As a preferred embodiment, the adjusting component also includes a third actuator, which is movably arranged on the side wall of the handle housing; the third actuator has a locking state close to locking the first actuator, and a state away from unlocking the first actuator. In the locking state, the rotating wheel and the flexible joint group have a fixed axial rotation angle.

[0025] As a preferred embodiment, the control end rotation assembly further includes a ratchet structure, the ratchet structure includes a first ratchet member and a second ratchet member, the first ratchet member is fixedly arranged on the third actuating member, and the second ratchet member is fixedly arranged on the first actuating member; and / or

[0026] It also includes a guide structure, which includes a correspondingly arranged guide column and a guide hole, one of which is configured on the third actuating member, and the other of which is configured on the handle housing.

[0027] In a second aspect, the utility model provides a minimally invasive surgical forceps, comprising the above-mentioned control end rotating assembly.

[0028] The technical solution provided by the utility model has the following advantages:

[0029] 1. The control end rotating assembly provided by the utility model arranges the rotating part in the handle shell, the adjusting part and the handle shell are movably connected, and the rotating part and the proximal end of the flexible joint group are fixedly connected; the rotating part is actuated to rotate by the adjusting end of the adjusting part, so that the rotating part drives the proximal end of the flexible joint group to rotate, and the proximal end of the flexible joint group is linked to the distal end of the flexible joint group through the proximal end of the flexible joint group, which promotes convenient adjustment operation of the rotation process. The rotating part includes a connecting wheel, a force transmission member and a rotating wheel. The actuating force of the adjusting end is received by the connecting wheel, and the actuating force is transmitted to the rotating wheel and the proximal end of the flexible joint group fixed to the rotating wheel by the force transmission member. The rotation posture of the distal end of the surgical forceps can be flexibly adjusted through the adjusting end, which is conducive to adapting to the needs of surgical operations in minimally invasive surgery.

[0030] 2. The control end rotation assembly provided by the utility model has a first actuator adopting a thumbwheel structure, which extends out of the slotted area of ​​the handle shell to allow the operator to operate the first actuator. By turning the thumbwheel structure, the connecting wheel is driven to rotate synchronously, so that the rotating component can drive the proximal end of the flexible joint to rotate, thereby jointly adjusting the rotation posture of the distal end of the flexible joint.

[0031] 3. The control end rotation assembly provided by the utility model has a first actuator adopting a lever structure, and the lever structure is arranged at the front end of the handle housing so that the operator can rotate the first actuator. By turning the lever structure, the connecting wheel is driven to rotate synchronously, so that the rotating component can drive the proximal end of the flexible joint to rotate, thereby linkage adjusting the rotation posture of the distal end of the flexible joint.

[0032] 4. The control end rotation assembly provided by the utility model actuates the connecting rod structure through the adjusting component, and the connecting rod structure causes the angle locking ring to rotate relative to the handle housing, so that the angle locking ring can abut the proximal end of the limiting flexible joint group, thereby realizing the locking process of the adjustment angle of the proximal ball joint sleeve of the flexible joint group, thereby correspondingly locking the pitch and yaw postures of the distal end of the flexible joint group and the clamp head module.

[0033] 5. The control end rotating assembly provided by the utility model is fastened between the connecting groove and the coupling groove through a power transmission belt. When the connecting wheel is driven by the first actuator, the friction between the connecting wheel and the power transmission belt and the friction between the power transmission belt and the rotating wheel are utilized to make the connecting wheel and the rotating wheel rotate together, thereby driving the proximal end of the flexible joint group to change its rotation angle.

[0034] 6. The control end rotating assembly provided by the utility model has an assembly hole on the connecting wheel, a mounting hole on the rotating wheel, one end of the force transmission member is fixedly connected in the assembly hole, and the other end of the force transmission member is fixedly connected in the mounting hole. The connection strength between the force transmission member and the connecting wheel and between the force transmission member and the rotating wheel is strengthened by the fixed connection of the ends of the force transmission member, which is conducive to improving the rotation accuracy of the flexible joint when the first actuating member is actuated.

[0035] 7. The control end rotation assembly provided by the utility model, after the first actuator adjusts the rotation angle of the proximal end of the flexible joint group, the third actuator approaches the first actuator to lock the first actuator, thereby maintaining the posture of the proximal and distal ends of the flexible joint group.

[0036] 8. The minimally invasive surgical forceps provided by the utility model adopt a minimally invasive surgical forceps with a control end rotating component, which is easy to adjust and has the ability to flexibly adjust its distal rotation posture, and can be well adapted to the complex surgical operating conditions in minimally invasive surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 This is a schematic structural diagram of the minimally invasive surgical forceps provided in Example 1 of the utility model;

[0039] Figure 2 This is a schematic structural diagram of the control end rotating assembly provided in Example 1 of the utility model;

[0040] Figure 3 It is a partial structural schematic diagram of the control end rotating assembly provided in Example 1 of the utility model;

[0041] Figure 4 This is a schematic diagram of the connection between the rotating component and the first actuating member in the control end rotating assembly provided in Example 1 of the utility model;

[0042] Figure 5 This is a schematic diagram of the connection between the first actuating member and the connecting wheel in the control end rotating assembly provided in Example 1 of the utility model;

[0043] Figure 6 This is a schematic structural diagram of the minimally invasive surgical forceps provided in Example 2 of the utility model;

[0044] Figure 7This is a schematic diagram of the structure of the control end rotating assembly provided in Example 2 of the utility model;

[0045] Figure 8 It is a partial structural schematic diagram of the control end rotating assembly provided in Example 2 of the utility model;

[0046] Fig. 9 This is a schematic diagram of the connection between the rotating component and the first actuating member in the control end rotating assembly provided in Example 2 of the utility model;

[0047] Fig.10 This is a schematic structural diagram of a connecting wheel in a control end rotating assembly provided in Example 2 of the utility model;

[0048] Fig.11 This is a schematic structural diagram of a rotating wheel in a control end rotating assembly provided in Example 2 of the utility model;

[0049] Fig.12 This is a schematic diagram of the assembly of the first actuating member in the control end rotating assembly provided in Example 2 of the utility model;

[0050] Fig.13 This is a schematic structural diagram of the support rod and connecting rod structure in the control end rotating assembly provided in Example 2 of the utility model;

[0051] Fig.14 This is a structural schematic diagram of a connecting rod structure in a control end rotating assembly provided in Example 2 of the utility model;

[0052] Fig.15 This is a schematic structural diagram of a third actuating member in a control end rotating assembly provided in Embodiment 2 of the present utility model;

[0053] Description of reference numerals:

[0054] 1-handle housing; 2-flexible joint assembly; 21-ball joint sleeve; 3-pliers head module;

[0055] 4-Rotating parts;

[0056] 41-connecting wheel; 411-connecting groove; 412-assembly hole;

[0057] 42-guide rod; 43-first guide wheel; 44-second guide wheel;

[0058] 45-rotating wheel; 451-coupling groove; 452-mounting hole;

[0059] 46-mounting seat; 47-support rod; 471-snap-in groove; 472-connecting platform;

[0060] 5-adjusting component; 51-first actuating member; 52-second actuating member; 521-connecting rod structure; 522-angle locking ring; 53-third actuating member; 54-ratchet structure; 55-guide structure. DETAILED DESCRIPTION

[0061] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0062] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0063] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connection", "connected", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0065] Example 1

[0066] This embodiment provides a control end rotating assembly, see Figures 1 to 5 , which includes a handle housing 1, a flexible joint group 2, a rotating component 4 and an adjusting component 5; wherein the flexible joint group 2 has a proximal end and a distal end that are arranged in a linkage manner.

[0067] In this embodiment, the flexible joint group 2 is composed of a linkage joint line, a proximal end, a connecting rod and a distal end. The proximal end and the distal end are respectively configured with multiple joints arranged in series. The force and torque of the proximal end are transmitted to the distal end through the linkage joint line, so that the rotation of the distal end is driven by the rotation of the proximal end. This is a prior art and will not be elaborated here.

[0068] In this embodiment, see Figure 2 and Figure 3 The rotating component 4 is installed in the handle housing 1, and the adjusting component 5 is movably connected to the handle housing 1; the rotating component 4 includes a connecting wheel 41, a force transmission member and a rotating wheel 45, the connecting wheel 41 and the rotating wheel 45 are respectively rotatably arranged in the handle housing 1, the force transmission member is installed between the connecting wheel 41 and the rotating wheel 45, and the rotating wheel 45 is suitable for being fixedly arranged with the proximal end of the flexible joint group 2;

[0069] The adjusting end of the adjusting component 5 is connected to the connecting wheel 41 , and the adjusting end actuates the connecting wheel 41 to rotate through external force, so that the force transmission member drives the rotating wheel 45 and the flexible joint group 2 to rotate synchronously.

[0070] See also Figure 3 and Figure 4 The adjusting component 5 includes a first actuating member 51, which is transmission-connected to the connecting wheel 41 to actuate the connecting wheel 41 to rotate.

[0071] As a preferred solution, see Figure 1 and Figure 3 The first actuating member 51 is configured as a thumbwheel structure, the thumbwheel structure and the connecting wheel 41 are coaxially fixed, a slotted area is provided on the side wall of the handle housing 1, the first actuating member 51 extends the slotted area to the outside of the handle housing 1, and an avoidance space for the thumbwheel structure to rotate is provided in the handle housing 1.

[0072] The first actuator 51 adopts a thumbwheel structure, which extends outside the slotted area of ​​the handle housing 1, so that the operator can operate the first actuator 51. By turning the thumbwheel structure, the connecting wheel 41 is driven to rotate synchronously, so that the rotating component 4 can drive the proximal end of the flexible joint to rotate, thereby adjusting the rotation posture of the distal end of the flexible joint. The force transmission member is arranged below the thumbwheel structure.

[0073] As a preferred solution, see Figure 2 and Figure 3 The rotation plane of the thumbwheel structure and the rotation axis of the rotating wheel 45 are arranged to intersect, so that the thumbwheel structure is adapted to the structural extension of the handle housing 1, which is conducive to enhancing the compactness of the structure.

[0074] In one embodiment, the rotation plane of the thumbwheel structure and the rotation axis of the rotating wheel 45 are arranged in parallel with each other.

[0075] The rotating component 4 is arranged in the handle shell 1, the adjusting component 5 and the handle shell 1 are movably connected, and the rotating component 4 and the proximal end of the flexible joint group 2 are fixedly connected; the rotating component 4 is actuated to rotate by the adjusting end of the adjusting component 5, so that the rotating component 4 drives the proximal end of the flexible joint group 2 to rotate, and the proximal end of the flexible joint group 2 is linked to the distal end of the flexible joint group 2 through the linkage effect, which promotes convenient adjustment operation of the rotation process. The rotating component 4 includes a connecting wheel 41, a force transmission member and a rotating wheel 45. The actuating force of the adjusting end is received through the connecting wheel 41, and the actuating force is transmitted to the rotating wheel 45 and the proximal end of the flexible joint group 2 fixed to the rotating wheel 45 by the force transmission member. The rotation posture of the distal end of the surgical forceps can be flexibly adjusted through the adjusting end, which is conducive to adapting to the needs of surgical operations in minimally invasive surgery.

[0076] See also Figure 5 The rotating component 4 also includes a mounting seat 46, the mounting seat 46 and the connecting wheel 41 are rotatably configured, and the mounting seat 46 and the handle housing 1 are fixedly arranged.

[0077] Further, as a preferred solution, see Figure 2 and Figure 8 The adjusting component 5 also includes a second actuating member 52, which is arranged at the front end of the handle housing 1. The proximal end of the flexible joint group 2 is provided with a ball joint sleeve 21, and the end of the proximal end of the flexible joint group 2 is installed in the ball joint sleeve 21, and the ball joint sleeve 21 is rotatably connected to the handle housing 1. Among them, the second actuating member 52 is suitable for locking the adjustment angle of the ball joint sleeve 21, and the actuating end of the second actuating member 52 is fixedly connected with a connecting rod structure 521, and one end of the connecting rod structure 521 is rotatably connected with an angle locking ring 522, and the middle section of the angle locking ring 522 is rotatably connected to the handle housing 1. The connecting rod structure 521 is actuated by the second actuating member 52, and the connecting rod structure 521 acts on the angle locking ring 522 to rotate relative to the handle housing 1, so that the angle locking ring 522 can abut the proximal end of the limit flexible joint group 2, and realize the locking process of the adjustment angle of the ball joint sleeve 21, thereby correspondingly locking the pitch and yaw postures of the distal end of the flexible joint group 2 and the clamp head module 3.

[0078] In this embodiment, the proximal end of the flexible joint group 2 can be rotatably arranged in the ball joint sleeve 21 along its axial direction; after the pitch and yaw postures of the clamp head module 3 are adjusted, the ball joint sleeve 21 is locked in its adjustment angle through the locking ring 621 in the angle locking mechanism 62 to associate and lock the pitch and yaw postures of the corresponding locked clamp head module 3. At this time, the flexible joint group 2 can still be driven to rotate by operating the rotating part 4, thereby transmitting the clamp head module 3 to perform a rotation action through the flexible joint group 2, thereby expanding the application scenarios of minimally invasive surgical forceps.

[0079] In one embodiment, the force transmission member is configured as a force transmission belt, which is installed and connected between the corresponding connection groove 411 and the connection groove 451. By fastening the force transmission belt between the connection groove 411 and the connection groove 451, when the connection wheel 41 is driven by the first actuating member 51, the friction between the connection wheel 41 and the force transmission belt, and the friction between the force transmission belt and the rotating wheel 45, the connection wheel 41 and the rotating wheel 45 are rotated together, so as to drive the proximal end of the flexible joint assembly 2 to change the rotation angle.

[0080] In this embodiment, see Fig.10 and Fig.11 A connecting groove 411 is provided on the connecting wheel 41, and the connecting groove 411 and the force transmission member are conformably abutted, and the connecting groove 411 and the connecting wheel 41 are coaxially arranged; a connecting groove 451 is provided on the rotating wheel 45, and the connecting groove 451 and the force transmission member are conformably abutted, and the connecting groove 451 and the connecting wheel 41 are coaxially arranged.

[0081] In this embodiment, see Figure 4 The rotating part 4 also includes a guide wheel assembly, through which the force transmission member is guided and adjusted, so that the force transmission member can smoothly transmit the force of the connecting wheel 41 to the rotating wheel 45. The guide wheel assembly is installed in the handle housing 1; specifically, the guide wheel assembly includes a guide rod 42, a first guide wheel 43 and a second guide wheel 44, the first guide wheel 43 and the second guide wheel 44 are arranged at intervals and installed at the two ends of the guide rod 42, the guide rod 42 and the handle housing 1; any guide wheel is provided with a guide groove, and the guide groove is connected to the force transmission member. The guide groove abuts against the force transmission member to transmit the force of the force transmission member.

[0082] As a preferred solution, see Figure 2 The adjusting component 5 further includes a third actuating member 53, which is movably arranged on the side wall of the handle housing 1; the third actuating member 53 has a locked state close to the first actuating member 51 and a state away from the first actuating member 51 for unlocking. In the locked state, the rotating wheel 45 and the flexible joint assembly 2 have a fixed axial rotation angle. After the first actuating member 51 has adjusted the rotation angle of the proximal end of the flexible joint assembly 2, the third actuating member 53 is moved close to the first actuating member 51 to lock the first actuating member 51, thereby maintaining the postures of the proximal and distal ends of the flexible joint assembly 2.

[0083] As a preferred solution, the control end rotating assembly further includes a ratchet structure 54, through which the third actuating member 53 is locked when it approaches the first actuating member 51. Fig.14 and Fig.15The ratchet structure 54 includes a first ratchet member and a second ratchet member, wherein the first ratchet member is fixedly disposed on the third actuating member 53, and the second ratchet member is fixedly disposed on the first actuating member 51. When the first actuating member 51 needs to be locked, the third actuating member 53 is pressed close to the first actuating member 51, so that the first ratchet member and the second ratchet member are in contact and limited position.

[0084] As a preferred solution, in order to ensure that the third actuating member 53 is aligned and locked with the first actuating member 51, the control end rotation assembly further includes a guide structure 55, through which the sliding movement of the third actuating member 53 is guided, wherein, see Fig.15 The guide structure 55 includes a correspondingly arranged guide column and a guide hole, one of which is configured on the third actuating member 53, and the other of which is configured on the handle housing 1.

[0085] This embodiment also provides a minimally invasive surgical forceps, which uses the control end rotating assembly as described above. It is easy to adjust and has the ability to flexibly adjust its distal end rotation posture, and can well adapt to the complex surgical operating conditions in minimally invasive surgery.

[0086] See also Figure 1 and Figure 2 The distal end of the minimally invasive surgical forceps is provided with a clamp head module 3, which is fixedly connected to the distal end of the flexible joint group 2. When the rotation angle of the proximal end of the flexible joint group 2 is adjusted by the first actuator 51, the linkage effect of the proximal and distal ends of the flexible joint group 2 is utilized to make the distal end of the flexible joint group 2 drive the clamp head module 3 to rotate; when it is necessary to lock the rotation posture of the clamp head module 3, by pressing the second actuator 52, the second actuator 52 acts on the connecting rod structure 521 to move, and the connecting rod structure 521 drives the angle locking ring 522 to abut against the proximal end of the limiting flexible joint group 2, and the third actuator 53 can be pressed to make the third actuator 53 lock the second actuator 52, thereby locking the overall adjustment component 5 and locking the adjusted rotation posture of the clamp head module 3; when unlocking is required, the operator can reset the third actuator 53 and the second actuator 52 by pulling in reverse order.

[0087] Of course, it can also be replaced with other surgical instruments to achieve the purpose of adjusting the rotation angle of the surgical instrument and locking the rotation posture.

[0088] Example 2

[0089] The difference between this embodiment and the first embodiment is that the first actuating member 51 is configured as a lever structure, see Figure 6 and Figure 7 The lever structure is installed at the front end of the handle housing 1, and the lever structure integrates the functions of rotation actuation and sliding locking.

[0090] In this embodiment, the rotation direction of the lever structure and the rotation direction of the connecting wheel 41 are coaxial or parallel, and the lever structure and the connecting wheel 41 are configured to be slidably connected along the axial direction of the connecting wheel 41 .

[0091] The first actuator 51 adopts a lever structure, and the lever structure is arranged at the front end of the handle shell 1, so that the operator can rotate the first actuator 51. By turning the lever structure, the connecting wheel 41 is driven to rotate synchronously, so that the rotating component 4 can drive the proximal end of the flexible joint to rotate, thereby linkage adjusting the rotation posture of the distal end of the flexible joint.

[0092] As a preferred solution, the rotation plane of the lever structure and the rotation axis of the rotating wheel 45 are arranged perpendicularly.

[0093] See also Figure 8 and Fig. 9 The first actuating member 51 is rotatably connected with a connecting rod structure 521, one end of the connecting rod structure 521 is rotatably connected with an angle locking ring 522, and the middle section of the angle locking ring 522 is rotatably connected with the handle housing 1; the first actuating member 51 and the connecting rod structure 521 are configured to be connected in an upper limit position along the sliding direction of the first actuating member 51, so that the first actuating member 51 slides to actuate the connecting rod structure 521 to slide. The connecting rod structure 521 is actuated by the first actuating member 51, and the connecting rod structure 521 acts on the angle locking ring 522 to rotate relative to the handle housing 1, so that the angle locking ring 522 can abut against the proximal end of the limit flexible joint group 2, thereby realizing the locking process of the proximal end of the flexible joint group 2.

[0094] In this embodiment, the connection structure between the lever structure and the connecting wheel 41 is set as a spline structure or a quasi-spline structure, so that the lever structure drives the connecting wheel 41 to rotate synchronously when rotating, and when the lever structure is pressed or pulled by external force to reset, the lever structure and the connecting wheel 41 are slidably connected. For example, the cross section of the end of the lever structure connected to the connecting wheel 41 is set as an elliptical cross section or a circular rectangular cross section.

[0095] See also Fig.10 and Fig.11 The force transmission member is configured as a force transmission rope or a force transmission thread, the connecting wheel 41 is provided with an assembly hole 412, the rotating wheel 45 is provided with a mounting hole 452, one end of the force transmission member is fixedly connected in the assembly hole 412, and the other end of the force transmission member is fixedly connected in the mounting hole 452. The connection strength between the force transmission member and the connecting wheel 41 and the force transmission member and the rotating wheel 45 is strengthened by the fixed connection of the ends of the force transmission member, which is conducive to improving the rotation accuracy of the flexible joint when the first actuating member 51 is actuated.

[0096] In this embodiment, in order to improve the independence of the forward rotation stroke and the reverse rotation stroke of the force transmission member during rotation, two force transmission members are provided.

[0097] Further, see Fig.10 and Fig.11 The connecting wheel 41 is provided with two connecting grooves 411, which are in conformal contact with the force transmission member and are coaxially arranged with the connecting wheel 41; the rotating wheel 45 is provided with two connecting grooves 451, which are in conformal contact with the force transmission member and are coaxially arranged with the connecting wheel 41. The connecting grooves 411 and 451 are respectively arranged as spiral grooves.

[0098] In one embodiment, the rotating wheel 45 is fixedly connected to the proximal end of the flexible joint assembly 2. In another embodiment, the rotating wheel 45 and the proximal end of the flexible joint assembly 2 are integrally formed.

[0099] As a preferred solution, the rotating component 4 further includes a support rod 47. Fig. 9 and Fig.12 The support rod 47 is fixedly connected to the handle housing 1, and there are two groups of guide wheel assemblies, which are arranged at intervals. The support rod 47 is connected and arranged between the two groups of guide wheel assemblies. The support rod 47 is fixedly connected to the guide rod 42 in any group of guide wheel assemblies, and any guide wheel and the guide rod 42 are rotatably arranged. The support rod 47 is used to establish a support and positioning space for the guide wheel assembly in the handle housing 1, and the two groups of guide wheel assemblies are used to guide the two force transmission members respectively.

[0100] In one embodiment, see Fig.13 The support rod 47 is provided with buckling grooves 471 at both ends along the length thereof. The buckling grooves 471 and the guide rod 42 are detachably connected, and the guide rod 42 is snapped into the buckling grooves 471 .

[0101] In one embodiment, see Fig.13 A connecting platform 472 is provided in the middle section of the support rod 47, and the connecting platform 472 is connected to the handle housing 1 so as to support the support member through the handle housing 1, thereby realizing the assembly of the guide wheel assembly, which is beneficial to enhancing the assembly accuracy of the force transmission member.

[0102] This embodiment provides a minimally invasive surgical forceps, including the control end rotation assembly as described in Example 2. The control end rotation assembly is easy to adjust and has the ability to flexibly adjust the distal end rotation posture, and can be well adapted to the complex surgical operation conditions in minimally invasive surgery.

[0103] See also Figure 6 and Figure 7The distal end of the minimally invasive surgical forceps is provided with a clamp head module 3, which is fixedly connected to the distal end of the flexible joint group 2. When the rotation angle of the proximal end of the flexible joint group 2 is adjusted by the first actuator 51, the linkage effect between the proximal and distal ends of the flexible joint group 2 is utilized to make the distal end of the flexible joint group 2 drive the clamp head module 3 to rotate; when only the rotation posture of the clamp head module 3 needs to be adjusted, the first actuator 51 is pressed to make the first actuator 51 act on the connecting rod structure 521 to move, and the connecting rod structure 521 drives the angle locking ring 522 to abut against the proximal end of the limit flexible joint group 2, and the third actuator 53 can be pressed to make the third actuator 53 lock the first actuator 51, so as to achieve the locking of the pitch and yaw angle of the clamp head module 3, and then the flexible joint group 2 is operated by the rotating component 4 to drive the clamp head module 3 to rotate. When unlocking is required, the operator can reset the third actuator 53 and the first actuator 51 by pulling in reverse order.

[0104] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A control end rotating assembly, characterized in that: include: A handle housing (1); A flexible joint group (2) having a proximal end and a distal end in a linkage arrangement; A rotating component (4) and an adjusting component (5), wherein the rotating component (4) is installed in the handle housing (1), and the adjusting component (5) is movably connected to the handle housing (1); the rotating component (4) comprises a connecting wheel (41), a force transmission member and a rotating wheel (45), wherein the connecting wheel (41) and the rotating wheel (45) are respectively rotatably arranged in the handle housing (1), the force transmission member is installed between the connecting wheel (41) and the rotating wheel (45), and the rotating wheel (45) and the proximal end of the flexible joint group (2) are fixedly arranged; The adjusting end of the adjusting component (5) is connected to the connecting wheel (41), and the adjusting end actuates the connecting wheel (41) to rotate by an external force, so that the force transmission member drives the rotating wheel (45) and the flexible joint group (2) to rotate synchronously.

2. The control end rotating assembly according to claim 1, characterized in that: The adjusting component (5) comprises a first actuating member (51), and the first actuating member (51) is transmission-connected to the connecting wheel (41) so as to actuate the connecting wheel (41) to rotate.

3. The control end rotating assembly according to claim 2, characterized in that: The first actuating member (51) is configured as a thumbwheel structure, the thumbwheel structure and the connecting wheel (41) are coaxially fixedly arranged, a slotted area is provided on the side wall of the handle housing (1), the first actuating member (51) extends out of the slotted area toward the outside of the handle housing (1), and an escape space for the thumbwheel structure to rotate is provided in the handle housing (1).

4. The control end rotating assembly according to claim 3, characterized in that: The rotation plane of the thumbwheel structure and the rotation axis of the rotating wheel (45) are arranged to intersect.

5. The control end rotating assembly according to claim 4, characterized in that: The adjustment component (5) further comprises a second actuating member (52), the second actuating member (52) being arranged at the front end of the handle housing (1), the second actuating member (52) being suitable for locking the adjustment angle of the proximal ball joint sleeve (21) of the flexible joint group (2), the actuating end of the second actuating member (52) being fixedly connected to a connecting rod structure (521), one end of the connecting rod structure (521) being rotatably connected to an angle locking ring (522), and the middle section of the angle locking ring (522) being rotatably connected to the handle housing (1).

6. The control end rotating assembly according to claim 2, characterized in that: The first actuating member (51) is configured as a lever structure, the lever structure being mounted at the front end of the handle housing (1), the rotation direction of the lever structure being coaxial or parallel to the rotation direction of the connecting wheel (41), and the lever structure and the connecting wheel (41) being configured to be slidably connected along the axial direction of the connecting wheel (41).

7. The control end rotating assembly according to claim 6, characterized in that: The rotation plane of the lever structure and the rotation axis of the rotating wheel (45) are arranged perpendicularly.

8. The control end rotating assembly according to claim 6, characterized in that: The first actuating member (51) is rotatably connected to a connecting rod structure (521), one end of the connecting rod structure (521) is rotatably connected to an angle locking ring (522), and a middle section of the angle locking ring (522) is rotatably connected to the handle housing (1); The first actuating member (51) and the connecting rod structure (521) are configured to be upper limit connected along the sliding direction of the first actuating member (51), so that the first actuating member (51) slides to actuate the connecting rod structure (521) to slide.

9. The control end rotating assembly according to claim 2, characterized in that: The connecting wheel (41) is provided with at least one connecting groove (411), the connecting groove (411) and the force transmission member are in conformal contact with each other, and the connecting groove (411) and the connecting wheel (41) are coaxially arranged; and / or At least one connecting groove (451) is provided on the rotating wheel (45), the connecting groove (451) and the force transmission member are in conformal contact, and the connecting groove (451) and the connecting wheel (41) are coaxially arranged.

10. The control end rotating assembly according to claim 9, characterized in that: The force transmission member is configured as a force transmission belt, and the force transmission belt is installed and connected between the correspondingly arranged connection groove (411) and the connection groove (451); or The force transmission member is configured as a force transmission rope or a force transmission thread, the connecting wheel (41) is provided with an assembly hole (412), the rotating wheel (45) is provided with a mounting hole (452), two force transmission members are provided, one end of the force transmission member is fixedly connected in the assembly hole (412), and the other end of the force transmission member is fixedly connected in the mounting hole (452).

11. The control end rotating assembly according to claim 2, characterized in that: The rotating component (4) also includes a guide wheel assembly, which is installed in the handle housing (1); the guide wheel assembly includes a guide rod (42), a first guide wheel (43) and a second guide wheel (44), the first guide wheel (43) and the second guide wheel (44) are installed at two ends of the guide rod (42) at intervals, the guide rod (42) and the handle housing (1); any guide wheel is provided with a guide groove, and the guide groove is connected to the force transmission member.

12. The control end rotating assembly according to claim 11, characterized in that: The rotating component (4) also includes a support rod (47), the support rod (47) and the handle housing (1) are fixedly connected, the guide wheel assembly is configured in two groups, the support rod (47) is arranged between the two groups of the guide wheel assemblies, the support rod (47) and any group of guide rods (42) in the guide wheel assembly are fixedly connected, and any guide wheel and the guide rod (42) are configured to rotate with each other.

13. The control end rotating assembly according to any one of claims 2 to 12, characterized in that: The adjusting component (5) further comprises a third actuating member (53), which is movably arranged on the side wall of the handle housing (1); the third actuating member (53) has a locking state close to locking the first actuating member (51), and a state away from unlocking the first actuating member (51), and in the locking state, the rotating wheel (45) and the flexible joint group (2) have a fixed axial rotation angle.

14. The control end rotating assembly according to claim 13, characterized in that: It also includes a ratchet structure (54), the ratchet structure (54) includes a first ratchet member and a second ratchet member, the first ratchet member is fixedly arranged on the third actuating member (53), and the second ratchet member is fixedly arranged on the first actuating member (51); and / or It also comprises a guide structure (55), wherein the guide structure (55) comprises a correspondingly arranged guide column and a guide hole, one of which is arranged on the third actuating member (53), and the other of which is arranged on the handle housing (1).

15. A minimally invasive surgical forceps, characterized in that: It comprises the control end rotating assembly as described in any one of claims 1-14.

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