Multi-degree-of-freedom surgical instrument applied to thoracoscopic surgery

Abstract

The utility model discloses a multi-degree-of-freedom surgical instrument applied to thoracoscopic surgery, which comprises an insertion tube, two axial ends of the insertion tube are respectively a head end and a tail end, and the head end is connected with a deflection section; the clamping mechanism is arranged at one end of the deflection section; the operating handle is arranged at the tail end; the deflection control mechanism is rotatably arranged at one end of the operating handle and is connected with the deflection section through a plurality of steel wires; the clamping control mechanism comprises an operating part and a connecting section, the operating part is movably arranged below the operating handle, one end of the connecting section is connected with the operating part, the other end of the connecting section is connected with the two clamps in a sliding fit mode, and the part, corresponding to the deflection section, of the connecting section is a bendable section capable of being bent and deformed; and a bias pressure piece for applying bias pressure to the clamping mechanism to enable the two clamps to tend to be opened when the two clamps are not subjected to external force is arranged between the deflection section and the clamping mechanism. The movement range of the instrument is expanded, the flexibility of the operation is improved, the clamping mechanism can be controlled to be closed only through one finger, more labor is saved, the structure is simple, and practicability is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly relates to a multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery. Background Art

[0002] Thoracoscopic surgery (video-assisted thoracoscopic surgery) uses modern imaging technology and high-tech surgical instruments and equipment to complete minimally invasive thoracic surgery for complex intrathoracic surgeries through chest wall trocars or small incisions. It has changed the treatment concept of thoracic diseases, is regarded as one of the major breakthroughs in the field of thoracic surgery in the last century, is a representative surgery in minimally invasive thoracic surgery, and is also the future development direction of thoracic surgery.

[0003] To complete thoracoscopic surgery, only 1 to 3 small 1.5-cm chest wall holes need to be made. A tiny medical camera at the front end of the thoracoscope projects the situation inside the chest cavity onto a large display screen. Thoracoscopic surgery requires higher and stricter requirements for doctors. They must undergo strict thoracoscopic surgery training to truly master the operation of complex surgeries under a complete thoracoscope.

[0004] There are many instruments used in thoracoscopic surgery, including but not limited to instruments for thoracic observation and illumination (thoracoscopes), instruments for wound incision and suture, instruments for hemostasis and anastomosis, surgical forceps for drainage, etc.

[0005] For example, Chinese Patent Document No. CN205612523U discloses a surgical forceps for closed thoracic drainage, which discloses a left forceps body and a right forceps body. The left forceps body and the right forceps body are symmetrically arranged and hinged together through a forceps central axis. Both the left forceps body and the right forceps body include a forceps handle, a forceps mouth, and a forceps ring. The upper end of the forceps handle is connected to the forceps mouth, and the lower end is connected to the forceps ring. A first forceps shaft is provided at the connection between the left forceps handle and the left forceps mouth, and a second forceps shaft is provided at the connection between the right forceps handle and the right forceps mouth. In the surgical forceps of the above technical solution, the settings of the first forceps shaft and the second forceps shaft can enable the left forceps mouth and the right forceps mouth to rotate, leaving a channel during the placement of the drainage tube without affecting the actual operation, which is convenient for operation. However, the above surgical forceps still have at least one of the following technical problems: Since the front end of the instrument is a rigid long rod structure, the angle of the head of the surgical instrument cannot be adjusted during the operation, and the working range is limited during the operation; the preoperative opening position planning requires high precision; the adjustment of the position of the instrument head end needs to be carried out by a large-scale movement of the hand, and the doctor mainly holds the instrument during the operation by relying on the thumb and index finger. Prolonged surgery is likely to cause doctor fatigue, which has a certain impact on the doctor's state and the surgical effect. Therefore, it is necessary to develop a new multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery to solve the above problems. Summary of the Utility Model

[0006] In view of at least one of the above-mentioned technical problems, the purpose of the present utility model is to provide a multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery.

[0007] The technical solution of the present utility model is as follows:

[0008] The purpose of the present utility model is to provide a multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery, including

[0009] An insertion tube, the axial ends of which are respectively implemented as a head end and a tail end and the interior of which is hollow to form a cavity, and the head end is connected with a yaw section formed by articulating multiple snake bones;

[0010] A clamping mechanism, which is arranged at one end of the yaw section away from the head end, and includes two articulated and controllably closable clamps;

[0011] An operating handle, which is arranged at the tail end for the user to hold;

[0012] A yaw control mechanism, which is rotatably arranged at one end of the operating handle away from the insertion tube and is connected with the yaw section through a plurality of steel wires passing through the cavity, and when the yaw control mechanism is controlled to rotate relative to the operating handle, it drives the yaw section to perform a yaw action that deflects relative to the axis of the insertion tube;

[0013] A clamping control mechanism, which includes an operating part and a connecting section arranged in the cavity and extending along the axis direction of the insertion tube, the operating part is movably arranged below the operating handle, one end of the connecting section is connected with the operating part, and the other end is slidably and cooperatively connected with the two clamps, and the part of the connecting section corresponding to the yaw section is implemented as a bendable section that can undergo bending deformation;

[0014] A biasing member is arranged between the yaw section and the clamping mechanism to apply a biasing force to the clamping mechanism to make the two clamps tend to open when not subjected to external force.

[0015] Preferably, the operating handle has a locking mechanism for locking the clamping control mechanism when the two clamps are closed, the locking mechanism has a first locking buckle, and the operating part is provided with a second locking buckle that buckles with the first locking buckle.

[0016] Preferably, the locking mechanism includes a fixing part fixedly connected to the inner wall of the operating handle, a locking part arranged behind the operating part moving away from the clamping mechanism, and a connecting part connecting the fixing part and the locking part, the first locking buckle is arranged on the locking part, and the connecting part avoids the movement path of the operating part when switching from the opening state to the closing state of the two clamps.

[0017] Preferably, a number of first convex teeth are formed on the first locking buckle, and a number of second convex teeth cooperating with the first convex teeth are provided on the second locking buckle.

[0018] Preferably, an avoidance groove is formed on the fixing portion for the operating portion to pass through and avoid when rotating.

[0019] Preferably, the connecting portion forms an angle with the extending direction of the locking portion.

[0020] Preferably, the operating portion is elastic so that it can be bent away from the second locking buckle by an external force to facilitate the first locking buckle to disengage from the second locking buckle to unlock the clamping control mechanism.

[0021] Preferably, in the direction from the end connected to the operating portion to the end connected to the clamping mechanism by the connecting section, the connecting section sequentially includes a first section, a second section, and a third section. The outer diameter of the second section is smaller than that of the first section and the third section and is implemented as the bendable section. A fixing block with a size larger than the outer diameter of the third section is provided at one end of the third section away from the second section;

[0022] The biasing sleeve is sleeved on the outer periphery of the third section, with one end abutted against the fixing block and the other end abutted against the inner wall of the snake bone of the swing section connected to the clamping mechanism.

[0023] Preferably, the first section, the second section, and the third section are of an integral structure.

[0024] Preferably, convex shafts protruding outward are respectively provided on both sides of the fixing block, and sliding grooves slidably connected to the corresponding convex shafts are respectively formed on the two clamping pliers.

[0025] Compared with the prior art, the advantages of the present utility model are as follows:

[0026] A multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to the present utility model adds a swing section that can be bent with multiple degrees of freedom and is composed of multiple sections of snake bones at the rear end of the clamping pliers, thereby expanding the movement range of the instrument and increasing the flexibility of the surgery. The existing handle ring for holding is transformed into a handle that can be held by the user with only one handle ring. When in use, after holding the operating handle with one hand, only one finger, such as the index finger, is needed to control the clamping mechanism to close, which is more labor-saving and will not affect the surgery due to fatigue caused by a long surgery time. The structure is simple and more practical. Description of the Drawings

[0027] The present utility model will be further described below in conjunction with the drawings and embodiments:

[0028] Figure 1Schematic diagram of the three-dimensional structure of the multi-degree-of-freedom surgical instrument applied in the thoracoscopic surgery according to the embodiment of the present utility model;

[0029] Figure 2 is Figure 1 Schematic diagram of one angle of the multi-degree-of-freedom surgical instrument (the operating handle and the yaw control mechanism are omitted) applied in the thoracoscopic surgery;

[0030] Figure 3 is Figure 2 Partial enlarged view of part A in

[0031] Figure 4 Schematic diagram of the locking mechanism of the multi-degree-of-freedom surgical instrument applied in the thoracoscopic surgery according to the embodiment of the present utility model;

[0032] Figure 5 Schematic diagram of the clamping control mechanism of the multi-degree-of-freedom surgical instrument applied in the thoracoscopic surgery according to the embodiment of the present utility model;

[0033] Figure 6 is Figure 5 Partial enlarged view of part B in

[0034] Figure 7 Schematic diagram of another angle of the multi-degree-of-freedom surgical instrument (the operating handle, the yaw control mechanism and the insertion tube are omitted) applied in the thoracoscopic surgery according to the embodiment of the present utility model;

[0035] Figure 8 is Figure 7 Partial enlarged view of part C in

[0036] Figure 9 Schematic diagram of the multi-degree-of-freedom surgical instrument (the operating handle, the yaw control mechanism and the insertion tube are omitted) applied in the thoracoscopic surgery according to the embodiment of the present utility model;

[0037] Figure 10 is Figure 9 Partial enlarged view of part D in

[0038] Figure 11 Schematic diagram of the structure of one snake bone connected to the clamping mechanism of the yaw section of the multi-degree-of-freedom surgical instrument applied in the thoracoscopic surgery according to the embodiment of the present utility model.

[0039] Among them: 1. insertion tube; 11. deflection section; 110. snake bone; 111. hinged ear; 112. avoidance; 113. abutment platform; 2. clamping mechanism; 21. clamp; 211. slide groove; 22. hinge shaft; 3. operating handle; 4. deflection control mechanism; 5. clamping control mechanism; 51. operating part; 510. second locking part; 511. second locking buckle; 52. connecting section; 521. first section; 522. second section; 523. third section; 53. fixed block; 54. convex shaft; 6. locking mechanism; 61. fixing part; 611. avoidance groove; 62. connecting part; 63. first locking part; 631. first locking buckle. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0041] A multi-degree-of-freedom surgical instrument used in thoracoscopic surgery according to an embodiment of the utility model is shown in FIG. Figures 1 to 11 The apparatus mainly comprises an insertion tube 1, a clamping mechanism 2 at the head end of the instrument, an operating handle 3 at the front end or the end of the instrument, a deflection control mechanism 4 and a clamping control mechanism 5 arranged on the operating handle 3. The insertion tube 1 is hollow inside to form a cavity, and the two ends of the insertion tube 1 are respectively implemented as the head end and the end end. The head end of the insertion tube 1 is connected to a deflection section 11 formed by hinged multi-section snake bones 110, and the end end is also as shown in FIG. Figure 1 The left end is connected to the operating handle 3. The clamping mechanism 2 is connected to the end of the deflection section 11 away from the insertion tube 1, that is, Figure 1 At the right end of the deflection section 11 shown in FIG. 1 , the clamping mechanism 2 includes two clamps 21 that can be opened and closed. The two clamps 21 can be closed when controlled. The operating handle 3 is used for a user, such as a doctor, to hold. The deflection control mechanism 4 is rotatably arranged at the end of the operating handle 3 away from the end of the insertion tube 1, that is, Figure 1At the end or left end of the shown operating handle 3, the yaw control mechanism 4 is connected to the yaw section 11 through a plurality of steel wires (not shown) passing through the cavity, and is used to control the yaw section 11 to deflect relative to the axis of the insertion tube 1 to perform a yaw movement when deflected relative to the operating handle 3 under control, so as to realize the yaw of the clamping mechanism 2 connected to the yaw section 11, improve the degree of freedom of the instrument, expand the movement angle and range of the instrument, and increase the flexibility of surgical operations. The clamping control mechanism 5 is movably arranged below the operating handle 3 and is used for the user to control the two clamps 21 to close to perform surgical operations. Specifically, the clamping control mechanism 5 includes an operating part 51 and a connecting section 52. The operating part 51 is movably arranged below the operating handle 3 and the operating part 51 has a pull ring for a finger to insert to pull the operating part 51 to move. The connecting section 52 is arranged in the cavity and extends along the axis direction of the insertion tube 1 to the outside of the head end of the yaw section 11 and is movably connected to the two clamps 21 of the clamping mechanism 2. The end of the connecting section 52 is connected to the upper end of the operating part 51, so as to form a linkage structure. By controlling the movement of the operating part 51 relative to the operating handle 3, the connecting section 52 is made to move linearly along the cavity, and then the two clamps 21 are pulled to close. In addition, since the connecting section 52 extends to the head end of the yaw section 11, in order to avoid interference of the connecting section 52 when the yaw section 11 yaws, the part of the connecting section 52 corresponding to the yaw section 11 is set as a bendable section that can undergo bending deformation. At the same time, a biasing member is provided between the yaw section 11 and the clamping mechanism 2. The function of the biasing member is to apply a biasing force to the two clamps 21 to make them tend to open when the force applied to the operating part 51 is released. That is to say, during use, if the operating part 51 is not pulled, then the two clamps 21 will automatically open under the action of the biasing force, and there is no need to manually push the operating part 51 to open the clamps 21, which is very labor-saving. The application of the embodiment of the present utility model is a multi-degree-of-freedom surgical instrument in thoracic surgery. It is modified on the basis of the prior art. A yaw section 11 that can be bent with multiple degrees of freedom and is composed of multiple sections of snake bones 110 is added at the rear end of the clamp 21, so as to expand the movement range of the instrument, increase the flexibility of the operation, and also avoid mutual occlusion between the instruments. The existing handle ring for holding is modified into a handle that can be held by the user with only one handle ring. When in use, after holding the operating handle 3 with one hand, only one finger, such as the index finger, is needed to control the clamping mechanism 2 to close, which is more labor-saving and will not affect the operation due to fatigue caused by a long operation time. In addition, the surgical instrument of the present utility model does not have electrical components and does not require electrical connection, avoiding the trouble of charging and can perform surgical operations at any time. The overall structure is simple and more practical.

[0042] In the embodiments of the present utility model, the number of the snake bones 110 in the yaw section 11 can be three, five, etc. The yaw section 11 can yaw in multiple directions, such as upward, downward, leftward, or rightward. The multiple snake bones 110 can yaw relative to each other, and the snake bones 110 can also yaw as a whole relative to the insertion tube 1 or the clamping mechanism 2. Regarding the specific structure of the yaw control mechanism 4 and the connection between the wire and the yaw section 11 to control the yaw movement of the yaw section 11, no specific description is provided in the present utility model. Reference can be made to the drawings and the text description in the specification of the application document with the patent publication number CN116327373A previously submitted by the applicant and / or the drawings and the text description in the specification of the application document with the patent document number CN219538438U.

[0043] For the clamping control mechanism 5, as Figure 5 shown, the operating part 51 and the connecting section 52 of the embodiment of the present utility model are arranged at approximately 90°. The operating part 51 is closer to the clamping mechanism 2 than the operating handle 3, that is, the operating part 51 is arranged at the front end of the operating handle 3. When the operating part 51 is pulled backward in the direction of the operating handle 3, that is, when pulled backward, the connecting section 52 will move backward along the cavity of the insertion tube 1, thereby pulling the two clamps 21 to close. That is to say, when the operating part 51 is controlled to move away from the clamping mechanism 2 relative to the operating handle 3, that is, move backward or as Figure 1 shown, move leftward, the connecting section 52 moves in the direction away from the clamping mechanism 2 along the cavity, that is, moves backward or as Figure 1 shown, moves leftward to pull the two clamps 21 to close.

[0044] According to some preferred embodiments of the present utility model, when no external force is applied to the operating part 51, the two clamps 21 are in an open state due to the presence of the biasing member. In order to reduce the occupied space during storage, the surgical instrument in the embodiment of the present utility model further includes a component for locking the clamping control mechanism 5. Specifically, as Figure 2 and Figure 3 shown, there is a locking mechanism 6 in the operating handle 3 that locks the clamping control mechanism 5 to keep the two clamps 21 fixed in the closed state when the two clamps 21 are closed. A first locking buckle 631 is provided on the locking mechanism 6, and a second locking buckle 511 that can be buckled with the first locking buckle 631 is provided on the operating part 51. That is to say, when the operating part 51 is pulled backward to close the two clamps 21, the first locking buckle 631 and the second locking buckle 511 can be buckled together, so that the two clamps 21 will not automatically reset under the biasing force of the biasing member, thereby reducing the volume of the surgical instrument when not in use and avoiding the contamination of the clamping surface of the clamps 21, that is, the working surface, by foreign objects.

[0045] As Figure 4More specifically, the locking mechanism 6 includes a fixing portion 61 fixedly connected to the inner wall of the operating handle 3 (for example, connected by screws), a fixing portion 62 disposed at the rear of the operating portion 51 moving away from the clamping mechanism 2, and a fixing portion 63 disposed at the rear of the operating portion 51 moving away from the clamping mechanism 2. Figure 1 The locking part at the left end shown and the connecting part 62 connected between the fixing part 61 and the locking part, the locking part is provided with a first locking buckle 631, the connecting part 62 avoids the movement path of the operating part 51 when the two clamps 21 are opened and switched to closed, for example, the connecting part 62 is on the side of the movement path of the operating part 51 to achieve the closing of the two clamps 21. Preferably, a first angle is formed between the fixing part 61 and the connecting part 62, and a second angle is formed on the connecting part 62 and the locking part. The first angle and the second angle are preferably complementary and the first angle is greater than the second angle, that is, the fixing part 61 and the locking part are parallel to each other, the first angle is an obtuse angle, and the second angle is an acute angle, that is, the connecting part 62 forms an angle less than 90° with the extension direction of the locking part. That is, the fixing part 61 is closer to the clamping mechanism 2 than the locking part, and the connecting part 62 is behind the operating part 51 and tilted backwards, so that the operating part 51 can be pulled backward to achieve sufficient travel for the closing of the two clamps 21.

[0046] It should be noted that in the embodiment of the present invention, there is no connection between the operating portion 51 and the locking mechanism 6, that is, the operating portion 51 is translated, not rotated, and the connecting section 52 is also translated in conjunction with the operating portion 51. Figure 3 As shown, a relief groove 611 extending along the axial direction of the insertion tube 1 and penetrating from top to bottom is formed on the fixing portion 61. The relief groove 611 partially extends to the upper end of the connecting portion 62, and the portion of the relief groove 611 extending to the upper end of the connecting portion 62 is consistent with the extending direction of the connecting portion 62, that is, it is inclined, that is, the relief groove is not a horizontal groove along the translation direction of the operating portion 51. The upper end of the operating portion 51 is roughly Z-shaped and passes through the relief groove 611 and is connected to the end of the connecting section 52. The setting of the relief groove 611 can provide relief for the operating portion 51 when it is pulled back to close the two clamps 21 or reset forward under the biasing force of the biasing member.

[0047] It should be noted that the portion of the operating portion 51 on which the second locking buckle 511 is provided also has a locking portion. For the convenience of description and distinction, the locking portion of the locking mechanism 6 provided with the first locking buckle 631 is described as the first locking portion 63, and the locking portion of the operating portion 51 provided with the second locking buckle 511 is described as the second locking portion 510. The first locking portion 63 and the second locking portion 510 are both in the shape of a straight line. The first locking buckle 631 and the second locking buckle 511 are respectively provided on two surfaces of the first locking portion 63 and the second locking portion 510 facing each other. For the first locking buckle 631 and the second locking buckle 511, the embodiment of the utility model preferably adopts a convex tooth structure. Specifically, asFigure 5 and Figure 6 As shown, the first locking buckle 631 is provided with a plurality of first protruding teeth (not shown), and the second locking buckle 511 is provided with a plurality of second protruding teeth (not shown). Any first protruding teeth and any second protruding teeth are in the form of undercuts. Specifically, any first protruding teeth include a first plane (not shown) perpendicular to the surface of the first locking portion 63 and a first inclined surface (not shown) at an angle to the surface of the first locking portion 63. The outer end of the first plane is connected to one end of the first inclined surface and the inner end is connected to one end of another first inclined surface. Similarly, any second protruding teeth are composed of a second plane (not shown) perpendicular to the surface of the second locking portion 510 and a second inclined surface (not shown) at an angle to the surface of the second locking portion 510. The first inclined surface and the second inclined surface are inclined in opposite directions. In this way, when the first locking buckle 631 and the second locking buckle are fastened, the first plane and the second plane are locked and restrained to avoid separation. Of course, the first plane and the second plane can also be inclined planes, such as inclined planes close to right angles. According to some preferred embodiments of the present invention, since the first locking buckle 631 and the second locking buckle 511 are fastened together, when no external force is applied, that is, only the biasing force of the biasing member exists, the clamping control mechanism 5 is fixed and will not move, that is, the two clamps 21 are always in a closed state. In order to separate and unlock the first locking buckle 631 and the second locking buckle 511, it is necessary to apply an external force to the operating part 51. The external force should not be along the extension direction of the first locking part 63 or the second locking part 510. For example, a force in a direction away from the first locking part 63, that is, a lateral force, is applied to the operating part 51. Through the lateral force, the second locking buckle 511 is separated from the first locking buckle 631 to achieve unlocking. In order to facilitate the unlocking of the first locking buckle 631 and the second locking buckle 511, the operating part 51 in the embodiment of the present invention should be made of an elastic material (specifically not limited, such as an elastic polymer material that is easily known to those skilled in the art), that is, the operating part 51 can be bent and deformed. That is to say, when unlocking is required, the user only needs to pull the operating portion 51 toward one side of the locking mechanism 6 so that the second locking buckle 511 is disengaged from the first locking buckle 631 to achieve unlocking.

[0048] For the connecting section 52, if Figure 5 As shown, the direction from the end of the connecting section 52 connected to the operating portion 51 to the end connected to the clamping mechanism 2 is also as shown in FIG. Figure 1In the left-to-right direction shown, the connecting section 52 sequentially includes a first section 521, a second section 522, and a third section 523. The outer diameter of the second section 522 is smaller than that of the first section 521 and the third section 523 and is implemented as a bendable section. The connecting section 52 can be an integral structure, and then the position where the second section 522 is located is cut radially so that the outer diameter of the second section 522 is smaller and the elasticity is greater than that of the first section 521 and the third section 523, and it can bend synchronously with the yaw section 11 to avoid interfering with the bending of the yaw section 11. It can also be a split structure of the first section 521, the second section 522, and the third section 523 and then fixed together. The elasticity of the first section 521 and the third section 523 is not limited, that is, it can be a hard material or a flexible material, while the second section 522 is required to be a flexible material, that is, it can be bent and deformed under an external force. There is no limitation on the hard material and the flexible material, and those skilled in the art can easily understand and implement it. Since the third section 523 is connected and cooperated with the two clamping jaws 21 of the clamping mechanism 2, in order to facilitate the installation of the biasing member. For the biasing member, it is a conventional tubular spring. In the embodiment of the present invention, a fixing block 53 with a size larger than the outer diameter of the third section 523 is provided at one end of the third section 523 away from the second section 522, and the part of the fixing block 53 protruding from the third section 523 forms an abutting portion for one end of the biasing member to abut. Similarly, an abutting table 113 is provided at the inner end of the rib 110 of the yaw section 11 connected to the clamping mechanism 2, that is, the rib 110 at the right end as shown in Figure 1 The through hole for the third section 523 to pass through and move is formed in the middle of the abutting table 113, and a wall surface radially extending toward the through hole is formed on the inner wall of the rib 110 for the other end of the biasing member to abut. That is to say, the biasing member is sleeved on the outer periphery of the third section 523 and one end abuts on the fixing block 53 and the other end abuts on the inner wall of the rib 110 of the yaw section 11 connected to the clamping mechanism 2. Thus, when the operating portion 51 is pulled backward to drive the connecting section 52 to move backward along the axial direction of the insertion tube 1, the fixing block 53 moves backward synchronously, thereby overcoming the biasing force of the biasing member, and further causing the two clamping jaws 21 to close.

[0049] For the cooperation relationship between the connecting section 52 and the two clamping jaws 21, as shown in Figure 9 and Figure 10 shown, the two clamping jaws 21 are hinged together through a hinge shaft 22 in the middle and both the rear ends of the two clamping jaws 21 have a sliding fit section, and a sliding groove 211 is opened on each sliding fit section. A convex shaft 54 protruding outward is respectively provided on both sides of the fixing block 53, and the two convex shafts 54 are respectively slidably fitted in the two sliding grooves 211, as shown in Figure 10As shown, the clamp 21 is in the open state, and the two convex shafts 54 are respectively at one end of the corresponding sliding grooves 211 close to the hinge shaft 22. When the two clamps 21 are closed, the fixed block 53 moves backward, and the convex shafts 54 also move backward in the corresponding sliding grooves 211, thereby driving the rear ends of the two clamps 21 to approach each other, and further driving the front ends of the two clamps 21 to approach each other. That is to say, when the two clamps 21 are in the closed state, the two convex shafts 54 are at one end of the corresponding sliding grooves 211 away from the hinge shaft 22. It should be noted that, as Figure 7 and Figure 11 shown, on one rib 110 of the yaw section 11 close to the clamping mechanism 2, there are two hinge ears 111 respectively connected to both ends of the hinge shafts 22 on the two clamps 21. That is to say, the sliding fit sections at the rear ends of the two clamps 21 are at the inner ends of this rib 110. When the two clamps 21 are opened, when the two sliding fit sections are opened outward, they will interfere with the side walls of this rib 110. Therefore, as Figure 11 shown, in order to avoid the side walls of the rib 110 from interfering with the rear ends of the two clamps 21, avoidance openings 112 for avoidance are respectively formed in the side walls of this rib 110 corresponding to the rear ends of the two clamps 21, that is, the positions of the two sliding fit sections.

[0050] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modification examples falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery, comprising: An insertion tube, the axial two ends of which are respectively implemented as a head end and a tail end and the inside of which is hollow to form a cavity, and the head end is connected with a yaw section hinged by a plurality of snake bones; A clamping mechanism, which is arranged at one end of the yaw section away from the head end and comprises two hinged and controllably closable clamping jaws; An operating handle, which is arranged at the tail end for the user to hold; A yaw control mechanism, which is rotatably arranged at one end of the operating handle away from the insertion tube and is connected with the yaw section through a plurality of steel wires passing through the cavity, and when the yaw control mechanism is controlled to rotate relative to the operating handle, it drives the yaw section to perform a yaw action deflecting relative to the axis of the insertion tube; A clamping control mechanism, which comprises an operating part and a connecting section arranged in the cavity and extending along the axis direction of the insertion tube, the operating part is movably arranged below the operating handle, one end of the connecting section is connected with the operating part, and the other end is slidably and cooperatively connected with the two clamping jaws, and the part of the connecting section corresponding to the yaw section is implemented as a bendable section that can undergo bending deformation; A biasing member is arranged between the yaw section and the clamping mechanism to apply a biasing force to the clamping mechanism to make the two clamping jaws tend to open when not subjected to external forces.

2. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 1, wherein A locking mechanism for locking the clamping control mechanism when the two clamping jaws are closed is arranged in the operating handle, a first locking buckle is arranged on the locking mechanism, and a second locking buckle for buckling with the first locking buckle is arranged on the operating part.

3. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 2, wherein, The locking mechanism comprises a fixing part fixedly connected with the inner wall of the operating handle, a locking part arranged behind the operating part moving away from the clamping mechanism, and a connecting part connecting the fixing part and the locking part, the first locking buckle is arranged on the locking part, and the connecting part avoids the movement path when the two clamping jaws are switched from open to closed.

4. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 3, characterized in that, A plurality of first convex teeth are formed on the first locking buckle, and a plurality of second convex teeth for cooperating with the first convex teeth are arranged on the second locking buckle.

5. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 3, wherein, An avoidance groove for the operating part to pass through and avoid when rotating is formed on the fixing part.

6. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 3, wherein The extending direction of the connecting part forms an angle with that of the locking part.

7. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 2, characterized in that The operating part has elasticity so that it can be bent by an external force towards the direction away from the second locking buckle to facilitate the first locking buckle to disengage from the second locking buckle to realize the unlocking of the clamping control mechanism.

8. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 1, wherein, In the direction from the end connected with the operating part to the end connected with the clamping mechanism of the connecting section, the connecting section successively comprises a first section, a second section and a third section, the outer diameter of the second section is smaller than that of the first section and the third section and is implemented as the bendable section, and a fixing block with a size larger than the outer diameter of the third section is arranged at one end of the third section away from the second section; The biasing member is sleeved on the outer periphery of the third section, one end abuts against the fixing block, and the other end abuts against the inner wall of the snake bone of the yaw section connected with the clamping mechanism.

9. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 8, characterized in that, The first section, the second section and the third section are of an integral structure.

10. The multi-degree-of-freedom surgical instrument applied in thoracoscopic surgery according to claim 8, characterized in that, On both sides of the fixed block, convex shafts protruding and extending outward are respectively provided, and sliding grooves slidably connected to the corresponding convex shafts are respectively formed on the two clamps.

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