Rigid minimally invasive surgical instrument

Abstract

A rigid minimally invasive surgical instrument belongs to the field of medical instruments, and is characterized in that an operation assembly controls an execution assembly to realize opening, closing and deflection movement through a connecting assembly; the execution assembly comprises a wrist part, an execution claw and two push rods; the execution claw is connected with the wrist part, and the two push rods are connected with the wrist part far away from the execution claw; the connecting assembly comprises an operating rod, an opening and closing rod, a steel wire rope fixing piece, a steel wire rope and a push-pull rod. Two spiral grooves with opposite rotating directions are formed in one end of the operating rod; the cylindrical bulges on the two push rods are respectively matched with the two spiral grooves; the opening and closing rod is coaxially arranged in the operating rod and can rotate and slide; the opening and closing rod is connected with the operation assembly and the steel wire rope fixing piece. The steel wire rope fixing piece, the steel wire rope and the push-pull rod are sequentially connected. The operating rod is connected with the operating assembly, and the operating rod is rotated to enable the two push rods to move in opposite directions and drive the wrist to rotate. The instrument has the functions of deflection, opening and closing and the like, and smoother and more efficient surgical operation can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical instruments, and particularly relates to a rigid minimally invasive surgical instrument. BACKGROUND

[0002] Minimally invasive surgery is a surgical procedure performed inside a patient's body through a small incision or natural orifice for diagnosis, treatment, or repair. Minimally invasive surgery has obvious advantages over traditional open surgery. First, minimally invasive surgery usually only requires a small size instrument channel incision, thereby reducing the patient's pain and postoperative discomfort. Second, due to less tissue invasion, patients recover faster and have shorter hospital stays, which helps improve their quality of life. In addition, minimally invasive surgery also reduces the risk of surgical wound infection, which is beneficial to the overall health of patients. Minimally invasive surgery is widely used in many surgical fields, including heart, nerve, urinary, gynecological, and obstetrical surgery. Cardiac intervention surgery, laparoscopic surgery, arthroscopic surgery, etc. are typical representatives of minimally invasive surgery. The development of these technologies has promoted the progress of medical imaging, endoscopy, robotics, and other fields.

[0003] Clinicians generally respond to the urgent need for high operational flexibility of minimally invasive surgery forceps to reduce the difficulty of surgical operation. Traditional surgical instruments are rigid instruments, and the end clamp cannot be deflected, making it difficult to achieve flexible surgical operation in the narrow space of minimally invasive surgery. Handheld minimally invasive surgical instruments are a mainstream technology to achieve minimally invasive surgery, and the operator uses a handheld surgical instrument to map the movement of the hand to the surgical instrument end effector to improve operational flexibility. According to different surgical scenarios and application requirements, handheld surgical instruments can be classified into: (1) handheld laparoscopic instruments, used for laparoscopic surgery, such as cholecystectomy, kidney surgery, appendectomy, etc. Including handheld laparoscopes, anastomosis devices, scissors, sampling clamps, etc. (2) handheld arthroscopic instruments, suitable for intra-articular surgery, such as knee arthroscopic surgery, shoulder arthroscopic surgery, etc. Including handheld arthroscopes, bone knives, suction devices, clamps, etc. (3) handheld cardiac intervention instruments, used for cardiac intervention surgery, such as coronary artery bypass surgery, valve replacement surgery, etc. Including handheld catheters, balloon dilators, stent placement devices, etc. (4) handheld neurosurgical minimally invasive instruments, suitable for nervous system surgery, such as brain surgery, spinal surgery, etc. Including handheld micro forceps, micro needles, electrocoagulators, etc. (5) handheld gynecological minimally invasive instruments, used for gynecological surgery, such as laparoscopic hysterectomy, hysteroscopic surgery, etc. Including handheld uterine forceps, scissors, suction devices, etc.

[0004] The Intuitool surgical instrument from UNeMed, Inc. consists of a pistol grip handle with a trackball above the handle that can be rotated in four directions to deflect the tip of the instrument in the same way (parallel mechanism). The end effector jaws are operated by a trigger on the handle and can be locked by a button on the handle. The shaft diameter is 10 mm. Although the Intuitool surgical instrument can control the fine jaws at the operating end to deflect in four directions flexibly through the trackball on the top of the handle, however, the operation mode of the trackball is not convenient enough, and for the surgery that needs to be operated finely for a long time, it is easy to bring significant fatigue to the surgical operator, thereby increasing the operation risk in the surgery process. Content of the utility model

[0005] The utility model discloses a rigid minimally invasive surgical instrument to solve the problems existing in the prior art.

[0006] The utility model discloses the technical scheme that technical problem adopts as follows:

[0007] The utility model discloses a rigid minimally invasive surgical instrument, including: execution subassembly, connecting component and operating assembly, the execution subassembly is connected with operating assembly through connecting component, operating assembly realizes the opening and closing and the swing movement through connecting component control execution subassembly, execution subassembly includes: wrist, execution grab, first push rod and second push rod, the execution grab is connected in one end of wrist, first push rod rotates and is connected with the one end of wrist away from execution grab around first axis, second push rod rotates and is connected with the one end of wrist away from execution grab around second axis, first axis and second axis are parallel, connecting component includes: operating rod, opening and closing rod, steel wire rope fixing part, steel wire rope and push -pull rod, operating rod one end is equipped with the first helical groove and second helical groove of opposite rotation, the second cylindrical convex on second push rod is matched with first helical groove, the first cylindrical convex on first push rod is matched with second helical groove, the opening and closing rod is coaxially arranged in operating rod and can rotate and slide relative to operating rod, the opening and closing rod one end is connected with operating assembly, the opening and closing rod other end is connected with steel wire rope fixing part, steel wire rope fixing part is connected with steel wire rope, steel wire rope is connected with push -pull rod, operating assembly controls execution grab to open and close through the opening and closing rod, steel wire rope, push -pull rod, the one end of operating rod away from wrist is connected with operating assembly, rotating operating rod can make first push rod and second push rod move to the opposite direction along the axis of operating rod and drive wrist to rotate around first axis or second axis.

[0008] Further, the execution assembly further comprises: a hinge; the first push rod is connected with one end of the wrist away from the execution claw around the first axis through the hinge, and the other end of the hinge is connected with the wrist; the second push rod is directly connected with one end of the wrist away from the execution claw around the first axis through the pin.

[0009] Further, the second cylindrical protrusion on the second push rod is connected with the first spiral groove in sliding mode, and the first cylindrical protrusion on the first push rod is connected with the second spiral groove in sliding mode, so that the first push rod and the second push rod are limited in radial direction through the first spiral groove and the second spiral groove.

[0010] Further, the steel wire rope fixing member is connected with the opening-closing rod through threads and is fixed by thread glue; the first limiting surface and the second limiting surface are milled out on the central axis of the steel wire rope fixing member, and the first limiting surface and the second limiting surface are matched with the inner flat surfaces of the first push rod and the second push rod respectively, so as to limit the rotation of the first push rod and the second push rod.

[0011] Further, the push-pull rod is provided with a third control groove in the middle, and the push-pull rod is provided with two third cylindrical protrusions, which are respectively located at the upper end and the lower end of the two surfaces of the push-pull rod.

[0012] Further, the execution claw comprises: a first execution claw and a second execution claw; the first execution claw and the second execution claw both have a claw part and a control part, and the first execution claw, the second execution claw and the push-pull rod are connected with the wrist around the third axis; the control part of the first execution claw is provided with a first control groove, and the control part of the second execution claw is provided with a second control groove, and the two control grooves are arranged at an angle; the control part of the first execution claw, the push-pull rod and the control part of the second execution claw are inserted into the middle groove of the wrist in the order of the control part of the first execution claw, the flexible part of the opening-closing rod and the control part of the second execution claw, and then connected by using a cylindrical pin; the third cylindrical protrusion at the upper end of one surface of the push-pull rod is inserted into the second groove of the second execution claw, and the third cylindrical protrusion at the lower end of the other surface of the push-pull rod is inserted into the first groove of the first execution claw, and the two third cylindrical protrusions are respectively used as the power input points of the first execution claw and the second execution claw; the cylindrical pin is slid in the first control groove, the second control groove and the third control groove by pulling the opening-closing rod, so as to control the opening and closing of the first execution claw and the second execution claw.

[0013] Further, the operation assembly comprises: a deflection support, a deflection ratchet wheel, a fixed cutting handle, a movable cutting handle, an opening and closing rod bushing, a sub-mother screw and a snap spring; the deflection support is internally provided with an adjusting cavity; the fixed cutting handle comprises a first holding part and a first operation part, the deflection support is fixedly connected with the first operation part, the deflection ratchet wheel is rotatably sleeved on the deflection support, one end of the operation rod away from the wrist is fixedly connected with the deflection ratchet wheel through two jacks, and rotation of the deflection ratchet wheel can make the operation rod rotate; the deflection ratchet wheel is matched with the sliding groove of the opening and closing rod bushing through two convex end jacks in the middle; the movable cutting handle comprises a second holding part, a movable cutting handle plastic thin wall and a second operation part, and the movable cutting handle plastic thin wall is connected to the outer side of the upper end of the second holding part; the first operation part of the fixed cutting handle is rotatably connected with the second operation part of the movable cutting handle, and the first holding part of the fixed cutting handle and the second holding part of the movable cutting handle can control the second holding part of the movable cutting handle to move away from or close to the first operation part of the fixed cutting handle; the opening and closing rod is connected with the second operation part of the movable cutting handle after penetrating through the operation rod; the second operation part of the movable cutting handle moving away from or close to the first operation part of the fixed cutting handle can drive the opening and closing rod to move along the axial direction of the opening and closing rod, realize the push-pull force transmission of the opening and closing rod, and further control the opening and closing movement of the first and second execution claws.

[0014] Further, the first operation part of the fixed cutting handle is provided with a first shaft hole in the middle, the second operation part of the movable cutting handle is provided with a second shaft hole in the middle, and the first shaft hole and the second shaft hole are rotatably connected through the sub-mother screw.

[0015] Further, the deflection support is provided with a disinfecting hole for connecting an external disinfecting device; the deflection ratchet wheel adopts an arc-shaped groove for placing the index finger, and the arc-shaped groove of each spoke of the deflection ratchet wheel is matched with the linear displacement of the first push rod and the second push rod.

[0016] Further, the first operation part of the fixed cutting handle is provided with a crescent groove at the rear end, which is used for actively limiting the rotation angle of the movable cutting handle and the inward retraction effect of the movable cutting handle plastic thin wall, and preventing the outward deformation thereof.

[0017] The beneficial effects of the utility model are:

[0018] The utility model has the functions of opening and closing of the execution assembly, deeply considers the actual operation habit of the operator in the operation process, accurately collects the fine action of the operator through the reasonable operation mode, and accurately maps the corresponding action of the small claw at the end of the surgical instrument, so that more smooth and efficient operation operation is realized. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the rigid minimally invasive surgical instrument.

[0020] Figure 2Structure schematic view of the execution assembly.

[0021] Figure 3 Structure schematic view of the execution assembly.

[0022] Figure 4 Structure schematic view of the execution assembly.

[0023] Figure 5 Structure schematic view of the execution assembly.

[0024] Figure 6 Structure schematic view of the operation assembly.

[0025] Figure 7 Structure schematic view of the operation assembly.

[0026] Figure 8 Schematic view of the first axis, the second axis and the third axis. DETAILED DESCRIPTION

[0027] The utility model will be made further detailed explanation in combination with the drawings.

[0028] As Figure 1 shown, the utility model provides a rigid minimally invasive surgical instrument mainly includes the following parts: execution assembly 1, connecting assembly 2 and operation assembly 3, execution assembly 1 is connected with operation assembly 3 through connecting assembly 2, and operation assembly 3 realizes opening and closing and yawing motion through connecting assembly 2 control execution assembly 1.

[0029] In the utility model, as Figures 2 to 5 shown, execution assembly 1 mainly includes: wrist 101, execution grab 102, first push rod 103, second push rod 104 and hinge 105, one end of wrist 101 is provided with pin hole 1011, is used to insert cylindrical pin, execution grab 102 is connected at one end of wrist 101, first push rod 103 is rotatably connected with the one end of wrist 101 away from execution grab 102 around first axis 106, second push rod 104 is rotatably connected with the one end of wrist 101 away from execution grab 102 around second axis 107, and first axis 106 is parallel with second axis 107. Specifically, first push rod 103 is rotatably connected with the one end of wrist 101 away from execution grab 102 around first axis 106 through hinge 105, and the other end of hinge 105 is rotatably connected with wrist 101, and second push rod 104 is rotatably connected with the one end of wrist 101 away from execution grab 102 around first axis 106 directly through pin shaft. Wherein, first axis 106 and second axis 107 as Figure 8 shown, first axis 106 refers to the axis of connecting pin between wrist 101 and first push rod 103, and second axis 107 refers to the axis of connecting pin between wrist 101 and second push rod 104.

[0030] In this utility model, such as Figures 2 to 5 As shown, the connecting assembly 2 mainly includes: an operating lever 201, an opening / closing lever 202, a wire rope fixing component 203, a wire rope 204, and a push-pull rod 205; one end of the operating lever 201 is provided with a first spiral groove 2011 and a second spiral groove 2012 with opposite directions of rotation; a first push rod 103 and a second push rod 104 are inserted into the operating lever 201, and the second cylindrical protrusion 1041 on the second push rod 104 cooperates with the first spiral groove 2011; the first cylindrical protrusion 1041 on the first push rod 103... The cylindrical protrusion 1031 engages with the second helical groove 2012 to form a cam structure. Specifically, the second cylindrical protrusion 1041 on the second push rod 104 is slidably connected to the first helical groove 2011, and the first cylindrical protrusion 1031 on the first push rod 103 is slidably connected to the second helical groove 2012. The first helical groove 2011 and the second helical groove 2012 can radially limit the second push rod 104 and the first push rod 103. The opening and closing rod 202 is coaxially arranged. The actuator 202 is located within the operating lever 201 and can rotate and slide relative to the operating lever 201. One end of the opening / closing lever 202 is connected to the operating component 3, and the other end of the opening / closing lever 202 is connected to the wire rope fixing member 203. The wire rope fixing member 203 is connected to the wire rope 204, and the wire rope 204 is connected to the push-pull rod 205. By installing a section of wire rope 204 between the opening / closing lever 202 and the push-pull rod 205, the connection between the actuator 1 and the connecting component 2 and the transmission of power are achieved. The opening and closing of the actuator 102 can be controlled by the opening and closing lever 202, the wire rope 204, and the push-pull lever 205, and the wrist 101 can be prevented from rotating around the axis of the operating lever 201. The end of the operating lever 201 away from the wrist 101 is fixedly connected to the operating component 3. Rotating the operating lever 201 can cause the second push rod 104 and the first push rod 103 to move in opposite directions along the axis of the operating lever 201 and drive the wrist 101 to rotate around the first axis 106 or the second axis 107.

[0031] In order to achieve only axial translational freedom for the first push rod 103 and the second push rod 104, a wire rope fixing member 203 is inserted between the first push rod 103 and the second push rod 104. Specifically, the wire rope fixing member 203 is threadedly connected to the opening and closing rod 202 and fixed with thread-locking adhesive. The wire rope fixing member 203 has two limiting surfaces (first limiting surface 2031 and second limiting surface 2032) milled in the direction of the central axis. The first limiting surface 2031 and the second limiting surface 2032 respectively cooperate with the inner planes of the first push rod 103 and the second push rod 104, thereby restricting the rotational movement of the first push rod 103 and the second push rod 104.

[0032] Among them, such as Figure 3As shown, a third control groove 2051 is provided in the middle of the push-pull rod 205, and two third cylindrical protrusions 2052 are also provided on the push-pull rod 205. These two third cylindrical protrusions 2052 are located at the upper and lower ends of the two surfaces of the push-pull rod 205, respectively.

[0033] In this invention, the preferred material for the opening and closing rod 202 is stainless steel, but it is not limited thereto.

[0034] Among them, such as Figure 3 As shown, the actuator 102 mainly includes: a first actuator 1021 and a second actuator 1022; both the first actuator 1021 and the second actuator 1022 have a gripping part and a control part. The first actuator 1021, the second actuator 1022, and the push-pull rod 205 are rotatably connected to the wrist 101 around the third axis 108. Specifically, the control part of the first actuator 1021 is provided with a first control groove 10211, and the control part of the second actuator 1022 is provided with a second control groove 10221. These two control grooves are set at an angle. The control part of the first actuator 1021, the push-pull rod 205, and the control part of the second actuator 1022 are inserted into the middle groove of the wrist 101 in the order of the control part of the first actuator 1021, the flexible part 2021 of the opening and closing rod 202, and the control part of the second actuator 1022. Then, a... A 3mm diameter cylindrical pin with external threads is used for connection. This cylindrical pin prevents the first actuator 1021, the second actuator 1022, and the push-pull rod 205 from falling off the wrist 101. A third cylindrical protrusion 2052 on the upper end of one surface of the push-pull rod 205 inserts into the second groove 10222 of the second actuator 1022, and a third cylindrical protrusion 2052 on the lower end of the other surface of the push-pull rod 205 inserts into the first groove 10211 of the first actuator 1021. These two third cylindrical protrusions 2052 serve as the power input points for the first actuator 1021 and the second actuator 1022, respectively. By pulling the opening / closing rod 202, the cylindrical pin can slide within the first control groove 10211, the second control groove 10221, and the third control groove 2051, thereby controlling the opening and closing of the first actuator 1021 and the second actuator 1022. The third axis 108 is as follows... Figure 8 As shown, the third axis 108 refers to the axis of the connecting pin between the wrist 101 and the two actuators 102.

[0035] In this utility model, such as Figure 6 and Figure 7As shown, the operating component 3 mainly includes: a swing bracket 301, a swing dial 302, a fixed shear handle 303, a movable shear handle 304, an opening / closing rod bushing 305, a male and female screw 306, and a retaining ring 307; the swing bracket 301 has an adjustment cavity inside and a disinfection hole 3011 on it for connecting external disinfection equipment; the fixed shear handle 303 mainly includes a first gripping part 3031 and a first operating part 3032, the swing bracket 301 is fixedly connected to the first operating part 3032, and the swing dial 302 is rotatably mounted on the swing bracket 301. The end of the operating lever 201 furthest from the wrist 101 is fixedly connected to the yaw wheel 302 via two set screws 3021. Rotating the yaw wheel 302 causes the operating lever 201 to rotate. The yaw wheel 302 has two convex set screws 3022 in the middle that engage with the sliding groove 3051 of the opening / closing lever bushing 305. The convex set screws 3022 mainly serve to axially fix the yaw wheel 302 and axially connect the operating lever 201 and the fixed scissor handle 303. The yaw wheel 302 uses an arc-shaped groove 3023 for placing the index finger. The arc of each spoke of the yaw wheel 302... The groove 3023 matches the 3mm linear displacement of the first push rod 103 and the second push rod 104, conforming to ergonomics. The movable scissor handle 304 mainly includes a second gripping part 3043, a movable scissor handle plastic thin wall 3042, and a second operating part 3041. The movable scissor handle plastic thin wall 3042 is connected to the upper outer side of the second gripping part 3043. The first operating part 3032 of the fixed scissor handle 303 is rotatably connected to the second operating part 3041 of the movable scissor handle 3044. By holding the first gripping part 3031 of the fixed scissor handle 303 and the second operating part 3041 of the movable scissor handle 3044, the scissor handle can be operated by hand. 43 can control the second gripping part 3043 of the movable shear handle 304 to move away from or near the first operating part 3032 of the fixed shear handle 303; the opening and closing rod 202 passes through the operating rod 201 and is connected to the second operating part 3041 of the movable shear handle 304; the second operating part 3041 of the movable shear handle 304 moving away from or near the first operating part 3032 of the fixed shear handle 303 can drive the opening and closing rod 202 to move along the axial direction of the opening and closing rod 202, realize the transmission of the push and pull force of the opening and closing rod 202, and thus control the opening and closing movement of the first actuator 1021 and the second actuator 1022.

[0036] Among them, such as Figure 6 As shown, the first operating part 3032 of the fixed shear handle 303 is provided with a first shaft hole 30321 in the middle, and the second operating part 3041 of the movable shear handle 304 is provided with a second shaft hole 30411 in the middle. The first shaft hole 30321 and the second shaft hole 30411 are rotatably connected by a male and female screw 306. The male and female screw 306 can prevent the fixed shear handle 303 from separating from the movable shear handle 304.

[0037] Among them, such as Figure 6As shown, the first operating part 3032 of the fixed shear handle 303 is provided with a crescent groove 30322 at the rear end, which is used to actively limit the rotation angle of the movable shear handle 304, and in addition, can also play the role of retraction of the plastic thin wall 3042 of the movable shear handle, preventing its deformation outward.

[0038] In order to prevent the increase of friction caused by the contact of different materials, the opening and closing rod bushing 305 made of the same material as the opening and closing rod 202 is designed, which is inserted from the tail of the fixed shear handle 303 and limited in axial movement by the snap spring 307; two planes are milled on the outer cylindrical surface of the tail of the opening and closing rod bushing 305, which cooperate with the planes in the fixed shear handle 303 to limit the rotation freedom degree; the tail of the opening and closing rod 202 is also milled with two planes, which cooperate with the planes in the cavity of the head of the opening and closing rod bushing 305, so that the opening and closing rod 202 only has axial translation freedom degree in the opening and closing rod bushing 305, and the rotation freedom degree is limited.

[0039] In the utility model, the fixed shear handle 303 and the movable shear handle 304 are made of nylon material 3D printing.

[0040] The rigid minimally invasive surgical instrument can realize the opening and closing movement and the yaw movement of the execution assembly 1.

[0041] The specific implementation process of the opening and closing movement of the execution assembly 1 is as follows:

[0042] The first holding part 3031 of the fixed shear handle 303 and the second holding part 3043 of the movable shear handle 304 are held by hand to control the second holding part 3043 of the movable shear handle 304 to be close to the first operating part 3032 of the fixed shear handle 303, and then the opening and closing rod 202 is pulled back along the axial direction of the opening and closing rod 202, so that the two third cylindrical protrusions 2052 are respectively pressed against the inner walls of the first recess 10211 of the first execution grip 1021 and the second recess 10222 of the second execution grip 1022 through the steel wire rope fixing part 203, the steel wire rope 204 and the push-pull rod 205, so that the first execution grip 1021 and the second execution grip 1022 are opened in the rotating pair formed by the two third cylindrical protrusions 2052 and the first recess 10211 and the second recess 10222; on the contrary, the first execution grip 1021 and the second execution grip 1022 perform closing movement.

[0043] The specific implementation process of the yaw movement of the execution assembly 1 is as follows:

[0044] The first helical groove 2011 and the second helical groove 2012 at the end of the operating lever 201 have opposite rotation directions. When the actuator 1 does not wobble, the second cylindrical protrusion 1041 on the second push rod 104 is in the middle position of the first helical groove 2011, and the first cylindrical protrusion 1031 on the first push rod 103 is in the middle position of the second helical groove 2012. When the wobble dial 302 is rotated to make the operating lever 201 rotate clockwise, the first push rod 103 moves to the left, and the second push rod 104 moves to the right. At this time, the first push rod 103 pushes a hinge point of the hinge 105 to move to the left, while the second push rod 104 moves to the right. The push rod 104 pulls one end of the wrist 101 to the right, causing the other hinge point of the hinge 105 to swing to one side along with the end of the wrist 101, thus achieving a degree of freedom of swing in one direction. When the swing dial 302 is rotated to make the operating rod 201 rotate counterclockwise, the first push rod 103 moves to the right and the second push rod 104 moves to the left. At this time, the second push rod 104 pushes one end of the wrist 101 to the left, while the first push rod 103 pulls one hinge point of the hinge 105 to the right, causing the other hinge point of the hinge 105 to swing to the other side along with the end of the wrist 101, thus achieving a degree of freedom of swing in another direction.

[0045] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this utility model and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A rigid minimally invasive surgical instrument, comprising: An execution component, a connecting component, and an operating component are disclosed. The execution component is connected to the operating component via the connecting component; the operating component controls the execution component to achieve opening, closing, and yaw movements via the connecting component. The execution component includes a wrist, an execution gripper, a first push rod, and a second push rod. The execution gripper is connected to one end of the wrist. The first push rod is rotatably connected to the end of the wrist away from the execution gripper about a first axis, and the second push rod is rotatably connected to the end of the wrist away from the execution gripper about a second axis, wherein the first axis and the second axis are parallel. The connecting component includes an operating rod, an opening / closing rod, a wire rope fixing component, a wire rope, and a push-pull rod. One end of the operating rod is provided with a first spiral groove and a second spiral groove with opposite directions of rotation. The second cylindrical protrusion on the second push rod mates with the first helical groove, and the first cylindrical protrusion on the first push rod mates with the second helical groove; the opening and closing rod is coaxially arranged inside the operating rod and can rotate and slide relative to the operating rod; one end of the opening and closing rod is connected to the operating component, the other end of the opening and closing rod is connected to the wire rope fixing component, the wire rope fixing component is connected to the wire rope, and the wire rope is connected to the push-pull rod; the operating component controls the actuator to open and close through the opening and closing rod, the wire rope, and the push-pull rod; the end of the operating rod away from the wrist is connected to the operating component, and rotating the operating rod can cause the first push rod and the second push rod to move in opposite directions along the axis of the operating rod and drive the wrist to rotate around the first axis or the second axis.

2. The rigid minimally invasive surgical instrument according to claim 1, characterized in that, The actuation component further includes: a hinge; the first push rod is rotatably connected to the end of the wrist away from the actuating gripper via the hinge about a first axis, and the other end of the hinge is rotatably connected to the wrist; the second push rod is directly rotatably connected to the end of the wrist away from the actuating gripper via a pin about the first axis.

3. The rigid minimally invasive surgical instrument according to claim 1, characterized in that, The second cylindrical protrusion on the second push rod is slidably connected to the first helical groove, and the first cylindrical protrusion on the first push rod is slidably connected to the second helical groove. The first and second helical grooves provide radial positioning for the first and second push rods.

4. The rigid minimally invasive surgical instrument according to claim 1, characterized in that, The wire rope fixing component is connected to the opening and closing rod by threads and fixed with thread-locking adhesive; the wire rope fixing component has a first limiting surface and a second limiting surface milled in the direction of the central axis, which respectively cooperate with the inner plane of the first push rod and the second push rod, thereby restricting the rotational movement of the first push rod and the second push rod.

5. A rigid minimally invasive surgical instrument according to claim 1, characterized in that, The push-pull rod has a third control groove in the middle and two third cylindrical protrusions on the push-pull rod. These two third cylindrical protrusions are located at the upper and lower ends of the two surfaces of the push-pull rod, respectively.

6. A rigid minimally invasive surgical instrument according to claim 5, characterized in that, The actuator includes a first actuator and a second actuator; both the first and second actuators have a gripping part and a control part. The first actuator, the second actuator, and the push-pull rod are rotatably connected to the wrist around a third axis. The control part of the first actuator has a first control groove, and the control part of the second actuator has a second control groove. These two control grooves are angled together. The control part of the first actuator, the push-pull rod, and the control part of the second actuator are inserted into the middle groove of the wrist in the order of the control part of the first actuator, the flexible part of the opening / closing rod, and the control part of the second actuator, and then connected using a cylindrical pin. The third cylindrical protrusion at the upper end of one surface of the push-pull rod is inserted into the second groove of the second actuator, and the third cylindrical protrusion at the lower end of the other surface of the push-pull rod is inserted into the first groove of the first actuator. These two third cylindrical protrusions serve as the power input points for the first and second actuators, respectively. By pulling the opening / closing rod, the cylindrical pin slides in the first, second, and third control grooves, thereby controlling the opening and closing of the first and second actuators.

7. A rigid minimally invasive surgical instrument according to claim 1, characterized in that, The operating components include: a sway bracket, a sway wheel, a fixed scissor handle, a movable scissor handle, an opening / closing lever bushing, a male and female screw, and a retaining spring; the sway bracket has an adjustment cavity inside; the fixed scissor handle includes a first grip and a first operating part, the sway bracket is fixedly connected to the first operating part, the sway wheel is rotatably mounted on the sway bracket, and the end of the operating lever away from the wrist is fixedly connected to the sway wheel via two set screws, rotating the sway wheel allows the operating lever to rotate; the sway wheel has two convex set screws in the middle that engage with the sliding groove of the opening / closing lever bushing; the movable scissor handle includes a second grip, a movable scissor handle plastic thin wall, and... The second operating part includes a movable scissor handle with a thin plastic wall connected to the upper outer side of the second gripping part; the first operating part of the fixed scissor handle is rotatably connected to the second operating part of the movable scissor handle, and by holding the first gripping part of the fixed scissor handle and the second gripping part of the movable scissor handle, the second gripping part of the movable scissor handle can be controlled to move away from or closer to the first operating part of the fixed scissor handle; the opening and closing rod passes through the operating rod and is connected to the second operating part of the movable scissor handle; the second operating part of the movable scissor handle moving away from or closer to the first operating part of the fixed scissor handle can drive the opening and closing rod to move along the axial direction of the opening and closing rod, thereby realizing the transmission of the push and pull force of the opening and closing rod, and thus controlling the opening and closing movements of the first and second actuators.

8. A rigid minimally invasive surgical instrument according to claim 7, characterized in that, The fixed shear handle has a first shaft hole in the middle of its first operating part, and the movable shear handle has a second shaft hole in the middle of its second operating part. The first shaft hole and the second shaft hole are rotatably connected by a male and female screw, which can prevent the fixed shear handle and the movable shear handle from separating.

9. A rigid minimally invasive surgical instrument according to claim 1, characterized in that, The oscillating bracket is provided with a disinfection hole for connecting external disinfection equipment; the oscillating dial adopts an arc-shaped groove for placing the index finger on each spoke, and the arc-shaped groove of each spoke of the oscillating dial matches the linear displacement of the first push rod and the second push rod.

10. A rigid minimally invasive surgical instrument according to claim 7, characterized in that, The rear end of the first operating part of the fixed shear handle is provided with a crescent groove, which is used to actively limit the rotation angle of the movable shear handle and the inward contraction of the plastic thin wall of the movable shear handle to prevent it from deforming outward.

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