Joint components of laparoscopic surgical instruments

Abstract

A joint assembly of a laparoscopic surgical instrument adopts the technical feature that the middle part of the rocker and the middle part of the guide rod form a sliding connection in the middle part of the guide rod, or adopts the technical feature that the middle part of the rocker and the middle part of the guide rod form a rotating connection in the middle part of the guide rod; adopts the technical feature that the rear part of the rocker and the rear base form a rocker rear connection, the rear part of the guide rod and the rear base form a guide rod rear connection, the front part of the rocker and the front base form a rocker front connection, and the front part of the guide rod and the front base form a guide rod front connection; adopts the technical feature that there are three rotating connections and two sliding connections in the guide rod mechanism in the joint assembly. The technical solution adopted is that the guide rod mechanism in the joint assembly is connected to the rear base and the front base by the two ends of the rocker and the guide rod respectively. When the joint assembly rotates, the rocker and the guide rod swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

Description

Technical Field

[0001] The present invention relates to a laparoscopic surgical instrument used in a surgical operation, in particular to a laparoscopic surgical instrument used in a laparoscopic surgical operation, and also in particular to a laparoscopic surgical instrument used in a thoracoscopic surgical operation. Background Art

[0002] In laparoscopic surgery and thoracoscopic surgery, various manual, electric or robotic laparoscopic surgical instruments are commonly used for clamping, shearing, injection, cutting, suturing and anastomosis operations in the abdominal cavity, thoracic cavity and urogenital system, which can reduce surgical trauma, shorten operation time and improve surgical quality.

[0003] Laparoscopic cutting staplers, laparoscopic surgical suture devices, laparoscopic surgical forceps, laparoscopic surgical cutting forceps, laparoscopic surgical clip applicators, laparoscopic surgical scissors, laparoscopic surgical syringes, laparoscopic surgical cutting knives, laparoscopic surgical fan-shaped forceps, laparoscopic surgical electrosurgical knives, laparoscopic surgical ultrasonic knives and other various laparoscopic surgical instruments introduced in US patents US20100200639A1, US20130334278A1, US20140014707A1, US20170150961A1, US20180049763A1, US20180078248A1, US20180116675A1, US20180126504A1 and US20180333185A1. Laparoscopic surgical instruments include an actuator, a joint assembly, an operating assembly and an extension assembly. The operating assembly controls the actions of the joint assembly, the extension assembly and the actuator assembly. The operating component may be a manual operating component, an electric operating component, or an operating component used by a surgical robot. The execution component may be an execution component without energy or an execution component with energy.

[0004] In laparoscopic surgery, the extension assembly of the laparoscopic surgical instrument entering the puncture is constrained by the caliber of the puncture, which makes the working range of the actuator very small. If the actuator cannot be aligned with the tissue and organ to be operated on, the actuator will not be able to perform the surgical operation. At this time, it is necessary to use a laparoscopic surgical instrument to enter the human body cavity through another puncture to clamp the tissue and organ to be operated on into the working range of the actuator. When some tissues and organs to be operated on are pulled, tissue damage will be caused. Even if they can be pulled, it is sometimes difficult to accurately clamp the tissue and organ to be operated on into the working range of the actuator. Therefore, a joint manipulation mechanism is used in the operating assembly of the laparoscopic surgical instrument to control the actuator to rotate the joint, so as to significantly increase the working range of the actuator and facilitate the alignment of the actuator with the tissue and organ to be operated on. The larger the angle of joint rotation, the larger the working range of the actuator, and the easier it is for the actuator to align with the tissue and organ to be operated on.

[0005] For example, the laparoscopic surgical instrument described in US Pat. No. 20130334278A1 uses a single pin to connect the actuator and the extension assembly to form a joint assembly. There is a joint drive rod in the joint manipulation mechanism. The joint drive rod pulls the joint assembly to control the actuator to rotate relative to the extension assembly around the pin to both sides. The thin plate of the actuator is bent and deformed to both sides as the joint assembly rotates to both sides. The unsatisfactory part of this style of laparoscopic surgical instrument is that when the angle of the actuator bending is large, the bending deformation of the actuator in the internal space of the joint assembly forms a very small radius of curvature around the pin due to the constraint of the internal space of the joint assembly, resulting in a large bending deformation resistance, and the actuator cannot be operated by one hand to rotate to both sides. In addition, since the radius of curvature of the actuator bending is very small, a large rebound force is formed on the actuator, which not only increases the resistance to the movement of the actuator, but also affects the positioning of the actuator after the joint assembly rotates. For example, in the laparoscopic surgical instrument described in US Patent US20100076260A1, two cables are strung into the holes on both sides of the concave and convex joint pieces in the joint assembly, so that the concave and convex joint pieces are connected in series to form a joint assembly, and the joint assembly is controlled to bend to both sides by pulling the cables, thereby driving various actuators with the functions of toggling, separating, clamping, cutting, shearing, puncturing or high-frequency electric knife to swing to both sides. For example, in the laparoscopic surgical instrument described in US Patent US20090312773A1, two metal sheets are strung into the holes on both sides of the concave and convex joint pieces in the joint assembly, so that the concave and convex joint pieces are connected in series to form a joint assembly, and the joint is controlled to bend to both sides by pushing and pulling the metal sheets, thereby driving the actuator with the needle and thread suturing function to swing to both sides. The unsatisfactory aspect of these two types of laparoscopic surgical instruments is that although the cables or metal sheets can drive the joint assembly to bend to both sides, after the joint assembly is bent to both sides, the joint assembly composed of concave and convex joint sheets connected in series is difficult to have sufficient rigidity in any bending position, which makes the actuator of the laparoscopic surgical instrument easily displaced and the positioning accuracy poor. Summary of the invention

[0006] The first purpose of the present invention is to propose a joint assembly of a laparoscopic surgical instrument, which adopts the technical feature that the middle part of the rocker and the middle part of the guide rod form a sliding connection in the middle part of the guide rod, or adopts the technical feature that the middle part of the rocker and the middle part of the guide rod form a rotating connection in the middle part of the guide rod; adopts the technical feature that the rear part of the rocker and the rear base form a rocker rear connection, the rear part of the guide rod and the rear base form a guide rod rear connection, the front part of the rocker and the front base form a rocker front connection, and the front part of the guide rod and the front base form a guide rod front connection; adopts the technical feature that there are three rotating connections and two sliding connections in the guide rod mechanism in the joint assembly. The technical solution adopted is that the guide rod mechanism in the joint assembly is connected to the rear base and the front base by the two ends of the rocker and the guide rod respectively, and when the joint assembly rotates, the rocker and the guide rod swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides. The joint assembly of the laparoscopic surgical instrument can achieve the technical effect of significantly changing the maximum angle of the joint assembly for joint rotation by changing the connection position between the rear part of the rocker and the rear part of the guide rod in the guide rod mechanism and the rear base, changing the connection position between the front part of the rocker and the front part of the guide rod and the front base, and changing the position of the middle part of the guide rod connected to the guide rod. The maximum angle of the joint assembly for joint rotation can be designed to be an angle of more than 90 degrees to meet various technical requirements of various laparoscopic surgical instruments for joint rotation of the joint assembly. The guide rod mechanism in the joint assembly can significantly increase the curvature radius of the bent joint assembly after joint rotation, so that the bending deformation resistance of the actuator is small, achieving the technical effect of significantly reducing the operating force of the joint assembly for joint rotation; and making the joint assembly have sufficient stability and sufficient rigidity at any bending position, so that the joint assembly of the laparoscopic surgical instrument is not easy to shift and the actuator positioning accuracy is high, achieving the technical effect of facilitating the precise alignment of the actuator to the surgical site.

[0007] The second purpose of the present invention is to propose a joint assembly of a laparoscopic surgical instrument, which adopts the technical feature of a joint positioning member in the operating assembly. The adopted technical solution is that the joint positioning member can control the rocker at the rear rotation connection of the rocker or the guide rod at the rear rotation connection of the guide rod located at the rear of the rear base to swing to both sides, and can also control the rocker at the rear rotation connection of the rocker or the guide rod at the rear rotation connection of the guide rod located at the front of the rear base to swing to both sides. When the joint positioning member controls the rocker at the rear rotation connection of the rocker or the guide rod at the rear rotation connection of the guide rod located at the rear of the rear base to swing to both sides, the action stroke of the joint positioning member is short, but the required force is large; when the joint positioning member controls the rocker at the rear rotation connection of the rocker or the guide rod at the rear rotation connection of the guide rod located at the front of the rear base to swing to both sides, the action stroke of the joint positioning member is long, but the required force is small. Different technical solutions can be selected according to the different technical requirements of various laparoscopic surgical instruments.

[0008] The objective of the present invention is achieved through the following technical solutions:

[0009] The laparoscopic surgical instrument of the present invention comprises an actuator assembly, a joint assembly, an extension assembly and an operating assembly. The outer periphery of the joint assembly can be wrapped with a sleeve. The joint assembly comprises a guide rod mechanism. The guide rod mechanism comprises a rear base, a front base, a rocker and a guide rod. The rear part of the rocker and the rear base constitute a rocker rear connection. The rear part of the guide rod and the rear base constitute a guide rod rear connection. The front part of the rocker and the front base constitute a rocker front connection. The front part of the guide rod and the front base constitute a guide rod front connection. The middle part of the rocker and the middle part of the guide rod constitute a guide rod middle connection. Among the five connections of the rocker rear connection, the guide rod rear connection, the rocker front connection, the guide rod front connection and the guide rod middle connection, three are rotational connections and two are sliding connections. When the joint assembly rotates by joint, the rocker and the guide rod swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides. The guide rod mechanism in the joint assembly of the laparoscopic surgical instrument of the present invention has three rotating connections and two sliding connections, which can significantly increase the curvature radius of the bent joint assembly after the joint rotation, so that the bending deformation resistance of the actuator is small, and the technical effect of significantly reducing the operating force of the joint assembly for joint rotation is achieved; the guide rod mechanism in the joint assembly is directly connected to the rear base and the front base by the two ends of the rocker and the guide rod, so that the joint assembly has sufficient stability and sufficient rigidity in any bending position, and the joint assembly of the laparoscopic surgical instrument is not easy to shift and the positioning accuracy of the actuator is high. By changing the connection position between the rear part of the rocker and the rear part of the guide rod and the rear base, changing the connection position between the front part of the rocker and the front part of the guide rod and the front base, changing the position of the middle slider in the rocker and the position of the middle slide in the guide rod, the technical effect of significantly changing the maximum rotation angle of the joint assembly for joint rotation can be achieved, thereby achieving the technical effect of accurately positioning the joint assembly after the joint rotation, facilitating the accurate alignment of the actuator assembly to the surgical site, and meeting various technical requirements of various laparoscopic surgical instruments for joint rotation of the joint assembly.

[0010] The middle part of the rocker of the laparoscopic surgical instrument of the present invention may have a middle slider, the middle part of the guide rod may have a middle slide groove, and the middle slider is inserted into the middle slide groove to form a sliding connection in the middle part of the guide rod.

[0011] The rear part of the rocker can be connected to the rear base to form a rocker rear rotation connection. The rear part of the guide rod can be connected to the rear base to form a guide rod rear rotation connection. The front part of the rocker can be connected to the front base to form a rocker front sliding connection. The front part of the guide rod can be connected to the front base to form a guide rod front rotation connection. When the joint assembly rotates, the rear part of the rocker and the rear part of the guide rod rotate on the rear base, and the middle slider slides in the middle slide groove, so that the front part of the guide rod rotates on the front base, and the front part of the rocker slides on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

[0012] The rear part of the rocker can be connected to the rear base to form a rocker rear rotation connection. The rear part of the guide rod can be connected to the rear base to form a guide rod rear rotation connection. The front part of the rocker can also be connected to the front base to form a rocker front rotation connection. The front part of the guide rod can also be connected to the front base to form a guide rod front sliding connection. When the joint assembly rotates, the rear part of the rocker and the rear part of the guide rod rotate on the rear base, and the middle slider slides in the middle slide groove, so that the front part of the rocker rotates on the front base, and the front part of the guide rod slides on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

[0013] The rear part of the rocker can also form a rocker rear sliding connection with the rear base. The rear part of the guide rod can form a guide rod rear rotation connection with the rear base. The front part of the rocker can also form a rocker front rotation connection with the front base. The front part of the guide rod can form a guide rod front rotation connection with the front base. When the joint assembly rotates, the rear part of the guide rod rotates on the rear base, the rear part of the rocker slides on the rear base, and the middle slider slides in the middle slide groove, so that the front part of the rocker and the front part of the guide rod rotate on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

[0014] The rear part of the rocker can be connected to the rear base to form a rocker rear rotation connection. The rear part of the guide rod can be connected to the rear base to form a guide rod rear sliding connection. The front part of the rocker can be connected to the front base to form a rocker front rotation connection. The front part of the guide rod can be connected to the front base to form a guide rod front rotation connection. When the joint assembly rotates, the rear part of the rocker rotates on the rear base, the rear part of the guide rod slides on the rear base, and the middle slide slides in the middle slide groove, so that the front part of the rocker and the front part of the guide rod rotate on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

[0015] The middle part of the rocker of the laparoscopic surgical instrument of the present invention and the middle part of the guide rod can form a middle part rotation connection of the guide rod. The rear part of the rocker and the rear base can form a rear rotation connection of the rocker. The rear part of the guide rod and the rear base can form a rear sliding connection of the guide rod. The front part of the rocker and the front base can form a front sliding connection of the rocker. The front part of the guide rod and the front base can form a front rotation connection of the guide rod. When the joint assembly rotates by the joint, the rear part of the rocker rotates on the rear base, the rear part of the guide rod slides on the rear base, and the middle part of the rocker rotates on the middle part of the guide rod, so that the front part of the guide rod rotates on the front base, and the front part of the rocker slides on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

[0016] The rear connection of the rocker between the rocker and the rear base of the laparoscopic surgical instrument of the present invention can be located in front of the rear connection of the guide rod between the guide rod and the rear base, and accordingly, the front connection of the rocker between the rocker and the front base is located in front of the front connection of the guide rod between the guide rod and the front base. The rear connection of the rocker between the rocker and the rear base can also be located in the rear of the rear connection of the guide rod between the guide rod and the rear base, and accordingly, the front connection of the rocker between the rocker and the front base is located in the rear of the front connection of the guide rod between the guide rod and the front base.

[0017] The operating assembly of the laparoscopic surgical instrument of the present invention includes a joint positioning member. The joint positioning member can control the rear of the rocker to swing to both sides at the rocker rear rotation connection on the rear base, and can also control the rear of the guide rod to swing to both sides at the guide rod rear rotation connection on the rear base. For the structure, installation, use and action process of the joint positioning member of various laparoscopic surgical instruments driving the joint assembly to rotate, reference can be made to the various patents cited in this specification and other related documents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a reduced stereogram showing a laparoscopic surgical instrument;

[0019] Figure 2 Yes means Figure 1 A reduced stereoscopic view of a laparoscopic surgical instrument with some parts removed;

[0020] Figure 3 Yes means Figure 1 A reduced perspective view of the joint assembly and related parts of the first embodiment;

[0021] Figure 4 Yes means Figure 3 A stereoscopic view of a lower front base, a lower rear base, a rocker, a guide rod and a joint positioning member;

[0022] Figure 5 Yes means Figure 3A three-dimensional diagram of an upper front base, an upper rear base, a rocker, a guide rod and a joint positioning member;

[0023] Figure 6 Yes means Figure 3 A reduced stereoscopic view of the actuator when it swings to the left along with the joint rotation of the joint assembly;

[0024] Figure 7 Yes means Figure 6 A stereoscopic view of a lower front base, a lower rear base, a rocker, a guide rod and a joint positioning member;

[0025] Figure 8 Yes means Figure 6 A three-dimensional diagram of an upper front base, an upper rear base, a rocker, a guide rod and a joint positioning member;

[0026] Fig. 9 Yes means Figure 3 A reduced stereoscopic view of the actuator when it swings to the right along with the joint rotation of the joint assembly;

[0027] Fig.10 Yes means Figure 3 A three-dimensional view of the upper rear base;

[0028] Fig.11 Yes means Figure 3 A three-dimensional view of the lower rear base;

[0029] Fig.12 Yes means Figure 3 A three-dimensional view of the upper front base;

[0030] Fig.13 Yes means Figure 3 A perspective view of the lower front base;

[0031] Fig.14 Yes means Figure 3 A stereogram of the joystick;

[0032] Fig.15 Yes means Figure 3 A three-dimensional diagram of a guide rod;

[0033] Fig.16 Yes means Figure 3 A three-dimensional diagram of a joint positioning member;

[0034] Fig.17 Yes means Figure 1 A reduced perspective view of a joint assembly and related parts of a second embodiment;

[0035] Fig.18 Yes means Fig.17 A stereoscopic view of a lower front base, a lower rear base, a rocker, a guide rod and a joint positioning member;

[0036] Fig.19 Yes means Fig.17 A three-dimensional diagram of an upper front base, an upper rear base, a rocker, a guide rod and a joint positioning member;

[0037] Fig. 20 Yes means Fig.17 A reduced stereoscopic view of the actuator when it swings to the left along with the joint rotation of the joint assembly;

[0038] Fig.21 Yes means Fig. 20 A stereoscopic view of a lower front base, a lower rear base, a rocker, a guide rod and a joint positioning member;

[0039] Fig. 22 Yes means Fig. 20 A three-dimensional diagram of an upper front base, an upper rear base, a rocker, a guide rod and a joint positioning member;

[0040] Fig.23 Yes means Fig.17 A reduced stereoscopic view of the actuator when it swings to the right along with the joint rotation of the joint assembly;

[0041] Fig.24 Yes means Fig.17 A three-dimensional view of the upper rear base;

[0042] Fig.25 Yes means Fig.17 A three-dimensional view of the lower rear base;

[0043] Fig.26 Yes means Fig.17 A stereogram of a joystick;

[0044] Fig. 27 Yes means Fig.17 A three-dimensional diagram of a guide rod;

[0045] Fig.28 Yes means Fig.17 A three-dimensional view of a joint positioning member;

[0046] Fig.29 Yes means Figure 1 A three-dimensional view of a guide rod mechanism of a joint assembly of a third embodiment;

[0047] Fig.30 Yes means Fig.29 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0048] Fig.31 Yes means Fig.29 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0049] Fig.32 Yes means Fig.29A three-dimensional diagram of the guide rod mechanism of the joint assembly when it swings to the left;

[0050] Fig.33 Yes means Fig.32 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0051] Fig.34 Yes means Fig.32 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0052] Fig.35 Yes means Fig.29 A three-dimensional view of the upper front base;

[0053] Fig.36 Yes means Fig.29 A perspective view of the lower front base;

[0054] Fig.37 Yes means Fig.29 A stereogram of the joystick;

[0055] Fig.38 Yes means Fig.29 A three-dimensional diagram of a guide rod;

[0056] Fig.39 Yes means Figure 1 A perspective view of a guide rod mechanism of a joint assembly of a fourth embodiment;

[0057] Fig.40 Yes means Fig.39 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0058] Fig.41 Yes means Fig.39 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0059] Fig.42 Yes means Fig.39 A three-dimensional diagram of the guide rod mechanism of the joint assembly when it swings to the left;

[0060] Fig.43 Yes means Fig.42 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0061] Fig.44 Yes means Fig.42 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0062] Fig.45 Yes means Fig.39 A three-dimensional view of the upper front base;

[0063] Fig.46 Yes means Fig.39A perspective view of the lower front base;

[0064] Fig.47 Yes means Fig.39 A stereogram of the joystick;

[0065] Fig.48 Yes means Fig.39 A three-dimensional diagram of a guide rod;

[0066] Fig.49 Yes means Figure 1 A perspective view of a guide rod mechanism of a joint assembly of a fifth embodiment;

[0067] Fig.50 Yes means Fig.49 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0068] Fig.51 Yes means Fig.49 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0069] Fig.52 Yes means Fig.49 A three-dimensional diagram of the guide rod mechanism of the joint assembly when it swings to the left;

[0070] Fig.53 Yes means Fig.52 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0071] Fig.54 Yes means Fig.52 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0072] Fig.55 Yes means Fig.49 A three-dimensional view of the upper front base;

[0073] Fig.56 Yes means Fig.49 A perspective view of the lower front base;

[0074] Fig.57 Yes means Fig.49 A three-dimensional view of the upper rear base;

[0075] Fig.58 Yes means Fig.49 A three-dimensional view of the lower rear base;

[0076] Fig.59 Yes means Fig.49 A stereogram of the joystick;

[0077] Fig.60 Yes means Fig.49 A three-dimensional diagram of a guide rod;

[0078] Fig.61 Yes means Figure 1 A perspective view of a guide rod mechanism of a joint assembly of a sixth embodiment;

[0079] Fig.62 Yes means Fig.61 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0080] Fig.63 Yes means Fig.61 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0081] Fig.64 Yes means Fig.61 A three-dimensional diagram of the guide rod mechanism of the joint assembly when it swings to the left;

[0082] Fig.65 Yes means Fig.64 A three-dimensional diagram of an upper front base, an upper rear base, a rocker and a guide rod;

[0083] Fig.66 Yes means Fig.64 A three-dimensional view of a lower front base, a lower rear base, a rocker and a guide rod;

[0084] Fig.67 Yes means Fig.61 A stereogram of the joystick;

[0085] Fig.68 Yes means Fig.61 A three-dimensional view of the guide rod. Specific implementation methods

[0086] The following is a description of the best embodiment of the joint assembly of the laparoscopic surgical instrument of the present invention in combination with the accompanying drawings by way of example. The scope of the present invention will be indicated in the claims. It should be recognized that some or all of the drawings are schematic diagrams for illustrating the best embodiment of the present invention, and do not depict the actual size of the parts shown. With reference to the detailed description of the best embodiment, the actual manner in which the above and other objects and advantages of the present invention are achieved will be more clearly understood. In the drawings and the following description, the term "rear" refers to a position close to the operator of the laparoscopic surgical instrument, while the term "front" refers to a position away from the operator of the laparoscopic surgical instrument; the term "left" refers to the left position of the operator of the laparoscopic surgical instrument, while the term "right" refers to the right position of the operator of the laparoscopic surgical instrument; the term "upper" refers to the upper position of the operator of the laparoscopic surgical instrument, while the term "lower" refers to the lower position of the operator of the laparoscopic surgical instrument. The terms of other positions and directions can be understood according to the drawings and the following description. In order to highlight the graphics and descriptions of the joint assembly and related parts of the laparoscopic surgical instrument of the present invention, other parts are not described in detail in the drawings. For the structure, installation, use and action process of the parts of various laparoscopic surgical instruments, reference can be made to the various patents cited in this specification and other related documents.

[0087] like Figure 1 and Figure 2 As shown, the laparoscopic surgical instrument 1 includes an actuator assembly 2, a joint assembly 3, an extension assembly 4 and an operating assembly 5. The joint assembly 3 includes a guide rod mechanism 6. The outer periphery of the guide rod mechanism 6 is covered with a sleeve 30.

[0088] Figures 3 to 16 The joint assembly and related parts of the first embodiment of the laparoscopic surgical instrument of the present invention are described. The guide rod mechanism 6 in the joint assembly 3 includes a front base 7, a rear base 8, a rocker 9 and a guide rod 10 (see Figure 3 The front part of the rocker 9 has a front slider 11, the middle part has a middle slider 12, and the rear part has a rear hole 13 (see Fig.14 The guide rod 10 has a front hole 14 at the front, a middle slide groove 15 at the middle, and a rear hole 16 at the rear (see Fig.15 The middle slider 12 of the rocker 9 is inserted into the middle slide groove 15 of the guide rod 10 to form a sliding connection in the middle of the guide rod (see Figure 4 The front base 7 has an upper front base 17 and a lower front base 18 (see Figure 3 , Figure 6 and Fig. 9 ). The front portion of the upper front base 17 has a front hole 19 (see Fig.12 The lower front base 18 has a rear slide 20 at the rear and a front axle 21 at the front (see Fig.13 ). The front shaft 21 of the lower front base 18 is inserted into the front hole 19 of the upper front base 17 to form the front base 7. The rear base 8 has an upper rear base 22 and a lower rear base 23 (see Figure 3 , Figure 6 and Fig. 9 The upper rear base 22 has a front axle 24 at the front and a rear axle 25 at the rear (see Fig.10 The rear portion of the lower rear base 23 has a rear hole 26 (see Fig.11 ). The rear shaft 25 of the upper rear base 22 is inserted into the rear hole 26 of the lower rear base 23 to form the rear base 8. The front slider 11 of the rocker 9 is inserted into the rear slide groove 20 of the lower front base 18. The front slider 11 of the rocker 9 and the rear slide groove 20 of the lower front base 18 form a sliding connection between the front part of the rocker (see Figure 4 The rear hole 13 of the rocker 9 is inserted into the rear axle 25 of the upper rear base 22 of the rear base 8 to form a rear rotation connection of the rocker (see Figure 5 The rear hole 16 of the guide rod 10 is inserted into the front shaft 24 of the upper rear base 22 of the rear base 8 to form a rear rotation connection of the guide rod (see Figure 8 The front hole 14 of the guide rod 10 is inserted into the front axle 21 of the lower front base 18 of the front base 7 to form a rotation connection of the front part of the guide rod (see Figure 4 The rocker rear rotation connection between the rocker 9 and the rear base 8 is located at the rear of the guide rod rear rotation connection between the guide rod 10 and the rear base 8; correspondingly, the rocker front sliding connection between the rocker 9 and the front base 7 is located at the rear of the guide rod front rotation connection between the guide rod 10 and the front base 7.

[0089] The operating assembly 5 includes a joint positioning member 27 and an execution drive member 31 (see Figure 2 and Figure 3 The front part of the joint positioning member 27 has a driving block 28 (see Fig.16 ). The rear part of the rocker 9 has a driving groove 29 (see Fig.14 The driving block 28 of the joint positioning member 27 is inserted into the driving slot 29 of the rocker 9 (see Figure 5 and Figure 8 ). The rear base 8 is installed at the front of the extension assembly 4, and the front base 7 is installed at the rear of the actuator assembly 2 (see Figure 3 ). When the joint assembly 3 rotates, the joint positioning member 27 moves forward and backward in the extension assembly 4, and the driving block 28 of the joint positioning member 27 controls the driving slot 29 of the rocker 9 to swing to both sides at the rear rotation connection of the rocker on the rear base 8, so that the rear hole 13 of the rocker 9 rotates on the rear axis 25 of the rear base 8 and the rear hole 16 of the guide rod 10 rotates on the front axis 24 of the rear base 8, and the middle slider 12 of the rocker 9 moves in the middle slide groove 15 of the guide rod 10, so that the front slider 11 of the rocker 9 slides in the rear slide groove 20 of the front base 7, and the front hole 14 of the guide rod 10 rotates on the front axis 21 of the front base 7, driving the rocker 9 and the guide rod 10 to swing to both sides on the rear base 8, the rocker 9 and the guide rod 10 drive the front base 7 to swing to both sides, and the front base 7 drives the actuator 2 to swing to both sides (see Figures 3 to 9 ).

[0090] By changing the connection position between the rear part of the rocker 9 and the rear part of the guide rod 10 in the guide rod mechanism 6 and the rear base 8, changing the connection position between the front part of the rocker 9 and the front part of the guide rod 10 and the front base 7, and changing the position where the middle part of the guide rod 10 is connected in the guide rod 10, the technical effect of significantly changing the maximum rotation angle of the joint assembly 3 for joint rotation can be achieved. The maximum rotation angle of the joint assembly 3 for joint rotation can be designed to be an angle of more than 90° to meet various technical requirements of various laparoscopic surgical instruments 1 for joint rotation of the joint assembly 3. The guide rod mechanism 6 in the joint assembly 3 can significantly increase the curvature radius of the bent joint assembly 3 after joint rotation, so that the bending deformation resistance of the actuator 31 is small, and the technical effect of significantly reducing the operating force of the joint assembly 3 for joint rotation is achieved; and the joint assembly 3 has sufficient stability and sufficient rigidity at any bending position, so that the joint assembly 3 of the laparoscopic surgical instrument 1 is not easy to shift and the positioning accuracy of the actuator 2 is high, so as to achieve the technical effect of facilitating the precise alignment of the actuator 2 with the surgical site.

[0091] Figures 17 to 28 The joint assembly and related parts of the second embodiment of the laparoscopic surgical instrument of the present invention are described. The laparoscopic surgical instrument of the second embodiment uses the same actuator assembly 2 and extension assembly 4 as the laparoscopic surgical instrument of the first embodiment. The joint positioning member 27 in the operating assembly 5 of the laparoscopic surgical instrument of the first embodiment is replaced with a joint positioning member 57; the guide rod mechanism 6 in the joint assembly 3 is replaced with a guide rod mechanism 36.

[0092] The guide rod mechanism 36 includes a front base 7, a rear base 38, a rocker 39 and a guide rod 40 (see Fig.17 The rocker 39 has a front slider 41 at the front, a middle slider 42 at the middle, and a rear hole 43 at the rear (see FIG. Fig.26 The guide rod 40 has a front hole 44 at the front, a middle slide groove 45 at the middle, and a rear hole 46 at the rear (see Fig. 27 The middle slide block 42 of the rocker 39 is inserted into the middle slide groove 45 of the guide rod 40 to form a sliding connection in the middle of the guide rod (see Fig.18 and Fig.21 ). The rear base 38 has an upper rear base 52 and a lower rear base 53 (see Fig.17 , Fig. 20 and Fig.23 The upper rear base 52 has a front axle 54 at the front and a rear axle 55 at the rear (see Fig.24 The rear portion of the lower rear base 53 has a rear hole 56 (see Fig.25 The rear axle 55 of the upper rear base 52 is inserted into the rear hole 56 of the lower rear base 53 to form the rear base 38. The front slider 41 of the rocker 39 is inserted into the rear slide groove 20 of the lower front base 18 (see Fig.18 and Fig.21The front sliding block 41 of the rocker 39 and the rear sliding groove 20 of the lower front base 18 form a sliding connection at the front of the rocker. The rear hole 43 of the rocker 39 is inserted into the rear shaft 55 of the upper rear base 52 of the rear base 38 to form a rear rotation connection of the rocker (see Fig.19 and Fig. 22 The rear hole 46 of the guide rod 40 is inserted into the front shaft 54 ​​of the upper rear base 52 of the rear base 38 to form a rear rotation connection of the guide rod (see Fig. 22 The front hole 44 of the guide rod 40 is inserted into the front axle 21 of the lower front base 18 of the front base 7 to form a front rotation connection of the guide rod (see Fig.18 and Fig.21 The rocker rear rotation connection between the rocker 39 and the rear base 38 is located behind the guide rod rear rotation connection between the guide rod 40 and the rear base 38; correspondingly, the rocker front sliding connection between the rocker 39 and the front base 7 is located behind the guide rod front rotation connection between the guide rod 40 and the front base 7.

[0093] The front part of the joint positioning member 57 has a rack 58 (see Fig.28 The rear part of the guide rod 40 is provided with a gear 59 (see Fig. 27 The rack 58 of the joint positioning member 57 is inserted into the gear 59 of the guide rod 40 (see Fig.18 and Fig.21 ). The rear base 38 is installed at the front of the extension assembly 4, and the front base 7 is installed at the rear of the actuator assembly 2 (see Fig.17 When the joint assembly 33 rotates, the joint positioning member 57 moves forward and backward in the extension assembly 4, and the rack 58 of the joint positioning member 57 controls the gear 59 of the guide rod 40 to swing to both sides at the rear rotation connection of the rocker on the rear base 38, so that the rear hole 43 of the rocker 39 rotates on the rear axis 55 of the rear base 38 and the rear hole 46 of the guide rod 40 rotates on the front axis 54 of the rear base 38, and the middle slider 42 of the rocker 39 moves in the middle slide groove 45 of the guide rod 40, so that the front slider 41 of the rocker 39 slides in the rear slide groove 20 of the front base 7, and the front hole 44 of the guide rod 40 rotates on the front axis 21 of the front base 7, driving the rocker 39 and the guide rod 40 to swing to both sides on the rear base 38, the rocker 39 and the guide rod 40 drive the front base 7 to swing to both sides, and the front base 7 drives the actuator 2 to swing to both sides (see Figures 17 to 23 ).

[0094] Compared with the joint assembly of the second embodiment, when the driving block 28 of the joint positioning member 27 controls the driving slot 29 of the rocker 9 to swing to both sides at the rear rotation connection of the rocker on the rear base 8, the action stroke of the joint positioning member 27 is shorter, but the required force is larger; when the rack 58 of the joint positioning member 57 controls the gear 59 of the guide rod 40 to swing to both sides at the rear rotation connection of the rocker on the rear base 38, the action stroke of the joint positioning member 57 is longer, but the required force is smaller. Different technical solutions can be selected according to the different technical requirements of various laparoscopic surgical instruments. For the structure, installation, use and action process of the joint positioning members of various laparoscopic surgical instruments driving the joint assembly to rotate, reference can be made to the various patents cited in this specification and other related documents.

[0095] The rear base of the laparoscopic surgical instrument of the first embodiment and the second embodiment of the present invention can also be installed in the front part of the instrument body of the operating assembly, and the front base can also be installed in the rear part of the extension assembly. When the joint assembly rotates, the rocker and the guide rod swing to both sides on the rear base, the rocker and the guide rod drive the front base to swing to both sides, the front base drives the extension assembly to swing to both sides, and the rear base drives the instrument body to swing to both sides.

[0096] Figures 29 to 38 The third embodiment of the present invention is a guide rod mechanism of a joint assembly of a laparoscopic surgical instrument. The guide rod mechanism 6 in the laparoscopic surgical instrument of the first embodiment is replaced with a guide rod mechanism 61 of the laparoscopic surgical instrument of the third embodiment. The guide rod mechanism 61 includes a front base 62, a rear base 8, a rocker 63 and a guide rod 64 (see FIG. Fig.29 The front portion of the rocker 63 has a front hole 65, the middle portion has a middle slider 66, and the rear portion has a rear hole 67 (see FIG. Fig.37 The guide rod 64 has a front slide groove 68 at the front, a middle slide groove 69 at the middle, and a rear hole 70 at the rear (see FIG. Fig.38 The middle slide block 66 of the rocker 63 is inserted into the middle slide groove 69 of the guide rod 64 to form a sliding connection in the middle of the guide rod (see Fig.31 ). The front base 62 has an upper front base 71 and a lower front base 72. The front portion of the upper front base 71 has a front hole 73 (see Fig.35 The lower front base 72 has a rear axle 74 at the rear and a front axle 75 at the front (see Fig.36 The front shaft 75 of the lower front base 72 is inserted into the front hole 73 of the upper front base 71 to form the front base 62. The front hole 65 of the rocker 63 is inserted into the rear shaft 74 of the lower front base 72 to form a rotation connection of the front part of the rocker (see Fig.29 The rear hole 67 of the rocker 63 is inserted into the rear axle 25 of the upper rear base 22 of the rear base 8 to form a rear rotation connection of the rocker (see Fig.30 The rear hole 70 of the guide rod 64 is inserted into the front shaft 24 of the upper rear base 22 of the rear base 8 to form a rear rotation connection of the guide rod (see Fig.30 The front slide groove 68 of the guide rod 64 is inserted into the front shaft 75 of the lower front base 72 of the front base 62 to form a sliding connection at the front of the guide rod (see Fig.31 The rocker rear rotation connection between the rocker 63 and the rear base 8 is located behind the guide rod rear rotation connection between the guide rod 64 and the rear base 8; correspondingly, the rocker front rotation connection between the rocker 63 and the front base 62 is located behind the guide rod front sliding connection between the guide rod 64 and the front base 62.

[0097] like Figures 29 to 34 As shown, when the guide rod mechanism 61 rotates by joint, the rear hole 67 of the rocker arm 63 rotates on the rear axle 25 of the rear base 8, the rear hole 70 of the guide rod 64 rotates on the front axle 24 of the rear base 8, and the middle slider 66 of the rocker arm 63 moves in the middle slide groove 69 of the guide rod 64, so that the front hole 65 of the rocker arm 63 rotates on the rear axle 74 of the front base 62, and the front slide groove 68 of the guide rod 64 slides on the front axle 75 of the front base 62, driving the rocker arm 63 and the guide rod 64 to swing to both sides on the rear base 8, and the rocker arm 63 and the guide rod 64 drive the front base 62 to swing to both sides.

[0098] Figures 39 to 48 The fourth embodiment of the present invention is a guide rod mechanism of a joint assembly of a laparoscopic surgical instrument. The guide rod mechanism 6 of the laparoscopic surgical instrument of the first embodiment is replaced with a guide rod mechanism 81 of the laparoscopic surgical instrument of the fourth embodiment. The guide rod mechanism 81 includes a front base 82, a rear base 8, a rocker 83 and a guide rod 84 (see FIG. Fig.39 The front portion of the rocker 83 has a front hole 85, the middle portion has a middle slider 86, and the rear portion has a rear hole 87 (see FIG. Fig.47 The guide rod 84 has a front slide block 88 at the front, a middle slide groove 89 at the middle, and a rear hole 90 at the rear (see Fig.48 The middle slide block 86 of the rocker 83 is inserted into the middle slide groove 89 of the guide rod 84 to form a sliding connection in the middle of the guide rod (see Fig.39 ). The front base 82 has an upper front base 91 and a lower front base 92 (see Fig.39 ). The front portion of the upper front base 91 has a front hole 93 (see Fig.45 The lower front base 92 has a rear slide 94 at the rear and a front axle 95 at the front (see Fig.46 The front shaft 95 of the lower front base 82 is inserted into the front hole 93 of the upper front base 91 to form the front base 82. The front hole 85 of the rocker 83 is inserted into the front shaft 95 of the lower front base 92 of the front base 82 to form a front rotation connection of the rocker (see Fig.41 The rear hole 87 of the rocker 83 is inserted into the front shaft 24 of the upper rear base 22 of the rear base 8 to form a rear rotation connection of the rocker (see Fig.43 The rear hole 90 of the guide rod 84 is inserted into the rear axle 25 of the upper rear base 22 of the rear base 8 to form a rear rotation connection of the guide rod (see Fig.40The front slider 88 of the guide rod 84 is inserted into the rear slide groove 94 of the lower front base 92 of the front base 82 to form a sliding connection at the front of the guide rod (see Fig.41 The rocker rear rotation connection between the rocker 83 and the rear base 8 is located in front of the guide rod rear rotation connection between the guide rod 84 and the rear base 8; correspondingly, the rocker front rotation connection between the rocker 83 and the front base 82 is located in front of the guide rod front sliding connection between the guide rod 84 and the front base 82.

[0099] like Figures 39 to 44 As shown, when the guide rod mechanism 81 rotates by joint, the rear hole 87 of the rocker arm 83 rotates on the front axis 24 of the rear base 8, the rear hole 90 of the guide rod 84 rotates on the rear axis 25 of the rear base 8, and the middle slider 86 of the rocker arm 83 moves in the middle slide groove 89 of the guide rod 84, so that the front hole 85 of the rocker arm 83 rotates on the front axis 95 of the front base 82, and the front slider 88 of the guide rod 84 slides on the rear slide groove 94 of the front base 82, driving the rocker arm 83 and the guide rod 84 to swing to both sides on the rear base 8, and the rocker arm 83 and the guide rod 84 drive the front base 82 to swing to both sides.

[0100] Figures 49 to 60 The fifth embodiment of the present invention is a guide rod mechanism of a joint assembly of a laparoscopic surgical instrument. The guide rod mechanism 6 of the laparoscopic surgical instrument of the first embodiment is replaced with a guide rod mechanism 104 of the laparoscopic surgical instrument of the fifth embodiment. The guide rod mechanism 104 includes a front base 105, a rear base 106, a rocker 107 and a guide rod 108 (see FIG. Fig.49 The front portion of the rocker 107 has a front hole 109, the middle portion has a middle slider 110, and the rear portion has a rear hole 111 (see FIG. Fig.59 The guide rod 108 has a front hole 112 at the front, a middle slide groove 113 at the middle, and a rear slide groove 114 at the rear (see FIG. Fig.60 The middle slider 110 of the rocker 107 is inserted into the middle slide groove 113 of the guide rod 108 to form a sliding connection in the middle of the guide rod (see Fig.49 ). The front base 105 has an upper front base 115 and a lower front base 116. The front portion of the upper front base 115 has a front hole 117 (see Fig.57 The lower front base 116 has a rear axle 118 at the rear and a front axle 119 at the front (see Fig.58 ). The front shaft 119 of the lower front base 116 is inserted into the front hole 117 of the upper front base 115 to form the front base 105. The rear base 106 has an upper rear base 120 and a lower rear base 121. The front part of the upper rear base 120 has a front shaft 122, and the rear part has a rear shaft 123 (see Fig.55 The rear portion of the lower rear base 121 has a rear hole 124 (see Fig.56The rear shaft 123 of the upper rear base 120 is inserted into the rear hole 124 of the lower rear base 121 to form the rear base 106. The front hole 109 of the rocker 107 is inserted into the rear shaft 118 of the lower front base 116 to form a front rotation connection of the rocker (see Fig.54 The rear hole 111 of the rocker 107 is inserted into the rear axle 123 of the upper rear base 120 of the rear base 106 to form a rear rotation connection of the rocker (see Fig.50 The rear slide groove 114 of the guide rod 108 is inserted into the front shaft 122 of the upper rear base 120 of the rear base 106 to form a sliding connection at the rear of the guide rod (see Fig.53 The front hole 112 of the guide rod 108 is inserted into the front shaft 119 of the lower front base 116 of the front base 105 to form a front rotation connection of the guide rod (see Fig.51 The rocker rear rotation connection between the rocker 107 and the rear base 106 is located behind the guide rod rear sliding connection between the guide rod 108 and the rear base 106; correspondingly, the rocker front rotation connection between the rocker 107 and the front base 105 is located behind the guide rod front rotation connection between the guide rod 108 and the front base 105.

[0101] like Figure 49 to Figure 54 As shown, when the guide rod mechanism 104 rotates by joint, the rear hole 111 of the rocker arm 107 rotates on the rear axle 123 of the rear base 106, the rear slide groove 114 of the guide rod 108 slides on the front axle 122 of the rear base 106, and the middle slider 110 of the rocker arm 107 moves in the middle slide groove 113 of the guide rod 108, so that the front hole 109 of the rocker arm 107 rotates on the rear axle 118 of the front base 105, and the front hole 112 of the guide rod 108 rotates on the front axle 119 of the front base 105, driving the rocker arm 107 and the guide rod 108 to swing to both sides on the rear base 106, and the rocker arm 107 and the guide rod 108 drive the front base 105 to swing to both sides.

[0102] Figure 61 to Figure 68 The sixth embodiment of the present invention is a guide rod mechanism of a joint assembly of a laparoscopic surgical instrument. The guide rod mechanism 6 of the laparoscopic surgical instrument of the first embodiment is replaced with a guide rod mechanism 127 of the laparoscopic surgical instrument of the sixth embodiment. The guide rod mechanism 127 includes a front base 82, a rear base 106, a rocker 130 and a guide rod 131 (see FIG. Fig.61 The rocker 130 has a front slider 132 at the front, a middle protrusion 133 at the middle, and a rear hole 134 at the rear (see FIG. Fig.67 The guide rod 131 has a front hole 135 at the front, a middle hole 136 at the middle, and a rear slide groove 137 at the rear (see Fig.68 The middle protrusion 133 of the rocker 130 is inserted into the middle hole 136 of the guide rod 131 to form a rotation connection in the middle of the guide rod (see Fig.61 ). The front slider 132 of the rocker 130 is inserted into the rear slide groove 94 of the lower front base 82 to form a sliding connection at the front of the rocker (see Fig.63 The rear hole 134 of the rocker 130 is inserted into the rear axle 123 of the upper rear base 120 of the rear base 106 to form a rear rotation connection of the rocker (see Fig.62 The rear slide groove 137 of the guide rod 131 is inserted into the front shaft 122 of the upper rear base 120 of the rear base 106 to form a sliding connection at the rear of the guide rod (see Fig.65 The front hole 135 of the guide rod 131 is inserted into the front shaft 95 of the lower front base 92 of the front base 82 to form a front rotation connection of the guide rod (see Fig.63 ). At this time, the rocker rear rotation connection between the rocker 130 and the rear base 106 is located behind the guide rod rear sliding connection between the guide rod 131 and the rear base 106; correspondingly, the rocker front sliding connection between the rocker 130 and the front base 82 is located behind the guide rod front rotation connection between the guide rod 131 and the front base 82.

[0103] like Figure 61 to Figure 66 As shown, when the guide rod mechanism 127 rotates by joint, the rear hole 134 of the rocker 130 rotates on the rear axle 123 of the rear base 106, the rear slide groove 137 of the guide rod 131 slides on the front axle 122 of the rear base 106, and the middle protrusion 133 of the rocker 130 rotates in the middle hole 136 of the guide rod 131, so that the front slider 132 of the rocker 130 slides in the rear slide groove 94 of the front base 82, and the front hole 135 of the guide rod 131 rotates on the front axle 95 of the front base 82, driving the rocker 130 and the guide rod 131 to swing to both sides on the rear base 106, and the rocker 130 and the guide rod 131 drive the front base 82 to swing to both sides.

[0104] The various technical features and technical solutions in the laparoscopic surgical instruments of the above six embodiments of the present invention may be implemented individually, cross-implemented, or implemented in combination to achieve the best technical effect.

[0105] According to the above detailed introduction, compared with various existing joint assemblies of laparoscopic surgical instruments, the joint assembly of the laparoscopic surgical instrument of the present invention has the following technical effects:

[0106] The joint assembly of the laparoscopic surgical instrument of the present invention adopts the technical feature that the middle part of the rocker and the middle part of the guide rod form a sliding connection in the middle part of the guide rod, or adopts the technical feature that the middle part of the rocker and the middle part of the guide rod form a rotating connection in the middle part of the guide rod; adopts the technical feature that the rear part of the rocker and the rear base form a rocker rear connection, the rear part of the guide rod and the rear base form a guide rod rear connection, the front part of the rocker and the front base form a rocker front connection, and the front part of the guide rod and the front base form a guide rod front connection; adopts the technical feature that there are three rotating connections and two sliding connections in the guide rod mechanism in the joint assembly. The technical solution adopted is that the guide rod mechanism in the joint assembly is connected to the rear base and the front base by the two ends of the rocker and the guide rod respectively. When the joint assembly rotates, the rocker and the guide rod swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides. The joint assembly of the laparoscopic surgical instrument can achieve the technical effect of significantly changing the maximum angle of the joint assembly for joint rotation by changing the connection position between the rear part of the rocker and the rear part of the guide rod in the guide rod mechanism and the rear base, changing the connection position between the front part of the rocker and the front part of the guide rod and the front base, and changing the position of the middle part of the guide rod connected to the guide rod. The maximum angle of the joint assembly for joint rotation can be designed to be an angle of more than 90 degrees to meet various technical requirements of various laparoscopic surgical instruments for joint rotation of the joint assembly. The guide rod mechanism in the joint assembly can significantly increase the curvature radius of the bent joint assembly after joint rotation, so that the bending deformation resistance of the actuator is small, achieving the technical effect of significantly reducing the operating force of the joint assembly for joint rotation; and making the joint assembly have sufficient stability and sufficient rigidity at any bending position, so that the joint assembly of the laparoscopic surgical instrument is not easy to shift and the actuator positioning accuracy is high, achieving the technical effect of facilitating the precise alignment of the actuator to the surgical site.

[0107] The joint assembly of the laparoscopic surgical instrument of the present invention adopts the technical feature of having a joint positioning member in the operating assembly. The adopted technical solution is that the joint positioning member can control the rocker at the rocker rear rotation connection or the guide rod at the guide rod rear rotation connection located on the rear part of the rear base to swing to both sides, and can also control the rocker at the rocker rear rotation connection or the guide rod at the guide rod rear rotation connection located on the front part of the rear base to swing to both sides. When the joint positioning member controls the rocker at the rocker rear rotation connection or the guide rod at the guide rod rear rotation connection located on the rear part of the rear base to swing to both sides, the action stroke of the joint positioning member is shorter, but the required force is larger; when the joint positioning member controls the rocker at the rocker rear rotation connection or the guide rod at the guide rod rear rotation connection located on the front part of the rear base to swing to both sides, the action stroke of the joint positioning member is longer, but the required force is smaller.

Claims

1. A joint assembly of a laparoscopic surgical instrument, wherein the laparoscopic surgical instrument comprises an actuator assembly, a joint assembly, an extension assembly and an operating assembly; Features: The joint assembly includes a guide rod mechanism, and the guide rod mechanism includes a rear base, a front base, a rocker and a guide rod; a rear connection of the rocker is formed between the rear part of the rocker and the rear base, a rear connection of the guide rod is formed between the rear part of the guide rod and the rear base, a front connection of the rocker is formed between the front part of the rocker and the front base, a front connection of the guide rod is formed between the front part of the guide rod and the front base, and a middle connection of the guide rod is formed between the middle part of the rocker and the middle part of the guide rod; among the five connections of the rocker rear connection, the guide rod rear connection, the rocker front connection, the guide rod front connection and the guide rod middle connection, three are rotating connections and two are sliding connections; when the joint assembly rotates, the rocker and the guide rod swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

2. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The middle part of the rocker is provided with a middle slider, the middle part of the guide rod is provided with a middle slide groove, and the middle slider is inserted into the middle slide groove to form a sliding connection with the middle part of the guide rod; the rear part of the rocker and the rear base form a rear rotation connection of the rocker, the rear part of the guide rod and the rear base form a rear rotation connection of the guide rod, the front part of the rocker and the front base form a front sliding connection of the rocker, and the front part of the guide rod and the front base form a front rotation connection of the guide rod; when the joint assembly rotates, the rear part of the rocker and the rear part of the guide rod rotate on the rear base, the middle slider slides in the middle slide groove, so that the front part of the guide rod rotates on the front base, and the front part of the rocker slides on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

3. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The middle part of the rocker is provided with a middle slider, the middle part of the guide rod is provided with a middle slide groove, and the middle slider is inserted into the middle slide groove to form a sliding connection with the middle part of the guide rod; the rear part of the rocker and the rear base form a rear rotation connection of the rocker, the rear part of the guide rod and the rear base form a rear rotation connection of the guide rod, the front part of the rocker and the front base form a front rotation connection of the rocker, and the front part of the guide rod and the front base form a front sliding connection of the guide rod; when the joint assembly rotates, the rear part of the rocker and the rear part of the guide rod rotate on the rear base, and the middle slider slides in the middle slide groove, so that the front part of the rocker rotates on the front base, and the front part of the guide rod slides on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

4. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The middle part of the rocker is provided with a middle slider, the middle part of the guide rod is provided with a middle slide groove, and the middle slider is inserted into the middle slide groove to form a sliding connection with the middle part of the guide rod; the rear part of the rocker and the rear base form a rocker rear sliding connection, the rear part of the guide rod and the rear base form a guide rod rear rotation connection, the front part of the rocker and the front base form a rocker front rotation connection, and the front part of the guide rod and the front base form a guide rod front rotation connection; when the joint assembly is rotated, the rear part of the guide rod rotates on the rear base, the rear part of the rocker slides on the rear base, and the middle slider slides in the middle slide groove, so that the front part of the rocker and the front part of the guide rod rotate on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

5. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The middle part of the rocker is provided with a middle slider, the middle part of the guide rod is provided with a middle slide groove, and the middle slider is inserted into the middle slide groove to form a sliding connection with the middle part of the guide rod; the rear part of the rocker and the rear base form a rear rotation connection of the rocker, the rear part of the guide rod and the rear base form a rear sliding connection of the guide rod, the front part of the rocker and the front base form a front rotation connection of the rocker, and the front part of the guide rod and the front base form a front rotation connection of the guide rod; when the joint assembly is rotated, the rear part of the rocker rotates on the rear base, the rear part of the guide rod slides on the rear base, and the middle slider slides in the middle slide groove, so that the front part of the rocker and the front part of the guide rod rotate on the front base, driving the rocker and the guide rod to swing to both sides on the rear base, and the rocker and the guide rod drive the front base to swing to both sides.

6. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The middle part of the rocker arm and the middle part of the guide rod form a middle guide rod rotation connection; the rear part of the rocker arm and the rear base form a rear rocker arm rotation connection, the rear part of the guide rod and the rear base form a rear guide rod sliding connection, the front part of the rocker arm and the front base form a front rocker arm sliding connection, and the front part of the guide rod and the front base form a front guide rod rotation connection; when the joint assembly rotates, the rear part of the rocker arm rotates on the rear base, the rear part of the guide rod slides on the rear base, and the middle part of the rocker arm rotates on the middle part of the guide rod, so that the front part of the guide rod rotates on the front base, and the front part of the rocker arm slides on the front base, driving the rocker arm and the guide rod to swing to both sides on the rear base, and the rocker arm and the guide rod drive the front base to swing to both sides.

7. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The rear connection of the rocker arm between the rocker arm and the rear base is located in front of the rear connection of the guide rod between the guide rod and the rear base, and correspondingly, the front connection of the rocker arm between the rocker arm and the front base is located in front of the front connection of the guide rod between the guide rod and the front base.

8. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The rear connection of the rocker arm between the rocker arm and the rear base is located behind the rear connection of the guide rod between the guide rod and the rear base, and correspondingly, the front connection of the rocker arm between the rocker arm and the front base is located behind the front connection of the guide rod between the guide rod and the front base.

9. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The operating assembly includes a joint positioning member, and a rear rotation connection of the rocker is formed between the rear portion of the rocker and the rear base. The joint positioning member controls the rear portion of the rocker to swing to both sides at the rear rotation connection of the rocker on the rear base.

10. The joint assembly of the laparoscopic surgical instrument according to claim 1, characterized in that: The operating assembly includes a joint positioning member, the rear portion of the guide rod is rotatably connected to the rear base, and the joint positioning member controls the rear portion of the guide rod to swing to both sides at the rear portion of the guide rod rotatably connected to the rear base.

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