A surgical knife assembly and mounting seat thereof

Abstract

The present invention discloses a scalpel assembly, which comprises a base, an operating tube rotatably connected to the base, a connector fixedly connected to one end of the operating tube, an intermediate seat rotatably connected to the connector, an upper clamping member rotatably connected to the intermediate seat, and a lower clamping member rotatably connected to the intermediate seat. By rotating the upper clamping member and the lower clamping member relative to the intermediate seat, the upper clamping member and the lower clamping member can clamp an object. By rotating the intermediate seat relative to the connector and the operating tube relative to the base, the upper clamping member and the lower clamping member can drive the clamped object to rotate along the axial direction of the operating tube and in a direction perpendicular to the axial direction of the operating tube, thereby completing a more complicated surgical operation.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a scalpel assembly and a mounting seat thereof. Background Art

[0002] Minimally invasive surgery refers to surgery performed through a minimal incision on the human body. Minimally invasive surgical techniques emerged in the 1980s and are generally referred to as interventional surgery. Interventional surgery uses various visual imaging devices and advanced and flexible surgical instruments to insert surgical instruments into the human body through a small incision for treatment or diagnosis. Compared with traditional open surgery, minimally invasive surgery has many advantages, such as less trauma, less pain for patients, faster postoperative recovery, and is conducive to improving surgical quality and reducing medical costs. Therefore, it is widely welcomed by doctors and patients and is an inevitable trend in the development of surgical procedures.

[0003] Minimally invasive abdominal surgery involves making two to three incisions of 0.5 to 1 cm in size in the abdominal cavity, inserting surgical instruments into the abdominal cavity, and removing diseased organs and tumors under the guidance of a visual display system. Minimally invasive abdominal surgery, as a representative of minimally invasive surgery, is a major change to traditional open surgery.

[0004] However, there are some problems with minimally invasive abdominal surgery: 1. It is easy for doctors to feel tired if they hold the surgical instruments accurately for a long time; 2. When doctors operate instruments in front of the operating table, the distance between the doctor's hand and the end of the instrument is generally 400-500mm. Since the human hand will inevitably produce low-frequency jitter, this jitter will eventually be transmitted to the end of the surgical instrument, resulting in instability of the endoscope output image. Therefore, surgical instruments are one of the key technical issues of minimally invasive abdominal surgery. A multi-degree-of-freedom micro-manipulator is now needed to expand the doctor's surgical capabilities and complete complex surgical operations such as clamping. Summary of the invention

[0005] In view of the deficiencies in the prior art, the object of the present invention is to provide a scalpel assembly that can perform multi-degree-of-freedom motion and achieve clamping and movement in various orientations.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A surgical knife assembly comprises a base, an operating tube rotatably connected to the base, an intermediate seat rotatably connected to the operating tube with the radial direction of the operating tube as the rotation axis, an upper clamping piece rotatably connected to the intermediate seat, a lower clamping piece rotatably connected to the intermediate seat, a driving mechanism, a first traction rope for rotating the operating tube relative to the base under the action of the driving mechanism, a second traction rope for rotating the intermediate seat relative to the operating tube under the action of the driving mechanism, a third traction rope for rotating the upper clamping piece relative to the intermediate seat under the action of the driving mechanism, and a fourth traction rope for rotating the lower clamping piece relative to the intermediate seat under the action of the driving mechanism, wherein the driving mechanism comprises a first winding roller rotatably connected to the base, a second winding roller rotatably connected to the base, a third winding roller rotatably connected to the base, a fourth winding roller rotatably connected to the base, and four driving mechanisms corresponding to the first winding roller, the second winding roller, the third winding roller and the fourth winding roller for rotating them respectively, wherein one end of the first traction rope is rotated along the outer peripheral wall of the operating tube The cam is fixedly connected to the outer wall of the operating tube and the other end is wound around the first winding roller and then fixedly connected to the operating tube along the outer peripheral wall of the operating tube. The middle seat is fixedly provided with a first rotating shaft, and the first rotating shaft is rotatably connected to the operating tube. One end of the second traction rope is fixedly connected to the first rotating shaft along the peripheral wall of the first rotating shaft and the other end passes through the operating tube and is wound around the second winding roller and then passes through the operating tube again and is fixedly connected to the first rotating shaft along the peripheral wall of the first rotating shaft. The middle seat is fixedly provided with a second rotating shaft. The upper clamping member and the lower clamping member are rotatably sleeved on the second rotating shaft. One end of the third traction rope is fixedly connected to the upper clamping member along the outer peripheral wall of the upper clamping member and the other end passes through the operating tube and is wound around the third winding roller and then passes through the operating tube again and is fixedly connected to the upper clamping member along the outer peripheral wall of the upper clamping member. One end of the fourth traction rope is fixedly connected to the lower clamping member along the outer peripheral wall of the lower clamping member and the other end passes through the operating tube and is wound around the fourth winding roller and then passes through the operating tube again and is fixedly connected to the lower clamping member along the outer peripheral wall of the lower clamping member.

[0008] By adopting the above technical solution, the third winding roller rotates to realize winding and unwinding of one end of the third traction rope, thereby driving the upper clamping member to rotate relative to the middle seat. The fourth winding roller rotates to realize winding and unwinding of one end of the fourth traction rope, thereby driving the lower clamping member to rotate relative to the middle seat. The upper clamping member and the lower clamping member cooperate to realize clamping of an object.

[0009] By rotating the first winding roller, one end of the first traction rope is wound up and the other end is unwound, thereby driving the operation tube to rotate relative to the base. By rotating the second winding roller, one end of the second traction rope is wound up and the other end is unwound, thereby driving the intermediate seat to rotate relative to the operation tube. By controlling the rotation of the intermediate seat relative to the operation tube, the upper clamping member and the lower clamping member are rotated in the vertical direction, and by controlling the rotation of the operation tube relative to the base, the upper clamping member and the lower clamping member are rotated in the horizontal direction. The two degrees of freedom are combined so that the upper clamping member and the lower clamping member can move freely after clamping the object, which is convenient for operating the clamped object and completing more complex surgical operations.

[0010] The present invention is further configured as follows: a first upper silk wheel and a second upper silk wheel are provided above the intermediate seat, the third traction rope passes through the second rotating shaft and is sequentially wound around the first upper silk wheel and the second upper silk wheel, then passes through the operating tube and is wound around the third winding roller, then passes through the operating tube again and is sequentially wound around the second upper silk wheel and the first upper silk wheel, and finally passes through the second rotating shaft again and is fixedly connected to the upper clamping member, the third traction rope forms an 8-shape at the first upper silk wheel and the second upper silk wheel.

[0011] By adopting the above technical solution, the first upper thread wheel and the second upper thread wheel can guide the third traction rope, reducing the probability of the third traction rope being entangled with the fourth traction rope during movement. Therefore, the upper clamping member can be controlled more smoothly and flexibly.

[0012] The present invention is further configured as follows: the second rotating shaft is hollow, a first lower silk wheel and a second lower silk wheel are provided under the middle seat, the fourth traction rope passes through the second rotating shaft and is sequentially wound around the first lower silk wheel and the second lower silk wheel, then passes through the operating tube and is wound around the fourth winding roller, then passes through the operating tube again and is sequentially wound around the second lower silk wheel and the first lower silk wheel, finally passes through the second rotating shaft again and is fixedly connected to the lower clamping member, the fourth traction rope forms an 8-shape at the first lower silk wheel and the second lower silk wheel.

[0013] By adopting the above technical solution, the first lower wire wheel and the second lower wire wheel can guide the fourth traction rope, reducing the probability of the fourth traction rope being entangled with the third traction rope during movement, thereby enabling smoother and more flexible control of the lower clamping member.

[0014] The present invention is further configured as follows: a guide shaft for guiding the first traction rope, the second traction rope, the third traction rope and the fourth traction rope is rotatably connected to the base, the guide shaft is perpendicular to the operating tube, and the first traction rope, the second traction rope, the third traction rope and the fourth traction rope are abutted against the guide shaft.

[0015] By adopting the above technical solution, the guide shaft can guide and tension the first traction rope, the second traction rope, the third traction rope and the fourth traction rope, so that the first traction rope, the second traction rope, the third traction rope and the fourth traction rope can move more smoothly relative to the base, thereby more flexibly controlling the upper clamping member and the lower clamping member to perform movements with various degrees of freedom.

[0016] The present invention is further configured as follows: a connector is provided at one end of the operating tube, the intermediate seat is rotatably connected to the connector, and a first guide hole is provided on the connector for the second traction rope, the third traction rope and the fourth traction rope to pass through.

[0017] By adopting the above technical solution, the first guide hole pair can guide the second traction rope, the third traction rope and the fourth traction rope, reducing the probability of the second traction rope, the third traction rope and the fourth traction rope being entangled with each other during movement, thereby more flexibly and smoothly controlling the upper clamping member and the lower clamping member to perform movements with various degrees of freedom.

[0018] The present invention is further configured as follows: a flexible sheet is provided in the operating tube, and a second guide hole is provided on the flexible sheet for the second traction rope, the third traction rope and the fourth traction rope to pass through.

[0019] By adopting the above technical solution, the second guide hole cooperates with the first guide hole, so that the second traction rope, the third traction rope and the fourth traction rope are all limited by two points, which better guides the movement direction of the second traction rope, the third traction rope and the fourth traction rope. And because the flexible member is flexible, the flexible member can absorb the slight movement deviation of the second traction rope, the third traction rope and the fourth traction rope during the movement, so that the second traction rope, the third traction rope and the fourth traction rope can move more stably relative to the operating tube. At the same time, the wear on the second traction rope, the third traction rope and the fourth traction rope is also reduced.

[0020] The present invention is further configured as follows: a mounting seat is detachably connected to the base, and the driving mechanism includes a driving motor fixedly connected to the mounting seat, an absolute encoder connected to the driving motor, a reducer connected to the output shaft of the driving motor, a relative encoder connected to the output shaft of the reducer, a driving gear fixedly sleeved on the output shaft of the reducer, and a driven gear meshing with the driving gear, a driving shaft is fixedly penetrated on the driving gear, and a linkage mechanism is provided on the driving shaft for driving the first winding roller, the second winding roller, the third winding roller and the fourth winding roller to rotate.

[0021] By adopting the above technical solution, the first winding roller, the second winding roller, the third winding roller and the fourth winding roller are controlled to rotate by the driving motor, thereby realizing the movement of the upper clamping member and the lower clamping member. The absolute encoder and the relative encoder can measure the movement position of the drive shaft and monitor and evaluate its service life. The driven gear can be used for braking so that when the drive motor stops, the driving gear and the drive shaft will not rotate due to inertia.

[0022] The present invention is further configured as follows: the linkage mechanism includes an embedding groove opened on the first winding roller, the second winding roller, the third winding roller and the fourth winding roller for embedding the drive shaft, a key groove opened on the inner wall of the embedding groove along the radial direction of the embedding groove, and a flat key arranged on the outer wall of the drive shaft along the radial direction of the drive shaft; when the base is installed on the mounting seat, the flat key is embedded in the key groove.

[0023] By adopting the above technical solution, the drive shaft can be embedded in the embedding groove and the flat key can be embedded in the key groove, so that the drive shaft and the embedding groove are circumferentially fixed, thereby achieving the first winding roller, the second winding roller, the third winding roller and the fourth winding roller can rotate with the rotation of the drive shaft.

[0024] The present invention is further configured as follows: the arc of the keyway along the axial direction of the drive shaft is greater than the arc of the flat key along the axial direction of the drive shaft, and a buffer spring is fixedly connected to one end of the drive shaft.

[0025] By adopting the above technical solution, if the flat key has not been aligned with the key slot after the base and the mounting seat are installed, the buffer spring has been embedded in the embedding slot and abuts against the embedding slot. The drive shaft rotates until the flat key is aligned with the key slot and can be embedded in the key slot, thereby realizing the circumferential fixation of the subsequent drive shaft and the embedding slot. The buffer spring can play a compensatory role, and the flat key drive shaft will not be unable to be embedded in the embedding slot due to the position error between the key slot and the flat key during installation, thereby realizing the driving mechanism to drive the first winding roller, the second winding roller, the third winding roller and the fourth winding roller.

[0026] Another object of the present invention is to provide a mounting base for connecting the surgical knife assembly and the instrument as described in claim 9 above.

[0027] The present invention has the following advantages: the upper clamping member and the lower clamping member can clamp an object, and after clamping the object, the clamped object can be freely rotated in the horizontal direction or the vertical direction to operate, thereby completing a more complicated surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of embodiment 1;

[0029] Figure 2 It is a schematic diagram of the structure of the upper clamping member and the lower clamping member in the first embodiment;

[0030] Figure 3 It is a partial schematic diagram of the first embodiment;

[0031] Figure 4 It is a partial schematic diagram of a cross-sectional view of the connector of the first embodiment;

[0032] Figure 5 This is a schematic diagram of the structure of the first embodiment when the guide shaft is not installed;

[0033] Figure 6 It is a structural schematic diagram of the driving mechanism in the first embodiment;

[0034] Figure 7 is a cross-sectional view of the driving shaft in the first embodiment;

[0035] Figure 8 This is a schematic diagram of the structure of the third embodiment when the second connecting part is not installed;

[0036] Fig. 9 It is a partial schematic diagram of the third embodiment;

[0037] Fig.10 This is a schematic diagram of the structure of the middle part of the third embodiment;

[0038] Fig.11 is a cross-sectional view of embodiment 3;

[0039] Fig.12 This is a schematic diagram of the structure of the second connecting portion in Example 3.

[0040] 1. Base; 2. Operating tube; 3. Connecting head; 4. Intermediate seat; 5. Upper clamping member; 6. Lower clamping member; 7. Second rotating shaft; 8. First rotating sleeve; 9. First clamping part; 10. First upper wire wheel; 11. Second upper wire wheel; 12. Third winding roller; 13. Third traction rope; 14. Second rotating sleeve; 15. Second clamping part; 16. First lower wire wheel; 17. Second lower wire wheel; 18. Fourth winding roller; 19. Fourth traction rope; 20. First winding roller; 21. First traction rope; 22. First rotating shaft; 23. Second winding roller; 24. Second traction rope; 25. Guide shaft; 26. Flexible sheet; 27. First guide hole; 28. Second guide hole; 29. ​​Mounting seat; 30. Driving mechanism; 31. Driving motor; 32. Relative encoder ; 33. reducer; 34. absolute encoder; 35. driving gear; 36. driven gear; 37. driving shaft; 38. embedded groove; 39. keyway; 40. flat key; 41. buffer spring; 42. linkage mechanism; 43. sterile adapter; 44. first connecting part; 45. second connecting part; 46. middle part; 47. middle plate; 48. first connecting plate; 49. second connecting plate; 50. through groove; 51. first compensation groove; 52. connecting piece; 53. second compensation groove; 54. first clamping groove; 55. first clamping piece; 56. clamping part; 57. second clamping groove; 58. base plate; 59. third connecting plate; 60. fourth connecting plate; 61. positioning block; 62. positioning groove; 63. weight reduction hole; 64. second clamping piece; 65. force block; 66. friction block. DETAILED DESCRIPTION

[0041] Embodiment 1:

[0042] like Figure 1 and Figure 2 As shown, a surgical knife assembly includes a base 1, an operating tube 2 rotatably connected to the base 1, a connector 3 fixedly connected to one end of the operating tube 2, an intermediate seat 4 rotatably connected to the connector 3, an upper clamping member 5 rotatably connected to the intermediate seat 4, and a lower clamping member 6 rotatably connected to the intermediate seat 4. By rotating the upper clamping member 5 and the lower clamping member 6 relative to the intermediate seat 4, the upper clamping member 5 and the lower clamping member 6 can clamp an object. By rotating the intermediate seat 4 relative to the connector 3 and the operating tube 2 relative to the base 1, the upper clamping member 5 and the lower clamping member 6 can drive the clamped object to rotate along the axial direction of the operating tube 2 and in a direction perpendicular to the axial direction of the operating tube 2, thereby completing a more complicated surgical operation.

[0043] like Figure 2 As shown, the middle seat 4 is fixedly provided with a second rotating shaft 7. The upper clamping member 5 includes a first rotating sleeve 8 rotatably sleeved outside the second rotating shaft 7 and a first clamping portion 9 fixedly connected to the first rotating sleeve 8. The middle seat 4 is rotatably connected with a first upper thread wheel 10 and a second upper thread wheel 11. Figure 2and Figure 3 As shown, a third winding roller 12 is rotatably connected to the base 1. A third traction rope 13 is provided between the third winding roller 12 and the first rotating sleeve 8. One end of the third traction rope 13 is fixedly connected to the first rotating sleeve 8 along the outer peripheral wall of the first rotating sleeve 8, and the other end is sequentially wound around the first upper silk wheel 10 and the second upper silk wheel 11, then passes through the operating tube 2 and is wound around the third winding roller 12, and then passes through the operating tube 2 again and is sequentially wound around the second upper silk wheel 11 and the first upper silk wheel 10, and finally is fixedly connected to the first rotating sleeve 8 along the outer peripheral wall of the first rotating sleeve 8. The third traction rope 13 forms an 8-shape at the first upper silk wheel 10 and the second upper silk wheel 11. The third traction rope 13 is not Figure 2 When the third winding roller 12 rotates, one end of the third traction rope 13 is wound up and the other end is unwound, thereby driving the first rotating sleeve 8 to rotate relative to the second rotating shaft 7.

[0044] like Figure 2 As shown, the lower clamping member 6 includes a second rotating sleeve 14 rotatably sleeved outside the second rotating shaft 7 and a second clamping portion 15 fixedly connected to the second rotating sleeve 14. A first lower thread wheel 16 and a second lower thread wheel 17 are rotatably connected above the intermediate seat 4. The first lower thread wheel 16 is symmetrically arranged with the first upper thread wheel 10, but is not shown in the figure. Figure 2 and Figure 3 As shown, a fourth winding roller 18 is rotatably connected to the base 1. A fourth traction rope 19 is provided between the fourth winding roller 18 and the second rotating sleeve 14. One end of the fourth traction rope 19 is fixedly connected to the second rotating sleeve 14 along the outer peripheral wall of the second rotating sleeve 14, and the other end is sequentially wound around the first lower silk wheel 16 and the second lower silk wheel 17, then passes through the operating tube 2 and is wound around the fourth winding roller 18, and then passes through the operating tube 2 again and is sequentially wound around the second lower silk wheel 17 and the first lower silk wheel 16, and finally is fixedly connected to the second rotating sleeve 14 along the outer peripheral wall of the second rotating sleeve 14. The fourth traction rope 19 forms an 8-shape at the first lower silk wheel 16 and the second lower silk wheel 17. The fourth traction rope 19 is not Figure 2 When the fourth winding roller 18 rotates, the fourth traction rope 19 is wound up at one end and unwound at the other end, thereby driving the second rotating sleeve 14 to rotate relative to the second rotating shaft 7. The upper clamping member 5 and the lower clamping member 6 are controlled to cooperate with each other to complete the action of clamping the material by rotating the upper clamping member 5 and the lower clamping member 6 relative to the second rotating shaft 7.

[0045] In order to enable the upper clamping member 5 and the lower clamping member 6 to move with more degrees of freedom, a complex operation can be achieved. Figure 3As shown, a first winding roller 20 is rotatably connected to the base 1, and a first traction rope 21 is provided between the first winding roller 20 and the operating tube 2. One end of the first traction rope 21 is fixedly connected to the outer wall of the operating tube 2 along the outer peripheral wall of the operating tube 2, and the other end is wound around the first winding roller 20 and then fixedly connected to the operating tube 2 along the outer peripheral wall of the operating tube 2. When the first winding roller 20 rotates, one end of the first traction rope 21 is wound and the other end is unwound, thereby driving the operating tube 2 to rotate relative to the base 1. The upper clamping member 5 and the lower clamping member 6 are rotated along the axial direction of the operating tube 2.

[0046] like Figure 4 As shown, the middle seat 4 is fixedly provided with a first rotating shaft 22, and the first rotating shaft 22 is rotatably connected to the connecting head 3. Figure 3 and Figure 4 As shown, the base 1 is rotatably connected with a second winding roller 23, and a second traction rope 24 is provided between the second winding roller 23 and the first rotating shaft 22. One end of the second traction rope 24 is fixedly connected to the first rotating shaft 22 along the peripheral wall of the first rotating shaft 22, and the other end passes through the operating tube 2, is wound around the second winding roller 23, and then passes through the operating tube 2 again, and is fixedly connected to the first rotating shaft 22 along the peripheral wall of the first rotating shaft 22. The second traction rope 24 is not Figure 2 When the second winding roller 23 rotates, one end of the first traction rope 21 is wound up and the other end is unwound, driving the first rotating shaft 22 to rotate relative to the connector 3, thereby causing the middle seat 4 to rotate relative to the connector 3. The upper clamping member 5 and the lower clamping member 6 are rotated in a direction perpendicular to the axial direction of the operating tube 2.

[0047] like Figure 3 As shown, in order to make the first traction rope 21, the second traction rope 24, the third traction rope 13 and the fourth traction rope 19 reel in and out more flexibly and smoothly, a guide shaft 25 is rotatably connected to the base 1, and the axis of the guide shaft 25 is parallel to the base 1 and perpendicular to the operating tube 2. The first traction rope 21, the second traction rope 24, the third traction rope 13 and the fourth traction rope 19 are all in contact with the guide shaft 25. The guide shaft 25 can tension the first traction rope 21, the second traction rope 24, the third traction rope 13 and the fourth traction rope 19, so that the first traction rope 21, the second traction rope 24, the third traction rope 13 and the fourth traction rope 19 can be reeled in and out more flexibly. As shown Figure 4 As shown, a flexible sheet 26 is provided in the operating tube 2, and a second guide hole 28 is provided on the flexible sheet 26 for the second traction rope 24, the third traction rope 13 and the fourth traction rope 19 to pass through. A first guide hole 27 is provided on the connector 3 for the second traction rope 24, the third traction rope 13 and the fourth traction rope 19 to pass through. The first guide hole 27 and the second guide hole 28 can guide the second traction rope 24, the third traction rope 13 and the fourth traction rope 19, so that the second traction rope 24, the third traction rope 13 and the fourth traction rope 19 can be wound and unwound more flexibly and smoothly.

[0048] like Figure 5 As shown, the base 1 is fixedly connected with a mounting seat 29, and the mounting seat 29 is provided with a driving mechanism 30, which can drive the first winding roller 20, the second winding roller 23, the third winding roller 12 and the fourth winding roller 18 to rotate. The first winding roller 20, the second winding roller 23, the third winding roller 12 and the fourth winding roller 18 each correspond to a driving mechanism 30. Figure 6 As shown, the driving mechanism 30 includes a driving motor 31 fixedly connected to the mounting seat 29, a relative encoder 32 connected to the driving motor 31, a reducer 33 connected to the output shaft of the driving motor 31, an absolute encoder 34 connected to the output shaft of the reducer, a driving gear 35 fixedly sleeved on the output shaft of the reducer 33, and a driven gear 36 meshing with the driving gear 35. The absolute encoder 34 is fixedly installed on the back of the mounting seat 29 where the driven gear 36 is installed, and its input shaft and the driven gear 36 are coaxially fixed. A driving shaft 37 is fixedly penetrated on the driving gear 35.

[0049] like Figure 7 As shown, the first winding roller 20 is provided with an embedding groove 38 for embedding the drive shaft 37. The inner wall of the embedding groove 38 is provided with a key groove 39 along its radial direction. A flat key 40 is provided radially on the outer wall of the drive shaft 37. The arc of the key groove 39 along the axial direction of the drive shaft 37 is greater than the arc of the flat key 40 along the axial direction of the drive shaft 37. The embedding groove 38, the key groove 39 and the flat key 40 form a linkage mechanism 42. The linkage mechanism 42 can drive the first winding roller 20 to rotate when the drive shaft 37 rotates. Figure 6 As shown, a buffer spring 41 is fixedly connected to one end of the driving shaft 37 .

[0050] When the base 1 is mounted on the mounting base 29, the drive shaft 37 is embedded in the embedding groove 38, and the flat key 40 is embedded in the key groove 39. The buffer spring 41 abuts against the inner wall of the embedding groove 38. The key groove 39 and the flat key 40 make the drive shaft 37 and the embedding groove 38 circumferentially fixed, thereby realizing that the first winding roller 20 can rotate with the rotation of the drive shaft 37. The principle of the drive mechanism 30 driving the second winding roller 23, the third winding roller 12 and the fourth winding roller 18 to rotate relative to the base 1 is the same as the structural principle of the first winding roller 20.

[0051] The component works as follows:

[0052] The third winding roller 12 and the fourth winding roller 18 are controlled to rotate separately by two driving motors 31, thereby controlling the upper clamping member 5 and the lower clamping member 6 to cooperate in clamping the material. The first winding roller 20 and the second winding roller 23 are controlled to rotate separately by two driving motors 31, thereby controlling the upper clamping member 5 and the lower clamping member 6 to rotate along the axial direction of the operating tube 2 and in a direction perpendicular to the axial direction of the operating tube 2. Thus, the assembly can complete more complex surgical operations.

[0053] Embodiment 2: A mounting seat 29 in embodiment 1.

[0054] Embodiment three:

[0055] The difference between the third embodiment and the first embodiment is that Figure 8 and Fig. 9 As shown, the mounting seat 29 is detachably connected to the base 1. A sterile adapter 43 is provided between the mounting seat 29 and the base 1. The sterile adapter 43 includes a first connection portion 44 for connecting the mounting seat 29, a second connection portion 45 for connecting the base 1, and an intermediate portion 46 for connecting the first connection portion 44 and the second connection portion 45 together. During surgery, the intermediate portion 46 stably connects the first connection portion 44 and the second connection portion 45 together. After several surgeries, the base 1 and the mounting seat 29 can be disassembled by detaching the first connection portion 44 from the intermediate portion 46, and then the base 1 and the operating tube 2 can be replaced with new ones, but there is no need to replace the drive mechanism 30, thereby reducing the operating cost.

[0056] Specifically, Fig.10 As shown, the middle part 46 includes a middle plate 47, a first connecting plate 48 and a second connecting plate 49. The middle plate 47 is provided with a through slot 50 for passing the drive shaft 37. The middle plate 47 is provided with a first compensation slot 51, which is connected to the upper and lower end surfaces of the middle part 46. Two first compensation slots 51 are provided and are respectively located on both sides of the middle plate 47. Fig.11 As shown, the first connecting plate 48 and the second connecting plate 49 are integrally arranged, and a connecting member 52 is provided at the upper end of the second connecting plate 49. The end of the connecting member 52 away from the second connecting plate 49 is fixedly connected to the outward side wall of the first compensation groove 51. A second compensation groove 53 connecting the two ends of the connecting member 52 is provided on the upper end surface of the connecting member 52 along the width direction of the second connecting plate 49. The second compensation groove 53 is located on the side of the connecting member 52 close to the second connecting plate 49.

[0057] like Fig.11 As shown, a first slot 54 is provided at one end of the first connecting plate 48 away from the second connecting plate 49. The first connecting portion 44 includes a first clamping member 55, one end of which is fixedly connected to the mounting seat 29 and the other end of which is bent toward the first connecting plate 48 to form a clamping portion 56, which is hooked in the first slot 54 and abuts against the lower end surface of the first slot 54. The first slot 54 has a limiting force on the clamping portion 56, so that the first connecting portion 44 and the middle portion 46 are stably connected together. If the mounting seat 29 needs to be detached from the base 1, the first connecting portion 44 needs to be detached from the middle portion 46. At this time, only one end of the second connecting plate 49 needs to be applied to drive the first connecting plate 48 to rotate relative to the middle plate 47, so that the clamping portion 56 leaves the first slot 54. Thus, the mounting seat 29 and the base 1 are separated.

[0058] like Fig.11 As shown, the second connecting plate 49 is provided with a second slot 57 at one end away from the first connecting plate 48. The second connecting portion 45 includes a base plate 58, a third connecting plate 59 and a fourth connecting plate 60. Fig.10 and Fig.12 As shown, the base plate 58 is parallel to the middle plate 47, and a positioning block 61 is provided on the upper end surface of the middle plate 47. The base plate 58 is provided with a positioning groove 62 for embedding the positioning block 61. A plurality of weight-reducing holes 63 are provided on the base plate 58.

[0059] like Fig. 9 and 11 As shown, two third connecting plates 59 are provided and correspond to two second connecting plates 49 respectively. The third connecting plate 59 is located on the outward side of the second connecting plate 49, and a second clamping member 64 for clamping the second clamping groove 57 is provided on the inward side of the third connecting plate 59. The second clamping member 64 has a triangular cross section, and the second clamping member 64 is clamped and fixed to the upper end wall of the second clamping groove 57. The second clamping groove 57 has a limiting force on the second clamping member 64, so that the second connecting portion 45 and the middle portion 46 are stably connected together.

[0060] like Fig. 9 and 11 As shown, the cross section of the fourth connecting plate 60 is L-shaped, and one end of the fourth connecting plate 60 is fixedly connected to the base 1 by welding. The fourth connecting plate 60 is provided with two pieces and corresponds to the two second connecting plates 49 respectively. As shown in 11, the fourth connecting plate 60 is located on the outward side of the second connecting plate 49. A force block 65 is provided on the inward side of the fourth connecting plate 60, and the force block 65 and the second connecting plate 49 are arranged in abutment. When the fourth connecting plate 60 rotates relative to the base 1, the force block 65 can push the second connecting plate 49 to deform and rotate relative to the middle plate 47, so that the second clamping member 64 leaves the second clamping groove 57, and the second connecting part 45 and the middle part 46 are separated. That is, if the middle part 46 is broken, the middle part 46 can be separated from the second connecting part 45, and then replaced with a new middle part 46.

[0061] like Fig. 9 As shown, in order to facilitate driving the fourth connecting plate 60 to rotate relative to the middle plate 47 , a friction block 66 for increasing the friction force of the fourth connecting plate 60 is provided on the outward side of the fourth connecting plate 60 .

[0062] The specific usage principles are as follows:

[0063] In daily use, the first clamping member 55 is clamped in the first clamping slot 54, so that the first connecting portion 44 is stably connected to the middle portion 46. The base plate 58 abuts against the middle plate 47, the positioning block 61 is embedded in the positioning slot 62, and the second clamping member 64 is clamped in the second clamping slot 57, so that the base plate 58 is stably connected to the middle plate 47, and the second connecting portion 45 is stably connected to the middle portion 46. A stable connection between the mounting seat 29 and the base 1 is achieved.

[0064] If the operating tube 2 needs to be replaced, one end of the fourth connecting plate 60 can be pressed to rotate the fourth connecting plate 60 relative to the base 1. At this time, the force block 65 applies force to one end of the second connecting plate 49, thereby driving the first connecting plate 48 to rotate relative to the middle plate 47, so that the first clamping member 55 leaves the first clamping groove 54. At this time, the mounting seat 29 can be removed from the base 1, and the same is true for installation.

[0065] If the middle part 46 is damaged after multiple uses, after removing the mounting base 29 from the base 1, continue to press one end of the fourth connecting plate 60 to make the fourth connecting plate 60 continue to rotate relative to the base 1. The force block 65 pushes the second connecting plate 49 to rotate relative to the middle plate 47 until the second clamping member 64 leaves the second clamping groove 57. Then the middle part 46 can be removed from the base 1, and the same applies to installation.

[0066] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A surgical knife assembly, Its characteristics are: The invention comprises a base (1), an operating tube (2) rotatably connected to the base (1), an intermediate seat (4) rotatably connected to the operating tube (2) with the radial direction of the operating tube (2) as the rotation axis, an upper clamping member (5) rotatably connected to the intermediate seat (4), a lower clamping member (6) rotatably connected to the intermediate seat (4), a driving mechanism (30), a first traction rope (21) for rotating the operating tube (2) relative to the base (1) under the action of the driving mechanism (30), a second traction rope (24) for rotating the intermediate seat (4) relative to the operating tube (2) under the action of the driving mechanism (30), and a lower traction rope (25) for rotating the upper clamping member (5) relative to the intermediate seat (4) under the action of the driving mechanism (30). The third traction rope (13) is used to rotate the lower clamping member (6) relative to the middle seat (4) under the action of the driving mechanism (30), and the fourth traction rope (19) is used to rotate the lower clamping member (6) relative to the middle seat (4) under the action of the driving mechanism (30), the driving mechanism (30) comprising a first winding roller (20) rotatably connected to the base (1), a second winding roller (23) rotatably connected to the base (1), a third winding roller (12) rotatably connected to the base (1), a fourth winding roller (18) rotatably connected to the base (1), and four driving mechanisms (30) corresponding to the first winding roller (20), the second winding roller (23), the third winding roller (12) and the fourth winding roller (18) for rotating them respectively, one end of the first traction rope (21) is rotated along the operating The outer peripheral wall of the working pipe (2) is fixedly connected to the outer wall of the operating pipe (2), and the other end is wound around the first winding roller (20) and then fixedly connected to the operating pipe (2) along the outer peripheral wall of the operating pipe (2); a first rotating shaft (22) is fixedly passed through the intermediate seat (4), and the first rotating shaft (22) is rotatably connected to the operating pipe (2); one end of the second traction rope (24) is fixedly connected to the first rotating shaft (22) along the peripheral wall of the first rotating shaft (22), and the other end passes through the operating pipe (2), is wound around the second winding roller (23), and then passes through the operating pipe (2) again, and is fixedly connected to the first rotating shaft (22) along the peripheral wall of the first rotating shaft (22); a second rotating shaft (22) is fixedly passed through the intermediate seat (4). The upper clamping member (5) and the lower clamping member (6) are rotatably sleeved on the second rotating shaft (7); one end of the third traction rope (13) is fixedly connected to the upper clamping member (5) along the outer peripheral wall of the upper clamping member (5), and the other end passes through the operating tube (2), is wound around the third winding roller (12), and then passes through the operating tube (2) again, and is fixedly connected to the upper clamping member (5) along the outer peripheral wall of the upper clamping member (5); one end of the fourth traction rope (19) is fixedly connected to the lower clamping member (6) along the outer peripheral wall of the lower clamping member (6), and the other end passes through the operating tube (2), is wound around the fourth winding roller (18), and then passes through the operating tube (2) again, and is fixedly connected to the lower clamping member (6) along the outer peripheral wall of the lower clamping member (6).

2. A surgical knife assembly according to claim 1, Its characteristics are: A first upper thread wheel (10) and a second upper thread wheel (11) are provided above the intermediate seat (4); the third traction rope (13) passes through the second rotating shaft (7) and is sequentially wound around the first upper thread wheel (10) and the second upper thread wheel (11); then passes through the operating tube (2) and is wound around the third winding roller (12); then passes through the operating tube (2) again and is sequentially wound around the second upper thread wheel (11) and the first upper thread wheel (10); finally, the third traction rope (13) passes through the second rotating shaft (7) again and is fixedly connected to the upper clamping member (5); the third traction rope (13) forms an 8-shaped shape at the first upper thread wheel (10) and the second upper thread wheel (11).

3. A surgical knife assembly according to claim 2, Its characteristics are: The second rotating shaft (7) is hollow, and a first lower silk wheel (16) and a second lower silk wheel (17) are provided below the intermediate seat (4). The fourth traction rope (19) passes through the second rotating shaft (7) and is wound around the first lower silk wheel (16) and the second lower silk wheel (17) in sequence, then passes through the operating tube (2) and is wound around the fourth winding roller (18), then passes through the operating tube (2) again and is wound around the second lower silk wheel (17) and the first lower silk wheel (16) in sequence, and finally passes through the second rotating shaft (7) again and is fixedly connected to the lower clamping member (6), and the fourth traction rope (19) forms an 8-shaped shape at the first lower silk wheel (16) and the second lower silk wheel (17).

4. A surgical knife assembly according to claim 3, Its characteristics are: A guide shaft (25) for guiding a first traction rope (21), a second traction rope (24), a third traction rope (13) and a fourth traction rope (19) is rotatably connected to the base (1); the guide shaft (25) is perpendicular to the operating tube (2); and the first traction rope (21), the second traction rope (24), the third traction rope (13) and the fourth traction rope (19) are in contact with the guide shaft (25).

5. A surgical knife assembly according to claim 4, Its characteristics are: A connector (3) is provided at one end of the operating tube (2), the intermediate seat (4) is rotatably connected to the connector (3), and a first guide hole (27) is provided on the connector (3) for the second traction rope (24), the third traction rope (13) and the fourth traction rope (19) to pass through.

6. A surgical knife assembly according to claim 5, Its characteristics are: A flexible sheet (26) is provided in the operating tube (2), and a second guide hole (28) is provided on the flexible sheet (26) for the second traction rope (24), the third traction rope (13) and the fourth traction rope (19) to pass through.

7. A surgical knife assembly according to claim 6, Its characteristics are: The base (1) is detachably connected to a mounting seat (29), and the driving mechanism (30) comprises a driving motor (31) fixedly connected to the mounting seat (29), an absolute encoder (32) connected to the driving motor (31), a reducer (33) connected to an output shaft of the driving motor (31), a relative encoder (34) connected to the output shaft of the reducer, a driving gear (35) fixedly sleeved on the output shaft of the reducer (33), and a driven gear (36) meshing with the driving gear (35), a driving shaft (37) fixedly penetrated through the driving gear (35), and a linkage mechanism (42) is provided on the driving shaft (37) for driving the first winding roller (20), the second winding roller (23), the third winding roller (12), and the fourth winding roller (18) to rotate.

8. A surgical knife assembly according to claim 7, Its characteristics are: The linkage mechanism (42) comprises an embedding groove (38) for embedding the drive shaft (37) on the first winding roller (20), the second winding roller (23), the third winding roller (12) and the fourth winding roller (18), a key groove (39) radially formed on the inner wall of the embedding groove (38), and a flat key (40) radially provided on the outer wall of the drive shaft (37). When the base (1) is mounted on the mounting seat (29), the flat key (40) is embedded in the key groove (39).

9. A surgical knife assembly according to claim 8, Its characteristics are: The arc of the keyway (39) along the axial direction of the drive shaft (37) is greater than the arc of the flat key (40) along the axial direction of the drive shaft (37), and a buffer spring (41) is fixedly connected to one end of the drive shaft (37).

10. A mounting seat (29) for connecting the surgical knife assembly and an instrument as claimed in claim 9.

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