Control device

Abstract

The present invention discloses a control device that can be used for surgical instruments. The control device includes a main body, a transmission member movably provided in the main body, an actuator fixed to the first end of the transmission member, and a control member fixed to the second end of the transmission member. The first end of the transmission member extends from the first end of the main body to the outside of the main body, and the second end of the transmission member extends from the second end of the main body to the outside of the main body. The displacement of the control member relative to the main body drives the displacement of the transmission member relative to the main body, and the displacement of the transmission member relative to the main body then drives the displacement of the actuator relative to the main body, thereby realizing the control of the spacing distance of the surgical instrument clamps connected to the actuator.

Description

Technical Field

[0001] The present invention relates to a manipulation device, in particular to a manipulation device used for minimally invasive surgery. Background Art

[0002] Surgical forceps are surgical instruments commonly used in endoscopic surgery. Traditional laparoscopic forceps consist of functional units—such as a knife, scissors, forceps, or needle and thread—fixed to the end of a rigid straight rod. These units are operated via a handheld portion at the other end, typically with only one degree of freedom: the opening and closing of the functional units. Because the ends of the straight rod connecting the functional units are rigid, the local degrees of freedom at the distal end of these forceps are very limited, significantly reducing operational flexibility. To improve the operational freedom of surgical forceps, researchers have proposed multi-degree-of-freedom surgical forceps for use with robotic minimally invasive surgery. These forceps increase their freedom of movement by adding movable joints to the distal end. However, more degrees of freedom means more movable joints, significantly increasing their overall size and control difficulty. Furthermore, to maintain operational precision, the forceps need to be regularly replaced, increasing surgical costs. For example, the surgical arms of the da Vinci surgical robot have a diameter of 5 mm or 8 mm, and each arm is limited to 10 uses. However, for neurosurgery and pediatric surgery, limited operating space often requires the smallest possible forceps size while maintaining operational flexibility.

[0003] Therefore, it is necessary to provide a manipulation device for minimally invasive surgery that has a simple structure and flexible manipulation. Summary of the Invention

[0004] According to one aspect, the present invention provides a control device comprising: a body, a transmission member movably disposed through the body, an actuator secured to a first end of the transmission member, and a control member secured to a second end of the transmission member. The first end of the transmission member extends from the first end of the body to the exterior of the body, and the second end of the transmission member extends from the second end of the body to the exterior of the body. Displacement of the control member relative to the body causes displacement of the transmission member relative to the body, which in turn causes displacement of the actuator relative to the body.

[0005] According to a preferred embodiment, the body has a channel extending between the first end and the second end of the body in a longitudinal direction, and the transmission member is movably disposed in the channel.

[0006] According to a preferred embodiment, the channel includes a first channel, a second channel, a third channel and a fourth channel that are independent of each other, and the transmission member includes a first transmission member, a second transmission member, a third transmission member and a fourth transmission member, and the first transmission member, the second transmission member, the third transmission member and the fourth transmission member are respectively movably arranged in the first channel, the second channel, the third channel and the fourth channel.

[0007] According to a preferred embodiment, the channel includes a first opening located at the first end of the body, a second opening located at the second end of the body, and an intermediate section located between the first end and the second end, and the transmission member includes a first transmission member, a second transmission member, a third transmission member and a fourth transmission member passing through the body from the first opening and the second opening respectively.

[0008] According to a preferred embodiment, the control device further includes a first sleeve, a second sleeve, a third sleeve and a fourth sleeve fixed to the body, and the first transmission member, the second transmission member, the third transmission member and the fourth transmission member are respectively movably provided in the first sleeve, the second sleeve, the third sleeve and the fourth sleeve.

[0009] According to a preferred embodiment, the first opening includes a first transverse left opening, a first side-to-left opening, a first transverse right opening and a first side-to-right opening; the second opening includes a second transverse left opening, a second side-to-left opening, a second transverse right opening and a second side-to-right opening; the first transmission member passes through the body from the first transverse left opening and the second transverse left opening, the second transmission member passes through the body from the first side-to-left opening and the second side-to-left opening, the third transmission member passes through the body from the first transverse right opening and the second transverse right opening, and the fourth transmission member passes through the body from the first side-to-right opening and the second side-to-right opening.

[0010] According to an alternative embodiment, the first opening includes a first transverse left opening, a first lateral left opening, a first transverse right opening and a first lateral right opening; the second opening includes a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission member passes through the body from the first transverse left opening and the second transverse right opening, the second transmission member passes through the body from the first lateral left opening and the second lateral right opening, the third transmission member passes through the body from the first transverse right opening and the second transverse left opening, and the fourth transmission member passes through the body from the first lateral right opening and the second lateral left opening.

[0011] According to a preferred embodiment, the control device further includes a support fixed to the second end of the body, a bracket pivotally connected to the support, and a handle pivotally connected to the bracket, wherein the control member is fixed to the handle.

[0012] According to a preferred embodiment, the bracket is pivotally connected to the support via a first pivot, and the handle is pivotally connected to the bracket via a second pivot, wherein the second pivot is orthogonal to the first pivot.

[0013] According to a preferred embodiment, the bracket has a hollow core, the control member is spaced apart from the body, and the transmission member located between the control member and the body passes through the hollow core of the bracket.

[0014] According to a preferred embodiment, the rotation of the bracket about the first pivot causes at least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member to move along the body.

[0015] According to a preferred embodiment, the rotation of the handle about the second pivot causes at least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member to move along the body.

[0016] According to a preferred embodiment, the control device further comprises a sleeve fixed to the body, wherein the transmission member is movably disposed through the sleeve.

[0017] According to a preferred solution, the first end of the body faces a first axial direction of the body, and the second end of the body faces a second axial direction of the body, and the second axial direction is opposite to the first axial direction.

[0018] According to an alternative, the first end of the body faces a first axial direction of the body, and the second end of the body faces a second axial direction of the body, the second axial direction being the same as the first axial direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The foregoing summary of the invention and the following detailed description of embodiments of the present application will be better understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the methods and apparatus of the present application, representative embodiments are shown in the accompanying drawings. However, it should be understood that the present application is not limited to the specific methods and apparatus shown. In the accompanying drawings, the same reference numerals refer to the same or functionally similar elements throughout the various views.

[0020] Figure 1 is a perspective view of a control device according to an embodiment of the present invention;

[0021] Figure 2 yes Figure 1An enlarged perspective view of a portion 2 of the control device shown;

[0022] Figure 3 yes Figure 1 An enlarged perspective view of a portion 3 of the control device shown;

[0023] Figure 4A yes Figure 1 a partially cutaway perspective view of the body of the control device;

[0024] Figure 4B yes Figure 4A A partially cutaway bottom-up perspective view of the

[0025] Figure 5 yes Figure 4A A partial cross-sectional schematic diagram of the main body of the control device and the transmission member passing through the main body;

[0026] Figure 6 yes Figure 1 a partially cutaway perspective view of the control device shown;

[0027] Figure 7 yes Figure 6 A perspective view of the control device and the tool portion mounted thereon;

[0028] Figure 8 yes Figure 7 An exploded perspective view of the control device shown;

[0029] Figure 9 yes Figure 7 A three-dimensional diagram of the displacement state of the components of the control device shown;

[0030] Figure 10 is a perspective view of a partially cutaway body portion of a control device according to an alternative embodiment;

[0031] Figure 11 yes Figure 10 A partially cutaway perspective view of the main body and the transmission member mounted thereon;

[0032] Figure 12 According to the present invention, the control device has Figure 10 A three-dimensional diagram of the displacement state of the main body and transmission parts shown;

[0033] Figure 13 is a perspective view of the displacement state of components of a control device according to another embodiment of the present invention;

[0034] Figure 14 yes Figure 13 An exploded perspective view of the main body and transmission parts of the control device;

[0035] Figure 15Ais a perspective view of a transmission member and a sleeve portion of a control device according to another embodiment of the present invention;

[0036] Figure 15B yes Figure 15A A partial cross-sectional view of the transmission member and sleeve of the control device shown;

[0037] Figure 16A yes Figure 15A A partially cutaway perspective view of the control device transmission member and sleeve mounted on the body according to one solution;

[0038] Figure 16B yes Figure 15A A partially cutaway perspective view of the control device transmission member and sleeve mounted on the body according to an alternative solution;

[0039] Figure 17A is a perspective view of a control device according to another embodiment of the present invention;

[0040] Figure 17B yes Figure 17A An enlarged perspective view of a portion 18 of the control device shown;

[0041] Figure 17C yes Figure 17A An exploded perspective view of the control device shown;

[0042] Figure 18 yes Figure 17A A partially cutaway perspective view of the operating portion of the control device shown;

[0043] Figure 19 yes Figure 18 An exploded perspective view of the operating portion of the control device shown;

[0044] Figure 20 yes Figure 17A A static partial cross-sectional view of the control device actuator and tool portion before the orientation is changed;

[0045] Figure 21 yes Figure 20 A schematic perspective view of the actuator and tool portion of the control device after changing their orientation along the first direction;

[0046] Figure 22 yes Figure 20 A schematic perspective view of the actuator and tool portion of the control device after changing their orientation along the second direction;

[0047] Figure 23 is a control device and a control schematic diagram thereof according to another embodiment of the present invention;

[0048] Figure 24 is a control device and a control schematic diagram thereof according to another embodiment of the present invention; and

[0049] Figure 25 1 is a control device and a control schematic diagram thereof according to another embodiment of the present invention.

[0050] Detailed description of specific implementation methods and embodiments

[0051] Unless otherwise indicated, the lateral direction X, transverse direction Y, and longitudinal direction Z cited or referred to herein are as follows: Figure 1 、 Figure 10 、 Figure 17A 、 Figure 18 and Figure 22 The directions shown are in an XYZ coordinate system, wherein the lateral direction X and the transverse direction Y are perpendicular to each other and to the longitudinal direction Z.

[0052] like Figures 1 to 5 As shown, according to one embodiment, the control device 100 of the present invention includes a body 110, a control member 120, an actuator 130 and a transmission member 140 ( Figure 4A The body 110 is an elongated cylinder having a channel 114 extending along a longitudinal direction Z between a first end 112 and a second end 116 of the body 110. The channel 114 has a first opening at the first end 112 of the body 110, for example, four first openings evenly distributed along a circumference parallel to the XY plane and about the geometric center of the first end 112, namely, a first transverse left opening 1121, a first lateral left opening 1122, a first transverse right opening 1123, and a first lateral right opening 1124. The channel 114 has a second opening at the second end 116 of the body 110, for example, four second openings evenly distributed along a circumference parallel to the XY plane and about the geometric center of the second end 116, namely, a second transverse left opening 1161, a second lateral left opening 1162, a second transverse right opening 1163, and a second lateral right opening 1164. The transmission member 140 may include a first transmission member 1401, a second transmission member 1402, a third transmission member 1403, and a fourth transmission member 1404. The first to fourth transmission members 1401, 1402, 1403, and 1404 can respectively pass through the four first openings 1121, 1122, 1123, and 1124 and the four second openings 1161, 1162, 1163, and 1164 to pass through the main body, that is, the first transmission member 1401 passes through the main body 110 from the first horizontal left opening 1121 and the second horizontal left opening 1161, the second transmission member 1402 passes through the main body 110 from the first side left opening 1122 and the second side left opening 1162, the third transmission member 1403 passes through the main body 110 from the first horizontal right opening 1123 and the second horizontal right opening 1163, and the fourth transmission member 1404 passes through the main body 110 from the first side right opening 1124 and the second side right opening 1164.

[0053] The manipulation device 100 may further include a tool portion 190 detachably connected to the actuator 140. The tool portion 190 may include at least one of the following or a combination thereof: for example, a knife, scissors, pliers, needle and thread, etc. The tool portion may be a surgical instrument, such as Figures 1 to 3 The surgical clamp 190 is shown in FIG.

[0054] like Figure 4A 、 Figure 4B and Figure 5 As shown, the middle section of the channel 114 between the first end 112 and the second end 116 of the body 110 can be independent channels separated from each other, for example Figure 4A The four independent channels shown are the first channel 1141, the second channel 1142, the third channel 1143, and the fourth channel 1144. The first channel 1141, the second channel 1142, the third channel 1143, and the fourth channel 1144 are all parallel to the longitudinal direction Z. Each transmission member 140 is movably disposed in the channel 114. Specifically, the transmission member 140 may include a first transmission member 1401, a second transmission member 1402, a third transmission member 1403, and a fourth transmission member 1404, which are respectively disposed in the first channel 1141, the second channel 1142, the third channel 1143, and the fourth channel 1144. Figure 5 shown.

[0055] Figure 6 According to the present invention, there is Figure 5 A partially cutaway stereoscopic view of the control device showing the main body structure. Figure 7 yes Figure 6 A partially cutaway perspective view of the control device shown with the clamp installed. Figure 8 yes Figure 7 Exploded three-dimensional diagram. Figure 9 yes Figure 7 A partially cutaway perspective view of the control assembly is shown after the clamp has been repositioned.

[0056] like Figures 6 to 8 As shown, the control member 120 is located adjacent to the first end 112 of the main body 110, and the actuator 130 is located adjacent to the second end 116 of the main body 110. The control member 120 is separated from the first end 112 of the main body by a first gap 125 along the longitudinal direction Z, and the actuator 130 is separated from the second end 116 of the main body by a second gap 135 along the longitudinal direction Z. The lengths of the first gap 125 and the second gap 135 can be equal or different. The transmission member 140 is provided through the channel of the main body 110, and both ends of the transmission member 140 are respectively fixed to the actuator 120 and the control member 130 along the longitudinal direction Z. For example, one side of the control member 120 and / or one side of the actuator 130 can each include a channel corresponding to the transmission member 140, for accommodating and fixing the transmission member 140.

[0057] like Figure 9 As shown, the displacement of the control member 120 relative to the body 110 drives the displacement of one or more transmission members 140 relative to the body 110, and then drives the actuator 130 and the tool portion 190 connected to the actuator 130 to move relative to the body 110. According to a specific example, the rotation of the control member 120 relative to the body 110 along the direction 120a, that is, Figure 9 The counterclockwise rotation 120a drives the first transmission member 1401 to move relative to the body 110 in the direction of pulling out the actuator 130, and simultaneously drives the third transmission member 1403 to move relative to the body 110 in the direction of pushing the actuator in. The displacement of the first transmission member 1401 and the third transmission member 1403 simultaneously drives the actuator 130 and the surgical clamp 190 mounted on the actuator 130 to rotate relative to the body 110 in the same direction as the control member 120, i.e. Figure 9 140a. Similarly, the displacement of the control member 120 relative to the body 110 in other directions in the XYZ three-dimensional space will drive the independent displacement of one or more of the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 relative to the body 110, thereby driving the actuator 130 to make corresponding displacements in the same direction as the control member 120. Thus, the displacement of the control member 120 relative to the body 110 is transmitted to the actuator 130 via the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404, thereby achieving distanced control of the surgical clamp 190. As used herein, the term "distanced control" refers to the controlled displacement or movement of the actuator of the manipulation device of the present invention at a distance from the control member.

[0058] According to an alternative solution, Figure 10 and Figure 11As shown, the middle section of the channel 114 between the first end 112 and the second end 116 of the body 110 can be a single-bore channel. In the middle section of the body 110, the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 are located in a common space. According to this embodiment, the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 are all disposed longitudinally and parallel to each other in the body 110. Taking the first transmission member 1401 as an example, it passes through the first transverse left opening 1121 at the first end 112 of the body 110 and the second transverse left opening 1161 at the second end 116 of the body 110, located at a corresponding position and on the same side as the central longitudinal axis 110Z. The second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404 respectively pass through the first side left opening 1122, the first horizontal right opening 1123, the first side right opening 1124 of the first end 112 of the main body 110, and the second side left opening 1162, the second horizontal right opening 1163, the second side right opening 1164 of the second end 116 of the main body 110 in the same manner and relative position relationship.

[0059] With Figure 10 and Figure 11 The control device of the main body 110, the displacement direction of the control member 120 and the actuator 130 are shown in FIG. Figure 9 The same direction as shown. Figure 12 As shown, the control member 120 rotates relative to the body 110 in the direction 120a, that is, Figure 12 The counterclockwise rotation 120a drives the first transmission member 1401 to move relative to the body 110 in the direction of pulling out the body 110, and simultaneously drives the third transmission member 1403 to move relative to the body 110 in the direction of pushing the body 110. The displacement of the first transmission member 1401 and the third transmission member 1403 simultaneously drives the actuator 130 and the surgical clamp 190 mounted on the actuator 130 to rotate relative to the body 110 in the same direction as the control member 120, that is, Figure 12 The counterclockwise direction 130a is shown. Similarly, the displacement of the control member 120 relative to the body 110 in other directions in the XYZ three-dimensional space will drive the independent displacement of one or more of the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 relative to the body 110, thereby driving the actuator 130 to move accordingly. Thus, the displacement of the control member 120 relative to the body 110 is transmitted to the actuator 130 via the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404, thereby controlling the spacing of the surgical clamp 190.

[0060] Figure 13FIG. 2 is a three-dimensional schematic diagram of the motion state of a control device 200 according to another embodiment of the present invention. Figure 14 yes Figure 13 The schematic diagram of the partially exploded perspective view of the control device is shown in FIG. Figure 14 As shown, the body 210 of the control device 200 has four first openings evenly distributed along a circumference parallel to the XY plane and about the geometric center of the first end 212: a first transverse left opening 2121, a first lateral left opening 2122, a first transverse right opening 2123, and a first lateral right opening 2124. Furthermore, the body 210 has four second openings evenly distributed along a circumference parallel to the XY plane and about the geometric center of the second end 216: a second transverse left opening 2161, a second lateral left opening 2162, a second transverse right opening 2163, and a second lateral right opening 2164. A first transmission member 2401, a second transmission member 2402, a third transmission member 2403, and a fourth transmission member 2404 extend through the first openings 2121, 2122, 2123, and 2124, respectively, at the first end 212 of the body 210. The body 210 has a single inner bore 214 located midway between the first end 212 and the second end 216. The first transmission member 2401, the second transmission member 2402, the third transmission member 2403 and the fourth transmission member 2404 are arranged in a cross manner in the inner bore 214, that is, the first transmission member 2401 passing through the first transverse left opening 2121 at the first end 212 of the main body 210 changes its orientation in the inner bore 214, so that the first transmission member 2401 passes through the main body 210 at the second end 216 of the main body 210 from the second transverse right opening 2163 which is symmetrical to the first transverse left opening 2121 about the longitudinal axis 210Z.

[0061] Similarly, the second transmission member 2402, which passes through the first lateral left opening 2122 at the first end 212 of the body 210, changes its orientation within the inner bore 214, such that the second transmission member 2402 exits the body 210 at the second end 216 of the body 210 through a second lateral right opening 2164, which is symmetrical with the first lateral left opening 2122 about the longitudinal axis 210Z. The third transmission member 2403, which passes through the first transverse right opening 2123 at the first end 212 of the body 210, changes its orientation within the inner bore 214, such that the third transmission member 2403 exits the body 210 at the second end 216 of the body 210 through a second transverse left opening 2161, which is symmetrical with the first transverse right opening 2123 about the longitudinal axis 210Z. The fourth transmission member 2404 passing through the fourth side right opening 2124 of the first end 212 of the main body 210 changes its orientation in the inner chamber 214 so that the fourth transmission member 2404 passes through the main body 210 at the second end 216 of the main body 210 from the second side left opening 2162 which is symmetrical to the first side right opening 2124 about the longitudinal axis 210Z.

[0062] With Figure 13 and Figure 14 The control device 200 of the main body 210 and the transmission member structure shown in FIG. 20 is configured such that the control member 220 rotates relative to the main body 210 along the direction 220a. Figure 13 The counterclockwise rotation 220a drives the first transmission member 2401 to move relative to the body 210 in the direction of pulling out of the body 210, and simultaneously drives the third transmission member 2403 to move relative to the body 210 in the direction of pushing into the body 210. Since the first transmission member 2401, the second transmission member 2402, the third transmission member 2403 and the fourth transmission member 2404 are arranged in a cross pattern in the inner chamber 214, the displacement of the first transmission member 2401 and the third transmission member 2403 simultaneously drives the actuator 230 and the surgical clamp 290 mounted on the actuator 230 to rotate relative to the body 210 in the opposite direction to the control member 220, that is, Figure 13 Similarly, the displacement of the control member 220 relative to the body 210 in other directions in the XYZ three-dimensional space will drive the independent displacement of one or more of the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404 relative to the body 210, thereby driving the actuator 230 to make corresponding displacements in the opposite direction of the control member 220. Thus, the displacement of the control member 220 relative to the body 210 is transmitted to the actuator 230 via the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404, thereby controlling the spacing of the surgical clamp 290.

[0063] According to an alternative solution, Figure 15A 、 Figure 15B 、 Figure 16A and Figure 16B As shown, the control device 200 may further include one or more sleeves 2411, 2412, 2413, 2414, each sleeve 2411, 2412, 2413, 2414 being respectively sleeved on the outside of the first transmission member 2401, the second transmission member 2402, the third transmission member 2403 and the fourth transmission member 2404, so that the first transmission member 2401, the second transmission member 2402, the third transmission member 2403 and the fourth transmission member 2404 can be displaced relative to their respective sleeves 2411, 2412, 2413, 2414 along the longitudinal axis of each transmission member. The middle section of the body 210 is a single inner bore. One or more sleeves 2411, 2412, 2413, 2414 are passed through and fixed to the body 210. The plurality of sleeves 2411, 2412, 2413, 2414 can be arranged according to Figure 16A As shown, they are fixed in parallel to each other inside the body 210, thereby achieving Figure 12 Alternatively, multiple sleeves 2411, 2412, 2413, 2414 can be operated in the manner shown. Figure 16B In the manner shown, the middle sections of the single inner bore of the body 210 intersect with each other and are fixed inside the body 210, thereby achieving the same Figure 5 The same control method as shown in the figure can achieve the following Figure 13 The control method shown.

[0064] According to yet another embodiment, Figure 17A 、 Figure 17B 、 Figure 17C 、 Figure 18 and Figure 19 As shown, the control device 300 of the present invention includes a main body 310, a transmission member 340 passing through the main body 310, a control member 320 fixed to one end of the transmission member 340 and adjacent to the first end 312 of the main body 310, an actuator 330 fixed to the other end of the transmission member 340 and adjacent to the second end 316 of the main body 310, a support 360 fixed to the first end 312 of the main body 310, a bracket 370 pivotally connected to the support 360, and a handle 380 pivotally connected to the bracket 370.

[0065] like Figure 18 and Figure 19 As shown, the support 360 has a support base 362 and a pair of support legs 364 extending from the base 362. A first support shaft hole 366 is formed at the end of each support leg 364. The bracket 370 has a hollow core 372, a pair of first bracket shaft holes 376 and a second bracket shaft hole 378 spaced symmetrically about the core 372. The handle 380 has a handle base 382 and a pair of handle legs 384 extending from the handle base 382. A second support shaft hole 388 is formed at the end of each handle leg 384.

[0066] A pair of first bracket shaft holes 376 are arranged in the transverse direction, i.e. Figure 18 and Figure 19 A pair of second bracket shaft holes 378 are arranged in the X direction as shown. Figure 18 and Figure 19 The bracket 370 is pivotally connected to the support 360 via the first bracket shaft hole 376 , the first support shaft hole 366 and a pair of first pivots 356 along the X direction, that is, the bracket 370 can pivot relative to the support 360 about the pair of first pivots 356 .

[0067] The handle 380 is pivotally connected to the bracket 370 through the second bracket shaft hole 388 , the second support shaft hole 376 and a pair of second pivots 358 along the Y direction. That is, the handle 380 can pivot relative to the bracket 370 about the pair of second pivots 358 .

[0068] The body 310 is fixed relative to the support 360. The first end 312 of the body 310 is located between a pair of support struts 364. The actuator 320 is fixed relative to the handle 380. The actuator 380 is located between a pair of second struts 384. The transmission member 340, which connects the body 310 and the control member 320, is suspended in the hollow core 372 of the support.

[0069] According to the structure of this embodiment as described above, Figure 20 、 Figure 21 and Figure 22 As shown, the handle 380 drives the bracket 370 to pivot relative to the body 310 about the pair of first pivots 356, thereby driving the control member 320 to rotate relative to the body 310. The rotation of the control member 320 in turn drives the transmission member 340 to move relative to the body 310. The displacement of the transmission member 340 relative to the body 310 drives the actuator 330 and the surgical instrument 390 mounted thereon to rotate in a direction that is the same as or opposite to the pivot direction of the handle 380, thereby achieving displacement control of the surgical instrument 390 in the YZ plane, as shown in FIG21.

[0070] Similarly, the pivoting of the handle 380 relative to the body 310 about the pair of second pivots 358 causes the control member 320 to rotate relative to the body 310. The rotation of the control member 320 in turn causes the transmission member 340 to move relative to the body 310. The displacement of the transmission member 340 relative to the body 310 causes the actuator 330 and the surgical instrument 390 mounted thereon to rotate in a direction that is the same as or opposite to the pivoting direction of the handle 380, thereby achieving displacement control of the surgical instrument 390 in the XZ plane, as shown in FIG22 .

[0071] The combination of independent pivoting of the handle 380 relative to the body 310 about the pair of first pivots 356 and the pair of second pivots 358 can achieve the control of the surgical instrument 390 in any orientation in the XYZ space.

[0072] Figure 23 FIG. 4 is a schematic diagram of a control device 400 according to another embodiment of the present invention. Figure 23As shown, the control device 400 includes a main body 410, a transmission member 440 passing through the main body 410, a control member 420 fixed to one end of the transmission member 440, an actuator 430 fixed to the other end of the transmission member 440, a support 460 fixed to the first end of the main body 410, a bracket 470 pivotally connected to the support 460, a handle 480 pivotally connected to the bracket 470, and a grip 450 fixed to the main body 410. One end of the grip 450 is fixed to the support 460 along the longitudinal direction Z+ / Z- and surrounds at least a portion of the outer circumference of the main body 410. The grip 450 may also include two hand-clasping portions 452 for assisting in holding the control device 400 and controlling the opening and closing of the surgical clamp 490 mounted on the actuator 430. Figure 23 In the example shown, the first end 412 and the second end 416 of the body 410 face in opposite directions, for example, Figure 23 As shown, the first end 412 of the body 410 faces the rear end direction Z- of the control device 400, and the second end 416 of the body 410 faces the front end direction Z+ of the control device 400. When in use, the operator's thumb can be used as shown in FIG. Figure 23 As shown, the control device 400 is controlled from the longitudinal rear of the handle 480 to achieve position change control of the actuator 430 and the surgical clamp 490 at the front end of the body 410.

[0073] Figure 24 FIG. 5 is a schematic diagram of a control device 500 according to another embodiment of the present invention. Figure 23 As shown, the control device 500 includes a body 510, a transmission member 540 passing through the body 510, a control member 520 fixed to one end of the transmission member 540, an actuator 530 fixed to the other end of the transmission member 540, a support 560 fixed to a first end of the body 510, a bracket 570 pivotally connected to the support 560, a handle 580 pivotally connected to the bracket 570, and a grip 550 fixed to the body 510. One end of the grip 570 is fixed to the support 560 along the longitudinal direction Z+ / Z- and surrounds at least a portion of the outer circumference of the body 510. Figure 24 In the illustrated example, the second end 516 of the body 510 faces the Z+ direction, toward the front end of the control device 500. Due to the U-shaped bend of the body 510, the first end 512 of the body 510 faces the same direction as the second end 516. That is, both the first end 512 and the second end 516 of the body 510 face the Z+ direction, toward the front end of the control device 500. With this structure, the control device 500 is suitable for grasping the grip 510 with the palm and index, middle, ring, and pinky fingers of a user, allowing the user to manipulate the handle 580 with their thumb to control the position of the actuator 530 and surgical clamp 590 at the front end of the body 510.

[0074] Figure 25FIG. 6 is a schematic diagram of a control device 600 according to another embodiment of the present invention. Figure 25 As shown, the control device 600 includes a body 610, a transmission member 640 passing through the body 610, a control member 620 fixed to one end of the transmission member 640, an actuator 630 fixed to the other end of the transmission member 640, a support 660 fixed to a first end of the body 610, a bracket 670 pivotally connected to the support 660, a handle 680 pivotally connected to the bracket 670, and a grip 650 fixed to the body 610. One end of the grip 650 is fixed to the support 660 along the longitudinal direction Z+ / Z- and surrounds at least a portion of the outer circumference of the body 610. Figure 25 In the illustrated example, the second end 616 of the body 610 deflects downward at an acute angle from the Z+ direction toward the front end of the control device 600, but still generally faces the Z+ direction toward the front end of the control device 600. Due to the U-shaped bend of the body 610, the first end 612 of the body 610 faces approximately the same direction as the second end 616. That is, the first end 612 of the body 610 also faces the Z+ direction toward the front end of the control device 600. With this structure, the control device 600 is suitable for a user to secure their wrist to the wristband 652 and to grasp the control handle 680 to control the position of the actuator 630 and surgical clamp 690 at the front end of the body 610.

[0075] In order to make the description concise, not all possible replacements and / or combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the replacement and / or combination of these technical features, they should be understood to be covered by the scope of this specification. The above embodiments only express several implementation methods of the present invention, and the specific and detailed descriptions therein are not intended to be understood as limiting the scope of the patent of the present invention. It is understood that various modifications, replacements, additions, deletions, etc. can be made to the various embodiments and the features therein within the spirit and principles of this application without exceeding the scope of protection claimed in this application.

Claims

1. A control device comprising: ontology; A transmission member is movably provided in the body, wherein the first end of the transmission member extends from the first end of the body to the outside of the body, and the second end of the transmission member extends from the second end of the body to the outside of the body. an actuator fixed to the first end of the transmission member, the actuator being spaced apart from the body; and The control member fixed to the second end of the transmission member is characterized in that the control member is spaced apart from the main body, wherein the displacement of the control member relative to the main body drives the displacement of the transmission member relative to the main body, and the displacement of the transmission member relative to the main body then drives the displacement of the actuator relative to the main body.

2. The control device according to claim 1, wherein: The body has a passage extending between a first end and a second end of the body in a longitudinal direction, and the transmission member is movably arranged in the passage.

3. The control device according to claim 2, characterized in that: The channel includes a first channel, a second channel, a third channel and a fourth channel which are independent of each other; the transmission member includes a first transmission member, a second transmission member, a third transmission member and a fourth transmission member; the first transmission member, the second transmission member, the third transmission member and the fourth transmission member are respectively movably arranged in the first channel, the second channel, the third channel and the fourth channel.

4. The control device according to claim 2, characterized in that: The channel includes a first opening located at the first end of the body, a second opening located at the second end of the body, and an intermediate section located between the first end and the second end. The transmission member includes a first transmission member, a second transmission member, a third transmission member and a fourth transmission member passing through the body from the first opening and the second opening respectively.

5. The control device according to claim 4, characterized in that: It also includes a first sleeve, a second sleeve, a third sleeve and a fourth sleeve fixed to the body, and the first transmission member, the second transmission member, the third transmission member and the fourth transmission member are respectively movably arranged in the first sleeve, the second sleeve, the third sleeve and the fourth sleeve.

6. The control device according to claim 4, characterized in that: The first opening includes a first transverse left opening, a first lateral left opening, a first transverse right opening and a first lateral right opening; the second opening includes a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission member passes through the main body from the first transverse left opening and the second transverse left opening, the second transmission member passes through the main body from the first lateral left opening and the second lateral left opening, the third transmission member passes through the main body from the first transverse right opening and the second transverse right opening, and the fourth transmission member passes through the main body from the first lateral right opening and the second lateral right opening.

7. The control device according to claim 4, characterized in that: The first opening includes a first transverse left opening, a first lateral left opening, a first transverse right opening and a first lateral right opening; the second opening includes a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission member passes through the body from the first transverse left opening and the second transverse right opening, the second transmission member passes through the body from the first lateral left opening and the second lateral right opening, the third transmission member passes through the body from the first transverse right opening and the second transverse left opening, and the fourth transmission member passes through the body from the first lateral right opening and the second lateral left opening.

8. The control device according to claim 3 or 4, characterized in that: It also includes a support fixed to the second end of the body, a bracket pivotally connected to the support, and a handle pivotally connected to the bracket, wherein the control member is fixed to the handle.

9. The control device according to claim 8, characterized in that: The bracket is pivotally connected to the support via a first pivot, and the handle is pivotally connected to the bracket via a second pivot, wherein the second pivot is orthogonal to the first pivot.

10. The control device according to claim 9, characterized in that: The bracket has a hollow core, and the transmission member located between the control member and the body passes through the hollow core of the bracket.

11. The control device according to claim 10, characterized in that: The rotation of the bracket about the first pivot causes at least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member to move along the body.

12. The control device according to claim 10, wherein: The rotation of the handle about the second pivot causes at least one of the first transmission member, the second transmission member, the third transmission member, and the fourth transmission member to move along the body.

13. The control device according to claim 1, wherein: It also includes a sleeve fixed to the body, wherein the transmission member is movably arranged through the sleeve.

14. The control device according to claim 1, wherein: The first end of the body faces a first axial direction of the body, and the second end of the body faces a second axial direction of the body, where the second axial direction is opposite to the first axial direction.

15. The control device according to claim 1, wherein: The first end of the body faces a first axial direction of the body, and the second end of the body faces a second axial direction of the body, where the second axial direction is the same as the first axial direction.

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