A connection structure and an apparatus device

Abstract

The application relates to the field of minimally invasive surgical instruments, in particular to a connecting structure and an instrument device. The connecting structure comprises a connecting head which is formed with a plug end, the outer circumferential surface of the plug end is formed with a pin body; a connecting seat which is formed with a socket cooperating with the plug end, the connecting seat is further formed with a channel for sliding of the pin body and a deflection space capable of deflecting after the pin body slides in, the connecting seat is further provided with a sliding limiting rod, the limiting rod is located on one side of the channel, and the limiting rod enters the channel to limit the pin body after the pin body enters the deflection space, thereby solving the technical problem that the instrument device adopts an integrated structure in the prior art, so that the driving module cannot be reused.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical instruments, and more particularly to a connection structure and instrument device. Background Technology

[0002] Minimally invasive surgery, due to its advantages of less trauma, less bleeding, and faster recovery, has been increasingly widely used in clinical surgery. Therefore, developing a simple, practical surgical instrument with high precision and low operational difficulty is of great significance for minimally invasive surgery. Current surgical instruments suffer from the following problems:

[0003] 1. When changing the instrument end after use, the entire surgical instrument needs to be replaced, which increases the cost of the surgical instruments and reduces the overall utilization rate of the surgical instruments.

[0004] 2. The transmission and drive devices of the instrument are set together, or the transmission device is set near the actuator, which makes the structure complex.

[0005] 3. The transmission device uses a wire rope traction method. The wire rope is a flexible connection, and slippage is inevitable during the rotation of the wire wheel. In addition, the wire rope itself is prone to deformation. All of these factors cause deviations in the rotation angle or displacement of the actuator at the end by using the rotation angle of the wire wheel to control the rotation angle or displacement of the actuator at the end, making it impossible to achieve precise control. On the other hand, due to its inherent properties, the wire rope is also prone to wear and tear and has poor stability during long-term traction and tension. Summary of the Invention

[0006] To address the technical problem in existing medical devices that employ a single, integrated structure, resulting in the inability to reuse the drive module, this invention provides a connection structure and medical device that solves the aforementioned technical problem. The technical solution of this invention is as follows:

[0007] A connection structure includes: a connector having a plug end and a pin on the outer peripheral surface of the plug end; a connector having a socket that mates with the plug end, the connector also having a channel for the pin to slide into and a deflection space for the pin to deflect after sliding in, the connector further having a sliding limit rod located on one side of the channel, the limit rod entering the channel after the pin enters the deflection space to limit the pin.

[0008] According to one embodiment of the present invention, the connecting seat has a mounting groove for slidingly assembling the limiting rod, and the mounting groove is further provided with an elastic element for pressing the limiting rod. A sliding key is formed on the outer peripheral surface of the connecting seat, and the sliding key is connected to the limiting rod through a connecting member. The sliding key drives the limiting rod to move.

[0009] According to one embodiment of the present invention, the device further includes a housing, wherein at least one set of anti-rotation members are formed on the outer peripheral surface of the non-plug end of the connector, and the housing has an anti-rotation groove formed at a corresponding position, wherein the anti-rotation member extends into the anti-rotation groove.

[0010] An instrument device using the aforementioned connection structure includes: a drive module connected to a transmission module via the connection structure; the drive module including a base and a drive rod assembly disposed on the base, at least a portion of the drive rod assembly extending into the connecting seat and rotatably engaging with the connecting seat; a transmission module including a transmission rod assembly, at least a portion of the transmission rod assembly passing through the connector and rotatably engaging with the connector, the transmission rod assembly and the drive rod assembly being connected via a plug-in structure; and an actuating end driven by the drive module through the transmission module.

[0011] According to one embodiment of the present invention, the plug-in structure includes protrusions and slots on the inner / outer circumferential surfaces of the rod portions of the drive rod assembly and the transmission rod assembly, wherein the protrusion of one rod portion is inserted into the slot of the other rod portion to enable the two rod portions to move together.

[0012] According to one embodiment of the present invention, the push transmission assembly includes: the drive rod assembly includes: a first drive rod, the first drive rod being built into the connecting seat; a protrusion is formed on the outer periphery of one end of the first drive rod; and a second drive rod, the second drive rod being built into the first drive rod, and a slot is formed at one end of the second drive rod.

[0013] According to one embodiment of the present invention, the axial center lines of the connecting seat, the first driving rod and the second driving rod are the same straight line.

[0014] According to one embodiment of the present invention, the transmission rod assembly includes: a first transmission rod, which is built into the connector, and one end of the first transmission rod has a slot corresponding to a protrusion on the first drive rod; and a second transmission rod, which is built into the first transmission rod, and one end of the second transmission rod has a protrusion corresponding to a slot on the second drive rod.

[0015] According to one embodiment of the present invention, the drive module further includes: a first drive connector, which drives the first drive rod via a first gear set; a second drive connector, which drives the second drive rod via the second module; and a third drive connector, which drives the connecting seat via a second gear set.

[0016] According to one embodiment of the present invention, the non-plug end of the connector is connected to the actuator, and the third drive connector drives the actuator by means of the connector and the connector.

[0017] Based on the above technical solution, the technical effects that the present invention can achieve are as follows:

[0018] 1. The connection structure of the present invention includes a connector and a connector base. The connector has a plug end and a pin is formed on the outer peripheral surface of the plug end. The connector base has a socket that mates with the plug end. Thus, the connector and the connector base are movably connected by inserting the plug end into the socket. The connector base also has a channel for the pin to slide in and a deflection space for the pin to deflect after sliding in. The connector base is also equipped with a sliding limit rod located at one end of the channel. After the pin enters the deflection space, the limit rod enters the channel to limit the pin. Thus, the connector and the connector base form a detachable connection. Therefore, the connection structure of the present application only requires the replacement of the non-reusable connector, while the connector base and its driving device can be reused.

[0019] 2. The connecting seat of the present invention has a mounting groove for sliding assembly of the limiting rod. An elastic element for pressing the limiting rod is also provided in the mounting groove. One end of the elastic element abuts against the limiting rod, and the other end abuts against the bottom of the mounting groove. This prevents the limiting rod from sliding arbitrarily within the mounting groove, thus avoiding unnecessary release of the limiting rod from the pin. A sliding key is formed on the outer circumferential surface of the connecting seat. The sliding key is connected to the limiting rod via a connecting member. The sliding key drives the limiting rod to move. This method of controlling the movement of the limiting rod via the sliding key is convenient for operators.

[0020] 3. The device of the present invention includes a connecting structure, a drive module and a transmission module. The drive module is connected to the transmission module via the connecting structure, so that the drive module and the transmission module are detachably connected via the connecting structure. Thus, the drive module can be reused, and only the transmission module needs to be replaced when the transmission module is damaged, thus saving costs.

[0021] 4. The drive module of the present invention includes a base and a drive rod assembly disposed on the base. At least a portion of the drive rod assembly extends into the connecting seat and rotatably engages with the connecting seat. The transmission module includes a transmission rod assembly. At least a portion of the transmission rod assembly passes through the connecting head and rotatably engages with the connecting head. The transmission rod assembly and the drive rod assembly are connected by a plug-in structure. By embedding the drive rod assembly and the transmission rod assembly into the connecting seat, the space occupied is reduced. In addition, the plug-in engagement of the transmission rod assembly and the drive rod assembly is simpler in structure and installation process than threaded connection or welding.

[0022] 5. The plug-in structure of this application includes protrusions and slots on the inner / outer circumferential surfaces of the rods of the drive rod assembly and the transmission rod assembly. The protrusion of one rod is inserted into the slot of the other rod to make the two rods move together, that is, the drive rod assembly can drive the transmission rod assembly to move. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the connector structure;

[0024] Figure 2 This is a sectional view of the connector.

[0025] Figure 3 This is an exploded view of the connector.

[0026] Figure 4 This is a structural diagram of the channel and deflection space;

[0027] Figure 5 This is a partial structural diagram of the connector.

[0028] Figure 6 This is a schematic diagram of the sliding key structure;

[0029] Figure 7 A sectional view of the assembly of the connector and the connector base;

[0030] Figure 8 A structural diagram illustrating the assembly of the connector and the housing;

[0031] Figure 9 This is a schematic diagram of the drive module.

[0032] Figure 10 A sectional view of the assembly of the connecting seat and the drive rod assembly;

[0033] Figure 11 A schematic diagram of the assembly of the first drive rod and the first drive connector;

[0034] Figure 12 A schematic diagram of the assembly of the second drive rod and the second drive connector;

[0035] Figure 13 A schematic diagram of the assembly of the connecting seat and the third drive connector;

[0036] Figure 14 This is a schematic diagram of the transmission rod assembly.

[0037] Figure 15 An exploded view showing the interaction between the second drive rod, the plug-in structure, and the second transmission rod;

[0038] Figure 16 An exploded view showing the fit between the transmission rod assembly, the plug-in structure, the drive rod assembly, and the connecting seat;

[0039] Figure 17 This is a schematic diagram of the execution end structure;

[0040] Figure 18 This is a sectional view of the instrument / device.

[0041] In the picture:

[0042] 1-Connector; 11-Pin; 12-Anti-rotation component; 2-Connecting seat; 21-Channel; 22-Limiting rod; 221-Limiting protrusion; 23-Deflection space; 24-Sliding key; 241-Connector; 242-First clearance opening; 243-Second clearance opening; 25-Elastic component; 26-Limiting seat; 27-Mounting groove; 28-U-shaped notch II; 3-Outer shell; 31-Anti-rotation groove; 4-Drive module; 41-Base; 411-Limiting groove; 42-Drive rod assembly; 421-First drive rod; 421 1-U-shaped notch I; 422-Second drive rod; 43-First drive connector; 44-Second drive connector; 45-Third drive connector; 46-First gear set; 461-Driving gear I; 462-First driven gear I; 463-Second driven gear; 47-Second gear set; 471-Driving gear II; 472-First driven gear II; 5-Transmission rod set; 51-First transmission rod; 52-Second transmission rod; 6-Plug-in structure; 61-Slot; 62-Protrusion; 7-Actuating end. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0047] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0048] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0049] like Figure 1-18As shown, the connection structure of this embodiment includes a connector 1 and a connector 2. The connector 1 has a plug end, and a pin 11 is formed on the outer peripheral surface of the plug end. Preferably, the pin 11 extends radially from the outer peripheral surface of the plug end of the connector 1. The connector 2 has a socket that mates with the plug end. The connector 2 also has a channel 21 for the pin 11 to slide into and a deflection space 23 for the pin 11 to deflect after sliding in. The connector 2 is also equipped with a sliding limiting rod 22, which is located at one end of the channel 21. After the pin 11 enters the deflection space 23, the limiting rod 22 enters the channel 21 to limit the pin 11.

[0050] Furthermore, such as Figure 4 and 8 As shown, in this embodiment, the connector 1 can move within the connector seat 2 under the drive of the housing 3. At least one set of anti-rotation members 12 is formed along the radial direction at the non-plug end of the connector 1. In this embodiment, two sets of anti-rotation members 12 are provided, symmetrically arranged. Anti-rotation grooves 31 corresponding to the positions of the anti-rotation members 12 are formed on the housing 3. Thus, under the action of external force, the housing 3 can carry the connector 1 to deflect in the deflection space 23 and move along the channel 21. Preferably, the connector 1 is tubular, so that the connector 1 can accommodate other objects.

[0051] like Figure 2-7 As shown, the connecting seat 2 of this embodiment has a mounting groove 27 formed on it. The limiting rod 22 slides in the mounting groove 27 and is limited. Specifically, the connecting seat 2 is provided with a mounting groove 27 along the axial direction. The mounting groove 27 is connected to the channel 21. One end of the mounting groove 27 is formed with an annular boss. The limiting rod 22 has a limiting protrusion 221 at the corresponding position. The limiting protrusion 221 abuts against the boss to limit the movement position of the limiting rod 22 in the mounting groove 27.

[0052] Furthermore, in this embodiment, a limiting seat 26 is provided at one end of the mounting groove 27. The limiting seat 26 is fixedly connected to the mounting groove 27. An elastic element 25 is also provided in the mounting groove 27 to press the limiting rod 22. In this embodiment, the elastic element 25 is set as a spring. One end of the spring elastic element 25 abuts against the limiting seat 26, and the other end of the spring abuts against the limiting protrusion 221. This can prevent the limiting rod 22 from moving arbitrarily in the mounting groove 27.

[0053] Preferably, in order to facilitate the movement of the limiting rod 22 in the mounting groove 27, a sliding key 24 is formed on the outer peripheral surface of the connecting seat 2 in this embodiment. This allows the limiting rod 22 to move by pushing the sliding key 24. Specifically, a first clearance opening 242 is formed on the outer peripheral surface of the connecting seat 2. The first clearance opening 242 communicates with the channel 21. A connector 241 is provided on one side of the sliding key 24. The other end of the connector 241 extends into the first clearance opening 242 and is fixedly connected to the free end of the limiting rod 22. In addition, at least one second clearance opening 243 is formed on the connecting seat 2. A buckle is formed on the sliding key 24 at the corresponding position. The buckle extends into the second clearance opening 243 and hangs on the side wall of the second clearance opening 243. This prevents the sliding key 24 from detaching from the connecting seat 2.

[0054] This embodiment also provides a device that uses the connection structure described above, such as... Figure 9 , 14 As shown in Figures 15 and 16, the device includes a drive module 4, a transmission module, and an actuator 7. The drive module 4 is connected to the transmission module via the aforementioned connection structure, thereby enabling the drive module 4 to drive the actuator 7 through the transmission module. Specifically, the drive module 4 includes a base 41 and a drive rod assembly 42 disposed on the base 41. At least a portion of the drive rod assembly 42 extends into the connecting seat 2 and rotatably engages with the connecting seat 2. The transmission module includes a transmission rod assembly 5. At least a portion of the transmission rod assembly 5 passes through the connecting head 1 and rotatably engages with the connecting head 1. One end of the transmission rod assembly 5 and the drive rod assembly 42 are connected via a plug-in structure 6, and the other end of the transmission rod assembly 5 is connected to the actuator 7.

[0055] Preferably, in this embodiment, a limiting groove 411 is formed on the base 41, one end of the limiting seat 26 extends into the limiting groove 411, and the connecting seat 2 moves along the limiting groove 411 with the limiting seat 26 to the limit position and is limited, thereby stopping the movement.

[0056] Furthermore, the plug-in structure 6 of this embodiment includes protrusions 62 and slots 61 on the inner / outer circumferential surfaces of the rods of the drive rod assembly 42 and the transmission rod assembly 5. The protrusion 62 of one rod is inserted into the slot 61 of the other rod to make the two rods move together, that is, the drive rod assembly 42 can drive the transmission rod assembly 5 to move.

[0057] like Figure 16As shown, in this embodiment, the drive rod assembly 42 is built into the connecting seat 2. Specifically, the drive rod assembly 42 includes a first drive rod 421 and a second drive rod 422. The first drive rod 421 is built into the connecting seat 2, and a protrusion 62 is formed on the outer periphery of one end of the first drive rod 421. The second drive rod 422 is built into the first drive rod 421, and a slot 61 is formed at one end of the first drive rod 421. In this embodiment, the connecting seat 2, the first drive rod 421, and the second drive rod 422 are all configured as tubular structures. By utilizing the internal space of the tube, the connecting seat 2 can accommodate the first drive rod 421, and the first drive rod 421 can accommodate the second drive rod 422. This makes the structure of the instrument compact and reduces the space occupied. In addition, a ball bearing is provided on the first drive rod 421 near the slot 61 to prevent direct contact between the first drive rod 421 and the connecting seat 2 when they rotate.

[0058] Preferably, such as Figure 10 As shown, in this embodiment, the power ends of the connecting seat 2, the first drive rod 421, and the second drive rod 422 are arranged in a stepped manner in the axial direction, which facilitates the connection of the power ends with external drive components. The axial center lines of the connecting seat 2, the first drive rod 421, and the second drive rod 422 are the same straight line, ensuring that the connecting seat 2, the first drive rod 421, and the second drive rod 422 do not offset each other in the axial direction, thus improving the progress of the instrument device.

[0059] Furthermore, such as Figure 11 As shown, in this embodiment, the power end of the first drive rod 421 is provided with a first drive connector 43. The first drive connector 43 drives the first drive rod 421 via a first gear set 46. The power end of the first drive rod 421 has at least one set of U-shaped notches I 4211 formed along the axial direction. The first gear set 46 includes a driving gear I 461, a first driven gear I 462, and a second driven gear 463. The driving gear I 461 and the first driven gear I 462 mesh with each other, and the first driven gear I 462 and the second driven gear 463 mesh with each other. A limiting key I corresponding to the U-shaped notch I 4211 is formed on the second driven gear 463. The limiting key I extends into the U-shaped notch I 4211, so that the first drive rod 421 can rotate together with the first gear set 46. The free end of the first drive connector 43 can be connected to a power source such as a motor to drive the first drive rod 421 to rotate.

[0060] Furthermore, such as Figure 12As shown, in this embodiment, the power end of the second drive rod 422 is provided with a second drive connector 44, which drives the second drive rod 422. The power end of the second drive rod 422 has a through insertion hole I in the radial direction, and the drive end of the second drive connector 44 has an insertion hole II at the corresponding position. When a pin is inserted into the insertion hole I and the insertion hole II, the second drive rod 422 can rotate together with the drive end of the second drive connector 44. The free end of the second drive connector 44 can be connected to a power source such as a motor to drive the second drive rod 422 to rotate.

[0061] Furthermore, such as Figure 13 As shown, in this embodiment, the power end of the connecting seat 2 is provided with a third driving connector 45. The third driving connector 45 drives the connecting seat 2 via a second gear set 47. The power end of the connecting seat 2 has at least one set of U-shaped notches II 28 formed along the axial direction. The second gear set 47 includes a driving gear II 471 and a first driven gear II 472. A limiting key II corresponding to the U-shaped notch II 28 is formed on the first driven gear II 472. The limiting key II extends into the U-shaped notch II 28. In this way, through the meshing of the driving gear II 471 and the first driven gear II 472, the connecting seat 2 can rotate together with the second gear set 47. The free end of the third driving connector 45 can be connected to a power source such as a motor to drive the connecting seat 2 to rotate.

[0062] Preferably, the second gear set 47, the first gear set 46, and the second drive connector 44 are arranged along the axial direction, and the central axes of the first driven gear II 472, the second driven gear 463, and the second drive connector 44 are on the same straight line.

[0063] like Figure 14 , 16 As shown, the transmission rod assembly 5 in this embodiment includes a first transmission rod 51, which is built into the connector 1, making the structure of the instrument compact. In order to facilitate the connection between the first transmission rod 51 and the first drive rod 421, one end of the first transmission rod 51 is formed with a slot 61 corresponding to the protrusion 62 on the first drive rod 421. The first transmission rod 51 and the first drive rod 421 are inserted and engaged by the protrusion 62 extending into the slot 61. Preferably, the first transmission rod 51 is set as a tube.

[0064] The transmission rod assembly 5 in this embodiment also includes a second transmission rod 52, which is built into the first transmission rod 51. In order to facilitate the connection between the second transmission rod 52 and the second drive rod 422, one end of the second transmission rod 52 is formed with a protrusion 62 corresponding to the slot 61 on the second drive rod 422. The second transmission rod 52 and the second drive rod 422 are connected by the protrusion 62 extending into the slot 61.

[0065] like Figure 17As shown, in this embodiment, the execution end 7 is fixedly connected to the non-plug end of the connector 1, so that the third drive connector 45 drives the execution end 7 by means of the connector 2 and the connector 1.

[0066] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A medical device, characterized in that, The connection structure includes: a connector (1) having a plug end and a pin (11) formed on the outer peripheral surface of the plug end; and a connector (2) having a socket that mates with the plug end, the connector (2) also having a channel (21) for the pin (11) to slide into and a deflection space (23) for the pin (11) to deflect after sliding in, the connector (2) also having a sliding limit rod (22) located at one end of the channel (21), the limit rod (22) entering the channel (21) after the pin (11) enters the deflection space (23) to limit the pin (11). The connector (2) has a mounting groove (27) for slidingly assembling the limiting rod (22). The mounting groove (27) is also provided with an elastic element (25) for pressing the limiting rod (22). A sliding key (24) is formed on the outer peripheral surface of the connector (2). The sliding key (24) is connected to the limiting rod (22) through a connector (241). The sliding key (24) drives the limiting rod (22) to move. The connector (1) also includes a housing (3). At least one set of anti-rotation elements (12) is formed on the outer peripheral surface of the non-plug end of the connector (1). The housing (3) has an anti-rotation groove (31) at the corresponding position. The anti-rotation element (12) extends into the anti-rotation groove (31). The device further includes a drive module (4), which is connected to the transmission module via the connection structure. The drive module (4) includes a base (41) and a drive rod assembly (42) disposed on the base (41). At least a portion of the drive rod assembly (42) extends into the connecting seat (2) and rotates with the connecting seat (2). A transmission module, comprising a transmission rod assembly (5), at least a portion of which passes through the connector (1) and is rotatably engaged with the connector (1), wherein the transmission rod assembly (5) and the drive rod assembly (42) are connected by a plug-in structure (6); and an execution end (7), wherein the drive module (4) drives the execution end (7) through the transmission module. The drive rod assembly (42) includes: a first drive rod (421), which is built into the connecting seat (2); a protrusion (62) is formed on the outer periphery of one end of the first drive rod (421); and a second drive rod (422), which is built into the first drive rod (421); and a slot (61) is formed at one end of the second drive rod (422). The transmission rod assembly (5) includes: a first transmission rod (51), which is built into the connector (1), and one end of the first transmission rod (51) has a slot (61) corresponding to the protrusion (62) on the first drive rod (421); and a second transmission rod (52), which is built into the first transmission rod (51), and one end of the second transmission rod (52) has a protrusion (62) corresponding to the slot (61) on the second drive rod (422).

2. The device according to claim 1, characterized in that, The plug-in structure (6) includes protrusions (62) and slots (61) on the inner / outer circumferential surfaces of the rods of the drive rod assembly (42) and the transmission rod assembly (5), wherein the protrusion (62) of one rod is inserted into the slot (61) of the other rod to link the two rods together.

3. The medical device according to claim 1, characterized in that, The axial center lines of the connecting seat (2), the first drive rod (421) and the second drive rod (422) are the same straight line.

4. The medical device according to claim 1, characterized in that, The drive module (4) further includes: a first drive connector (43), which drives the first drive rod (421) via a first gear set (46); a second drive connector (44), which drives the second drive rod (422); and a third drive connector (45), which drives the connecting seat (2) via a second gear set (47).

5. The device according to claim 4, characterized in that, The non-plug end of the connector (1) is connected to the execution end (7), and the third drive connector (45) drives the execution end (7) by means of the connector (2) and the connector (1).

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