Surgical Actuators

Abstract

The present invention discloses a surgical actuator, which comprises: a support member; a first joint, which is fixedly mounted outside the support member; a clamping mechanism, which comprises a mounting seat rotatably arranged at one end of the support member and a clamping assembly arranged on the mounting seat; and a driving assembly, which comprises a first driving unit, which comprises a first driving rope and a second driving rope, the first driving rope is connected to the mounting seat and passes through the first joint, and the second driving rope is also connected to the mounting seat and passes through the first joint; wherein, in an initial state: a connection node between the first driving rope and the mounting seat is spaced apart from a contact node between the first driving rope and the first joint in the circumferential direction of the support member; a connection node between the second driving rope and the mounting seat is spaced apart from a contact node between the second driving rope and the first joint in the circumferential direction of the support member.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical actuator. Background Art

[0002] Traditional endoscopic mucosal resection surgery is performed by a gastroenterologist with the help of a digestive endoscope to cut the diseased mucosa. Most endoscopes on the market currently have problems such as insufficient degrees of freedom and high difficulty in operation. Moreover, these endoscopes can only cut the diseased mucosa but cannot achieve lifting action when cutting the diseased mucosa. Therefore, the entire operation requires high personal skills and experience of the doctor, which increases the risk of complications and operation time. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a surgical actuator with high degree of freedom and high flexibility.

[0004] According to some embodiments of the present invention, a surgical actuator comprises: a support member; a first bone joint, the first bone joint is fixedly sleeved outside the support member; a clamping mechanism, the clamping mechanism comprises a mounting seat rotatably arranged at one end of the support member and a clamping assembly arranged on the mounting seat; and a driving assembly, the driving assembly comprises a first driving unit, the first driving unit comprises a first driving rope and a second driving rope, the first driving rope is connected to the mounting seat and passes through the first bone joint, and the second driving rope is also connected to the mounting seat and passes through the first bone joint;

[0005] Among them, in the initial state:

[0006] The connection node between the first driving rope and the mounting seat and the contact node between the first driving rope and the first bone joint are spaced apart in the circumferential direction of the support member, and the end of the first driving rope away from the mounting seat is pulled to drive the mounting seat to rotate in a first direction; the connection node between the second driving rope and the mounting seat and the contact node between the second driving rope and the first bone joint are spaced apart in the circumferential direction of the support member, and the end of the second driving rope away from the mounting seat is pulled to drive the mounting seat to rotate in a second direction opposite to the first direction.

[0007] The surgical actuator according to the embodiment of the present invention has at least the following technical effects:

[0008] In the above-mentioned surgical actuator, the support member is used to provide support for the clamping mechanism so that the clamping mechanism can be extended into the channel and sent to the lesion location. When the clamping mechanism is sent to the vicinity of the lesion location, the first driving unit can drive the mounting seat to rotate, so that the clamping assembly rotates with the mounting seat, so that the clamping assembly can be moved to the lesion location more accurately to treat the lesion body at the lesion location.

[0009] Specifically, when the clamping assembly of the surgical actuator is delivered to the vicinity of the lesion, the first driving rope (or the second driving rope) can be pulled according to the position of the lesion, so that the mounting seat rotates in the first direction (or the second direction) to make the clamping assembly approach the lesion to treat the lesion at the lesion position. The above-mentioned surgical actuator has high degree of freedom and high flexibility, which can reduce the difficulty of operation for surgical personnel.

[0010] According to some embodiments of the present invention, in the initial state:

[0011] The first driving rope is connected to the mounting seat, and the first driving rope spirally rotates along the first direction from the connection node between the first driving rope and the mounting seat and then passes through the first bone joint;

[0012] The second driving rope is connected to the mounting seat, and the second driving rope spirally rotates along the second direction from the connection node between the second driving rope and the mounting seat and then passes through the first bone segment.

[0013] According to some embodiments of the present invention, there are two first drive ropes, and the two first drive ropes are arranged at intervals along the circumference of the support member; there are also two second drive ropes, and the two second drive ropes are arranged at intervals along the circumference of the support member.

[0014] According to some embodiments of the present invention, in the initial state:

[0015] The spacing direction of the connection node between the first driving rope and the mounting seat and the contact node between the first driving rope and the first condyle in the circumferential direction of the support member is opposite to the spacing direction of the connection node between the second driving rope and the mounting seat and the contact node between the second driving rope and the first condyle in the circumferential direction of the support member;

[0016] The connection node between the first driving rope and the mounting seat and the contact node between the first driving rope and the first condyle are spaced 90° apart in the circumferential direction of the support member; the connection node between the second driving rope and the mounting seat and the contact node between the second driving rope and the first condyle are spaced 90° apart in the circumferential direction of the support member.

[0017] According to some embodiments of the present invention, the surgical implement further comprises a plurality of second bone joints, wherein the plurality of second bone joints are fixedly sleeved outside the support member at intervals along the axial direction of the support member, and the plurality of second bone joints are located on a side of the first bone joint away from the mounting seat;

[0018] The first driving rope passes through the plurality of second condyles in a spiral shape, and the second driving rope also passes through the plurality of second condyles in a spiral shape.

[0019] According to some embodiments of the present invention, the driving assembly further comprises a second driving unit, and the second driving unit is controlled to drive the clamping assembly to open and close;

[0020] The clamping assembly includes a first clamping member rotatably connected to the mounting seat and a second clamping member rotatably connected to the mounting seat, and the second driving unit is controlled to drive the first clamping member and the second clamping member to close together or expand together.

[0021] According to some embodiments of the present invention, the second driving unit comprises a third driving rope, a fourth driving rope, a fifth driving rope and a sixth driving rope, the third driving rope and the fourth driving rope are both connected to the first clamping member, and the fifth driving rope and the sixth driving rope are both connected to the second clamping member;

[0022] The third driving rope can be pulled to drive the first clamping member to rotate toward the second clamping member, the fourth driving rope can be pulled to drive the first clamping member to rotate away from the second clamping member, the fifth driving rope can be pulled to drive the second clamping member to rotate toward the first clamping member, and the sixth driving rope can be pulled to drive the second clamping member to rotate away from the first clamping member.

[0023] According to some embodiments of the present invention, the first clamping member includes a first connecting portion rotatably connected to the mounting seat, the first connecting portion is provided with a first annular groove, the third driving rope crosses the fourth driving rope, and one end of the third driving rope and one end of the fourth driving rope are respectively wound around two sides of the first annular groove; and / or

[0024] The second clamping member includes a second connecting portion rotatably connected to the mounting seat, the second connecting portion is provided with a second annular groove, the fifth driving rope intersects with the sixth driving rope, and one end of the fifth driving rope and one end of the sixth driving rope are respectively wrapped around the two sides of the second annular groove.

[0025] According to some embodiments of the present invention, the first clamping member includes a first connecting arm rotatably connected to the mounting seat, and a first clamping portion provided on the first connecting arm, and the second clamping member includes a second connecting arm rotatably connected to the mounting seat and a second clamping portion provided on the second connecting arm, and the first clamping portion and the second clamping portion are controlled to be able to move closer to or farther from each other;

[0026] The clamping mechanism further includes a pressure sensor, and the pressure sensor is used to detect the clamping force of the clamping structure formed by the first clamping part and the second clamping part when clamping the sample.

[0027] According to some embodiments of the present invention, the surgical implement further comprises a plurality of third bone joints, wherein the plurality of third bone joints are fixedly sleeved outside the support member at intervals along the axial direction of the support member, and the plurality of third bone joints are located on a side of the first bone joint away from the mounting seat;

[0028] The driving assembly further comprises a third driving unit, and the third driving unit is controlled to drive the plurality of third condyles to cause the supporting member to bend and deform.

[0029] According to some embodiments of the present invention, the third driving unit includes a plurality of seventh driving ropes, each of the seventh driving ropes passes through a plurality of the third bone segments, and the plurality of the seventh driving ropes are arranged at intervals along the circumference of the support member, and the seventh driving rope is pulled to drive the plurality of the third bone segments to cause the support member to bend and deform. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0031] Figure 1 is a schematic structural diagram of a surgical actuator according to an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;

[0033] Figure 3 FIG. 1 is a schematic diagram of a partial structure of a surgical actuator according to an embodiment of the present invention. Figure 1 ;

[0034] Figure 4 FIG. 1 is a schematic diagram of a partial structure of a surgical actuator according to an embodiment of the present invention. Figure 2 ;

[0035] Figure 5 is a schematic structural diagram of a mounting base according to an embodiment of the present invention;

[0036] Figure 6is a schematic diagram of the rear structural view of a mounting base according to an embodiment of the present invention;

[0037] Figure 7 is a partial structural schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0038] Figure 8 is a schematic structural diagram of a first bone segment according to an embodiment of the present invention;

[0039] Fig. 9 FIG. 1 is a schematic diagram of a partial structure of a surgical actuator according to an embodiment of the present invention. Figure 3 .

[0040] Reference numerals:

[0041] 100. Support member;

[0042] 200, clamping mechanism; 210, mounting seat; 210a, first through hole; 210b, fourth through hole; 210c, sensor wire hole; 211, collar; 212, connecting block; 220, clamping assembly; 221, first clamping member; 2211, first connecting arm; 22111, first connecting portion; 22111a, first annular groove; 2212, first clamping portion; 222, second clamping member; 2221, second connecting arm; 22211, second connecting portion; 22211a, second annular groove; 2222, second clamping portion; 230, pressure sensor; 240, rotating shaft;

[0043] 300, first bone condyle; 310, second through hole;

[0044] 400, second segment;

[0045] 500, third segment;

[0046] 600, driving assembly; 601, limiting ball; 610, first driving unit; 611, first driving rope; 612, second driving rope; 620, second driving unit; 621, third driving rope; 622, fourth driving rope; 623, fifth driving rope; 624, sixth driving rope; 631, seventh driving rope. DETAILED DESCRIPTION

[0047] The following will be combined with the embodiments to clearly and completely describe the concept of the present invention and the technical effects produced, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0048] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] like Figure 1 As shown, one embodiment relates to a surgical actuator, which includes a support member 100 , a clamping mechanism 200 , a first bone joint 300 and a driving assembly 600 .

[0052] like Figure 1 As shown, the first bone condyle 300 is fixedly mounted outside the support member 100; Figure 1 and Figure 2 The clamping mechanism 200 includes a mounting seat 210 rotatably disposed at one end of the support member 100 and a clamping assembly 220 disposed on the mounting seat 210; Figure 3 and Figure 4 The driving assembly 600 includes a first driving unit 610 , and the first driving unit 610 includes a first driving rope 611 and a second driving rope 612 . The first driving rope 611 is connected to the mounting seat 210 and passes through the first bone joint 300 , and the second driving rope 612 is also connected to the mounting seat 210 and passes through the first bone joint 300 .

[0053] Among them, in the initial state:

[0054] The connection node between the first driving rope 611 and the mounting seat 210 and the contact node between the first driving rope 611 and the first bone joint 300 are spaced apart in the circumferential direction of the support member 100, and the end of the first driving rope 611 away from the mounting seat 210 is pulled to drive the mounting seat 210 to rotate in a first direction; the connection node between the second driving rope 612 and the mounting seat 210 and the contact node between the second driving rope 612 and the first bone joint 300 are spaced apart in the circumferential direction of the support member 100, and the second driving rope 612 is pulled away from the mounting seat 210 to drive the mounting seat 210 to rotate in a second direction opposite to the first direction.

[0055] Specifically, in the initial state, the first driving rope 611 is connected to the mounting seat 210, and the first driving rope 611 spirally rotates along the first direction from the connection node between the first driving rope 611 and the mounting seat 210 and then passes through the first condyle 300. Since the first condyle 300 is fixedly connected to the support member 100, and the mounting seat 210 is rotatably connected to the first support member 100, when the first driving rope 611 is pulled from the end of the first driving rope 611 away from the mounting seat 210, the first driving rope 611 between the first condyle 300 and the mounting seat 210 will be transformed into a straightened state, so that the first driving rope 611 will pull the mounting seat 210 to rotate along the first direction.

[0056] In addition, in the initial state, the second driving rope 612 is connected to the mounting seat 210, and the second driving rope 612 spirally rotates along the second direction from the connection node between the second driving rope 612 and the mounting seat 210 and then passes through the first joint 300. Since the first joint 300 is fixedly connected to the support member 100, and the mounting seat 210 is rotatably connected to the first support member 100, when the second driving rope 612 is pulled from the end of the second driving rope 612 away from the mounting seat 210, the second driving rope 612 between the first joint 300 and the mounting seat 210 will be transformed into a straightened state, so that the second driving rope 612 will pull the mounting seat 210 to rotate along the second direction.

[0057] It should be noted that, from the direction from the clamping mechanism 200 to the supporting member 100 as a perspective, the first direction is a clockwise direction, and the second direction is a counterclockwise direction.

[0058] In the above-mentioned surgical actuator, the support member 100 is used to provide support for the clamping mechanism 200 so that the clamping mechanism 200 can be extended into the channel and sent to the lesion location. When the clamping mechanism 200 is sent to the vicinity of the lesion location, the first driving unit 610 can drive the mounting seat 210 to rotate, so that the clamping assembly 220 rotates with the mounting seat 210, so that the clamping assembly 220 can move to the lesion location more accurately to treat the lesion body at the lesion location.

[0059] Specifically, when the clamping assembly 220 of the surgical actuator is delivered to the vicinity of the lesion position, the first driving rope 611 (or the second driving rope 612) can be pulled according to the position of the lesion body, so that the mounting seat 210 rotates in the first direction (or the second direction) to make the clamping assembly 220 close to the lesion body to treat the lesion body at the lesion position. The above-mentioned surgical actuator has a high degree of freedom and high flexibility, which can reduce the difficulty of operation for surgical personnel.

[0060] The lesion body may be a lesion mucosa, and the first driving rope 611 and the second driving rope 612 are both steel wire ropes.

[0061] Combination Figure 3 and Figure 5 In one embodiment, the mounting seat 210 includes a ring 211 , which is rotatably mounted outside the support member 100 , and one end of the first driving rope 611 and one end of the second driving rope 612 are both connected to the ring 211 .

[0062] Furthermore, the ring 211 is provided with a plurality of first through holes 210a, and the plurality of first through holes 210a are arranged at intervals along the circumference of the ring 211, one end of the first driving rope 611 and one end of the second driving rope 612 pass through different first through holes 210a, and one end of the first driving rope 611 and one end of the second driving rope 612 are both connected to a limiting ball 601, the limiting ball 601 on the first driving rope 611 is used to realize the connection between the first driving rope 611 and the ring 211, and the limiting ball 601 on the second driving rope 612 is used to realize the connection between the second driving rope 612 and the ring 211.

[0063] Combination Figure 3 and 8Furthermore, a plurality of second through holes 310 are provided on the first joint 300, and the plurality of second through holes 310 are arranged at intervals along the circumference of the first joint 300. The first driving rope 611 and the second driving rope 612 pass through different second through holes 310, and it is ensured that in the initial state, the connection node between the first driving rope 611 and the mounting seat 210 and the contact node between the first driving rope 611 and the first joint 300 are spaced apart in the circumferential direction of the support member 100, and the connection node between the second driving rope 612 and the mounting seat 210 and the contact node between the second driving rope 612 and the first joint 300 are spaced apart in the circumferential direction of the support member 100. Furthermore, it is ensured that in the initial state, the spacing direction of the connection node between the first driving rope 611 and the mounting seat 210 and the contact node between the first driving rope 611 and the first condyle 300 in the circumferential direction of the support member 100 is opposite to the spacing direction of the connection node between the second driving rope 612 and the mounting seat 210 and the contact node between the second driving rope 612 and the first condyle 300 in the circumferential direction of the support member 100.

[0064] Combination Figure 3 and Figure 4 In one embodiment, in the initial state: the connection node between the first driving rope 611 and the mounting seat 210 and the contact node between the first driving rope 611 and the first condyle 300 are spaced 90° in the circumferential direction of the support 100; the connection node between the second driving rope 612 and the mounting seat 210 and the contact node between the second driving rope 612 and the first condyle 300 are spaced 90° in the circumferential direction of the support 100. In this way, under the control of the first driving rope 611, the mounting seat 210 can rotate 180° in the first direction, and under the control of the second driving rope 612, the mounting seat 210 can rotate 180° in the second direction.

[0065] In one embodiment, there are two first driving ropes 611, which are arranged at intervals along the circumference of the support member 100; there are also two second driving ropes 612, which are arranged at intervals along the circumference of the support member 100. When the two first driving ropes 611 (or the two second driving ropes 612) are pulled at the same time, the force on the mounting base 210 can be more uniform, and the rotation can be more stable.

[0066] Specifically, the two first driving ropes 611 are arranged 180° apart along the circumference of the support member 100, and the two second driving ropes 612 are also arranged 180° apart along the circumference of the support member 100. The two first driving ropes 611 and the two second driving ropes 612 are evenly arranged along the circumference of the support member 100.

[0067] Combination Figure 3 and Figure 4In one embodiment, the surgical actuator also includes a plurality of second joints 400, which are fixedly mounted outside the support member 100 at intervals along the axial direction of the support member 100, and the plurality of second joints 400 are located on a side of the first joint 300 away from the mounting seat 210; the first drive rope 611 passes through the plurality of second joints 400 in a spiral shape, and the second drive rope 612 passes through the plurality of second joints 400 in a spiral shape.

[0068] In this way, when the first driving rope 611 (or the second driving rope 612) is pulled, the radial force on the entire support member 100 under the action of the first joint 300 and multiple second joints 400 will be more uniform. In this way, when only the first driving rope 611 (or the second driving rope 612) is pulled, the bending deformation of the support member 100 is very small, which can improve the rotation accuracy of the clamping mechanism 200.

[0069] Specifically in this embodiment, there are three second joints 400, and the second joints 400 are provided with a plurality of third through holes, and the plurality of third through holes are arranged at circumferential intervals along the second joints 400. The first driving rope 611 and the second driving rope 612 respectively pass through different third through holes on the same second joint 400, and ensure that the first driving rope 611 passes through the plurality of second joints 400 in a spiral shape, and the second driving rope 612 passes through the plurality of second joints 400 in a spiral shape.

[0070] like Figure 7 As shown, in one embodiment, the driving assembly 600 further includes a second driving unit 620 , and the second driving unit 620 is controlled to drive the clamping assembly 220 to open and close.

[0071] When the clamping assembly 220 is delivered to the lesion location, the surgeon can control the second driving unit 620 to drive the clamping assembly 220 to open and close, thereby clamping or loosening the lesion body, thereby achieving a lifting action on the lesion body.

[0072] Furthermore, the clamping assembly 220 includes a first clamping member 221 rotatably connected to the mounting seat 210 and a second clamping member 222 rotatably connected to the mounting seat 210, and the second driving unit 620 is controlled to drive the first clamping member 221 and the second clamping member 222 to close or expand with each other. When the clamping assembly 220 is delivered to the lesion position, the surgeon can control the second driving unit 620 to drive the first clamping member 221 and the second clamping member 222 to close or expand with each other, thereby clamping or loosening the lesion body, and realizing the lifting action of the lesion body.

[0073] In one embodiment, the second drive unit 620 includes a third drive rope 621, a fourth drive rope 622, a fifth drive rope 623 and a sixth drive rope 624, the third drive rope 621 and the fourth drive rope 622 are both connected to the first clamping member 221, the fifth drive rope 623 and the sixth drive rope 624 are both connected to the second clamping member 222; the third drive rope 621 is pulled to drive the first clamping member 221 to rotate toward the second clamping member 222, the fourth drive rope 622 is pulled to drive the first clamping member 221 to rotate away from the second clamping member 222, the fifth drive rope 623 is pulled to drive the second clamping member 222 to rotate toward the first clamping member 221, and the sixth drive rope 624 is pulled to drive the second clamping member 222 to rotate away from the first clamping member 221.

[0074] By pulling the third drive rope 621 and / or the fifth drive rope 623, the first clamping member 221 and the second clamping member 222 can be brought closer to each other to achieve a clamping action; by pulling the fourth drive rope 622 and / or the sixth drive rope 624, the first clamping member 221 and the second clamping member 222 can be spread apart to achieve a loosening action. In addition, under the joint action of the third drive rope 621, the fourth drive rope 622, the fifth drive rope 623 and the sixth drive rope 624, the first clamping member 221 and the second clamping member 222 can complete the opening and closing action at different positions. For example, the first clamping member 221 and the second clamping member 222 can be in a Figure 7 The opening and closing action can be completed at the position shown, and it can also be deviated Figure 7 The opening and closing action can be achieved in the position of 15° or 30° as shown, which provides greater flexibility.

[0075] Among them, the third driving rope 621, the fourth driving rope 622, the fifth driving rope 623 and the sixth driving rope 624 are all steel wire ropes.

[0076] Combination Figure 2 and Figure 7 The first clamping member 221 includes a first connecting portion 22111 rotatably connected to the mounting seat 210, and the first connecting portion 22111 is provided with a first annular groove 22111a. The third driving rope 621 intersects with the fourth driving rope 622, and one end of the third driving rope 621 and one end of the fourth driving rope 622 are respectively wound around the two sides of the first annular groove 22111a. In this way, when the end of the third driving rope 621 away from the clamping assembly 220 is pulled, the first clamping member 221 can be driven to rotate toward the second clamping member 222, and when the end of the fourth driving rope 622 away from the clamping assembly 220 is pulled, the first clamping member 221 can be driven to rotate away from the second clamping member 222.

[0077] Specifically, one end of the third driving rope 621 bypasses one side of the first annular groove 22111a and is connected to the first connecting portion 22111, and the other end of the third driving rope 621 extends toward one end of the support member 100 away from the clamping mechanism 200; one end of the fourth driving rope 622 bypasses the other side of the first annular groove 22111a and is connected to the first connecting portion 22111, and the other end of the fourth driving rope 622 extends toward one end of the support member 100 away from the clamping mechanism 200.

[0078] Combination Figure 5 and Figure 7 More specifically, a plurality of fourth through holes 210b are provided on the mounting base 210, one end of the third driving rope 621 passes around one side of the first annular groove 22111a and is connected to the first connecting portion 22111, and the other end passes through one of the fourth through holes 210b and extends toward the end of the support member 100 away from the clamping mechanism 200; one end of the fourth driving rope 622 passes around the other side of the first annular groove 22111a and is connected to the first connecting portion 22111, and the other end passes through another fourth through hole 210b and extends toward the end of the support member 100 away from the clamping mechanism 200.

[0079] Combination Figure 2 and Figure 7 The second clamping member 222 includes a second connecting portion 22211 rotatably connected to the mounting seat 210, and the second connecting portion 22211 is provided with a second annular groove 22211a. The fifth driving rope 623 intersects with the sixth driving rope 624, and one end of the fifth driving rope 623 and one end of the sixth driving rope 624 are respectively wound around the two sides of the second annular groove 22211a. In this way, when the end of the fifth driving rope 623 away from the clamping assembly 220 is pulled, the second clamping member 222 can be driven to rotate toward the first clamping member 221, and when the end of the sixth driving rope 624 away from the clamping assembly 220 is pulled, the second clamping member 222 can be driven to rotate away from the first clamping member 221.

[0080] Specifically, one end of the fifth driving rope 623 bypasses one side of the second annular groove 22211a and is connected to the second connecting portion 22211, and the other end of the fifth driving rope 623 extends toward one end of the support member 100 away from the clamping mechanism 200; one end of the sixth driving rope 624 bypasses the other side of the second annular groove 22211a and is connected to the second connecting portion 22211, and the other end of the sixth driving rope 624 extends toward one end of the support member 100 away from the clamping mechanism 200.

[0081] Combination Figure 5 and Figure 7More specifically, one end of the fifth driving rope 623 passes around one side of the second annular groove 22211a and is connected to the second connecting portion 22211, and the other end passes through one of the remaining fourth through holes 210b of the mounting seat 210, and extends toward the end of the support member 100 away from the clamping mechanism 200; one end of the sixth driving rope 624 passes around the other side of the second annular groove 22211a and is connected to the second connecting portion 22211, and the other end passes through another remaining fourth through hole 210b of the mounting seat 210, and extends toward the end of the support member 100 away from the clamping mechanism 200.

[0082] Combination Figure 2 and Figure 5 The mounting seat 210 further includes two spaced and oppositely arranged connection blocks 212, and the first connection portion 22111 and the second connection portion 22211 are arranged in parallel between the two connection blocks 212. In this way, the entire clamping assembly 220 can be made more compact.

[0083] Specifically, the first connection part 22111 and the second connection part 22211 are arranged in parallel between the two connection blocks 212, and a rotating shaft 240 passes through the first connection part 22111, the second connection part 22211 and the two connection blocks 212 to realize the rotational connection between the first clamping member 221 and the second clamping member 222 and the mounting seat 210.

[0084] More specifically, the first clamping member 221 includes a first connecting arm 2211 and a first clamping portion 2212, wherein one end of the first connecting arm 2211 is provided with a first connecting portion 22111, and the other end is connected to the first clamping portion 2212; the second clamping member 222 includes a second connecting arm 2221 and a second clamping portion 2222, wherein one end of the second connecting arm 2221 is provided with a second connecting portion 22211, and the other end is connected to the second clamping portion 2222. When the first connecting arm 2211 rotates, the first clamping portion 2212 can be driven to approach or move away from the second clamping portion 2222, and when the second connecting arm 2221 rotates, the second clamping portion 2222 can be driven to approach or move away from the first clamping portion 2212. In this way, the clamping or loosening action of the first clamping member 221 and the second clamping member 222 can be achieved.

[0085] The first clamping portion 2212 and the second clamping portion 2222 are both provided with a rat-tooth structure, and the rat-tooth structure of the first clamping portion 2212 cooperates with the rat-tooth structure of the second clamping portion 2222 to clamp the diseased body.

[0086] Furthermore, the clamping mechanism 200 further includes a pressure sensor 230, which is used to detect the clamping force of the clamping structure formed by the first clamping portion 2212 and the second clamping portion 2222 when clamping the sample. In this way, it is convenient for the surgeon to grasp the clamping force during the operation.

[0087] Specifically, there are two pressure sensors 230, which are respectively arranged on the first connecting arm 2211 and the second connecting arm 2221, and the first clamping portion 2212 and the second clamping portion 2222 are respectively arranged on the pressure sensor 230 on the first connecting arm 2211 and the pressure sensor 230 on the second connecting arm 2221.

[0088] Combination Figure 2 and Figure 5 A sensor wire hole 210c is also provided on the mounting base 210, and a signal wire on the pressure sensor 230 can pass through the sensor wire hole 210c and extend along the support member 100 to be connected to an external controller.

[0089] like Fig. 9 As shown, in one embodiment, the surgical actuator further includes a plurality of third bone joints 500, which are fixedly sleeved outside the support member 100 at intervals along the axial direction of the support member 100, and the plurality of third bone joints 500 are located on the side of the first bone joint 300 away from the mounting seat 210; the driving assembly 600 further includes a third driving unit, which is controlled to drive the plurality of second bone joints 400 to drive the support member 100 to bend and deform. The support member 100 supports the mounting seat 210, and by controlling the third driving unit to bend and deform the support member 100, the position of the clamping mechanism 200 can be changed, thereby further improving flexibility.

[0090] Specifically, the third driving unit includes multiple seventh driving ropes 631, each of which passes through multiple third bone segments 500, and the multiple seventh driving ropes 631 are arranged at intervals along the circumference of the support member 100. The seventh driving ropes 631 are pulled to drive the multiple third bone segments 500 to cause the support member 100 to bend and deform.

[0091] More specifically, the third joint 500 is provided with a fifth through hole, and the fifth through hole is arranged at intervals along the circumference of the third joint 500. Different seventh driving ropes 631 respectively pass through different third through holes of the same third joint 500, and multiple seventh driving ropes 631 are arranged at intervals along the circumference of the support member 100. Pulling different seventh driving ropes 631 can make the support member 100 bend in different directions.

[0092] Specifically in this embodiment, the support member 100 is an elastic tube that can bend and deform under force, such as a spring tube; there are four seventh driving ropes 631, and the four seventh driving ropes 631 are evenly spaced along the circumference of the support member 100. In this way, by pulling different seventh driving ropes 631, the entire support member 100 can be bent to achieve left and right swing or up and down swing.

[0093] Among them, the seventh driving rope 631 is a steel wire rope.

[0094] Specifically in this embodiment, a plurality of second condyles 400 are arranged at intervals on a side of the first condyle 300 away from the clamping mechanism 200, and a plurality of third condyles 500 are arranged at intervals on a side of all second condyles 400 away from the first condyle 300. One end of the seventh driving rope 631 passes through the second condyle 400 closest to the third condyle 500 and is connected to the second condyle 400 via a limiting ball, and the other end passes through all third condyles 500.

[0095] When the above-mentioned surgical actuator is in use, the support member 100 is used to provide support for the clamping mechanism 200 so that the clamping mechanism 200 can be extended into the channel and sent to the lesion position. When the clamping mechanism 200 is sent to the vicinity of the lesion position, the first driving unit 610 can drive the mounting seat 210 to rotate, so that the clamping assembly 220 rotates with the mounting seat 210, so that the clamping assembly 220 can move to the lesion position more accurately to treat the lesion body at the lesion position. Specifically, when the clamping assembly 220 of the surgical actuator is sent to the vicinity of the lesion position, the first driving rope 611 (or the second driving rope 612) can be pulled according to the position of the lesion body, so that the mounting seat 210 rotates along the first direction (or the second direction), so that the clamping assembly 220 approaches the lesion body to treat the lesion body at the lesion position. The above-mentioned surgical actuator has a high degree of freedom and high flexibility, which can reduce the difficulty of operation for surgical personnel.

[0096] Furthermore, when the clamping assembly 220 is delivered to the lesion position, the surgeon can control the second driving unit 620 to drive the clamping assembly 220 to open and close, thereby clamping or loosening the lesion body, and realizing the lifting action of the lesion body. Specifically, by pulling the third driving rope 621 and / or the fifth driving rope 623, the first clamping member 221 and the second clamping member 222 can be brought closer to each other to realize the clamping action; by pulling the fourth driving rope 622 and / or the sixth driving rope 624, the first clamping member 221 and the second clamping member 222 can be spread out to realize the loosening action. In addition, under the joint action of the third driving rope 621, the fourth driving rope 622, the fifth driving rope 623 and the sixth driving rope 624, the first clamping member 221 and the second clamping member 222 can complete the opening and closing action at different positions.

[0097] In addition, when the surgical actuator is in the human body passage, the entire support member 100 can be bent by pulling different seventh driving ropes 631 to achieve left-right or up-and-down swinging.

[0098] The above-mentioned surgical actuator has the characteristics of high degree of freedom and high flexibility, which can make it more convenient for surgical personnel to perform surgery.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0100] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A surgical actuator, characterized in that: The surgical implement comprises: Supports; A first bone joint, wherein the first bone joint is fixedly sleeved outside the support member; A clamping mechanism, the clamping mechanism comprising a mounting seat rotatably disposed at one end of the support member and a clamping assembly disposed on the mounting seat; and A driving assembly, the driving assembly comprising a first driving unit, the first driving unit comprising a first driving rope and a second driving rope, the first driving rope is connected to the mounting seat and passes through the first condyle, the second driving rope is also connected to the mounting seat and passes through the first condyle; Among them, in the initial state: The connection node between the first driving rope and the mounting seat and the contact node between the first driving rope and the first condyle are spaced apart in the circumferential direction of the support member, and the end of the first driving rope away from the mounting seat is pulled to drive the mounting seat to rotate in a first direction; the connection node between the second driving rope and the mounting seat and the contact node between the second driving rope and the first condyle are spaced apart in the circumferential direction of the support member, and the end of the second driving rope away from the mounting seat is pulled to drive the mounting seat to rotate in a second direction opposite to the first direction; Among them, it also includes a plurality of second joints, which are fixedly mounted outside the support member at axial intervals along the support member, and the plurality of second joints are located on the side of the first joint away from the mounting seat; the first driving rope passes through the plurality of second joints in a spiral shape, and the second driving rope also passes through the plurality of second joints in a spiral shape.

2. The surgical actuator according to claim 1, characterized in that: There are two first driving ropes, and the two first driving ropes are arranged at intervals along the circumference of the support member; there are also two second driving ropes, and the two second driving ropes are arranged at intervals along the circumference of the support member.

3. The surgical actuator according to claim 1, characterized in that: In the initial state: The spacing direction of the connection node between the first driving rope and the mounting seat and the contact node between the first driving rope and the first condyle in the circumferential direction of the support member is opposite to the spacing direction of the connection node between the second driving rope and the mounting seat and the contact node between the second driving rope and the first condyle in the circumferential direction of the support member; The connection node between the first driving rope and the mounting seat and the contact node between the first driving rope and the first condyle are spaced 90° apart in the circumferential direction of the support member; the connection node between the second driving rope and the mounting seat and the contact node between the second driving rope and the first condyle are spaced 90° apart in the circumferential direction of the support member.

4. The surgical actuator according to claim 1, characterized in that: The driving assembly further comprises a second driving unit, and the second driving unit is controlled to drive the clamping assembly to open and close; The clamping assembly includes a first clamping member rotatably connected to the mounting seat and a second clamping member rotatably connected to the mounting seat, and the second driving unit is controlled to drive the first clamping member and the second clamping member to close together or expand together.

5. The surgical implement according to claim 4, characterized in that: The second driving unit comprises a third driving rope, a fourth driving rope, a fifth driving rope and a sixth driving rope, the third driving rope and the fourth driving rope are both connected to the first clamping member, and the fifth driving rope and the sixth driving rope are both connected to the second clamping member; The third driving rope can be pulled to drive the first clamping member to rotate toward the second clamping member, the fourth driving rope can be pulled to drive the first clamping member to rotate away from the second clamping member, the fifth driving rope can be pulled to drive the second clamping member to rotate toward the first clamping member, and the sixth driving rope can be pulled to drive the second clamping member to rotate away from the first clamping member.

6. The surgical implement according to claim 5, characterized in that: The first clamping member includes a first connecting portion rotatably connected to the mounting seat, the first connecting portion is provided with a first annular groove, the third driving rope crosses the fourth driving rope, and one end of the third driving rope and one end of the fourth driving rope are respectively wound around two sides of the first annular groove; and / or The second clamping member includes a second connecting portion rotatably connected to the mounting seat, the second connecting portion is provided with a second annular groove, the fifth driving rope intersects with the sixth driving rope, and one end of the fifth driving rope and one end of the sixth driving rope are respectively wrapped around the two sides of the second annular groove.

7. The surgical implement according to claim 4, characterized in that: The first clamping member includes a first connecting arm rotatably connected to the mounting seat, and a first clamping portion disposed on the first connecting arm, and the second clamping member includes a second connecting arm rotatably connected to the mounting seat, and a second clamping portion disposed on the second connecting arm, and the first clamping portion and the second clamping portion are controlled to move closer to or farther from each other; The clamping mechanism further includes a pressure sensor, and the pressure sensor is used to detect the clamping force of the clamping structure formed by the first clamping part and the second clamping part when clamping the sample.

8. The surgical implement according to claim 1, characterized in that: It also includes a plurality of third bone joints, which are fixedly sleeved outside the support member at intervals along the axial direction of the support member, and are located on a side of the first bone joint away from the mounting seat; The driving assembly further comprises a third driving unit, and the third driving unit is controlled to drive the plurality of third condyles to cause the supporting member to bend and deform.

9. The surgical implement according to claim 8, characterized in that: The third driving unit includes a plurality of seventh driving ropes, each of which passes through a plurality of the third bone segments, and the plurality of the seventh driving ropes are arranged at intervals along the circumference of the support member. The seventh driving rope is pulled to drive the plurality of the third bone segments to cause the support member to bend and deform.

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