Rotation control mechanism and surgical instrument

Abstract

The present invention relates to a rotation control mechanism and a surgical instrument, including a joint portion and a control portion. The joint portion includes a plurality of joint members and at least one flexible rotating member. The plurality of joint members are sequentially arranged along the length direction of the joint portion. At least one of the flexible rotating members is disposed between at least some adjacent joint members. The flexible rotating member has a cavity filled with a filling substance. The control portion includes a steering control wire, which is sequentially and movably connected to the plurality of joint members along the length direction for controlling the steering movement of the joint portion. In the above rotation control mechanism and surgical instrument, when the joint portion performs pitching movement and deflection movement, each flexible rotating member can perform pitching movement and deflection movement, and the pitching degree of freedom and the deflection degree of freedom can be maintained in the same plane. This structure can ensure that no jumping phenomenon occurs during the subsequent rolling movement of the joint portion.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a rotation control mechanism and a surgical instrument. Background Art

[0002] The joint structures used at the end of minimally invasive surgical instruments usually have a pitching function and a deflecting function. The realization of the pitching function and the deflecting function usually decouples the pitching degree of freedom and the deflecting degree of freedom, and designs the pitching degree of freedom and the deflecting degree of freedom on different planes for separate control. This control method has the advantages of simple structure and precise control when only pitching operation and deflecting operation are required without rolling operation.

[0003] However, with the development of technology, more and more minimally invasive surgical instruments need to introduce a rolling operation, especially the rolling operation after pitching operation and deflecting operation. The introduction of the rolling operation can bring great advantages to the precision of some surgical instruments and can greatly increase the operation efficiency. However, after the introduction of the rolling operation, when the end of the minimally invasive surgical instrument performs a pitching operation or a deflecting operation and then continues to perform a rolling operation, a jumping phenomenon will occur, which will lead to inaccurate operation. Summary of the Invention

[0004] Based on this, it is necessary to provide a rotation control mechanism and a surgical instrument for the problem of jumping during the rolling operation of the end of a minimally invasive surgical instrument.

[0005] The present invention provides a rotation control mechanism, and the rotation control mechanism includes:

[0006] A joint part, including a plurality of joint members and at least one flexible rotating member. The plurality of joint members are sequentially arranged along the length direction of the joint part, and at least one of the flexible rotating members is disposed between at least some adjacent joint members;

[0007] A control part, including a steering control wire. The steering control wire is sequentially and movably connected to the plurality of joint members along the length direction for controlling the steering action of the joint part.

[0008] In one embodiment, at least one of the flexible rotating members is disposed between any adjacent joint members; or,

[0009] The joint part further includes at least one rigid rotating member. At least one of the flexible rotating members is disposed between a part of adjacent joint members, and at least one of the rigid rotating members is disposed between another part of adjacent joint members.

[0010] In one embodiment, the joint part is divided into at least two joint sections in the length direction, and the steering capabilities of different joint sections are the same or different.

[0011] In one embodiment, at least one of the plurality of joint segments has the maximum turning ability, and the joint segment with the maximum turning ability is located at one end of the joint portion.

[0012] In one embodiment, along the length direction of the joint portion, the turning abilities of the plurality of joint segments increase in sequence.

[0013] In one embodiment, there are multiple turning control wires, and the multiple turning control wires are distributed circumferentially along the joint portion. A plurality of first through holes distributed circumferentially are formed on the joint member, and the multiple turning control wires respectively pass through the first through holes on different joint members.

[0014] In one embodiment, the control portion further includes an actuating control wire, and the actuating control wire is assembled on the joint portion along the length direction. One end of the actuating control wire is configured to be used for connecting an actuating portion that cooperates with the joint portion.

[0015] In one embodiment, a second through hole is formed in the central region of the joint member, the flexible rotating member is an annular capsule, and the actuating control wire sequentially passes through the second through hole and the inner ring of the annular capsule.

[0016] In one embodiment, the control portion further includes:

[0017] A control box, which is arranged at one end of the joint portion;

[0018] A rotation control assembly, which is arranged in the control box; the rotation control assembly is connected to the turning control wire, and the rotation control assembly is connected to the actuating control wire.

[0019] The present invention also provides a surgical instrument, including the rotation control mechanism.

[0020] In the above rotation control mechanism and the surgical instrument, the joint portion formed by the plurality of joint members and the plurality of flexible rotating members spaced apart along the length direction has the functions of pitching motion and yawing motion. Moreover, the flexible rotating members assembled between any adjacent joint members all have pitching freedom and yawing freedom. When the joint portion performs pitching motion and yawing motion, each flexible rotating member can perform pitching motion and yawing motion. Therefore, the pitching freedom and yawing freedom can be maintained in the same reference plane of each flexible rotating member, rather than being separated in two unrelated planes. This structure can ensure that no jumping phenomenon occurs during the subsequent rolling motion of the joint portion, and structurally improves the problem of joint portion jumping. Description of the Drawings

[0021] Figure 1Partial three-dimensional structural schematic diagram of the rotation control mechanism provided by an embodiment of the present invention;

[0022] Figure 2 Partial exploded view of the rotation control mechanism provided by an embodiment of the present invention;

[0023] Figure 3 Three-dimensional structural schematic diagram of the bending state of the rotation control mechanism provided by an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the combination of the joint member and the flexible rotating member provided by an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of the deformation state of the flexible rotating member provided by an embodiment of the present invention;

[0026] Figure 6 Three-dimensional structural schematic diagram of the rotation control mechanism provided by an embodiment of the present invention;

[0027] Figure 7 As shown in Figure 6 Internal structural schematic diagram of the control part shown.

[0028] Reference numerals in the drawings:

[0029] 100, joint part; 200, execution part; 300, control part;

[0030] 110, joint member; 120, flexible rotating member; 130, steering control wire; 140, execution control wire;

[0031] 111, first through hole; 112, second through hole;

[0032] 210, pliers base; 220, pliers head;

[0033] 310, control box; 320, rotation control component;

[0034] 321, pitch degree of freedom control wheel; 322, yaw degree of freedom control wheel; 323, execution degree of freedom control wheel; 324, pitch motor; 325, yaw motor; 326, execution motor. Detailed implementation manners

[0035] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 should not be construed as a limitation to the present invention.

[0037] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0038] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0041] Referring to Figures 1 to 5 As shown, an embodiment of the present invention provides a rotation control mechanism, which can be used at the end of a surgical instrument. Wherein, the rotation control mechanism includes: a joint part 100 and a control part 300. The joint part 100 includes a plurality of joint members 110 and at least one flexible rotating member 120. The plurality of joint members 110 are sequentially arranged along the length direction of the joint part 100. At least one flexible rotating member 120 is provided between at least some adjacent joint members 110. The control part 300 includes a steering control wire 130. The steering control wire 130 is sequentially movably connected to the plurality of joint members 110 along the length direction for controlling the steering action of the joint part 100. Wherein, the length direction represents the length direction of the joint part 100, and the steering control wire 130 can movably pass through the joint members 110 directly or indirectly in sequence along the length direction.

[0042] In one embodiment, the flexible rotating member 120 has a cavity, and the cavity is filled with a filling substance. The filling substance can be a gas or a liquid, and a Newtonian fluid or a non-Newtonian fluid can be used in the liquid. Those skilled in the art can select the filling substance according to requirements to achieve the desired control effect, which is not limited herein. The flexible rotating member 120 can be formed into a capsule by a flexible material. The cavity inside the flexible rotating member 120 can be filled with gas or liquid to expand the volume of the flexible rotating member 120, thereby converting the flexible rotating member 120 into an expanded state. At the same time, the actual expansion degree of the expanded state of the flexible rotating member 120 can be adjusted according to the actual gas volume or liquid volume of the gas or liquid filled into the cavity. When the expansion degree of the expanded state of the flexible rotating member 120 is different, it will result in different degrees of deformation ability of the flexible rotating member 120. For example, the greater the expansion degree, the closer the inner cavity of the flexible rotating member 120 is to being filled, so the inner cavity of the flexible rotating member 120 will be supported by the gas or liquid filled into it and the deformation ability will be reduced. The smaller the expansion degree, the less the inner cavity of the flexible rotating member 120 is filled, so the inner cavity of the flexible rotating member 120 will have a higher deformation ability because the gas or liquid filled into it is relatively less and not supported. Similarly, the flexible rotating member 120 can also be in a contracted state by discharging the gas or liquid that has been filled in the inner cavity of the flexible rotating member 120.

[0043] The structural form of the joint part 110 can be set according to the specific structure that the joint part 100 needs to be set. For example, the joint part 110 can be block-shaped or sheet-shaped, such as constituting a joint block or a joint sheet. When multiple joint blocks or joint sheets are movably connected in sequence along the length direction, they can constitute the basic structure of the joint part 100. The joint part 110 belongs to the skeleton part of the joint part 100 relative to the flexible rotating part 120, and can be used as the assembly basis of the flexible rotating part 120. It needs to have a certain hardness, so the joint part 110 can be made of metal or other safe, non-toxic and harmless hard materials. The thickness of the joint part 110 can be 0.5mm to 5mm, for example, the thickness of the joint part 110 can be 0.5mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm or 5mm, etc.

[0044] The joint part 100 of the rotation control mechanism is composed of multiple joint parts 110 and multiple flexible rotating parts 120 spaced apart along the length direction, so that the joint part 100 can have the functions of pitch movement and yaw movement. If any two adjacent joint parts 110 among the multiple joint parts 110 are called a segment, based on the deformation ability of the flexible rotating part 120, no matter whether a certain segment of the joint part 100 rotates in the pitch direction or the yaw direction, the flexible rotating part 120 in the corresponding segment can be deformed accordingly, thereby adapting to the rotation of each segment in the joint part 100, so that each segment of the joint part 100 has pitch freedom and yaw freedom, and the pitch freedom and yaw freedom of each segment are The degrees of freedom are integrated on the flexible rotating member 120 between the two joint members 110 in each segment, and the deformation of the flexible rotating member 120 enables each segment to perform pitch motion and yaw motion. The joint part 100 is formed as a roughly flexible columnar body as a whole. If the radial plane where the center point of each flexible rotating member 120 is located is used as the reference plane of the flexible rotating member 120, then the pitch freedom and yaw freedom of each segment are also integrated in the reference plane of each flexible rotating member 120, and are not separated in two unrelated planes. This structure can ensure that the joint part 100 does not jump during the subsequent rolling motion, thereby structurally improving the problem of the jumping of the joint part 100.

[0045] The pitch movement ability and yaw movement ability of different segments in the joint part 100 can remain the same or different. For example, when the maximum pitch angle and the maximum deflection angle of each segment in the joint part 100 are the same, it means that the pitch movement ability and yaw movement ability of different segments are the same. When the maximum pitch angle and the minimum deflection angle of any segment in the joint part 100 are different from the maximum pitch angle and the maximum deflection angle of other segments, it means that the pitch movement ability and yaw movement ability of different segments are different.

[0046] When the pitching motion ability and the deflection motion ability of different segments in the joint part 100 are kept the same, the same flexible rotating part 120 can be respectively assembled between any adjacent joint parts 110, so that the segments formed between any adjacent joint parts 110 can all realize pitching motion and deflection motion through the same flexible rotating part 120. The same flexible rotating part 120 can be made of the same material and filled with an equal amount of gas or liquid in the cavity, so that each flexible rotating part 120 maintains the same deformation ability.

[0047] When the pitching motion ability and the deflection motion ability of different segments in the joint part 100 are set to be different, different flexible rotating parts 120 can be respectively assembled between any adjacent joint parts 110, so that the segments formed between any adjacent joint parts 110 perform pitching motion and deflection motion through different flexible rotating parts 120. The different flexible rotating parts 120 can have different materials, different quantities, different thicknesses, different gases or liquids filled, etc. Then, by changing at least one factor, the flexible rotating parts 120 of different segments have different deformation abilities.

[0048] In addition, it is also possible to use exactly the same flexible rotating part 120 in any adjacent joint parts 110, and then adjust the pitching motion ability and the deflection motion ability of different segments by adjusting the number of flexible rotating parts 120 between any adjacent joint parts 110. For example, the thickness of each flexible rotating part 120 is set to be 1 mm to 10 mm, and then by adjusting the number of flexible rotating parts 120 between adjacent joint parts 110 to determine the distance separated by different numbers of flexible rotating parts 120 between adjacent joint parts 110, the pitching motion ability and the deflection motion ability of each segment can be adjusted. The thickness of the flexible rotating part 120 can be 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm or 10 mm, etc.

[0049] In the joint part 100, only the flexible rotating part 120 can be provided, or a rigid rotating part (not shown) can be used in cooperation with the flexible rotating part 120 and arranged in the joint part 100 at the same time, so that the joint part 100 has the steering ability. Among them, the rigid rotating part can adopt a spherical part or an ellipsoidal part with a higher hardness than the flexible rotating part 120, etc., so as to meet the integration of the pitching degree of freedom and the deflection degree of freedom in the reference plane of each rigid rotating part, rather than being separated in two unrelated planes. Specifically, the content of the flexible rotating part 120 can be referred to. In one embodiment, at least one of the flexible rotating parts 120 is provided between any adjacent joint parts 110, or the joint part 100 further includes at least one rigid rotating part, and at least one of the flexible rotating parts 120 is provided between a part of adjacent joint parts 110, and at least one of the rigid rotating parts is provided between another part of adjacent joint parts 110.

[0050] The flexible rotating part 120 can adopt a structure such as an airbag, and the rigid rotating part can adopt a structure such as a steel ball. Among them, the rigid rotating part can refer to the arrangement position of the flexible rotating part 120 in the joint part 100. Different from the flexible rotating part 120, the rigid rotating part is arranged between adjacent joint parts 110, and the deflection of the joint part 100 is mainly realized by the relative rolling between the joint parts 110. Among them, in order to adapt to the rolling assembly of the rigid rotating part, the joint part 110 can also be provided with a rolling groove, such as an arc groove, etc. Those skilled in the art can select the material and structure of the flexible rotating part 120, as well as the material and structure of the rigid rotating part, etc. according to needs, and no limitation is made here.

[0051] Based on the joint part 100 with only the flexible rotating part 120 arranged or the flexible rotating part 120 and the rigid rotating part arranged at the same time, the joint part 100 can be divided into at least two joint sections in the length direction, and the steering abilities of different joint sections can be set to be the same or different, so that different sections of the joint part 100 can adapt to different surgical scenarios and meet the needs of different surgeries. For example, at least one joint section with the maximum steering ability can be included among the multiple joint sections, and the joint section with the maximum steering ability is located at one end of the joint part. At this time, this end can be used to connect the execution part, so that the movement of the execution part is the most flexible part in the entire joint part 100. Among them, the joint section with the maximum steering ability can be one, or multiple joint sections can be continuously arranged at one end of the joint part 100, and the steering abilities of other joint sections are smaller than that of this end in the joint part 100. In one embodiment, along the length direction of the joint part 100, the steering abilities of the multiple joint sections can be set to increase in sequence, and the end with the maximum steering ability is used to assemble the execution part, so that the execution part can have a flexible steering ability and improve the operation flexibility.

[0052] When setting the steering ability of the joint part 100 to increase sequentially along the length direction, in one embodiment, one of the flexible rotating parts 120 may be provided between any adjacent joint parts 110. The filling degree of the flexible rotating part 120 in each joint section is the same, and the filling degree of the flexible rotating part 120 in different joint sections gradually decreases along the length direction. At this time, the steering ability can be adjusted by the filling degree of the flexible rotating part 120, because the higher the filling degree, the more the overall flexible rotating part 120 tends to develop towards rigidity, which will lead to a decrease in the steering ability. On the contrary, the lower the filling degree, the more the overall flexible rotating part 120 tends to develop towards flexibility, which will lead to an increase in the steering ability.

[0053] In another embodiment, a plurality of the flexible rotating parts 120 may be provided between any adjacent joint parts 110. It can be ensured that the number of the flexible rotating parts 120 between adjacent joint parts 110 is the same, so that the number of the flexible rotating parts 120 does not affect the steering ability. At this time, it is ensured that the filling degree of the flexible rotating part 120 in each joint section is the same, and the filling degree of the flexible rotating part 120 in different joint sections gradually decreases along the length direction. Therefore, the steering ability can still be adjusted by the filling degree of the flexible rotating part 120. The higher the filling degree, the more the overall flexible rotating part 120 tends to develop towards rigidity, which will lead to a decrease in the steering ability. On the contrary, the lower the filling degree, the more the overall flexible rotating part 120 tends to develop towards flexibility, which will lead to an increase in the steering ability.

[0054] In another embodiment, at least one of the flexible rotating parts 120 may also be provided between any adjacent joint parts 110. The number of the flexible rotating parts 120 between adjacent joint parts 110 in each joint section is the same, and the number of the flexible rotating parts 120 in different joint sections gradually increases along the length direction. At this time, the steering ability can be adjusted by the number of the flexible rotating parts 120, because the more the number of the flexible rotating parts 120, the longer the distance between adjacent joint parts 110, which will lead to an increase in the steering ability. On the contrary, the fewer the number of the flexible rotating parts 120, the shorter the distance between adjacent joint parts 110, which will lead to a decrease in the steering ability.

[0055] In another embodiment, the rigid rotating member is disposed within at least one of the joint sections, and the flexible rotating member 120 is disposed within at least one of the subsequent joint sections along the length direction. When there are two joint sections, the rigid rotating member can be disposed within one joint section, and the flexible rotating member 120 can be disposed within the other joint section. When there are multiple joint sections such as three, four, five, etc., the rigid rotating member can be disposed within any number of consecutive joint sections, and the flexible rotating member 120 can be disposed within the remaining adjacent joint sections. Since the rigid rotating member has a higher hardness, it will result in a decrease in the steering ability. Obviously, the flexible rotating member 120 has a lower hardness than the rigid rotating member, so it will result in an increase in the steering ability.

[0056] In another embodiment, the rigid rotating member is disposed within at least one of the joint sections, and flexible rotating members 120 with gradually decreasing filling degrees or gradually increasing quantities are sequentially disposed within multiple subsequent joint sections along the length direction. When there are multiple joint sections such as three, four, five, etc., the rigid rotating member can be disposed within one or more consecutive joint sections, and then within the remaining joint sections, the steering ability within the remaining joint sections can still be adjusted by controlling the filling degree and quantity of the flexible rotating member 120. The control principle is still that when the filling degree is high, the overall flexible rotating member 120 tends to develop towards rigidity, which will result in a decrease in the steering ability. On the contrary, when the filling degree is low, the overall flexible rotating member 120 tends to develop towards flexibility, which will result in an increase in the steering ability. Or, the more the number of flexible rotating members 120, the longer the distance between adjacent joint members 110, which will result in an increase in the steering ability. On the contrary, the fewer the number of flexible rotating members 120, the shorter the distance between adjacent joint members 110, which will result in a decrease in the steering ability. For specific reference, please refer to the foregoing embodiments, and details will not be elaborated herein.

[0057] The steering control wire 130 can be directly or indirectly threaded through multiple joint members 110. For example, as shown in Figures 1 to 4 In one embodiment, there are multiple steering control wires 130. The multiple steering control wires 130 are circumferentially distributed along the joint portion 100. Multiple first through holes 111 that are circumferentially distributed are formed on the joint member 110. The multiple steering control wires 130 are respectively directly threaded through the first through holes 111 on different joint members 110. The diameter of the first through hole 111 can be matched with the diameter of the steering control wire 130. Alternatively, lugs or rings can also be provided on the joint member 110. The lugs or rings can also be circumferentially distributed on the joint member 110. The multiple steering control wires 130 are respectively indirectly threaded through the joint member 110 via different lugs or rings.

[0058] Since there are multiple steering control wires 130 distributed circumferentially around the joint member 110, when the tensile forces of all the steering control wires 130 are the same, the multiple joint members 110 are evenly stressed, enabling the flexible rotating members 120 of each segment to be equally compressed at various positions in the circumferential direction, and the joint part 100 will maintain a straight state. When any one or more of the steering control wires 130 are stretched and the tensile forces of the multiple steering control wires 130 are different, the multiple joint members 110 within the joint part 100 are unevenly stressed, and thus will tighten towards the side where the stretched steering control wire 130 is located. When one side of the multiple joint members 110 is tightened, the joint part 100 will rotate towards that side, forming a bent state. At the same time, the adjacent joint members 110 will compress the flexible rotating member 120 towards that side, causing the flexible rotating member 120 to deform accordingly. For the deformed structure of the flexible rotating member 120, refer to Figure 5 as shown. This bent state can continuously change during the rolling motion, that is, the pitch motion and the yaw motion are always coupled in the same plane, avoiding the phenomena of inaccurate control and jitter. This structure has the advantage of maintaining the consistency of the rolling motion after the pitch motion or the yaw motion, and can ensure that the normal line remains unchanged and there is no limit angle during the rolling motion after the pitch motion or the yaw motion. When applied to the rolling suture operation of the needle holder, it can improve the efficiency of the rolling suture.

[0059] The multiple steering control wires 130 distributed circumferentially around the joint member 110 can be any number. When the number of steering control wires 130 arranged circumferentially is larger and the distribution is more uniform, the joint part 100 will achieve more angles and more flexible rotation. To meet the pitch motion and the yaw motion, in one embodiment, the number of the steering control wires 130 can be an even number, such as four. The number of the first through holes 111 opened on the joint member 110 is also the corresponding even number, for example, four. The multiple even-numbered steering control wires 130 are distributed circumferentially around the joint member 110. The connecting lines between the centers of the adjacent two steering control wires 130 and the joint member 110 form a control wire distribution angle, and the angle of the control wire distribution angle can be 90°. Therefore, multiple pairs of the steering control wires 130 symmetric with respect to the joint member 110 can be used to control the pitch action and the yaw action of the joint part 100 respectively. When controlling the pitch motion or the yaw motion, the stretching of the corresponding steering control wire 130 can be controlled by the control part 300.

[0060] The rotation control mechanism further includes an actuator 200 disposed at one end of the joint portion 100. The actuator 200 can adopt various required actuator structures to achieve the desired control effect. For the execution motion control of the actuator 200, any structural form can be used for active or automatic control. For example, the actuator 200 can be controlled by a wire. In this case, the control portion further includes an execution control wire 140. The execution control wire 140 is assembled on the joint portion 100 along the length direction. One end of the execution control wire 140 is configured to be connected to the actuator 200 that cooperates with the joint portion 100. For example, the execution control wire 140 can sequentially pass through the joint member 110 and the flexible rotating member 120 directly or indirectly along the length direction. Therefore, the execution control wire 140 will pass through the joint portion 100 from one end and be connected to the actuator 200 at the other end, so that one end of the execution control wire 140 is controllably connected to the actuator 200. At this time, the execution control wire 140 is configured to control the execution action of the actuator 200.

[0061] The execution control wire 140 can pass through the joint portion 100 inside or outside the joint portion 100 and be connected to the actuator 200. For example, in one embodiment, a second through hole 112 is formed in the central region of the joint member 110, and the flexible rotating member 120 is an annular capsule. At this time, an inner ring through which the execution control wire 140 can pass is naturally formed inside the annular capsule. The execution control wire 140 can sequentially pass through the second through hole 112 and the inner ring of the annular capsule, so as to be connected to the actuator 200 through the inside of the joint portion 100.

[0062] When the actuator 200 is a clamp, the clamp can include a clamp base 210 and at least two clamp heads 220. Different numbers of clamp heads 220 can achieve different biting effects. The clamp heads 220 are hingedly assembled on the clamp base 210. At the same time, different clamp heads 220 can also be hinged to each other based on the hinged assembly positions on the clamp base 210. The clamp heads 220 can rotate relative to the clamp base 210 to achieve mutual biting or opening. The execution control wires 140 can be multiple, and each execution control wire 140 is directly or indirectly controllably connected to the head end of one clamp head 220. Therefore, by controlling the stretching motion of different execution control wires 140, the rotation of the clamp heads 220 on the clamp base 210 can be controlled, and further the mutual biting and opening between the multiple clamp heads 220 can be controlled.

[0063] The control portion 300 can adopt any structural form, not limited to various electric controls or manual controls, etc. Refer to Figure 6 and Figure 7As shown, in one embodiment, the control unit 300 further includes a control box 310 and a rotation control component 320. The control box 310 is disposed at the other end of the joint portion 100, and the rotation control component 320 is disposed within the control box 310. The rotation control component 320 is controllably connected to the steering control wire 130 for controlling the steering movement of the joint portion 100, and the rotation control component 320 is controllably connected to the execution control wire 140 for controlling the execution movement of the execution unit 200.

[0064] In one embodiment, the rotation control component 320 includes a pitch freedom control wheel 321, a yaw freedom control wheel 322, and an execution freedom control wheel 323, which are respectively used to control the pitch movement, yaw movement of the joint portion 100, and the execution movement of the execution unit 200. For example, the pitch freedom control wheel 321 is controllably connected to the steering control wire 130 symmetric with respect to the pitch direction. When the pitch freedom control wheel 321 rotates, it can stretch the steering control wires 130 in different directions according to the rotation direction, thereby controlling the pitch movement of the joint portion 100. The yaw freedom control wheel 322 is controllably connected to the steering control wire 130 symmetric with respect to the yaw direction. When the yaw freedom control wheel 322 rotates, it can stretch the steering control wires 130 in different directions according to the rotation direction, thereby controlling the yaw movement of the joint portion 100. The execution freedom control wheel 323 is controllably connected to the execution control wire 140. When the execution freedom control wheel 323 rotates, it can stretch the execution control wires 140 in different directions according to the rotation direction, thereby controlling the execution movement of the execution unit 200, such as biting or opening.

[0065] To achieve the rotational control of the pitch freedom control wheel 321, the yaw freedom control wheel 322, and the execution freedom control wheel 323, a pitch motor interface 324 can be opened at the end of the pitch freedom control wheel 321, a yaw motor interface 325 can be opened at the end of the yaw freedom control wheel 322, and an execution motor interface 326 can be opened at the end of the execution freedom control wheel 323. After the pitch freedom control wheel 321, the yaw freedom control wheel 322, and the execution freedom control wheel 323 are disposed within the control box 310, the ends of the pitch freedom control wheel 321, the yaw freedom control wheel 322, and the execution freedom control wheel 323 can all be exposed from the control box 310 based on the structure of the reserved holes formed on the control box 310, and the pitch motor interface 324, the yaw motor interface 325, and the execution motor interface 326 are exposed relative to the control box 310. At this time, the pitch freedom control wheel 321, the yaw freedom control wheel 322, and the execution freedom control wheel 323 can be driven to rotate by a pitch motor, a yaw motor, or an execution motor, or the pitch freedom control wheel 321, the yaw freedom control wheel 322, and the execution freedom control wheel 323 can also be manually operated to rotate.

[0066] The present invention further provides a surgical instrument, including the rotation control mechanism. The rotation control mechanism includes a joint part 100, an execution part 200 and a control part 300. One end of the joint part 100 is connected to the execution part 200, and the other end of the joint part 100 is connected to the control part 300. The control part 300 can control the joint part 100 to perform a steering action, so that the execution part 200 deflects in the required direction under control. As described above, the control part 300 can control the steering control wire 130 to perform a stretching movement, so that the stretched steering control wire 130 drives the joint part 100 to bend towards the corresponding side through expansion and contraction, thereby realizing the steering action of the joint part 100. Correspondingly, by controlling different execution control wires 140 to perform a stretching movement, the control part 300 can control the rotation of the clamp head 220 on the clamp seat 210, and further control the mutual biting and opening between the plurality of clamp heads 220 to realize the corresponding execution actions. Since the specific structure, functional principle and technical effects of the rotation control mechanism are described in detail above, they will not be elaborated here. Any technical content related to the rotation control mechanism can refer to the above text. The application of this rotation control mechanism in medical devices can improve the accuracy of operation. Especially when applied to a needle holder, it can reduce the collateral damage during the operation and improve the suture efficiency of the needle holder. Moreover, this rotation control mechanism can not only be used for the needle holder under the endoscope, but also for other instruments, such as scissors, grasping forceps, separating forceps, electric hooks, electric shovels, etc., and even can be applied to any structure that needs to continue to perform a rolling movement after pitching and deflecting movements. This is not limited here.

[0067] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0068] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent should be subject to the appended claims.

Claims

1. A rotation control mechanism, characterized in that, The rotation control mechanism includes: A joint part (100), which includes a plurality of joint members (110) and at least one flexible rotating member (120). The plurality of joint members (110) are arranged in sequence along the length direction of the joint part (100), and at least one flexible rotating member (120) is arranged between a part of adjacent joint members (110); rolling grooves are formed on the surface of the joint members (110). The joint part (100) further includes at least one rigid rotating member, and at least one rigid rotating member is arranged between another part of adjacent joint members (110). A control part (300), which includes a steering control wire (130). The steering control wire (130) is movably connected to the plurality of joint members (110) in sequence along the length direction, and is used to control the steering action of the joint part (100).

2. The rotation control mechanism according to claim 1, characterized in that, At least one flexible rotating member (120) is arranged between any adjacent joint members (110).

3. The rotation control mechanism according to claim 2, characterized in that, The joint part (100) is divided into at least two joint sections in the length direction, and the steering capabilities of different joint sections are the same or different.

4. The rotation control mechanism according to claim 3, wherein, At least one joint section with the maximum steering ability exists among the plurality of joint sections, and the joint section with the maximum steering ability is located at one end of the joint part (100).

5. The rotational control mechanism according to claim 4, wherein Along the length direction of the joint part (100), the steering capabilities of the plurality of joint sections increase in sequence.

6. The rotation control mechanism according to any one of claims 1-5, characterized in that, There are multiple steering control wires (130), and the multiple steering control wires (130) are circumferentially distributed along the joint part (100). A plurality of first through holes (111) are formed on the joint members (110) in a circumferential distribution, and the multiple steering control wires (130) are respectively passed through the first through holes (111) on different joint members (110).

7. The rotation control mechanism according to claim 6, wherein The control part (300) further includes an execution control wire (140). The execution control wire (140) is assembled on the joint part (100) along the length direction, and one end of the execution control wire (140) is configured to be used for connecting to an execution part (200) that cooperates with the joint part (100).

8. The rotational control mechanism according to claim 7, wherein A second through hole (112) is formed in the central area of the joint member (110). The flexible rotating member (120) is an annular capsule body, and the execution control wire (140) sequentially passes through the second through hole (112) and the inner ring of the annular capsule body.

9. The rotation control mechanism according to claim 7, wherein, The control part (300) further includes: A control box (310), which is arranged at one end of the joint part (100); A rotation control assembly (320), which is arranged in the control box (310); the rotation control assembly (320) is connected to the steering control wire (130), and the rotation control assembly (320) is connected to the execution control wire (140).

10. A surgical instrument, characterized in that, Including the rotation control mechanism according to any one of claims 1-9.

Images