Minimally invasive surgical forceps

Abstract

The present invention provides a minimally invasive surgical forceps, comprising a forceps head structure, a handle mechanism, a sleeve structure, and a connecting assembly, wherein the handle mechanism is spaced apart from the forceps head structure, the handle mechanism comprises a base shell and a bending drive member mounted on the base shell, the bending drive member being movably arranged relative to the base shell; the sleeve structure is connected between the forceps head structure and the handle mechanism; the connecting assembly is at least partially arranged within the sleeve structure, the connecting assembly comprises a plurality of interconnected connecting members, the connecting members being suitable for supporting the sleeve structure, one end of the connecting assembly close to the forceps head structure being fixedly arranged at a relative position along the axial direction of the sleeve structure, one end of the connecting assembly close to the handle mechanism being connected to the bending drive member, and driving the sleeve structure to bend under the drive of the bending drive member. Compared with the prior art that uses a traction wire to control the bending of the sleeve structure, the present invention can improve the bending strength of the sleeve structure and improve the safety of the minimally invasive surgical forceps when in use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a minimally invasive surgical forceps. Background Art

[0002] Minimally invasive surgery is the most cutting-edge development direction in today's medical technology. Due to its characteristics of small surgical trauma, mild postoperative pain, short hospitalization time, and good cosmetic effects, it has been widely used in clinical practice and achieved satisfactory results.

[0003] The prior art discloses an endoscopic surgical instrument comprising a handle assembly and a functional assembly connected to the handle assembly. The handle assembly comprises a base shell and a rotating cap located at one end of the base shell and capable of tilting in any direction. The functional assembly comprises a functional instrument and a guide tube connected to one end of the functional instrument. The guide tube is a bendable snake-like structure. The instrument also includes several traction wires, one end of which passes through the guide tube and connects to the functional instrument. The other end of the traction wire is driven up and down by the rotating cap. During use, the rotating cap serves as an operating end, pulling the traction wires to control the bending of the guide tube.

[0004] However, in the above-mentioned endoscopic surgical instrument, although the guide tube can achieve a bending function within a certain angle, the bending of the guide tube is controlled by a traction wire inside the guide tube, resulting in a low bending strength of the guide tube. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention lies in the endoscopic surgical instruments in the prior art. Although the guide tube can achieve bending function within a certain angle, the bending of the guide tube is controlled by the traction wire inside the guide tube, resulting in low bending strength of the guide tube.

[0006] To this end, the present invention provides a minimally invasive surgical forceps, comprising:

[0007] Clamp head structure;

[0008] A handle mechanism is spaced apart from the pliers head structure and comprises a base shell and a bending drive member mounted on the base shell, wherein the bending drive member is movably arranged relative to the base shell;

[0009] a sleeve structure connected between the clamp head structure and the handle mechanism;

[0010] A connecting assembly is at least partially disposed within the sleeve structure and includes a plurality of interconnected connecting members, wherein the connecting members are suitable for supporting the sleeve structure. An end of the connecting assembly close to the pliers head structure is fixedly arranged at a relative position along the axial direction of the sleeve structure. An end of the connecting assembly close to the handle mechanism is connected to the bending drive member and drives the sleeve structure to bend under the drive of the bending drive member.

[0011] Optionally, the sleeve structure has a clearance hole, which is extended along the extension direction of the sleeve structure. When the bending drive member drives the sleeve structure to bend, part of the connecting member extends out of the clearance hole, and the end of the connecting component close to the handle mechanism is slidably arranged along the extension direction of the sleeve structure.

[0012] Optionally, the sleeve structure includes:

[0013] A first set of pipes, arranged close to one side of the base shell;

[0014] A second sleeve member, one end of the second sleeve member is rotatably connected to the first sleeve member, the other end of the second sleeve member is connected to the clamp head structure, and the clearance hole is formed at the connection between the first sleeve member and the second sleeve member.

[0015] Optionally, the connection component includes:

[0016] a first connecting member, disposed in the first sleeve member and slidable relative to the first sleeve member, the first connecting member being connected to the bending drive member;

[0017] a second connecting member, disposed in the second sleeve member, and having one end connected to the clamp head structure;

[0018] The third connecting member is movably connected between the first connecting member and the second connecting member. When the bending driving member drives the sleeve structure to bend, the third connecting member extends out of the clearance hole.

[0019] Optionally, the clearance hole includes a first notch formed on the first sleeve member and a second notch formed on the second sleeve member;

[0020] The first notch and the second notch are communicated with each other, and the sum of the lengths of the first notch and the second notch is greater than or equal to the length of the third connecting member.

[0021] Optionally, the bending drive member is rotatably arranged on the base shell along a first rotation fulcrum;

[0022] The handle mechanism further includes a bending connector, and the bending connector and the bending drive member together constitute a bending assembly;

[0023] One end of the bending connecting member is rotationally connected to the bending driving member through a first rotating axis, and the other end of the bending connecting member is rotationally connected to the first connecting member; when the bending driving member drives the sleeve structure to bend, external force is applied to the driving point of the bending driving member and the first rotating axis is respectively arranged on both sides of the first rotating fulcrum.

[0024] Optionally, the bending assembly further includes at least one adapter, which is arranged between the first connecting member and the bending connecting member, the bending connecting member is rotationally connected to the adapter, and the adapter is suitable for accommodating the first connecting member and driving the first connecting member to slide along its axial direction.

[0025] Optionally, the adapter is provided with a first clamping portion;

[0026] The first connecting member is provided with a second clamping portion. When the adapter moves the first connecting member to slide along its axial direction, the first clamping portion and the second clamping portion abut against each other.

[0027] Optionally, the first clamping portion is a mounting protrusion, and the second clamping portion is a mounting groove; and / or

[0028] The first clamping portion is a mounting groove, and the second clamping portion is a mounting protrusion.

[0029] Optionally, the minimally invasive surgical forceps has at least two connecting lines and several connecting parts that are movably connected to each other, all of the connecting lines are of equal length and are passed through the outer circumference of all of the connecting parts; the driving end of the bending drive member drives the connecting part close to the side of the bending drive member to swing to drive the sleeve structure to bend.

[0030] Optionally, the handle mechanism further includes a toggle member, and the toggle member is connected to the first connecting member.

[0031] One of the toggle member and the first connecting member is a non-circular hole, and the other is a non-circular shaft adapted to the non-circular hole. The toggle member drives the first connecting member to rotate along the axial direction of the first connecting member under the driving force of external force.

[0032] Optionally, the outer wall surface of the first connecting member is an arc-shaped surface; the adapter has an arc-shaped groove adapted to the arc-shaped surface;

[0033] When the toggle member drives the first connecting member to rotate, the first connecting member is rotatably disposed in the adapter member.

[0034] Optionally, a first universal joint is provided between the first connecting member and the third connecting member; and a second universal joint is provided between the second connecting member and the third connecting member.

[0035] Optionally, the handle mechanism further includes a rotation amplification component, which includes:

[0036] a drive housing rotatably mounted on the base housing;

[0037] A transmission structure, one end of the transmission structure is fixedly connected to the drive housing, and the other end of the transmission structure is connected to the sleeve structure. The drive housing rotates relative to the base shell under the drive of an external force to drive the sleeve structure and the clamp head structure to rotate along their own axial direction. The transmission structure is suitable for driving the sleeve structure to rotate at a first angle that is greater than the second angle of rotation of the drive housing.

[0038] Optionally, the transmission structure includes:

[0039] a first gear, rotating synchronously with the drive housing;

[0040] a fourth gear meshing with the first gear, the fourth gear and the first sleeve member rotating synchronously;

[0041] Wherein, the transmission ratio between the first gear and the fourth gear is less than 1.

[0042] Optionally, the transmission structure further includes:

[0043] a second gear meshing with the first gear for transmission;

[0044] The third gear is coaxially arranged with the second gear, and the third gear is meshed with the fourth gear for transmission.

[0045] Optionally, the drive housing is hinged to the bending drive member, and the first rotation fulcrum is provided on the drive housing; the drive housing is driven by the rotational driving force of the bending drive member to drive the sleeve structure and the clamp head structure to rotate.

[0046] Optionally, the handle mechanism further includes:

[0047] A handle member is rotatably connected to the base shell,

[0048] It also includes a pulling member, which is inserted into the connecting structure, and the two ends of the pulling member are respectively connected to the clamp head structure and the handle member;

[0049] The handle rotates under the driving force of external force to control the closing of the pliers head structure.

[0050] Optionally, the handle mechanism further comprises a winding member, and the winding member and the grip member together constitute an opening and closing assembly;

[0051] The winding member is connected between the handle and the traction member, and is suitable for winding or loosening the traction member when the handle rotates to extend or retract the length of the traction member between one end close to the pliers head structure and the base shell.

[0052] The technical solution provided by the present invention has the following advantages:

[0053] 1. The minimally invasive surgical forceps provided by the present invention include a forceps head structure, a handle mechanism, a sleeve structure and a connecting assembly, wherein the handle mechanism is spaced apart from the forceps head structure, the handle mechanism includes a base shell and a bending drive member installed on the base shell, and the bending drive member is movably arranged relative to the base shell; the sleeve structure is connected between the forceps head structure and the handle mechanism; the connecting assembly is at least partially arranged in the sleeve structure, the connecting assembly includes a plurality of interconnected connecting members, the connecting members are suitable for supporting the sleeve structure, the end of the connecting assembly close to the forceps head structure is fixed in a relative position along the axial direction of the sleeve structure, the end of the connecting assembly close to the handle mechanism is connected to the bending drive member, and drives the sleeve structure to bend under the drive of the bending drive member.

[0054] The minimally invasive surgical forceps of this structure have a forceps head structure connected to the hand mechanism through a sleeve structure, the connecting component is at least partially arranged in the sleeve structure, and the hand mechanism includes a base shell and a bending drive member installed on the base shell, the bending drive member is movably arranged relative to the base shell, the connecting component includes a plurality of interconnected connecting members, one end of the connecting component close to the forceps head structure is fixedly arranged at a relative position along the axial direction of the sleeve structure, and one end of the connecting component close to the hand mechanism is connected to the bending drive member, so that the connecting component can drive the sleeve structure to bend under the drive of the bending drive member. The present invention connects the bending drive member and the forceps head structure by arranging a plurality of interconnected connecting members inside the sleeve structure, and the connecting member is partially arranged in the sleeve structure, so that when the sleeve structure is driven to bend by the bending drive member, the connecting member can support the sleeve structure in the bent state. Compared with the prior art which uses a traction wire to control the bending of the sleeve structure, the present invention can improve the bending strength of the sleeve structure and improve the safety of minimally invasive surgical forceps when in use.

[0055] 2. The surgical forceps in the prior art can control the opening and closing and rotation of the forceps head. However, if you want to rotate the forceps head within a larger range to achieve the operation, you need to forcefully deflect the handle, which will cause the wrist to be twisted. Long-term use will cause wrist fatigue in the user, affecting the quality of the operation.

[0056] The minimally invasive surgical forceps provided by the present invention further include a handle mechanism that further includes a rotation amplification component, which includes a drive housing and a transmission structure; wherein the drive housing is rotatably mounted on the base housing; one end of the transmission structure is fixedly connected to the drive housing, and the other end of the transmission structure is connected to the sleeve structure; the drive housing rotates relative to the base housing under the drive of an external force to drive the sleeve structure and the pliers head structure to rotate along its own axial direction, and the first angle at which the sleeve structure is driven by the transmission structure is greater than the second angle at which the drive housing rotates. By providing the rotation amplification component, when the pliers head needs to rotate within a larger range, the user only needs to rotate the drive housing by a smaller angle, such as 30 degrees or 40 degrees, and the drive housing can drive the sleeve structure to rotate through the rotation amplification component, and after the rotation amplification component amplifies the rotation angle, the sleeve structure can rotate to a larger angle, such as 60 degrees or 80 degrees, thereby preventing the user from forcibly deflecting the handle, causing wrist fatigue, and thus affecting the quality of the surgery.

[0057] 3. The minimally invasive surgical forceps provided by the present invention, the bending drive member is rotatably arranged on the base shell along the first rotating fulcrum; the handle mechanism also includes a bending connector, and the bending connector and the bending drive member together constitute a bending assembly; one end of the bending connector is rotationally connected to the bending drive member through a first rotating axis, and the other end of the bending connector is rotationally connected to the first connector; when the bending drive member drives the sleeve structure to bend, external force is applied to the driving point of the bending drive member and the first rotating axis is respectively arranged on both sides of the first rotating fulcrum.

[0058] The minimally invasive surgical forceps of this structure can facilitate the movement of the bending driving member by rotatably arranging the bending driving member on the base shell along the first rotation fulcrum, and can facilitate the driving of the first connecting member by the bending connecting member by arranging a bending connecting member connected between the bending driving member and the first connecting member.

[0059] 4. The minimally invasive surgical forceps provided by the present invention further include a toggle member connected to the first connecting member. One of the toggle member and the first connecting member comprises a non-circular hole, and the other comprises a non-circular shaft adapted to fit the non-circular hole. The toggle member, driven by an external force, drives the first connecting member to rotate along the axial direction of the first connecting member. The outer wall of the first connecting member comprises an arcuate surface; the adapter comprises an arcuate groove adapted to fit the arcuate surface; when the toggle member drives the first connecting member to rotate, the first connecting member is rotatably disposed within the adapter.

[0060] The minimally invasive surgical forceps of this structure are connected by setting a toggle member and a first connecting member, and one of the toggle member and the first connecting member is a non-circular hole, and the other is a non-circular shaft adapted to the non-circular hole, so that the toggle member can drive the first connecting member to rotate axially along the first connecting member, thereby driving the forceps head structure to rotate. At the same time, the first connecting member can also slide axially along the first connecting member relative to the toggle member. By setting the outer wall surface of the first connecting member to an arcuate surface, the adapter has an arcuate groove adapted to the arcuate surface, so that the adapter can drive the first connecting member to move axially along the first connecting member without restricting the first connecting member from rotating along its axial direction.

[0061] 5. In the minimally invasive surgical forceps provided by the present invention, a first universal joint is provided between the first connecting member and the third connecting member; a second universal joint is provided between the second connecting member and the third connecting member.

[0062] The minimally invasive surgical forceps of this structure connect the first connecting member and the third connecting member through a first universal joint, and connect the second connecting member and the third connecting member through a second universal joint, so that when the first connecting member and the third connecting member are bent relative to each other, the first connecting member can still drive the third connecting member to rotate; similarly, the third connecting member can still drive the second connecting member to rotate, and the first connecting member and the third connecting member can support each other through the first universal joint, and the second connecting member and the third connecting member can support each other through the second universal joint, thereby further improving the bending strength of the sleeve structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0064] Figure 1 A three-dimensional diagram of minimally invasive surgical forceps provided in an embodiment of the present invention;

[0065] Figure 2 for Figure 1 A magnified view of the structure at the center circle A;

[0066] Figure 3 A three-dimensional diagram of a cannula structure in a minimally invasive surgical forceps provided in an embodiment of the present invention in a bent state;

[0067] Figure 4 for Figure 3 A magnified view of the structure at the center circle B;

[0068] Figure 5This is a schematic structural diagram of the first connecting member, the second connecting member, and the third connecting member in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0069] Figure 6 A schematic diagram of the internal structure of minimally invasive surgical forceps provided in an embodiment of the present invention;

[0070] Figure 7 for Figure 6 A magnified view of the structure at the center circle C;

[0071] Figure 8 A three-dimensional diagram of a bending drive member, a bending connector, an adapter, and a first connector in a minimally invasive surgical forceps provided in an embodiment of the present invention;

[0072] Figure 9 An exploded view of a bending drive member, a bending connector, an adapter, and a first connector in a minimally invasive surgical forceps provided in an embodiment of the present invention;

[0073] Figure 10 A schematic diagram of the connection between the bending drive member, the bending connector, the adapter and the first connector in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0074] Figure 11 This is a schematic structural diagram of a rotating amplifying component in a minimally invasive surgical forceps provided in an embodiment of the present invention;

[0075] Figure 12 This is a structural diagram of a toggle member, a handle member, a traction member, and a winding member in a minimally invasive surgical forceps provided in an embodiment of the present invention;

[0076] Figure 13 for Figure 12 A magnified view of the structure at D in the middle circle;

[0077] Description of reference numerals:

[0078] 1- Clamp head structure;

[0079] 2-handle mechanism; 21-base shell; 22-bending drive member; 23-bending connector; 24-adapter; 241-first clamping portion; 25-sliding member; 26-handle member; 27-traction member; 28-winding member; 29-first rotating shaft;

[0080] 3-sleeve structure; 31-first sleeve member; 311-first notch; 32-second sleeve member; 321-second notch;

[0081] 4-connecting assembly; 41-first connecting member; 411-second clamping portion; 42-second connecting member; 43-third connecting member;

[0082] 5-First universal joint;

[0083] 6-Second universal joint;

[0084] 7-rotation amplification assembly; 71-drive housing; 72-first gear; 73-second gear; 74-third gear; 75-fourth gear;

[0085] 8-Bearing parts. DETAILED DESCRIPTION

[0086] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0087] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0088] Example

[0089] This embodiment provides a minimally invasive surgical forceps, such as Figures 1 to 13 As shown, it includes a clamp head structure 1, a handle mechanism 2, a sleeve structure 3, a connecting assembly 4 and a rotation amplification assembly 7. The sleeve structure 3 is connected between the clamp head structure 1 and the handle mechanism 2, and the connecting assembly 4 is partially arranged in the sleeve structure 3. One end of the connecting assembly 4 is connected to the handle mechanism 2, and the other end is connected to the clamp head structure 1. The handle mechanism 2 controls the bending of the sleeve structure 3 through the connecting assembly 4. One end of the rotation amplification assembly 7 is connected to the handle mechanism 2, and the other end of the rotation amplification assembly 7 is connected to the sleeve structure 3, and the sleeve structure 3 is driven to rotate through the handle mechanism 2.

[0090] like Figure 5As shown, the connecting assembly 4 includes a first connecting member 41, a second connecting member 42 and a third connecting member 43. A first universal joint 5 is provided between the first connecting member 41 and the third connecting member 43, and a second universal joint 6 is provided between the second connecting member 42 and the third connecting member 43. The first connecting member 41 and the third connecting member 43 are connected by the first universal joint 5, and the second universal joint 6 connects the second connecting member 42 and the third connecting member 43, so that when the first connecting member 41 and the third connecting member 43 are bent relative to each other, the first connecting member 41 can still drive the third connecting member 43 to rotate; similarly, the third connecting member 43 can still drive the second connecting member 42 to rotate; and the first connecting member 41 and the third connecting member 43 can support each other at the bending part through the first universal joint 5, and the second connecting member 42 and the third connecting member 43 can support each other at the bending part through the second universal joint 6.

[0091] like Figure 1 and Figure 2 As shown, the sleeve structure 3 includes a first sleeve member 31 and a second sleeve member 32, and the first sleeve member 31 is arranged close to one side of the base shell 21. Figure 4 As shown, one end of the second sleeve member 32 is rotationally connected to the first sleeve member 31, and the other end of the second sleeve member 32 is connected to the clamp head structure 1. The sleeve structure 3 also has a clearance hole, which is extended along the extension direction of the sleeve structure 3 and is formed at the connection between the first sleeve member 31 and the second sleeve member 32.

[0092] Among them, such as Figure 4 As shown, the clearance hole includes a first notch 311 formed on the first sleeve member 31 and a second notch 321 formed on the second sleeve member 32. The first notch 311 and the second notch 321 are interconnected, and the sum of the lengths of the first notch 311 and the second notch 321 is greater than or equal to the length of the third connecting member 43. This allows the third connecting member 43 to smoothly extend out of the clearance hole when the first and second sleeve members 31 and 32 are bent at the connection. It is understood that in order to enable the first and second sleeve members 31 and 32 to bend smoothly, the first and second sleeve members 31 and 32 are arranged at an angle at the connection.

[0093] like Figure 2 and Figure 4As shown, the first connecting member 41 is arranged in the first sleeve member 31, and the first connecting member 41 can slide relative to the first sleeve member 31, the second connecting member 42 is arranged in the second sleeve member 32, and one end of the second connecting member 42 is connected to the clamp head structure 1, so that the end of the second connecting member 42 close to the clamp head structure 1 is fixed in a relative position along the axial direction of the second sleeve member 32, that is, the second connecting member 42 can rotate in the second sleeve member 32, but cannot slide in the second sleeve member 32 along the axial direction of the second connecting member 42. The third connecting member 43 is arranged at the connection between the first sleeve member 31 and the second sleeve member 32. When the first sleeve member 31 and the second sleeve member 32 are bent at the connection, the third connecting member 43 extends out of the clearance hole. Since the first connecting member 41 and the third connecting member 43 are connected by the first universal joint 5, and the second connecting member 42 and the third connecting member 43 are connected by the second universal joint 6, the first connecting member 41, the second connecting member 42 and the third connecting member 43 can support each other through the first universal joint 5 and the second universal joint 6. Compared with the traction wire in the prior art, the first connecting member 41, the second connecting member 42 and the third connecting member 43 are higher in strength and not easy to bend. Therefore, being arranged in the high sleeve structure 3 can improve the bending strength of the sleeve structure 3 and improve the safety of minimally invasive surgical forceps when used.

[0094] like Figures 6 to 10 As shown, the handle mechanism 2 includes a base shell 21, a bending drive member 22, a bending connection member 23 and an adapter 24. One end of the bending connection member 23 is rotatably connected to the bending drive member 22 through a first rotating shaft 29, and the other end of the bending connection member 23 is rotatably connected to the adapter 24. Figure 9 As shown, the adapter 24 is provided with a first clamping portion 241, and the first connecting member 41 is provided with a second clamping portion 411. The first clamping portion 241 and the second clamping portion 411 abut against each other, so that the adapter 24 can drive the first connecting member 41 to move along the axial direction of the first connecting member 41. The first clamping portion 241 is a mounting groove, and the second clamping portion 411 is a mounting protrusion.

[0095] It is easy to understand that in other embodiments, the first clamping portion 241 may also be a mounting protrusion, and the second clamping portion 411 may be a mounting groove, and the mounting protrusion is adapted to the mounting groove.

[0096] like Figure 11 As shown, the rotation amplification assembly 7 includes a driving housing 71 , and the bending driving member 22 is disposed inside the driving housing 71 , and the bending driving member 22 can rotate relative to the driving housing 71 along a first rotation fulcrum O.

[0097] During operation, if Figure 10As shown, the user uses his hand to move the bending drive member 22 toward the direction close to the clamp head structure 1 (on the right side in the figure), and the bending drive member 22 rotates around the first rotation fulcrum O. The bending drive member 22 drives the bending connection member 23 to move away from the clamp head structure 1 through the first rotating shaft 29, and then the first clamping portion 241 on the adapter 24 and the second clamping portion 411 on the first connection member 41 are clamped, driving the first connection member 41 to slide in the first sleeve member 31 away from the clamp head structure 1. The movement of the first connection member 41 drives the third connection member 43 connected thereto to move away Move in the direction away from the clamp head structure 1. Since the third connecting member 43 is connected to the second connecting member 42, and the second connecting member 42 is connected to the clamp head structure 1, the second connecting member 42 cannot slide in the second sleeve member 32. Therefore, by moving the bending drive member 22 toward the direction close to the clamp head structure 1, the first connecting member 41 and the third connecting member 43 are driven to slide in the direction away from the clamp head structure 1, and the second connecting member 42 is fixed in the relative position of the second sleeve member 32 along the axial direction of the second sleeve member 32, so that the first sleeve member 31 and the second sleeve member 32 can be bent at the connection.

[0098] The present invention provides a first connecting member 41, a second connecting member 42, and a third connecting member 43, so that when the cannula structure 3 is driven to bend by the bending drive member 22, the first connecting member 41, the second connecting member 42, and the third connecting member 43 can support the cannula structure 3 in the bent state. Compared with the prior art that uses a traction wire to control the bending of the cannula structure 3, the present invention can improve the bending strength of the cannula structure 3 and enhance the safety of minimally invasive surgical forceps during use. A through slot is provided on the side of the base shell 21, and one end of the drive housing 71 can pass through the through slot and be located outside the base shell 21, facilitating operation by the operator.

[0099] It is easy to understand that in other embodiments, the bending drive member 22 can also be directly hinged to the base shell 21, and the first sleeve member 31 and the second sleeve member 32 are driven to bend at the connection by toggling the bending drive member 22.

[0100] It is easy to understand that in other embodiments, the connecting assembly 4 can also be composed of multiple connecting wires and a plurality of mutually movably connected connecting parts, all of which are of equal length and are arranged on the outer circumference of all connecting parts; the driving end of the bending driving member 22 drives the connecting part near the bending driving member 22 to swing, thereby driving the sleeve structure 3 to bend. The number of connecting wires and connecting parts can be set according to needs.

[0101] like Figures 11 to 13As shown, the handle mechanism 2 further includes a toggle member 25, which is provided with a non-circular through-groove. The surface of the first connecting member 41 is adapted to the non-circular through-groove, so that the toggle member 25 can drive the first connecting member 41 to rotate along the axial direction of the first connecting member 41. At the same time, the first connecting member 41 can also slide along the axial direction of the first connecting member 41 within the non-circular through-groove, thereby avoiding affecting the bending of the sleeve structure 3. For example, a rectangular groove is provided in the toggle member 25, and the surface of the first connecting member 41 is rectangular, and the first connecting member 41 is clamped inside the rectangular groove.

[0102] like Figure 5 As shown, the first connecting member 41 and the third connecting member 43 are connected through the first universal joint 5, the third connecting member 43 and the second connecting member 42 are connected through the second universal joint 6, and the other end of the second connecting member 42 is fixed to the clamp head structure 1. Therefore, by rotating the toggle member 25, the first connecting member 41 is driven to rotate, and then the first connecting member 41 drives the third connecting member 43 to rotate through the first universal joint 5, and the third connecting member 43 drives the second connecting member 42 to rotate through the second universal joint 6, and finally the second connecting member 42 drives the clamp head structure 1 to rotate. Figure 1 As shown, in order to facilitate the rotation of the toggle member 25 , the present invention partially disposes the toggle member 25 on the base shell 21 .

[0103] like Figure 11 As shown, the rotation amplification assembly 7 also includes a first gear 72, a second gear 73, a third gear 74 and a fourth gear 75, wherein the first gear 72 is fixedly connected to the drive housing 71 so that the first gear 72 can rotate synchronously with the drive housing 71; the second gear 73 is meshed with the first gear 72 for transmission, the third gear 74 is coaxially arranged with the second gear 73, the third gear 74 is meshed with the fourth gear 75 for transmission, and the fourth gear 75 is fixedly connected to the first sleeve member 31 so that the fourth gear 75 can rotate synchronously with the first sleeve member 31, wherein the transmission ratio of the first gear 72 to the fourth gear 75 is less than 1, so that the speed of the fourth gear 75 is higher than that of the first gear 72, so that the operator only needs to turn the drive housing 71 by a smaller angle to achieve a large angle rotation of the first sleeve member 31. For example, the number of teeth of the first gear 72 is 90 and the number of teeth of the fourth gear 75 is 18, then the number of teeth of the first gear 72 is 90, and the number of teeth of the fourth gear 75 is 18, then the number of teeth of the first sleeve member 31 is 180 degrees when the drive housing 71 is rotated by 36 degrees. In order to facilitate the rotation of the driving housing 71 , the present invention connects the driving housing 71 and the base housing 21 through a bearing member 8 .

[0104] It is easy to understand that in some embodiments, by changing the number of teeth on the first gear 72 and the number of teeth on the fourth gear 75 , the angular relationship between the drive housing 71 and the first sleeve member 31 can be changed.

[0105] In other embodiments, the first gear 72 may also directly mesh with the fourth gear 75 .

[0106] The present invention combines the bending drive member 22 to drive the sleeve structure 3 to bend, the driving shell 71 to drive the sleeve structure 3, the connecting assembly 4 and the clamp head structure 1 to rotate, and the toggle member 25 to drive the clamp head structure 1 to rotate. When the operator needs to use minimally invasive surgical forceps to perform a surgical operation, the sleeve structure 3 can be bent first to facilitate approaching the tissue and organ, and then the sleeve structure 3 can be rotated to allow the clamp head structure 1 to be further approached to the tissue and organ. Subsequently, the clamp head structure 1 can be rotated separately to align the clamp head structure 1 with the tissue and organ to pull, clamp or sample the tissue. The mutual coordination of the above three steps can improve the accuracy of the surgical operation and improve the success rate of the operation.

[0107] like Figure 12 and Figure 13 As shown, the handle mechanism 2 also includes a handle member 26, a winding member 28 and a traction member 27. The handle member 26 is rotatably connected to the base shell 21 at the installation point Q, the winding member 28 is fixedly connected to the handle member 26, and the traction member 27 is passed through the connection structure, wherein the traction member 27 is two drive ropes, and the two ends of the two drive ropes are respectively connected to the clamp head structure 1 and the winding member 28; the winding member 28 is a wire wheel connected to one end of the handle member 26. The operator drives the handle member 26 to swing back and forth around the installation point Q, driving the wire wheel to rotate clockwise and counterclockwise, thereby changing the length of the two drive ropes, and then driving the opening and closing movement of the front end clamp head structure 1, wherein the clamp head structure 1 adopts the surgical clamp head in the prior art, and the clamp head structure includes two movable clamp heads hinged to each other, one end of the two movable clamp heads is respectively connected to the drive rope, and a spring is provided between the movable clamp heads. By pulling the drive rope, the closing of the two movable clamp heads can be controlled, and loosening the drive rope can make the movable clamp heads open under the action of the spring.

[0108] The minimally invasive surgical forceps of this embodiment, when in operation, comprises the following steps:

[0109] (1) 3 bends in the casing structure: Figure 10As shown, the user uses his hand to move the bending drive member 22 toward the direction close to the clamp head structure 1 (on the right side in the figure), and the bending drive member 22 rotates around the first rotation fulcrum O. The bending drive member 22 drives the bending connection member 23 to move away from the clamp head structure 1 through the first rotating shaft 29, and then the first clamping portion 241 on the adapter 24 and the second clamping portion 411 on the first connection member 41 are clamped, driving the first connection member 41 to slide in the first sleeve member 31 away from the clamp head structure 1. The movement of the first connection member 41 drives the third connection member 43 connected thereto to move away Move in the direction away from the clamp head structure 1. Since the third connecting member 43 is connected to the second connecting member 42, and the second connecting member 42 is connected to the clamp head structure 1, the second connecting member 42 cannot slide in the second sleeve member 32. Therefore, by moving the bending drive member 22 toward the direction close to the clamp head structure 1, the first connecting member 41 and the third connecting member 43 are driven to slide in the direction away from the clamp head structure 1, and the second connecting member 42 is fixed in the relative position of the second sleeve member 32 along the axial direction of the second sleeve member 32, so that the first sleeve member 31 and the second sleeve member 32 can be bent at the connection.

[0110] (2) Rotation of the sleeve structure 3: The user manually turns the drive housing 71 to rotate, and the drive housing 71 drives the first gear 72 to rotate, the first gear 72 drives the second gear 73 to rotate, the second gear 73 drives the third gear 74 to rotate, the third gear 74 drives the fourth gear 75 to rotate, and the fourth gear 75 drives the first sleeve member 31 to rotate synchronously. Since the transmission ratio of the first gear 72 to the fourth gear 75 is less than 1, the drive housing 71 rotates a smaller angle to achieve a large angle rotation of the first sleeve member 31.

[0111] (3) Rotation of the pliers head structure 1: The user manually rotates the toggle member 25 to drive the first connecting member 41 to rotate, and then the first connecting member 41 drives the third connecting member 43 to rotate through the first universal joint 5, and the third connecting member 43 drives the second connecting member 42 to rotate through the second universal joint 6, and finally the second connecting member 42 drives the pliers head structure 1 to rotate.

[0112] It is understandable that the above steps can be adjusted to each other according to actual operation conditions.

[0113] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A minimally invasive surgical forceps, characterized in that: include: Clamp head structure; A handle mechanism is spaced apart from the pliers head structure and comprises a base shell and a bending drive member mounted on the base shell, wherein the bending drive member is movably arranged relative to the base shell; a sleeve structure connected between the clamp head structure and the handle mechanism; a connecting assembly, at least partially disposed within the sleeve structure, comprising a plurality of interconnected connecting members, the connecting members being adapted to support the sleeve structure, the connecting assembly having an end adjacent to the pliers structure being fixedly disposed at a relative position along the axial direction of the sleeve structure, the connecting assembly having an end adjacent to the handle mechanism being connected to the bending drive member, and driving the sleeve structure to bend under the drive of the bending drive member; The bending driving member is rotatably arranged on the base shell along a first rotation fulcrum; The handle mechanism further includes a bending connector, and the bending connector and the bending drive member together constitute a bending assembly; One end of the bending connection member is rotationally connected to the bending drive member via a first rotation axis, and the other end of the bending connection member is rotationally connected to the first connection member in the connection assembly; when the bending drive member drives the sleeve structure to bend, an external force is applied to the driving point of the bending drive member and the first rotation axis is respectively provided on both sides of the first rotation fulcrum; The bending assembly further includes: at least one adapter, disposed between the first connecting member and the bending connecting member, the bending connecting member being rotatably connected to the adapter, the adapter being adapted to accommodate the first connecting member and drive the first connecting member to slide along its axial direction; The adapter is provided with a first clamping portion; The first connecting member is provided with a second clamping portion, and when the adapter moves the first connecting member to slide along its axial direction, the first clamping portion and the second clamping portion abut against each other; The first clamping portion is a mounting protrusion, and the second clamping portion is a mounting groove; and / or The first clamping portion is a mounting groove, and the second clamping portion is a mounting protrusion.

2. The minimally invasive surgical forceps according to claim 1, characterized in that: The sleeve structure has a clearance hole, which is extended along the extension direction of the sleeve structure. When the bending drive member drives the sleeve structure to bend, part of the connecting member extends out of the clearance hole, and the end of the connecting component close to the handle mechanism is slidably arranged along the extension direction of the sleeve structure.

3. The minimally invasive surgical forceps according to claim 2, characterized in that: The sleeve structure includes A first set of pipes, arranged close to one side of the base shell; A second sleeve member, one end of the second sleeve member is rotatably connected to the first sleeve member, the other end of the second sleeve member is connected to the clamp head structure, and the clearance hole is formed at the connection between the first sleeve member and the second sleeve member.

4. The minimally invasive surgical forceps according to claim 3, characterized in that: The connection component includes: a first connecting member, disposed in the first sleeve member and slidable relative to the first sleeve member, the first connecting member being connected to the bending drive member; a second connecting member, disposed in the second sleeve member, and having one end connected to the clamp head structure; The third connecting member is movably connected between the first connecting member and the second connecting member. When the bending driving member drives the sleeve structure to bend, the third connecting member extends out of the clearance hole.

5. The minimally invasive surgical forceps according to claim 4, characterized in that: The relief hole includes a first notch formed on the first sleeve member and a second notch formed on the second sleeve member; The first notch and the second notch are communicated with each other, and the sum of the lengths of the first notch and the second notch is greater than or equal to the length of the third connecting member.

6. The minimally invasive surgical forceps according to claim 1, characterized in that: It has at least two connecting lines and several connecting parts that are movably connected to each other, all of the connecting lines are of equal length and are passed through the outer circumference of all the connecting parts; the driving end of the bending driving part drives the connecting part close to the side of the bending driving part to swing to drive the sleeve structure to bend.

7. The minimally invasive surgical forceps according to claim 1, characterized in that: The handle mechanism further includes a toggle member, which is connected to the first connecting member. One of the toggle member and the first connecting member is a non-circular hole, and the other is a non-circular shaft adapted to the non-circular hole. The toggle member drives the first connecting member to rotate along the axial direction of the first connecting member under the driving force of external force.

8. The minimally invasive surgical forceps according to claim 7, characterized in that: The outer wall surface of the first connecting member is an arc-shaped surface; the adapter has an arc-shaped groove adapted to the arc-shaped surface; When the toggle member drives the first connecting member to rotate, the first connecting member is rotatably disposed in the adapter member.

9. The minimally invasive surgical forceps according to claim 4, characterized in that: A first universal joint is provided between the first connecting member and the third connecting member; and a second universal joint is provided between the second connecting member and the third connecting member.

10. The minimally invasive surgical forceps according to claim 3, characterized in that: The handle mechanism further includes a rotation amplification component, which includes: a drive housing rotatably mounted on the base housing; A transmission structure, one end of the transmission structure is fixedly connected to the drive housing, and the other end of the transmission structure is connected to the sleeve structure. The drive housing rotates relative to the base shell under the drive of an external force to drive the sleeve structure and the clamp head structure to rotate along their own axial direction. The transmission structure is suitable for driving the sleeve structure to rotate at a first angle that is greater than the second angle of rotation of the drive housing.

11. The minimally invasive surgical forceps according to claim 10, characterized in that: The transmission structure includes: a first gear, rotating synchronously with the drive housing; a fourth gear meshing with the first gear, the fourth gear and the first sleeve member rotating synchronously; Wherein, the transmission ratio between the first gear and the fourth gear is less than 1.

12. The minimally invasive surgical forceps according to claim 11, characterized in that: The transmission structure further includes: a second gear meshing with the first gear for transmission; The third gear is coaxially arranged with the second gear, and the third gear is meshed with the fourth gear for transmission.

13. The minimally invasive surgical forceps according to claim 10, characterized in that: The drive housing is hinged to the bending drive member, and the first rotation fulcrum is arranged on the drive housing; the drive housing drives the sleeve structure and the clamp head structure to rotate under the rotation driving force of the bending drive member.

14. The minimally invasive surgical forceps according to claim 1, characterized in that: The handle mechanism also includes A handle member is rotatably connected to the base shell, It also includes a pulling member, which is inserted into the connecting assembly, and the two ends of the pulling member are respectively connected to the clamp head structure and the handle member; The handle rotates under the driving force of external force to control the closing of the pliers head structure.

15. The minimally invasive surgical forceps according to claim 14, characterized in that: The handle mechanism further comprises a winding member, and the winding member and the handle member together constitute an opening and closing assembly; The winding member is connected between the handle and the traction member, and is suitable for winding or loosening the traction member when the handle rotates to extend or retract the length of the traction member between one end close to the pliers head structure and the base shell.

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