A minimally invasive surgical instrument capable of automatic opening and closing and rotation

Abstract

The application discloses a minimally invasive surgical instrument capable of automatic opening and closing and rotation, and belongs to the field of medical instruments. The instrument comprises a driving assembly, a rotating assembly, a tool frame, a minimally invasive surgical catheter and an end effector. The rotating assembly is connected with one end of the tool frame through a transmission belt, and the tool frame can be driven to rotate through the rotation of the rotating assembly. The end effector is installed at the other end of the tool frame through the minimally invasive surgical catheter. The driving assembly is installed inside the rotating assembly, and the end effector is driven to work through a button on the rotating assembly. The end effector comprises movable joints, a universal joint and pincer jaws, and the movable joints are connected in series through the universal joint to obtain a movable joint arm. The surgical instrument can be manually operated or automatically operated by a doctor to rotate 360 degrees or open and close the end effector, so as to solve the technical problems that the flexibility of the surgical instrument is low, the operation of the doctor is incoordination, the hand trembles and the like during the operation of the existing minimally invasive surgery, and the quality of the surgery is affected.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to a minimally invasive surgical instrument that can automatically open, close, and rotate. Background Technology

[0002] Compared to traditional open surgery, minimally invasive surgery, due to its smaller incisions, reduces intraoperative blood loss, postoperative scarring, and postoperative pain, significantly saving patients' surgical costs and has gradually gained widespread use. However, traditional medical instruments used in minimally invasive surgery have limited flexibility within the patient's body, and the "lever effect" of surgical instruments prevents doctors from coordinating their movements to complete the operation, making it difficult for doctors to perform effective hand defibrillation during prolonged surgeries.

[0003] With the application and development of robotics technology, minimally invasive surgical robots can reduce manual labor for doctors during operations, enabling precise surgery, resulting in less trauma, less bleeding, less postoperative infection, and faster recovery for patients. However, currently available minimally invasive surgical instruments, such as fully functional surgical robots, are expensive; while traditionally designed medical devices are inexpensive, they have limited functionality. Therefore, designing a reasonably priced minimally invasive surgical instrument capable of automatic opening, closing, and rotation is of great significance. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a minimally invasive surgical instrument that can automatically open, close and rotate. This surgical instrument can be operated manually or automatically by the doctor to rotate 360° or open and close the end effector, so as to solve the technical problems that affect the quality of surgery, such as low flexibility of surgical instruments, uncoordinated operation of doctors and hand tremors, in the existing minimally invasive surgical operation.

[0005] In order to achieve the objectives of this invention, the following technical solution is adopted:

[0006] A minimally invasive surgical instrument capable of automatic opening, closing, and rotation includes a drive assembly, a rotating assembly, a tool frame, a minimally invasive surgical catheter, and an end effector. The rotating assembly is connected to one end of the tool frame via a transmission belt, and the rotation of the rotating assembly drives the tool frame to rotate. The end effector is installed at the other end of the tool frame via the minimally invasive surgical catheter. The drive assembly is installed inside the rotating assembly, and the end effector is driven to operate via a button on the rotating assembly.

[0007] The end effector includes movable joints, universal joints, and jaw grippers. Several movable joints are connected in series through universal joints to form a movable joint arm. One end of the movable joint arm is fixed to a minimally invasive surgical catheter, and the other end of the movable joint arm is connected to the jaw grippers.

[0008] As a preferred embodiment of the present invention, the tool frame includes an arm connector, an inner ring, a slide rail mechanism, an outer ring, a transmission belt, and an adapter arm; the inner ring and the outer ring are connected by the slide rail mechanism, and the arm connector is movably mounted on the inner ring; one end of the adapter arm is connected to the outer ring, and the other end of the adapter arm is located on the central axis of the outer ring, with a gap between it and the center of the outer ring; the rotating assembly is located between the outer ring and the other end of the adapter arm, and is connected to the outer ring via the transmission belt.

[0009] As a preferred embodiment of the present invention, the arm connector is an elastic structure or a hook and loop fastener structure, and the arm connector is used to fix the inner ring on the operator's wrist.

[0010] As a preferred embodiment of the present invention, the minimally invasive surgical catheter is coaxial with the outer ring in the tool frame.

[0011] As a preferred embodiment of the present invention, the movable joint of the end effector includes a hollow cylindrical main body structure and two pairs of joint connecting claws located on both ends of the hollow cylindrical main body structure. Each pair of joint connecting claws is symmetrically distributed on the corresponding end face, and the joint connecting claws are provided with U-shaped holes. Four joint through holes are evenly distributed along the central axis of the hollow cylindrical main body structure. Adjacent movable joints are arranged at 90-degree intervals and connected by universal joints. The universal joint includes a cross-shaped connecting post, and the cross-shaped connecting post is installed in the U-shaped holes of the two pairs of joint connecting claws of the two adjacent movable joints.

[0012] As a preferred embodiment of the present invention, the jaw grippers include an upper jaw, a lower jaw, and a drive pulley. The upper jaw is connected to a movable joint arm, and the connecting end face of the upper jaw is provided with a pair of symmetrically distributed jaw connecting claws and four jaw through holes evenly distributed along the central axis of the end face. The jaw connecting claws are connected to the movable joint arm through a universal joint.

[0013] The drive pulley is provided with a first through hole and a second through hole. The first through hole is located at an eccentric position of the drive pulley, and the second through hole is located at the center position of the drive pulley.

[0014] The lower clamp has a second through hole in the middle for mounting the second rotating shaft, and a first through hole in the upper part of the lower clamp corresponding to the first through hole of the pulley, and an arc-shaped sliding groove in the lower clamp corresponding to the second through hole of the pulley.

[0015] The upper clamp is provided with a second through hole corresponding to the second through hole of the lower clamp, and a first through hole corresponding to the arc-shaped sliding groove of the lower clamp;

[0016] The first through hole of the pulley and the first through hole of the lower clamp are connected by a connecting shaft; the second through hole of the pulley, the arc-shaped sliding groove of the lower clamp, and the first through hole of the upper clamp are connected by a first rotating shaft; the second through hole of the lower clamp and the second through hole of the upper clamp are hinged by a second rotating shaft, which can realize opening and closing.

[0017] As a preferred embodiment of the present invention, the drive assembly includes a first servo motor, a second servo motor, a third servo motor, a first wire rope, a second wire rope, and a third wire rope. The three servo motors are fixed to the inner wall of the rotating assembly housing by servo motor mounting seats, and the plane in which the servo motor arms of the three servo motors are located is parallel to the central axis of the outer ring. The servo motor arms of the three servo motors rotate around the center of the servo motor arms.

[0018] One end of the first wire rope is fixed to one end of the servo arm of the first servo motor, and the other end of the first wire rope passes through the movable joint arm and around the drive pulley before being fixed to the other end of the servo arm of the first servo motor; the drive pulley is provided with a groove for fixing the middle position of the first wire rope.

[0019] One end of the second steel wire rope is fixed to one end of the servo arm of the second servo motor. The other end of the second steel wire rope passes through a joint through hole corresponding to each movable joint and a corresponding jaw through hole on the upper jaw connecting end face in the forward direction. Then, it passes through an adjacent jaw through hole on the upper jaw connecting end face and an adjacent joint through hole corresponding to each movable joint in the reverse direction and is fixed to the other end of the servo arm of the second servo motor. A groove for fixing the middle position of the second steel wire rope is provided between two adjacent jaw through holes on the upper jaw connecting end face. The second steel wire rope can slide under force in the joint through holes in the forward or reverse direction.

[0020] One end of the third steel wire rope is fixed to one end of the servo arm of the third servo motor. The other end of the third steel wire rope passes through a joint through hole corresponding to each movable joint and a corresponding jaw through hole on the upper jaw connecting end face in the forward direction. Then, it passes through an adjacent jaw through hole on the upper jaw connecting end face and an adjacent joint through hole corresponding to each movable joint in the reverse direction and is fixed to the other end of the servo arm of the third servo motor. A groove for fixing the middle position of the third steel wire rope is provided between two adjacent jaw through holes on the upper jaw connecting end face. The third steel wire rope can slide under force in the joint through holes in the forward or reverse direction.

[0021] The joint through-holes and jaw through-holes through which the second and third wire ropes pass do not interfere with each other.

[0022] As a preferred embodiment of the present invention, the servo arms of the first servo, the second servo, and the third servo are initially perpendicular to the central axis of the outer ring.

[0023] As a preferred embodiment of the present invention, the rotating assembly includes a cylindrical housing and a rotating handle. The rotating handle is mounted on the outer end face of the cylindrical housing. The cylindrical housing is also provided with a rotating button, an opening / closing button, and a power-on button. The power-on button is used to control the power on / off of the three servos. The opening / closing button is used to control the rotation of the first servo. The rotating handle is used to control the rotation of the second and third servos.

[0024] Compared with existing technologies, the effects and benefits of this invention are:

[0025] (1) The present invention can control the multi-degree-of-freedom rotation and opening and closing of the jaws by three servo motors. Doctors can choose to use the button to control the electric servo motor to rotate the jaws and open and close, or rely on hand movements to rotate the handle to rotate the jaws and open and close.

[0026] (2) This invention can effectively solve the problems of poor accuracy and hand fatigue when manually operating surgical instruments, improve the quality of surgery, and has a simple overall structure, is easy to control, and has low cost, making it suitable for widespread application. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a minimally invasive surgical instrument capable of automatic opening, closing, and rotation, as shown in an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the rotating assembly and tool frame shown in this embodiment;

[0029] Figure 3 This is a schematic diagram of the structure of the driving component shown in this embodiment;

[0030] Figure 4 This is a schematic diagram of the end effector structure shown in this embodiment, (a) a schematic diagram of the end effector structure in the first orientation, and (b) a schematic diagram of the end effector structure in the second orientation after rotating 90 degrees.

[0031] Figure 5 This is a schematic diagram of the structure of the movable joint arm shown in this embodiment, (a) a front view of the two movable joints, (b) a perspective view of the two movable joints, and (c) a schematic diagram of the installation relationship between the movable joints and the universal joint.

[0032] Figure 6 This is a schematic diagram of the jaw gripper structure shown in this embodiment, (a) perspective view, (b) front view;

[0033] Figure 7 This is a schematic diagram of the upper clamp structure shown in this embodiment, (a) perspective view, (b) front view;

[0034] Figure 8 This is a schematic diagram of the lower clamp structure and drive pulley shown in this embodiment. (a) Schematic diagram of the installation relationship between the lower clamp structure and the drive pulley, (b) Perspective view of the lower clamp structure;

[0035] Figure 9 This is a schematic diagram of the drive pulley structure shown in this embodiment;

[0036] In the diagram: 101-Servo mount, 102-First servo, 103-Second servo, 104-Third servo, 105-First wire rope, 106-Second wire rope, 107-Third wire rope; 2-Rotating assembly, 201-Rotating handle, 202-Rotating button, 203-Open / Close button, 204-Power button; 3-Tool frame, 301-Arm connector, 302-Inner ring, 303-Slide rail mechanism, 304-Outer ring, 305-Drive belt, 306-Adapter arm; 4-Minimally invasive surgical catheter; 5-End effector, 5 01-Modible joint, 5011-Joint through hole, 5012-Joint connecting claw, 5013-U-shaped hole, 502-Universal joint, 5021-Connecting post, 503-Upper jaw, 5031-Upper jaw first through hole, 5032-Upper jaw second through hole, 504-Lower jaw, 5041-Lower jaw first through hole, 5042-Lower jaw arc-shaped groove, 5043-Lower jaw second through hole, 505-Drive pulley, 506-Jaw jaw connecting claw, 507-Jaw jaw through hole, 508-First rotating shaft, 509-Second rotating shaft, 5010-Connecting shaft. Detailed Implementation

[0037] The present invention will now be further described with reference to the accompanying drawings. The embodiments of the present invention described are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] like Figure 1 As shown, the present invention proposes a minimally invasive surgical instrument capable of automatic opening, closing, and rotation, comprising a drive assembly, a rotating assembly 2, a tool frame 3, a minimally invasive surgical catheter 4, and an end effector 5; the rotating assembly is connected to one end of the tool frame 3 via a transmission belt, and the rotation of the rotating assembly drives the tool frame 3 to rotate; the end effector 5 is installed at the other end of the tool frame 3 via the minimally invasive surgical catheter 4; the drive assembly is installed inside the rotating assembly, and the end effector 5 is driven to work by a button on the rotating assembly.

[0039] In the above structure, the drive component is used to realize the automatic rotation and opening and closing control of the minimally invasive surgical instruments; the rotation component is used to realize the manual rotation control of the minimally invasive surgical instruments; the tool frame 3 is used as an adapter to connect the operator's wrist and the minimally invasive surgical catheter; the minimally invasive surgical catheter 4 is used as an extension component to connect the end effector, and different lengths and thicknesses of minimally invasive surgical catheters can be selected according to actual needs; the end effector 5 is the controlled object and has rotation, bending and opening and closing functions.

[0040] like Figure 2The diagram shown is a structural schematic of the rotating component and tool frame proposed in this embodiment. The tool frame 3 includes an arm connector 301, an inner ring 302, a slide rail mechanism 303, an outer ring 304, a transmission belt 305, and an adapter arm 306. The minimally invasive surgical catheter 4 is coaxial with the outer ring 304 in the tool frame 3.

[0041] The inner and outer rings are connected by a slide rail mechanism, and the arm connector is movably mounted on the inner ring. One end of the adapter arm 306 is connected to the outer ring, and the other end of the adapter arm is located on the central axis of the outer ring, with a gap between it and the center of the outer ring. The rotating component is located between the outer ring and the other end of the adapter arm, and is connected to the outer ring via a transmission belt. In this embodiment, the arm connector 301 is an elastic structure or a hook-and-loop fastener structure (e.g., a hook-and-loop fastener made of Velcro). The arm connector is used to fix the inner ring on the operator's wrist. The arm connector is movably connected to the inner ring and does not affect the operator's arm from entering the inner ring. Preferably, there are two transmission belts 305, which do not affect the movement of the wrist and can stably drive the rotation of the outer ring. In this embodiment, the transmission belts 305 adopt the structure commonly used in metal watch straps, which can drive the outer ring to rotate while also having a certain degree of freedom and flexibility. Both ends of the transmission belts 305 are detachable.

[0042] like Figure 3 The diagram shows the structure of the drive assembly proposed in this embodiment, including a first servo motor 102, a second servo motor 103, and a third servo motor 104. The three servo motors are fixed to the inner wall of the rotating assembly housing by servo motor mounting base 101, and the plane where the servo motor arms of the three servo motors are located is parallel to the central axis of the outer ring 304. The servo motor arms of the three servo motors rotate around the center of the servo motor arms, and the servo motor arms of the first servo motor 102, the second servo motor 103, and the third servo motor 104 are perpendicular to the central axis of the outer ring 304 in the initial state.

[0043] Combination Figure 4 The end effector structure proposed in this embodiment is shown. The end effector 5 includes a movable joint 501, a universal joint 502, and a jaw gripper. The jaw gripper includes an upper jaw 503, a lower jaw 504, and a drive pulley 505. Several movable joints are connected in series through universal joints to form a movable joint arm. One end of the movable joint arm is fixed to the minimally invasive surgical catheter 4, and the other end of the movable joint arm is connected to the jaw gripper.

[0044] For details regarding the movable joints and other structures of the end effector 5, please refer to the appendix. Figure 5 Images (a), (b), and (c) in the diagram illustrate the structure and connection of the movable joint and universal joint from different perspectives.

[0045] The movable joint 501 includes a hollow cylindrical main structure and two pairs of joint connecting claws 5012 located on both ends of the hollow cylindrical main structure. Each pair of joint connecting claws is symmetrically distributed on the corresponding end face. The joint connecting claws are provided with U-shaped holes 5013. Four joint through holes 5011 are evenly distributed along the central axis of the hollow cylindrical main structure. Two adjacent movable joints 501 are staggered by 90 degrees and connected by universal joints 502. The universal joint 502 includes a cross-shaped connecting post 5021. The cross-shaped connecting post is installed in the U-shaped holes 5013 of the two pairs of joint connecting claws 5012 of the two adjacent movable joints 501.

[0046] For the jaw gripper structure of the end effector 5, please refer to the appendix. Figure 6 ,in Figure 6 (a) is a three-dimensional schematic diagram of the jaw gripper structure. Figure 6 (b) is a front view of the jaw gripper structure.

[0047] The jaws include an upper jaw 503, a lower jaw 504, and a drive pulley 505. The upper jaw is connected to the movable joint arm, and the connecting end face of the upper jaw is provided with a pair of symmetrically distributed jaw connecting claws 506 and four jaw through holes 507 evenly distributed along the central axis of the end face. The jaw connecting claws 506 are connected to the movable joint arm through a universal joint.

[0048] like Figure 9 As shown, the drive pulley is provided with a first through hole 5051 and a second through hole 5052. The first through hole 5051 is located at the eccentric position of the drive pulley, and the second through hole 5052 is located at the center position of the drive pulley. The drive pulley is provided with a groove 5053 for fixing the middle position of the first wire rope.

[0049] like Figure 8 As shown in (a) and (b), the lower clamp has a second through hole 5043, a first through hole 5041, and an arc-shaped sliding groove 5042 in its middle part. In this embodiment, the arc angle of the arc-shaped sliding groove 5042 is 90 degrees. The second through hole 5043 is used to install the second rotating shaft 509. The first through hole 5041 corresponds to the first through hole 5051 of the pulley, and the arc-shaped sliding groove 5042 corresponds to the second through hole 5052 of the pulley.

[0050] like Figure 7As shown in (a) and (b), the upper clamp is used to connect with the movable joint arm, and the connecting end face of the upper clamp is provided with a pair of symmetrically distributed jaw connecting claws 506 and four jaw through holes 507 evenly distributed along the central axis of the end face. The jaw connecting claws 506 are connected to the movable joint arm through a universal joint. The connection method between the universal joint connecting jaw connecting claws 506 and the movable joint is the same as the connection method between two adjacent movable joints. The upper clamp is provided with an upper clamp second through hole 5032 corresponding to the lower clamp second through hole 5043, and an upper clamp first through hole 5031 corresponding to the lower clamp arc-shaped sliding groove 5042.

[0051] Combination Figures 6 to 9 The pulley's second through hole 5052, the lower clamp's arc-shaped sliding groove 5042, and the upper clamp's first through hole 5031 are connected by a first rotating shaft 508; the lower clamp's second through hole 5043 and the upper clamp's second through hole 5032 are hinged by a second rotating shaft 509, enabling opening and closing; the pulley's first through hole 5051 and the lower clamp's first through hole 5041 are connected by a connecting shaft 5010. When the drive pulley 505 rotates around the first rotating shaft, the connecting shaft drives the lower clamp to rotate, thereby causing the lower clamp to rotate around the second rotating shaft, realizing the opening and closing function of the upper and lower clamps.

[0052] In one specific embodiment of the present invention, the power transmission structure of the drive assembly adopts steel wire rope, including a first steel wire rope 105, a second steel wire rope 106, and a third steel wire rope 107; as shown Figure 4 As shown, one end of the first steel wire rope 105 is fixed to one end of the servo arm of the first servo motor, and the other end of the first steel wire rope passes through the movable joint arm and around the drive pulley before being fixed to the other end of the servo arm of the first servo motor; the servo arm of the first servo motor is initially perpendicular to the central axis of the outer ring, i.e. Figure 3 As shown in the figure; when the servo arm of the second servo rotates a certain angle, since the middle part of the first wire rope is fixed to the drive slide 505, the drive slide 505 rotates around the first rotating shaft 508 at a certain angle under the action of the fixed position of the first wire rope, and drives the lower clamp to rotate around the second rotating shaft 509 at a certain angle through the connecting shaft 5010, so as to realize the opening and closing of the upper and lower clamps.

[0053] One end of the second steel wire rope 106 is fixed to one end of the servo arm of the second servo motor. The other end of the second steel wire rope passes through a joint through hole corresponding to each movable joint and a corresponding jaw through hole on the upper jaw connecting end face in the forward direction. Then, it passes through an adjacent jaw through hole on the upper jaw connecting end face and an adjacent joint through hole corresponding to each movable joint in the reverse direction and is fixed to the other end of the servo arm of the second servo motor. A groove for fixing the middle position of the second steel wire rope is provided between two adjacent jaw through holes on the upper jaw connecting end face. The second steel wire rope can slide under force in the joint through holes in the forward or reverse direction.

[0054] One end of the third steel wire rope 107 is fixed to one end of the servo arm of the third servo motor. The other end of the third steel wire rope passes through a joint through hole corresponding to each movable joint and a corresponding jaw through hole on the upper jaw connecting end face in the forward direction. Then, it passes through an adjacent jaw through hole on the upper jaw connecting end face and an adjacent joint through hole corresponding to each movable joint in the reverse direction and is fixed to the other end of the servo arm of the third servo motor. A groove for fixing the middle position of the third steel wire rope is provided between two adjacent jaw through holes on the upper jaw connecting end face. The third steel wire rope can slide under force in the joint through holes in the forward or reverse direction.

[0055] The joint through-hole and jaw through-hole through which the second wire rope 106 and the third wire rope 107 pass do not interfere with each other.

[0056] Assuming Figure 4 The joint through holes 5011 on the universal joints that have been arranged in the positions shown are named as first joint through hole, second joint through hole, third joint through hole and fourth joint through hole in the clockwise direction. Similarly, the jaw through holes are named as first jaw through hole, second jaw through hole, third jaw through hole and fourth jaw through hole according to the corresponding relationship.

[0057] In this embodiment, one end of the second steel wire rope is fixed to one end of the servo arm of the second servo motor. The other end of the second steel wire rope passes through the first joint through hole of each movable joint and the first jaw through hole on the upper jaw connecting end face in the forward direction, and then passes through the second jaw through hole on the upper jaw connecting end face and the second joint through hole of each movable joint in the reverse direction before being fixed to the other end of the servo arm of the second servo motor. A groove for fixing the middle position of the second steel wire rope is provided between the first jaw through hole and the second jaw through hole on the upper jaw connecting end face. The second steel wire rope can slide under force in the first joint through hole and can also slide under force in the second joint through hole. In the initial state, the servo arm of the second servo motor is perpendicular to the central axis of the outer ring, i.e. Figure 3 As shown in the diagram, at this point, the distance between the first jaw through hole and one end of the servo arm of the second servo is equal to the distance between the second jaw through hole and the other end of the servo arm of the second servo. When the servo arm of the second servo rotates a certain angle, the distance between the first jaw through hole and one end of the servo arm of the second servo is no longer equal to the distance between the second jaw through hole and the other end of the servo arm of the second servo. Since the middle part of the second wire rope is fixed between the first jaw through hole and the second jaw through hole, one side of the fixed position of the second wire rope is tightened while the other side is loosened, and the movable joint arm bends towards the tightened side.

[0058] Similarly, one end of the third steel wire rope is fixed to one end of the servo arm of the third servo motor. The other end of the third steel wire rope passes through the third joint through hole of each movable joint and the third jaw through hole on the upper jaw connecting end face in the forward direction, and then passes through the fourth jaw through hole on the upper jaw connecting end face and the fourth joint through hole of each movable joint in the reverse direction before being fixed to the other end of the servo arm of the third servo motor. A groove for fixing the middle position of the third steel wire rope is provided between the third jaw through hole and the fourth jaw through hole on the upper jaw connecting end face. The third steel wire rope can slide under force in the third joint through hole and can also slide under force in the fourth joint through hole. The servo arm of the third servo motor is perpendicular to the central axis of the outer ring in the initial state, that is... Figure 3 As shown in the diagram, at this point, the distance between the third jaw through hole and one end of the servo arm of the third servo is equal to the distance between the fourth jaw through hole and the other end of the servo arm of the third servo. When the servo arm of the third servo rotates a certain angle, the distance between the third jaw through hole and one end of the servo arm of the third servo is no longer equal to the distance between the fourth jaw through hole and the other end of the servo arm of the third servo. Since the middle part of the third wire rope is fixed between the third jaw through hole and the fourth jaw through hole, one side of the fixed position of the third wire rope is tightened while the other side is loosened, and the movable joint arm bends towards the tightened side.

[0059] This embodiment also includes buttons for controlling the servo motor, specifically, as shown below. Figure 1 As shown, the rotating assembly 2 includes a cylindrical housing and a rotating handle 201. The rotating handle 201 is mounted on the outer end face of the cylindrical housing. The cylindrical housing is also equipped with a rotating button 202, an opening / closing button 203, and a power button 204. The power button 204 is used to control the power on / off of the three servos, the opening / closing button 203 is used to control the rotation of the first servo, and the rotating handle 201 is used to control the rotation of the second and third servos. The rotating button 202, the opening / closing button 203, and the power button 204 are all connected to each servo via a controller (microcontroller) and are powered by a battery pack to achieve overall coordinated operation.

[0060] The control methods for the aforementioned minimally invasive surgical instruments capable of automatic opening, closing, and rotation include manual rotation control and automatic rotation-opening / closing control. The manual rotation control method is as follows:

[0061] The operator's wrist passes through the inner ring 302 of the tool frame, and the inner ring is fixed to the operator's wrist by the arm connector 301. By adjusting the angle of the wrist and / or rotating the rotating handle 201, the outer ring 304 is directly driven to adjust the angle and / or rotate, thereby driving the adapter arm, minimally invasive surgical catheter and end effector to adjust the angle and / or rotate.

[0062] The automatic rotation-opening and closing control method is as follows:

[0063] The operator's wrist passes through the inner ring 302 of the tool frame, and the inner ring is fixed to the operator's wrist by the arm connector 301, thus activating the drive assembly;

[0064] The first servo motor is controlled to rotate. Since the middle part of the first steel wire rope is fixed to the drive slide 505, the drive slide 505 rotates around the first rotating shaft 508 at a certain angle under the action of the fixed position of the first steel wire rope. It also drives the lower clamp to rotate around the second rotating shaft 509 at a certain angle through the connecting shaft 5010, thereby realizing the opening and closing of the upper and lower clamps. During the rotation of the lower clamp, the lower clamp arc-shaped slide groove 5042 rotates accordingly. When the upper and lower clamps are fully open and closed, the first rotating shaft is located at one end of the lower clamp arc-shaped slide groove 5042. When the upper and lower clamps are fully open, the first rotating shaft is located at the other end of the lower clamp arc-shaped slide groove 5042.

[0065] Controlling the rotation of the second and / or third servo motors, since the middle of the second and / or third wire ropes is fixed to the upper clamp, after the second and / or third wire ropes are driven by the second and / or third servo motors, one side of the fixed position of the second and / or third wire ropes is tightened while the other side is relaxed, and the movable joint arm bends towards the tightened side.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the specific implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A minimally invasive surgical instrument capable of automatic opening, closing, and rotation, characterized in that, It includes a drive assembly, a rotating assembly (2), a tool frame (3), a minimally invasive surgical catheter (4), and an end effector (5); the rotating assembly is connected to one end of the tool frame (3) via a transmission belt, and the rotation of the rotating assembly can drive the tool frame (3) to rotate; the end effector (5) is installed at the other end of the tool frame (3) via the minimally invasive surgical catheter (4); the drive assembly is installed inside the rotating assembly, and the end effector (5) is driven to work by a button on the rotating assembly; The end effector (5) includes a movable joint (501), a universal joint (502) and a jaw gripper. Several movable joints are connected in series through the universal joint to form a movable joint arm. One end of the movable joint arm is fixed to the minimally invasive surgical catheter (4), and the other end of the movable joint arm is connected to the jaw gripper. The movable joint (501) of the end effector (5) includes a hollow cylindrical main body structure and two pairs of joint connecting claws (5012) located on both ends of the hollow cylindrical main body structure. Each pair of joint connecting claws is symmetrically distributed on the corresponding end face. The joint connecting claws are provided with U-shaped holes (5013). Four joint through holes (5011) are evenly distributed along the central axis on the hollow cylindrical main body structure. Two adjacent movable joints (501) are arranged at 90 degrees apart and connected by universal joints (502). The universal joint (502) includes a cross-shaped connecting post (5021). The cross-shaped connecting post is installed in the U-shaped holes (5013) of the two pairs of joint connecting claws (5012) of the two adjacent movable joints (501). The drive assembly includes a first servo motor (102), a second servo motor (103), a third servo motor (104), a first wire rope (105), a second wire rope (106), and a third wire rope (107). The three servo motors are fixed to the inner wall of the rotating assembly housing by servo motor mounting bases (101), and the plane of the servo motor arms of the three servo motors is parallel to the central axis of the outer ring (304). The servo motor arms of the three servo motors rotate around the center of the servo motor arms. One end of the first wire rope (105) is fixed to one end of the servo arm of the first servo motor, and the other end of the first wire rope passes through the movable joint arm and around the drive pulley before being fixed to the other end of the servo arm of the first servo motor; the drive pulley is provided with a slot (5053) for fixing the middle position of the first wire rope. One end of the second steel wire rope (106) is fixed to one end of the servo arm of the second servo motor. The other end of the second steel wire rope passes through a joint through hole corresponding to each movable joint and a jaw through hole corresponding to the upper jaw connecting end face in the forward direction. Then, it passes through an adjacent jaw through hole on the upper jaw connecting end face and an adjacent joint through hole corresponding to each movable joint in the reverse direction and is fixed to the other end of the servo arm of the second servo motor. A groove for fixing the middle position of the second steel wire rope is provided between two adjacent jaw through holes on the upper jaw connecting end face. The second steel wire rope can slide under force in the joint through holes in the forward or reverse direction. One end of the third wire rope (107) is fixed to one end of the servo arm of the third servo motor. The other end of the third wire rope passes through a joint through hole corresponding to each movable joint and a corresponding jaw through hole on the upper jaw connecting end face in the forward direction. Then, it passes through the adjacent jaw through holes on the upper jaw connecting end face and the adjacent joint through holes corresponding to each movable joint in the reverse direction and is fixed to the other end of the servo arm of the third servo motor. A groove for fixing the middle position of the third wire rope is provided between two adjacent jaw through holes on the upper jaw connecting end face. The third wire rope can slide under force in the joint through holes in the forward or reverse direction. The joint through-hole and jaw through-hole through which the second wire rope (106) and the third wire rope (107) pass do not interfere with each other.

2. The minimally invasive surgical instrument capable of automatic opening, closing, and rotation according to claim 1, characterized in that, The tool frame (3) includes an arm connector (301), an inner ring (302), a slide rail mechanism (303), an outer ring (304), a transmission belt (305), and an adapter arm (306); the inner ring and the outer ring are connected by the slide rail mechanism, and the arm connector is movably mounted on the inner ring; one end of the adapter arm (306) is connected to the outer ring, and the other end of the adapter arm is located on the central axis of the outer ring and is spaced apart from the center of the outer ring; the rotating component is located between the outer ring and the other end of the adapter arm, and is connected to the outer ring by the transmission belt.

3. The minimally invasive surgical instrument capable of automatic opening, closing, and rotation according to claim 2, characterized in that, The arm connector (301) is an elastic structure or a hook and loop fastener structure, and is used to fix the inner ring on the operator's wrist.

4. The minimally invasive surgical instrument capable of automatic opening, closing, and rotation according to claim 2, characterized in that, The minimally invasive surgical catheter (4) is coaxial with the outer ring (304) in the tool frame (3).

5. A minimally invasive surgical instrument capable of automatic opening, closing, and rotation according to claim 1, characterized in that, The jaws include an upper jaw (503), a lower jaw (504), and a drive pulley (505). The upper jaw is connected to the movable joint arm, and the connecting end face of the upper jaw is provided with a pair of symmetrically distributed jaw connecting claws (506) and four jaw through holes (507) evenly distributed along the central axis of the end face. The jaw connecting claws (506) are connected to the movable joint arm through a universal joint. The drive pulley is provided with a first through hole (5051) and a second through hole (5052). The first through hole (5051) is located at the eccentric position of the drive pulley, and the second through hole (5052) is located at the center position of the drive pulley. The lower clamp is provided with a second through hole (5043) for installing a second rotating shaft (509) in the middle part, and a first through hole (5041) corresponding to the first through hole (5051) of the pulley and a lower clamp arc-shaped sliding groove (5042) corresponding to the second through hole (5052) of the pulley in the upper part. The upper clamp is provided with a second through hole (5032) corresponding to the second through hole (5043) of the lower clamp, and a first through hole (5031) corresponding to the arc-shaped sliding groove (5042) of the lower clamp; The first through hole (5051) of the pulley and the first through hole (5041) of the lower clamp are connected by a connecting shaft (5010); the second through hole (5052) of the pulley, the arc-shaped slide groove (5042) of the lower clamp, and the first through hole (5031) of the upper clamp are connected by a first rotating shaft (508); the second through hole (5043) of the lower clamp and the second through hole (5032) of the upper clamp are hinged by a second rotating shaft (509) to realize opening and closing.

6. The minimally invasive surgical instrument capable of automatic opening, closing, and rotation according to claim 1, characterized in that, The servo arms of the first servo (102), the second servo (103), and the third servo (104) are initially perpendicular to the central axis of the outer ring (304).

7. A minimally invasive surgical instrument capable of automatic opening, closing, and rotation according to claim 1, characterized in that, The rotating assembly includes a cylindrical housing and a rotating handle (201). The rotating handle (201) is mounted on the outer end face of the cylindrical housing. The cylindrical housing is also provided with a rotating button (202), an opening / closing button (203), and a power button (204). The power button (204) is used to control the power on and off of the three servos. The opening / closing button (203) is used to control the rotation of the first servo. The rotating handle (201) is used to control the rotation of the second and third servos.

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