A rigid minimally invasive surgical instrument

Abstract

The present invention discloses a rigid minimally invasive surgical instrument, which relates to the field of medical instruments and includes an operating assembly, a connecting assembly, and an executing assembly. The executing assembly includes a wrist, an executing grip, a first push rod, and a second push rod. The executing grip is provided on the wrist, and the first push rod and the second push rod are respectively connected to the wrist for rotation around a first axis and a second axis. The connecting assembly includes a deflection rod and an opening and closing rod. One end of the deflection rod is provided with a first inclined groove and a second inclined groove with opposite rotation directions. The first push rod and the second push rod are slidably connected to different inclined grooves. One end of the opening and closing rod is slidably connected to the operating assembly, and the other end of the opening and closing rod is connected to the executing grip and can prevent the wrist from rotating around the axis of the deflection rod. Rotating the deflection rod can cause the first push rod and the second push rod to move in opposite directions along the axial direction of the deflection rod and drive the wrist to rotate around the first axis or the second axis. The rigid minimally invasive surgical instrument of the present invention can improve the convenience of use and disinfection of the rigid minimally invasive surgical instrument.

Description

Technical Field

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

[0002] Minimally invasive surgery is considered the most distinctive development direction of surgical procedures in the 21st century, representing a revolutionary advancement compared to traditional surgery. Compared to traditional surgery, minimally invasive surgery does not require the surgeon's hands to enter the patient's body, requires less space for surgery, and interferes less with the patient's internal organs, shortening postoperative recovery time. Currently used minimally invasive surgical instruments can be divided into two categories: rigid and flexible. Rigid minimally invasive surgical instruments have a rigid transmission component connecting the operating and actuator components, while flexible minimally invasive surgical instruments often have a flexible connection component composed of multiple movable links connecting the operating and actuator components. Because rigid minimally invasive surgical instruments lack flexible connection components, their structure is simpler than flexible minimally invasive surgical instruments and is relatively easy to disassemble for disinfection and sterilization. However, the actuator components of rigid minimally invasive surgical instruments have relatively fewer degrees of freedom, lacking the operational convenience of flexible minimally invasive surgical instruments. In the prior art, patent CN202210013280.4 discloses a deflection mechanism and a surgical instrument, which are rigid minimally invasive surgical instruments. Although it can realize the deflection of the actuator, improve the degree of freedom of the actuator, and improve the convenience of operation, its deflection structure is composed of multiple gears, and its structure is precisely matched and has high assembly accuracy requirements. Improper installation will lead to transmission failure, resulting in inconvenient assembly. Summary of the Invention

[0003] The purpose of the present invention is to provide a rigid minimally invasive surgical instrument to solve the problems existing in the above-mentioned prior art and to improve the convenience of use and disinfection of the rigid minimally invasive surgical instrument.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a rigid minimally invasive surgical instrument, comprising an operating assembly, a connecting assembly and an executing assembly, wherein the executing assembly comprises a wrist, an executing claw, a first push rod and a second push rod, the executing claw being connected to one end of the wrist, the first push rod being rotatably connected to the end of the wrist away from the executing claw around a first axis, the second push rod being rotatably connected to the end of the wrist away from the executing claw around a second axis, the first axis being parallel to the second axis, the connecting assembly comprising a deflection rod and an opening and closing rod, one end of the deflection rod being provided with a first oblique groove and a second oblique groove in opposite directions of rotation, the first push rod being slidably connected to the first oblique groove, and the second push rod being slidably connected to the The second inclined slot is slidingly connected, the opening and closing rod is coaxially arranged in the deflection rod and can rotate and slide relative to the deflection rod, one end of the opening and closing rod is connected to the operating component, and the other end of the opening and closing rod is connected to the execution claw, the operating component can control the opening and closing of the execution claw through the opening and closing rod, and can prevent the wrist from rotating around the axis of the deflection rod, the end of the deflection rod away from the wrist is rotationally connected to the operating component, rotating the deflection rod can make the first push rod and the second push rod move in opposite directions along the axial direction of the deflection rod and drive the wrist to rotate around the first axis or the second axis.

[0006] Preferably, the operating component includes a deflection bracket, a thumbwheel and a fixed shear handle, the fixed shear handle includes a first gripping part and a first operating part, the deflection bracket is fixedly connected to the first operating part, the deflection bracket has an adjustment cavity, the thumbwheel is rotatably arranged in the adjustment cavity, the end of the deflection rod away from the wrist is fixedly connected to the thumbwheel, and rotating the thumbwheel can cause the deflection rod to rotate.

[0007] Preferably, the execution claw includes a first execution claw and a second execution claw, the first execution claw and the second execution claw both have a claw part and a control part, the first execution claw and the second execution claw are rotatably connected to the wrist around the third axis, and control grooves are provided on the control part of the first execution claw and the control part of the second execution claw, and the two control grooves are set at an angle, and an opening and closing pin is provided at one end of the opening and closing rod connected to the execution claw, and the opening and closing pin is slidably set in the two control grooves, and the opening and closing rod drives the opening and closing pin to slide in the two control grooves to control the opening and closing of the first execution claw and the second execution claw.

[0008] Preferably, the operating component also includes a movable scissor handle, which has a second gripping part, a second connecting part and a second operating part arranged in sequence. The movable scissor handle is provided with a first connecting part between the first gripping part and the first operating part. The first connecting part of the movable scissor handle is rotatably connected to the second connecting part of the fixed scissor handle. Controlling the second gripping part to move away from or close to the first gripping part can make the second operating part move away from or close to the first operating part. The end of the opening and closing rod away from the wrist is rotated and slidably connected to the second operating part. The second operating part moves away from or close to the first operating part to drive the opening and closing rod to move along the axial direction of the opening and closing rod. The axial movement of the opening and closing rod along the opening and closing rod can make the opening and closing rod slide in the control groove to control the opening and closing of the first and second execution claws.

[0009] Preferably, the opening and closing rod has a flexible portion that can undergo elastic deformation. The flexible portion is arranged at one end of the wrist away from the execution claw and is slidingly connected to the wrist. The flexible portion enables the opening and closing rod to adapt to the rotation of the wrist around the first axis or the second axis.

[0010] Preferably, it also includes an outer rod, the deflection rod is coaxially arranged inside the outer rod and can rotate around the axis of the outer rod inside the outer rod, one end of the outer rod is fixedly connected to the deflection bracket, and the other end of the outer rod is slidingly connected to the first push rod and the second push rod and radially limits the first push rod and the second push rod.

[0011] Preferably, the deflection lever has a locking key, a locking groove and an axis clamp, the locking key is connected to the thumb wheel key and can prevent the thumb wheel and the deflection lever from rotating relative to each other, the end of the locking key close to the wrist abuts against the inner wall of the adjustment cavity, the locking groove passes through the side wall of the adjustment cavity and is clamped with the axis clamp, and the axis clamp abuts against the outer wall of the adjustment cavity.

[0012] Preferably, the opening and closing rod passes through the deflection rod and is connected to the second operating part through a connecting piece. The end of the opening and closing rod connected to the movable scissors handle is provided with a first threaded portion, and the connecting piece is provided with a second threaded portion. The connecting piece is slidably and rotatably connected to the second operating part, and the first threaded portion is threadedly connected to the second threaded portion.

[0013] Preferably, it further includes a hinge, wherein the first push rod is rotatably connected to the wrist around a first axis through the hinge, one end of the hinge is rotatably connected to the wrist, and the other end of the hinge is rotatably connected to the first push rod around a fourth axis.

[0014] Preferably, a first axial hole is provided in the middle of the fixed shear handle, and a second axial hole is provided in the middle of the movable shear handle. The first axial hole and the second axial hole are rotatably connected by a parent and child bolt. The threaded connection between the parent and child bolt and the parent and child nut can prevent the fixed shear handle from separating from the movable shear handle.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The rigid minimally invasive surgical instrument provided by the present invention cooperates with the deflection rod, the first push rod and the second push rod. Because the first push rod and the second push rod are respectively slidably connected to the oblique grooves with opposite rotation directions, and the opening and closing rod can prevent the wrist from rotating around the axis of the deflection rod, when the deflection rod rotates, the oblique grooves with opposite rotation directions will push the first push rod and the second push rod to move in directions away from or relative to each other along the axis of the deflection rod, thereby pushing the wrist to deflect to adjust the angle of the execution claw, so that the rigid minimally invasive surgical instrument has the function of adjusting the angle of the execution claw, making the rigid minimally invasive surgical instrument more convenient to use, and the adjusting components are all composed of rods, the mechanism for controlling the deflection of the wrist is the first push rod, the second push rod and the oblique groove on the deflection rod, and when the first push rod, the second push rod and the deflection rod are assembled with the oblique groove, they can be placed in the oblique groove, without involving components that require precise matching such as gears or guide wheels, the assembly accuracy requirement is lower than that of gear matching, and disassembly and assembly are more convenient, which facilitates the disassembly of parts during disinfection and the restoration of parts after disinfection, thereby improving the disinfection convenience of the rigid minimally invasive surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only 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.

[0018] Figure 1 This is a schematic structural diagram of the rigid minimally invasive surgical instrument provided in the present invention;

[0019] Figure 2 This is an exploded view of the rigid minimally invasive surgical instrument provided in the present invention;

[0020] Figure 3 This is a schematic structural diagram of the outer rod of the rigid minimally invasive surgical instrument provided by the present invention;

[0021] Figure 4 for Figure 3 AA section view;

[0022] Figure 5 for Figure 3 BB cross-sectional view;

[0023] Figure 6 This is a schematic structural diagram of the deflection rod of the rigid minimally invasive surgical instrument provided in the present invention;

[0024] Figure 7 for Figure 6 CC cross-sectional view;

[0025] Figure 8 for Figure 6 DD cross-sectional view;

[0026] Figure 9 A schematic diagram of an opening and closing rod of a rigid minimally invasive surgical instrument provided in the present invention;

[0027] Figure 10 for Figure 9 EE cross-sectional view;

[0028] Figure 11 This is an exploded view of the actuator assembly of the rigid minimally invasive surgical instrument provided in the present invention;

[0029] Figure 12 This is an exploded view of the connection between the first push rod and the second push rod of the rigid minimally invasive surgical instrument provided by the present invention and the wrist.

[0030] Figure 13 This is an exploded view of the operating components of the rigid minimally invasive surgical instrument provided in the present invention.

[0031] In the figure: 1-actuator assembly; 2-connector assembly; 3-operator assembly; 4-external rod; 401-fixing hole; 402-guide groove; 5-sway lever; 501-locking key; 502-first inclined groove; 6-opening and closing lever; 601-first threaded portion; 602-flexible portion; 7-first executive claw; 8-second executive claw; 9-wrist; 10-opening and closing pin; 11-hinge pin; 12-second push rod; 13-hinge; 1 4-first push rod; 15-opening and closing hole; 16-control slot; 17-push-pull hole; 18-push-pull pin; 19-actuator claw connection hole; 20-threaded pin; 21-sway bracket; 211-threaded hole; 22-fixed shear handle; 221-first axis hole; 23-axis clamp; 24-connecting piece; 25-movable shear handle; 251-second axis hole; 252-slide groove; 26-parent bolt; 27-parent nut; 28-dial wheel. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide a rigid minimally invasive surgical instrument to solve the problems existing in the above-mentioned prior art and to facilitate the use and disinfection of the highly rigid minimally invasive surgical instrument.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] This embodiment provides a rigid minimally invasive surgical instrument, such as Figure 1-9 As shown, it includes an operating component 3, a connecting component 2 and an execution component 1, the execution component 1 includes a wrist 9, an execution claw, a first push rod 14 and a second push rod 12, the execution claw is connected to one end of the wrist 9, the first push rod 14 is rotatably connected to the end of the wrist 9 away from the execution claw around a first axis, the second push rod 12 is rotatably connected to the end of the wrist 9 away from the execution claw around a second axis, the first axis is parallel to the second axis, the connecting component 2 includes a deflection rod 5 and an opening and closing rod 6, one end of the deflection rod 5 is provided with a first inclined groove 502 and a second inclined groove with opposite rotation directions, the first push rod 14 is slidably connected to the first inclined groove 502, and the second push rod 12 is rotatably connected to the first inclined groove 502. The second push rod 12 is slidingly connected to the second inclined groove, the opening and closing rod 6 is coaxially arranged in the deflection rod 5 and can rotate and slide relative to the deflection rod 5, one end of the opening and closing rod 6 is connected to the operating component 3, and the other end of the opening and closing rod 6 is connected to the execution claw. The operating component 3 can control the opening and closing of the execution claw through the opening and closing rod 6, and can prevent the wrist 9 from rotating around the axis of the deflection rod 5. The end of the deflection rod 5 away from the wrist 9 is rotationally connected to the operating component 3. Rotating the deflection rod 5 can make the first push rod 14 and the second push rod 12 move in opposite directions along the axial direction of the deflection rod 5 and drive the wrist 9 to rotate around the first axis or the second axis. Through the cooperation of the deflection rod 5, the first push rod 14 and the second push rod 12, because the first push rod 14 and the second push rod 12 are respectively connected to the oblique grooves with opposite rotation directions, and the opening and closing rod 6 can prevent the wrist 9 from rotating around the axis of the deflection rod 5, when the deflection rod 5 rotates, the oblique grooves with opposite rotation directions will push the first push rod 14 and the second push rod 12 to move in the direction of separation or relative to each other along the axis of the deflection rod 5, thereby pushing the wrist 9 to deflect, so as to adjust the angle of the execution claw, so that the rigid minimally invasive surgical instrument has the function of adjusting the angle of the execution claw, so that The use of rigid minimally invasive surgical instruments is more convenient, and the adjusting components are all composed of rods. The mechanism for controlling the deflection of the wrist 9 is the first push rod 14, the second push rod 12 and the bevel groove on the yaw rod 5. When the first push rod 14, the second push rod 12 and the yaw rod 5 are assembled with the bevel groove, they can be placed in the bevel groove. There are no gears or guide wheels and other components that require precise matching. The assembly accuracy requirement is lower than that of gear matching. Disassembly and assembly are more convenient, which facilitates the disassembly of parts during disinfection and the restoration of parts after disinfection, thereby improving the convenience of disinfection of rigid minimally invasive surgical instruments.

[0036] In this embodiment, the cross-sections of the first push rod 14 and the second push rod 12 are both semicircular, and the inner side of the semicircle is in contact with the yaw rod 5. A first sliding pin is fixedly provided on the inner side of the first push rod 14, and the first sliding pin is slidingly connected to the first inclined groove 502. A second sliding pin is fixedly provided on the inner side of the second push rod 12, and the second sliding pin is slidingly connected to the second inclined groove.

[0037] In this embodiment, the first inclined groove 502 and the second inclined groove are preferably shaped as spiral grooves with opposite rotation directions.

[0038] In this embodiment, the operating assembly 3 includes a deflection bracket 21, a thumbwheel 28, and a fixed shear handle 22. The fixed shear handle 22 includes a first grip portion and a first operating portion. The deflection bracket 21 is fixedly connected to the first operating portion. The deflection bracket 21 has an adjustment cavity, and the thumbwheel 28 is rotatably disposed within the adjustment cavity. The end of the deflection lever 5 away from the wrist 9 is fixedly connected to the thumbwheel 28. Rotating the thumbwheel 28 rotates the deflection lever 5. Using the thumbwheel 28 to rotate the deflection lever 5 facilitates operation. In this embodiment, the thumbwheel 28 is provided with anti-slip teeth on its outer wall to prevent slipping when the impeller is turned.

[0039] In this embodiment, the actuator claws include a first actuator claw 7 and a second actuator claw 8, each having a claw portion and a control portion. The first actuator claw 7 and the second actuator claw 8 are rotatably connected to the wrist portion 9 about a third axis. The control portions of the first actuator claw 7 and the second actuator claw 8 are each provided with a control slot 16, which is arranged at an angle. An opening and closing rod 6 is provided at one end connected to the actuator claws with an opening and closing pin 10, which slides within the two control slots 16. The opening and closing rod 6 drives the opening and closing pin 10 to slide within the two control slots 16 to control the opening and closing of the first actuator claw 7 and the second actuator claw 8. The opening and closing of the first actuator claw 7 and the second actuator claw 8 is controlled by the sliding movement of the opening and closing rod 6 and the control slots 16. Because the opening and closing rod 6 needs to slide within the control slots 16, the portion where the opening and closing rod 6 fits into the control slots 16 is smaller than the outline of the control slots 16. During assembly, the opening and closing rod 6 only needs to be fitted into the control slots 16, facilitating installation.

[0040] In this embodiment, a push-pull hole 17 is formed at one end of the opening and closing rod 6 that engages with the control slot 16. The push-pull hole 17 is used to pass through and is fixedly connected to a push-pull pin 18. Each end of the push-pull pin 18 is slidably connected to a control slot 16. The first and second actuator claws 7 and 8 in this embodiment have the same structure. An opening and closing hole 15 is formed in the middle of each of the first and second actuator claws 7 and 8. An opening and closing pin 10 is used to pass through the opening and closing holes 15 of the first and second actuator claws 7 and 8 to connect the first and second actuator claws 7 and 8, allowing them to rotate relative to each other. The two ends of the opening and closing pin 10 are also rotatably connected to the actuator claw connecting holes 19 formed on the wrist 9 to rotationally connect the first and second actuator claws 7 and 8 to the wrist 9, allowing the first and second actuator claws 7 and 8 to rotate relative to the wrist 9.

[0041] In this embodiment, the operating component 3 also includes a movable scissor handle 25, which has a second gripping portion, a second connecting portion and a second operating portion arranged in sequence. The movable scissor handle 25 is provided with a first connecting portion between the first gripping portion and the first operating portion. The first connecting portion of the movable scissor handle 25 is rotatably connected to the second connecting portion of the fixed scissor handle 22. Controlling the second gripping portion to move away from or close to the first gripping portion can make the second operating portion move away from or close to the first operating portion. The end of the opening and closing rod 6 away from the wrist 9 is rotated and slidably connected to the second operating portion. The second operating portion moving away from or close to the first operating portion can drive the opening and closing rod 6 to move axially along the opening and closing rod 6. The axial movement of the opening and closing rod 6 along the opening and closing rod 6 can make the opening and closing rod 6 slide in the control groove 16 to control the opening and closing of the first execution claw 7 and the second execution claw 8.

[0042] In this embodiment, controlling the second gripping portion to approach the first gripping portion can control the second operating portion to approach the first operating portion. Conversely, controlling the second gripping portion to move away from the first gripping portion can control the second operating portion to move away from the first operating portion.

[0043] In this embodiment, the opening and closing lever 6 includes a flexible portion 602 that is elastically deformable. The flexible portion 602 is disposed at the end of the wrist 9 distal from the actuator jaws and is slidably connected to the wrist 9. The flexible portion 602 enables the opening and closing lever 6 to accommodate rotation of the wrist 9 about the first or second axis. Simply providing the flexible portion 602 within the opening and closing lever 6 allows the opening and closing lever 6 to simultaneously control the opening and closing of the first and second actuator jaws 7 and 8 while also following the rotation of the wrist 9. This simple structure facilitates both disassembly of components during sterilization and reassembly after sterilization, thereby enhancing the convenience of sterilizing rigid minimally invasive surgical instruments.

[0044] In this embodiment, the rigid minimally invasive surgical instrument further includes an outer rod 4, a deflection rod 5 coaxially disposed within the outer rod 4 and capable of rotating within the outer rod 4 about the axis of the outer rod 4, one end of the outer rod 4 being fixedly connected to the deflection bracket 21, and the other end of the outer rod 4 being slidably connected to the first push rod 14 and the second push rod 12, thereby radially limiting the first push rod 14 and the second push rod 12. Furthermore, a guide groove 402 is provided on the side wall of the outer rod 4 to further limit the circumferential movement of the first push rod 14 and the second push rod 12, so that the first push rod 14 and the second push rod 12 can only move along the axial direction of the deflection rod 5, thereby guiding the first push rod 14 and the second push rod 12 and preventing them from moving in other directions, making the rigid minimally invasive surgical instrument more reliable. A fixing hole 401 is provided at one end of the outer rod 4 fixed to the yaw bracket 21, and a corresponding threaded hole 211 is also provided on the yaw bracket 21. The outer rod 4 is fixed to the yaw bracket 21 by passing the threaded pin 20 through the fixing hole 401 and screwing the outer rod 4 to the threaded hole 211 on the yaw bracket 21.

[0045] In this embodiment, the deflection lever 5 includes a locking key 501, a locking slot, and a shaft catch 23. The locking key 501 is keyed to the thumbwheel 28 and prevents relative rotation between the thumbwheel 28 and the deflection lever 5. The end of the locking key 501, near the wrist 9, abuts the inner wall of the adjustment cavity. The locking slot extends through the side wall of the adjustment cavity and engages the shaft catch 23, which in turn abuts the outer wall of the adjustment cavity. The abutment of the locking key 501 against the inner wall of the adjustment cavity and the abutment of the shaft catch 23 against the outer wall of the adjustment cavity limits the axial movement of the deflection lever 5, preventing axial movement and improving the reliability of the rigid minimally invasive surgical instrument.

[0046] In this embodiment, the opening and closing rod 6 passes through the deflection rod 5 and is connected to the second operating portion via the connecting member 24. The end of the opening and closing rod 6 connected to the movable shear handle 25 is provided with a first threaded portion 601, and the connecting member 24 is provided with a second threaded portion. The connecting member 24 is slidably and rotatably connected to the second operating portion, and the first threaded portion 601 is threadedly connected to the second threaded portion. By manually operating the first grip and the second grip, moving the second operating portion away from the first operating portion, the opening and closing rod 6 can slide along the axial direction of the opening and closing rod 6. The connecting member 24 and the second operating portion are provided with a sliding groove 252. The sliding connection of the connecting member 24 in the sliding groove 252 can absorb the movement of the second operating portion perpendicular to the axial direction of the opening and closing rod 6 when the second operating portion moves away from the first operating portion. In this embodiment, the opening and closing rod 6 passes through the deflection rod 5 and is connected to the second operating portion.

[0047] In this embodiment, the rigid minimally invasive surgical instrument further includes a hinge 13. A first push rod 14 is rotatably connected to the wrist 9 about a first axis via the hinge 13. One end of the hinge 13 is rotatably connected to the wrist 9, while the other end of the hinge 13 is rotatably connected to the first push rod 14 about a fourth axis. The hinge 13 is rotatably connected to the wrist 9 and the first push rod 14 via hinge pins 11, respectively. The second push rod 12 is also connected to the wrist 9 via a hinge pin 11. In this embodiment, the first axis is the axis connecting the hinge 13 to the wrist 9, and the fourth axis is the axis connecting the hinge 13 to the first push rod 14. In this embodiment, the first axis is parallel to the second axis and the fourth axis. The distance between the first axis and the third axis is less than the distance between the second axis and the third axis, and the distance between the fourth axis and the third axis is equal to the distance between the second axis and the third axis. In this embodiment, the provision of the hinge 13 forms a three-point hinge 13 mechanism among the first push rod 14, the second push rod 12, and the wrist 9, providing a more stable structure.

[0048] In this embodiment, a first axial hole 221 is provided in the middle of the fixed shear handle 22, and a second axial hole 251 is provided in the middle of the movable shear handle 25. The first axial hole 221 and the second axial hole 251 are rotatably connected by a parent and child bolt 26. The threaded connection between the parent and child bolt 26 and the parent and child nut 27 can prevent the fixed shear handle 22 from being separated from the movable shear handle 25.

[0049] In this embodiment, it is preferred to set the opening and closing angle of the first execution claw 7 and the second execution claw 8 to be 60 degrees, and the deflection of the wrist 9 to be 60 degrees to the left and right.

[0050] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A rigid minimally invasive surgical instrument, characterized by: The invention comprises an operating component, a connecting component and an executing component, wherein the executing component comprises a wrist, an executing claw, a first push rod and a second push rod, the executing claw being connected to one end of the wrist, the first push rod being rotatably connected to the end of the wrist away from the executing claw around a first axis, the second push rod being rotatably connected to the end of the wrist away from the executing claw around a second axis, the first axis being parallel to the second axis, the connecting component comprising a deflection rod and an opening and closing rod, one end of the deflection rod being provided with a first oblique groove and a second oblique groove having opposite rotation directions, the first push rod being slidably connected to the first oblique groove, and the second push rod being slidably connected to the second oblique groove The opening and closing rod is coaxially arranged in the deflection rod and can rotate and slide relative to the deflection rod, one end of the opening and closing rod is connected to the operating assembly, and the other end of the opening and closing rod is connected to the execution claw, the operating assembly can control the opening and closing of the execution claw through the opening and closing rod, and can prevent the wrist from rotating around the axis of the deflection rod, the end of the deflection rod away from the wrist is rotatably connected to the operating assembly, and rotating the deflection rod can make the first push rod and the second push rod move in opposite directions along the axial direction of the deflection rod and drive the wrist to rotate around the first axis or the second axis; It also includes a hinge, through which the first push rod is rotatably connected to the wrist around a first axis, one end of the hinge is rotatably connected to the wrist, and the other end of the hinge is rotatably connected to the first push rod around a fourth axis.

2. The rigid minimally invasive surgical instrument according to claim 1, characterized in that: The operating component includes a deflection bracket, a thumbwheel and a fixed shear handle, the fixed shear handle includes a first gripping part and a first operating part, the deflection bracket is fixedly connected to the first operating part, the deflection bracket has an adjustment cavity, the thumbwheel is rotatably arranged in the adjustment cavity, the deflection rod is fixedly connected to the thumbwheel at one end away from the wrist, and rotating the thumbwheel can rotate the deflection rod.

3. The rigid minimally invasive surgical instrument according to claim 2, characterized in that: The execution claw includes a first execution claw and a second execution claw, each of the first execution claw and the second execution claw has a claw part and a control part, the first execution claw and the second execution claw are rotatably connected to the wrist around a third axis, and a control groove is provided on the control part of the first execution claw and the control part of the second execution claw, and the two control grooves are arranged at an angle, and an opening and closing pin is provided at one end of the opening and closing rod connected to the execution claw, and the opening and closing pin is slidably arranged in the two control grooves, and the opening and closing rod drives the opening and closing pin to slide in the two control grooves to control the opening and closing of the first execution claw and the second execution claw.

4. The rigid minimally invasive surgical instrument according to claim 3, characterized in that: The operating component also includes a movable scissor handle, which has a second gripping part, a second connecting part and a second operating part arranged in sequence. The movable scissor handle is provided with a first connecting part between the first gripping part and the first operating part. The first connecting part of the movable scissor handle is rotatably connected to the second connecting part of the fixed scissor handle. Controlling the second gripping part to move away from or close to the first gripping part can make the second operating part move away from or close to the first operating part. The end of the opening and closing rod away from the wrist is rotated and slidably connected to the second operating part. The second operating part moves away from or close to the first operating part to drive the opening and closing rod to move along the axial direction of the opening and closing rod. The axial movement of the opening and closing rod along the opening and closing rod can make the opening and closing rod slide in the control groove to control the opening and closing of the first and second execution claws.

5. The rigid minimally invasive surgical instrument according to claim 4, characterized in that: The opening and closing rod has a flexible portion that can undergo elastic deformation. The flexible portion is arranged at one end of the wrist away from the execution claw and is slidably connected to the wrist. The flexible portion enables the opening and closing rod to adapt to the rotation of the wrist around the first axis or the second axis.

6. The rigid minimally invasive surgical instrument according to claim 2, characterized in that: It also includes an outer rod, the deflection rod is coaxially arranged inside the outer rod and can rotate around the axis of the outer rod inside the outer rod, one end of the outer rod is fixedly connected to the deflection bracket, and the other end of the outer rod is slidingly connected to the first push rod and the second push rod to radially limit the first push rod and the second push rod.

7. The rigid minimally invasive surgical instrument according to claim 2, characterized in that: The deflection rod has a locking key, a locking groove and an axis clamp. The locking key is connected to the thumb wheel key and can prevent the thumb wheel and the deflection rod from rotating relative to each other. The end of the locking key close to the wrist abuts against the inner wall of the adjustment cavity, the locking groove passes through the side wall of the adjustment cavity and is clamped with the axis clamp, and the axis clamp abuts against the outer wall of the adjustment cavity.

8. The rigid minimally invasive surgical instrument according to claim 4, characterized in that: The opening and closing rod passes through the deflection rod and is connected to the second operating part through a connecting piece. The end of the opening and closing rod connected to the movable scissors handle is provided with a first threaded portion, and the connecting piece is provided with a second threaded portion. The connecting piece is slidably and rotatably connected to the second operating part, and the first threaded portion is threadedly connected to the second threaded portion.

9. The rigid minimally invasive surgical instrument according to claim 4, characterized in that: A first axial hole is provided in the middle of the fixed shear handle, and a second axial hole is provided in the middle of the movable shear handle. The first axial hole and the second axial hole are rotatably connected by a parent and child bolt. The threaded connection between the parent and child bolt and the parent and child nut can prevent the fixed shear handle from being separated from the movable shear handle.

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