Self-locking handheld surgical instrument

Abstract

The application provides a self-locking handheld surgical instrument, which comprises a terminal instrument, a connecting structure, a catheter and a control mechanism. The terminal instrument comprises a first clamping part and a second clamping part which are used in cooperation. The connecting structure is connected between the terminal instrument and the catheter, and can assist the terminal instrument to realize yawing swing and pitching swing when the terminal instrument is controlled by the control mechanism through swing control cable. The catheter is connected between the connecting structure and the control mechanism, and is used for connecting the swing control cable connected to the terminal instrument to the control mechanism through the inner cavity of the catheter. The control mechanism is used for controlling the swing control cable, so that the terminal instrument can realize opening and closing action, and can also control the terminal instrument to realize yawing swing and pitching swing. The control mechanism comprises a self-locking mechanism which is used for locking the functions of yawing swing and pitching swing. The self-locking handheld surgical instrument can control the opening and closing, yawing swing and pitching swing of the terminal instrument, and has the self-locking function, so that the functions of yawing swing and pitching swing can be locked.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a handheld surgical device capable of self-locking. BACKGROUND

[0002] In recent years, minimally invasive surgery, such as surgery in the body using an endoscope, has been widely used in clinical practice. Endoscopic surgery is a surgical procedure in which a physician makes a hole in the patient's body and inserts an endoscope, and then uses related surgical devices to complete the surgery with the assistance of the endoscope. With the increasing feasibility of minimally invasive surgery, the harm to patients is relatively smaller than that of open surgery, and minimally invasive surgery gradually begins to replace open surgery, which also puts forward higher requirements for the upgrading and innovation of surgical devices.

[0003] The existing surgical devices used for endoscopic surgery have relatively monotonous actions and less degrees of freedom during use, and cannot meet the use requirements of some high-difficulty surgeries. SUMMARY

[0004] In order to solve the problems existing in the prior art, the present application provides a handheld surgical device capable of self-locking, which can control the opening and closing of the end device, and can also control the yaw swing and pitch swing of the end device. The device has more degrees of freedom, and the surgical device also has a self-locking function, which can lock the yaw swing and pitch swing functions.

[0005] In order to achieve the above-mentioned purpose, the present application provides a handheld surgical device capable of self-locking, comprising:

[0006] The end device comprises a first clamping part and a second clamping part which cooperate with each other;

[0007] The connecting structure is connected between the end device and the catheter, and when the end device is controlled by the control mechanism through a plurality of swing control cables, the connecting structure can assist the end device to realize yaw swing and pitch swing;

[0008] The catheter is connected between the connecting structure and the control mechanism, and is used to connect a plurality of swing control cables connected to the end device to the control mechanism through the inner cavity of the catheter;

[0009] The control mechanism is used to control the swing control cables, so that the end device can realize opening and closing actions; the control mechanism can also control the yaw swing and pitch swing of the end device; the control mechanism comprises a self-locking mechanism for locking the yaw swing and pitch swing functions, so that the end device controlled by the control mechanism can only realize the opening and closing action.

[0010] In some embodiments, the connecting structure comprises a connecting seat fixed on the catheter, an adapter seat is pivotally connected to the connecting seat via a pitch rotation axis, the adapter seat can pitch relative to the connecting seat, the adapter seat is pivotally connected to the end instrument via a yaw rotation axis, and the end instrument can yaw relative to the adapter seat.

[0011] In some embodiments, a first swing control cable and a second swing control cable are connected to the first clamping part via first cable connectors, a third swing control cable and a fourth swing control cable are connected to the second clamping part via second cable connectors, and the four swing control cables are connected to the control mechanism via corresponding swing control cable sleeves, and the four swing control cable sleeves are arranged on the connecting structure and the control mechanism via a cable sleeve pressing plate.

[0012] In some embodiments, the control mechanism comprises a base connected to the catheter, an upper support plate is arranged on the upper surface of the base, a lower support plate is arranged on the lower surface of the base, the swing control cable sleeves corresponding to the first swing control cable and the second swing control cable are fixed on the upper support plate, the first swing control cable and the second swing control cable are connected to an upper guide wheel via a third cable connector, the swing control cable sleeves corresponding to the third swing control cable and the fourth swing control cable are fixed on the lower support plate, the third swing control cable and the fourth swing control cable are connected to a lower guide wheel via a fourth cable connector, the upper guide wheel and the lower guide wheel are pivotally connected to a main rotation axis and are arranged at the upper and lower ends of the main rotation axis, the main rotation axis passes through a first through hole arranged on the base, a secondary rotation axis perpendicular to the main rotation axis is arranged on the main rotation axis between the upper guide wheel and the lower guide wheel, the two ends of the secondary rotation axis are movably connected to assembly grooves arranged on the inner wall of the first through hole in the circumferential direction, the secondary rotation axis is controlled to be movable in the assembly grooves but cannot be separated from the assembly grooves; an operation handle is connected to the bottom end of the main rotation axis, and the main rotation axis and the operation handle are coaxial;

[0013] The main rotating shaft above the auxiliary rotating shaft is connected with a guide seat, the guide seat is provided with a guide slot, a sliding block is used in cooperation with the guide slot, a V-shaped guide frame is connected on the sliding block, a third sliding slot and a fourth sliding slot are respectively arranged on two guide arms of the guide frame, the two guide arms are separately arranged on two sides of the guide seat, an upper swing arm connected with the upper guide wheel is inserted into the third sliding slot, a lower swing arm connected with the lower guide wheel is inserted into the fourth sliding slot through a second through hole arranged on the base, a connecting shaft is further connected on the guide frame, the connecting shaft is used in cooperation with a waist-shaped hole arranged on an upper end of an opening and closing button connecting rod, the opening and closing button connecting rod passes through the second through hole, a lower end of the opening and closing button connecting rod is connected with an opening and closing button, a middle part of the opening and closing button connecting rod is further hinged with the operation handle, when the opening and closing button is controlled, the opening and closing button connecting rod can drive the guide frame to slide along the guide slot, and then can drive the upper guide wheel and the lower guide wheel to rotate, and the rotating directions of the two are opposite.

[0014] In some embodiments, the self-locking mechanism is structured as follows: a first support column and a second support column are fixed on the upper surface of the base, the first support column and the second support column are arranged on both sides of the first through hole, a connecting plate and a moving part are sequentially arranged between the first support column and the second support column along the up-down direction, the connecting plate is fixed on the first support column and the second support column, the moving part can move up and down along the first support column and the second support column, a first spring is sleeved on the first support column, a second spring is sleeved on the second support column, the first spring and the second spring are arranged between the connecting plate and the moving part, a first blocking gear is arranged on the lower surface of the moving part, the main rotating shaft penetrates through the moving part and the first blocking gear along the up-down direction, the first blocking gear can move up and down along the axis of the main rotating shaft under the driving of the moving part, when the first blocking gear moves downward to a preset position, the first blocking gear is engaged with a second blocking gear arranged on the auxiliary rotating shaft, so that the auxiliary rotating shaft cannot move any more; a self-locking control cable is further connected to the moving part, the self-locking control cable is connected to a self-locking control cable shaft through a self-locking control cable sleeve, one end of the self-locking control cable sleeve is fixed on the connecting plate, and the other end is arranged in the operation handle, a limiting groove is arranged in the operation handle along the up-down direction, the self-locking control cable shaft can slide up and down along the limiting groove under control, a self-locking button assembly hole is further arranged on the operation handle, a self-locking button can slide along the self-locking button assembly hole under control, a first sliding groove and a second sliding groove are arranged on the self-locking button and are in communication with each other, the second sliding groove is in the form of an inclined slope, the self-locking control cable shaft is arranged at the second sliding groove, the self-locking control cable connected to the self-locking control cable shaft is arranged at the first sliding groove, when the self-locking button slides under control, the self-locking control cable shaft is driven to slide along the limiting groove through the second sliding groove, so as to realize the tensioning and relaxing of the self-locking control cable, when the self-locking control cable is tensioned, the first blocking gear moves upward under the driving of the moving part and is separated from the second blocking gear, at this time, the self-locking mechanism is in an unlocked state; when the self-locking control cable is relaxed, the moving part moves downward under the action of the first spring and the second spring, the first blocking gear is driven to move downward and is engaged with the second blocking gear, at this time, the self-locking mechanism is in a locked state.

[0015] In some embodiments, a first V-shaped groove and a second V-shaped groove are further arranged on the upper surface of the self-locking button, the first V-shaped groove and the second V-shaped groove are arranged on both sides of the first sliding groove, a first ball head plunger and a second ball head plunger are arranged in the operation handle, when the self-locking control cable is in a tensioned state, the first ball head plunger is pressed in the first V-shaped groove, when the self-locking control cable is in a relaxed state, the second ball head plunger is pressed in the second V-shaped groove.

[0016] In some embodiments, a protective shell is further included, which comprises an upper shell and a lower shell that are used in cooperation, and the upper shell and the lower shell are both assembled on the base, a through hole is arranged on the lower shell, and the operating handle and the opening and closing button connecting rod both pass through the through hole.

[0017] The self-locking handheld surgical instrument has the advantages that the self-locking handheld surgical instrument can control the opening and closing of the end instrument, and can also control the yaw swing and the pitch swing of the end instrument, has more degrees of freedom, and has a self-locking function, so that the yaw swing and the pitch swing can be locked. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A structure schematic diagram of the self-locking handheld surgical instrument in the embodiment is shown.

[0019] Figure 2 A connection relationship schematic diagram of the end instrument and the connecting structure in the embodiment is shown.

[0020] Figure 3 (a) is a structure schematic diagram of the end instrument at one angle in the embodiment; and (b) is a structure schematic diagram of the end instrument at another angle.

[0021] Figure 4 A connection relationship schematic diagram of the cable, the cable sleeve, the end instrument and the connecting structure in the embodiment is shown.

[0022] Figure 5 A connection relationship schematic diagram of the cable sleeve pressing plate and the cable sleeve in the embodiment is shown.

[0023] Figure 6 A partial structure schematic diagram of the control mechanism in the embodiment is shown.

[0024] Figure 7 A partial structure schematic diagram of the control mechanism at another angle in the embodiment is shown.

[0025] Figure 8 A partial structure schematic diagram of the self-locking mechanism in the embodiment is shown.

[0026] Figure 9 A connection relationship schematic diagram of the main rotating shaft and the auxiliary rotating shaft in the embodiment is shown.

[0027] Figure 10 A connection relationship schematic diagram of the main rotating shaft, the auxiliary rotating shaft and the base in the embodiment is shown.

[0028] Figure 11 A partial structure schematic diagram of the control mechanism in the embodiment is shown.

[0029] Figure 12 The internal structure of the operation handle in the embodiment is shown.

[0030] Figure 13 The connection relationship between the self-locking button and the self-locking control cable shaft in the embodiment is shown.

[0031] Figure 14 The connection relationship between the opening and closing button and the operation handle in the embodiment is shown.

[0032] Reference signs: 1-end instrument, 101-first clamping part, 102-second clamping part, 2-connection structure, 201-yaw rotation axis, 202-adaptor, 203-pitch rotation axis, 204-connection seat, 205-first cable connector, 206-second cable connector, 3-catheter, 4-connection head, 5-control mechanism, 501-base, 502-upper support plate, 503-first lower support plate, 504-second lower support plate, 505-third cable connector, 506-upper guide wheel, 507-lower guide wheel, 508-main rotation axis, 509-operation handle, 5010-secondary rotation axis, 5011-first through hole, 5012-assembly groove, 5013-second blocking gear, 5014-first blocking gear, 5015-moving part, 5016-first support column, 5017-second support column, 5018-connection plate, 5019-first spring, 5020-second spring, 5021-self-locking control cable, 5022-self-locking control cable sleeve, 5023-self-locking control cable shaft, 5024-self-locking button, 5025-second sliding groove, 5026-self-locking button assembly hole, 5027-first V-shaped groove, 5028-second V-shaped groove, 5029-first ball head plunger, 5030-second ball head plunger, 5031-opening and closing button, 5032-waist-shaped hole, 5033-connection shaft, 5034-guide frame, 5035-guide seat, 5036-guide groove, 5037-sliding block, 5038-third sliding groove, 5039-fourth sliding groove, 5040-upper swing arm, 5041-lower swing arm, 5042-second through hole, 5043-first sliding groove, 5044-opening and closing button connecting rod, 6-first swing control cable, 7-second swing control cable, 8-third swing control cable, 9-fourth swing control cable, 10-swing control cable sleeve, 11-cable sleeve pressing plate, 12-protection shell, 1201-upper shell, 1202-lower shell, A-yaw operation axis, B-yaw swing axis, C-pitch operation axis, D-pitch swing axis, E-opening and closing operation axis. DETAILED DESCRIPTION

[0033] The specific embodiments of the present application are further described below with reference to the accompanying drawings.

[0034] In the description of the present application, it should be understood that the terms "first", "second" and the like are used to distinguish similar objects, and are not used to describe or indicate specific order or sequence, and the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0035] As shown in Figures 1-14 The self-locking handheld surgical instrument involved in the present application comprises:

[0036] The end instrument 1 comprises a first clamping part 101 and a second clamping part 102 which are used in cooperation.

[0037] The connecting structure 2 is connected between the end instrument 1 and the catheter 3, and can assist the end instrument 1 to realize yawing swing and pitching swing when the end instrument 1 is controlled by the operating mechanism 5 through a plurality of swing control cables.

[0038] The catheter 3 is connected between the connecting structure 2 and the operating mechanism 5, and is used for connecting a plurality of swing control cables connected to the end instrument 1 to the operating mechanism 5 through the inner cavity of the catheter 3.

[0039] The operating mechanism 5 is used for operating the swing control cables, so that the end instrument 1 can realize opening and closing action; it can also control the end instrument 1 to perform yawing swing and pitching swing; the operating mechanism 5 comprises a self-locking mechanism for locking the functions of yawing swing and pitching swing, at this time the end instrument 1 controlled by the operating mechanism 5 can only realize opening and closing action.

[0040] In the embodiment, the connecting structure 2 comprises a connecting seat 204 fixed on the catheter 3, the connecting seat 204 is rotatably connected with an adapter seat 202 through a pitching rotation shaft 203, the adapter seat 202 can perform pitching swing relative to the connecting seat 204, the adapter seat 202 is rotatably connected with the end instrument 1 through a yawing rotation shaft 201, the end instrument 1 can perform yawing swing relative to the adapter seat 202, specifically, the first clamping part 101 and the second clamping part 102 are rotatably connected on the yawing rotation shaft 201.

[0041] The first swing control cable 6 and the second swing control cable 7 are connected to the first clamping part 101 through the first cable connector 205, and the third swing control cable 8 and the fourth swing control cable 9 are connected to the second clamping part 102 through the second cable connector 206. The four swing control cables are connected to the control mechanism 5 through the corresponding swing control cable sleeves 10, and the four swing control cable sleeves 10 are arranged on the connecting structure 2 and the control mechanism 5 through the cable sleeve pressing plate 11.

[0042] In the embodiment, the conduit 3 is connected to the control mechanism 5 through the connecting head 4. The control mechanism 5 includes a base 501 connected to the conduit 3 through the connecting head 4. An upper support plate 502 is arranged on the upper surface of the base 501, and a lower support plate is arranged on the lower surface of the base 501. In the embodiment, the lower support plate includes two, which are respectively a first lower support plate 503 and a second lower support plate 504. The swing control cable sleeves 10 corresponding to the first swing control cable 6 and the second swing control cable 7 are fixed on the upper support plate 502. The first swing control cable 6 and the second swing control cable 7 are connected to the upper guide wheel 506 through the third cable connector 505. The swing control cable sleeves 10 corresponding to the third swing control cable 8 and the fourth swing control cable 9 are fixed on the lower support plate. In the embodiment, the swing control cable sleeve 10 corresponding to the third swing control cable 8 is fixed on the first lower support plate 503, and the swing control cable sleeve 10 corresponding to the fourth swing control cable 9 is fixed on the second lower support plate 504. The third swing control cable 8 and the fourth swing control cable 9 are connected to the lower guide wheel 507 through the fourth cable connector. The upper guide wheel 506 and the lower guide wheel 507 are rotationally connected to the main rotating shaft 508 and are arranged at the upper and lower ends of the main rotating shaft 508, respectively. The main rotating shaft 508 passes through the first through hole 5011 arranged on the base 501. The auxiliary rotating shaft 5010 arranged perpendicularly to the main rotating shaft 508 is arranged on the main rotating shaft 508 between the upper guide wheel 506 and the lower guide wheel 507. The two ends of the auxiliary rotating shaft 5010 are movably connected to the assembly grooves 5012 arranged circumferentially on the inner wall of the first through hole 5011. The auxiliary rotating shaft 5010 is controlled to be movable in the assembly grooves 5012 but cannot be separated from the assembly grooves 5012. The operation handle 509 is connected to the bottom end of the main rotating shaft 508, and the main rotating shaft 508 and the operation handle 509 are coaxial.

[0043] The main rotating shaft 508 above the auxiliary rotating shaft 5010 is connected with a guide seat 5035, the guide seat 5035 is provided with a guide groove 5036, a sliding block 5037 is used in cooperation with the guide groove 5036, a V-shaped guide frame 5034 is connected on the sliding block 5037, a third sliding groove 5038 and a fourth sliding groove 5039 are respectively arranged on two guide arms of the guide frame 5034, the two guide arms are separately arranged on two sides of the guide seat 5035, an upper swing arm 5040 connected with the upper guide wheel 506 is inserted into the third sliding groove 5038, a lower swing arm 5041 connected with the lower guide wheel 507 is inserted into the fourth sliding groove 5039 through a second through hole 5042 arranged on the base 501, a connecting shaft 5033 is further connected on the guide frame 5034, the connecting shaft 5033 is used in cooperation with a waist-shaped hole 5032 arranged on an upper end of an opening and closing button connecting rod 5044, the opening and closing button connecting rod 5044 passes through the second through hole 5042, a lower end of the opening and closing button connecting rod 5044 is connected with an opening and closing button 5031, a middle part of the opening and closing button connecting rod 5044 is further hinged with the operation handle 509, the opening and closing button connecting rod 5044 is shaped in a special way to meet the functional requirements, when the opening and closing button 5031 is operated, the opening and closing button connecting rod 5044 can drive the guide frame 5034 to slide along the guide groove 5036, and then can drive the upper guide wheel 506 and the lower guide wheel 507 to rotate, the rotating directions of the two are opposite, finally the opening and closing action of the end instrument 1 is controlled.

[0044] The structure of the self-locking mechanism is as follows: comprising a first support column 5016 and a second support column 5017 fixed on the upper surface of the base 501, the first support column 5016 and the second support column 5017 are separately arranged on both sides of the first through hole 5011, a connecting plate 5018 and a moving piece 5015 are sequentially arranged between the first support column 5016 and the second support column 5017 along the up-down direction, wherein the connecting plate 5018 is fixed on the first support column 5016 and the second support column 5017, the moving piece 5015 can move up and down along the first support column 5016 and the second support column 5017, a first locked gear 5014 is arranged on the lower surface of the moving piece 5015, the main rotating shaft 508 passes through the moving piece 5015 and the first locked gear 5014 along the up-down direction, the first locked gear 5014 can move up and down along the axis of the main rotating shaft 508 under the drive of the moving piece 5015, when the first locked gear 5014 moves downward to a preset position, the first locked gear 5014 is engaged with a second locked gear 5013 arranged on the auxiliary rotating shaft 5010, so that the auxiliary rotating shaft 5010 cannot move any more;A self-locking control cable 5021 is also connected to the moving part 5015, the self-locking control cable 5021 is connected with a self-locking control cable shaft 5023 through a self-locking control cable sleeve 5022, one end of the self-locking control cable sleeve 5022 is fixed on the connecting plate 5018, and the other end is in the operation handle 509, a limiting groove is arranged in the operation handle 509 along the up-down direction, the self-locking control cable shaft 5023 is controlled to slide up and down along the limiting groove, a self-locking button assembly hole 5026 is also arranged on the operation handle 509, a self-locking button 5024 is controlled to slide along the self-locking button assembly hole 5026, a first sliding groove 5043 and a second sliding groove 5025 are arranged on the self-locking button 5024 and are communicated with each other, the second sliding groove 5025 is in a slope shape, the self-locking control cable shaft 5023 is located at the second sliding groove 5025, the self-locking control cable 5021 connected with the self-locking control cable shaft 5023 is located at the first sliding groove 5043, when the self-locking button 5024 is controlled to slide, the self-locking control cable shaft 5023 is driven to slide along the limiting groove through the second sliding groove 5025, so as to realize the tensioning and relaxing of the self-locking control cable 5021, when the self-locking control cable 5021 is tensioned, the first blocking gear 5014 is driven by the moving part 5015 to move upwards and is separated from the second blocking gear 5013, at this time, the self-locking mechanism is in an unlocked state, and the terminal instrument 1 can be controlled to yaw and pitch;

[0045] A first V-shaped groove 5027 and a second V-shaped groove 5028 are also arranged on the upper surface of the self-locking button 5024, the first V-shaped groove 5027 and the second V-shaped groove 5028 are respectively arranged on the two sides of the first sliding groove 5043, a first ball plunger 5029 and a second ball plunger 5030 are arranged in the operation handle 509, when the self-locking button 5024 is located at the rightmost side, the self-locking control cable 5021 is in a tensioned state, at this time, the first ball plunger 5029 is pressed in the first V-shaped groove 5027, after the self-locking button 5024 is pressed in the opposite direction, the first ball plunger 5029 is forced to rebound, and the self-locking button 5024 can slide to the left along the self-locking button assembly hole 5026, when the self-locking button 5024 is located at the leftmost side, the self-locking control cable 5021 is in a relaxed state, and the second ball plunger 5030 is pressed in the second V-shaped groove 5028.

[0046] The surgical instrument involved in the present application further comprises a protective shell 12, which comprises an upper shell 1201 and a lower shell 1202 used in cooperation, both of which are assembled on the base 501 to protect the structure of most of the operating mechanism 5, and a through hole is provided on the lower shell 1202, and the operating handle 509 and the opening and closing button connecting rod 5044 both pass through the through hole.

[0047] In the specific use process, the operating handle 509 is held by hand, and the end instrument 1 is inserted into the patient's body together with part of the catheter 3. When the end instrument 1 needs to swing, the operating handle 509 is controlled to rotate along the yaw operation axis A, that is, the axis of the operating handle 509 is the yaw operation axis A. When the operating handle 509 rotates clockwise along the yaw operation axis A, the main rotating shaft 508 drives the auxiliary rotating shaft 5010 to slide along the assembly groove 5012. Under the drive of the main rotating shaft 508, the guide seat 5035 together with the guide frame 5034 also rotates clockwise. Under the action of the guide frame 5034, the upper swing arm 5040 drives the upper guide wheel 506 to rotate clockwise, and the lower swing arm 5041 drives the lower guide wheel 507 to rotate clockwise. At this time, the first swing control cable 6 is tightened, the second swing control cable 7 is loosened, the third swing control cable 8 is tightened, and the fourth swing control cable 9 is loosened, so that the end instrument 1 swings to the right along the yaw swing axis B. When the operating handle 509 rotates counterclockwise along the yaw operation axis A, the main rotating shaft 508 drives the auxiliary rotating shaft 5010 to slide along the assembly groove 5012. Under the drive of the main rotating shaft 508, the guide seat 5035 together with the guide frame 5034 also rotates counterclockwise. Under the action of the guide frame 5034, the upper swing arm 5040 drives the upper guide wheel 506 to rotate counterclockwise, and the lower swing arm 5041 drives the lower guide wheel 507 to rotate counterclockwise. At this time, the second swing control cable 7 is tightened, the first swing control cable 6 is loosened, the fourth swing control cable 9 is tightened, and the third swing control cable 8 is loosened, so that the end instrument 1 swings to the left along the yaw swing axis B.

[0048] When the end instrument 1 needs to pitch, the operation handle 509 is controlled to rotate the main rotating shaft 508 along the pitch operation axis C, and the axis of the secondary rotating shaft 5010 is the pitch operation axis C. When the main rotating shaft 508 rotates clockwise along the pitch operation axis C, the upper guide wheel 506 and the lower guide wheel 507 rotate clockwise along the pitch operation axis C under the driving of the main rotating shaft 508, at this time, the first swing control cable 6 and the second swing control cable 7 are tightened, and the third swing control cable 8 and the fourth swing control cable 9 are loosened, so that the end instrument 1 swings upward along the pitch swing axis D. When the main rotating shaft 508 rotates counterclockwise along the pitch operation axis C, the upper guide wheel 506 and the lower guide wheel 507 rotate counterclockwise along the pitch operation axis C under the driving of the main rotating shaft 508, at this time, the first swing control cable 6 and the second swing control cable 7 are loosened, and the third swing control cable 8 and the fourth swing control cable 9 are tightened, so that the end instrument 1 swings downward along the pitch swing axis D.

[0049] When the end instrument 1 needs to open and close, the opening and closing button 5031 is controlled to rotate clockwise along the opening and closing operation axis E, at this time, the opening and closing button connecting rod 5044 drives the guide frame 5034 to move towards the main rotating shaft 508, under the driving of the guide frame 5034, the upper swing arm 5040 and the lower swing arm 5041 simultaneously move towards the guide seat 5035, the upper guide wheel 506 and the lower guide wheel 507 rotate correspondingly, so that the first swing control cable 6 is loosened, the second swing control cable 7 is tightened, the third swing control cable 8 is tightened, and the fourth swing control cable 9 is loosened, so that the end instrument 1 is in an open state. The opening and closing button 5031 is controlled to rotate counterclockwise along the opening and closing operation axis E, at this time, the opening and closing button connecting rod 5044 drives the guide frame 5034 to move away from the main rotating shaft 508, under the driving of the guide frame 5034, the upper swing arm 5040 and the lower swing arm 5041 simultaneously move away from the guide seat 5035, the upper guide wheel 506 and the lower guide wheel 507 rotate correspondingly, so that the first swing control cable 6 is tightened, the second swing control cable 7 is loosened, the third swing control cable 8 is loosened, and the fourth swing control cable 9 is tightened, so that the end instrument 1 is in a closed state.

[0050] When the end instrument 1 can only be opened and closed, and cannot be yawed and pitched, the self-locking mechanism is controlled to move: the self-locking button 5024 is controlled to move to the leftmost side along the self-locking button assembly hole 5026, at this time the self-locking control cable shaft 5023 moves to the uppermost end of the limiting groove, the self-locking control cable 5021 is in a relaxed state, and the second ball head plunger 5030 is pressed in the second V-shaped groove 5028; when the self-locking control cable 5021 is relaxed, the moving part 5015 moves downward under the action of the first spring 5019 and the second spring 5020, drives the first blocking gear 5014 to move downward and mesh with the second blocking gear 5013, and the main rotating shaft 508 and the auxiliary rotating shaft 5010 cannot rotate any more, at this time the self-locking mechanism is in a locked state, and the yawing and pitching functions of the end instrument 1 can be locked. When it is needed to be released, the self-locking button 5024 is only needed to be controlled to move to the rightmost side along the self-locking button assembly hole 5026.

[0051] The self-locking handheld surgical instrument can control the opening and closing of the end instrument, and can also control the yawing and pitching of the end instrument, has more degrees of freedom, and has a self-locking function, so that the yawing and pitching functions can be locked. Therefore, the surgical instrument can meet various use requirements.

[0052] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacements or changes to the technical solution and concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A self-locking handheld surgical instrument, characterized by: The utility model relates to a kind of end apparatuses, including first clamping part and second clamping part used in cooperation with each other. Connecting structure: connected between the end apparatus and catheter, when the end apparatus is controlled by operating mechanism through several swing control cables, the connecting structure can assist the end apparatus to realize yaw swing and pitch swing. Catheter: connected between the connecting structure and operating mechanism, for several swing control cables connected on the end apparatus pass through the inner cavity of the catheter and connect to the operating mechanism. Operating mechanism: for operating the swing control cable, so that the end apparatus can realize opening and closing action, yaw swing and pitch swing can also be controlled, the operating mechanism includes self-locking mechanism, yaw swing and pitch swing function are locked, when the end apparatus controlled by the operating mechanism can only realize opening and closing action. Wherein, first swing control cable and second swing control cable are connected on the first clamping part through first cable connector, third swing control cable and fourth swing control cable are connected on the second clamping part through second cable connector, the above four swing control cables are connected to the operating mechanism through corresponding swing control cable sleeve, four swing control cable sleeves are arranged on the connecting structure and operating mechanism through cable sleeve pressing plate. The operating mechanism includes base, the base is connected with the catheter, upper support plate is arranged on the upper surface of the base, lower support plate is arranged on the lower surface of the base, swing control cable sleeve corresponding to the first swing control cable and the second swing control cable is fixed on the upper support plate, the first swing control cable and the second swing control cable are connected on the upper guide pulley through third cable connector, swing control cable sleeve corresponding to the third swing control cable and the fourth swing control cable is fixed on the lower support plate, the third swing control cable and the fourth swing control cable are connected on the lower guide pulley through fourth cable connector, the upper guide pulley and the lower guide pulley are rotationally connected with main rotating shaft, and are arranged on the upper and lower ends of the main rotating shaft, the main rotating shaft passes through first through hole arranged on the base, vice rotating shaft is arranged on the main rotating shaft between the upper guide pulley and the lower guide pulley and is perpendicular to the main rotating shaft, two ends of the vice rotating shaft are movably connected in assembly groove arranged on the inner wall of the first through hole along the circumference, the vice rotating shaft is controlled and can move in the assembly groove, but will not be separated from the assembly groove, operating handle is connected on the bottom end of the main rotating shaft, and the main rotating shaft and operating handle are coaxial. ​ The main rotating shaft above the auxiliary rotating shaft is connected with a guide seat, the guide seat is provided with a guide slot, a sliding block is used in cooperation with the guide slot, a V-shaped guide frame is connected on the sliding block, a third sliding slot and a fourth sliding slot are respectively arranged on two guide arms of the guide frame, the two guide arms are separately arranged on two sides of the guide seat, an upper swing arm connected with the upper guide wheel is inserted into the third sliding slot, a lower swing arm connected with the lower guide wheel is inserted into the fourth sliding slot through a second through hole arranged on the base, a connecting shaft is further connected on the guide frame, the connecting shaft is used in cooperation with a waist-shaped hole arranged on an upper end of an opening and closing button connecting rod, the opening and closing button connecting rod passes through the second through hole, a lower end of the opening and closing button connecting rod is connected with an opening and closing button, a middle part of the opening and closing button connecting rod is further hinged with the operation handle, when the opening and closing button is controlled, the opening and closing button connecting rod can drive the guide frame to slide along the guide slot, and then can drive the upper guide wheel and the lower guide wheel to rotate, and rotation directions of the two are opposite.

2. A self-locking handheld surgical instrument according to claim 1, characterized in that: The connecting structure comprises a connecting seat fixed on the catheter, a switching seat is rotationally connected on the connecting seat through a pitching rotation shaft, the switching seat can pitch relative to the connecting seat, the switching seat is rotationally connected with the end instrument through a yawing rotation shaft, the end instrument can yaw relative to the switching seat.

3. The self-lockable handheld surgical instrument of claim 1, wherein: The structure of the self-locking mechanism is as follows: a first support column and a second support column are fixed on the upper surface of the base, the first support column and the second support column are arranged on both sides of the first through hole, a connecting plate and a moving piece are sequentially arranged between the first support column and the second support column in the up-down direction, the connecting plate is fixed on the first support column and the second support column, the moving piece can move up and down along the first support column and the second support column, a first spring is sleeved on the first support column, a second spring is sleeved on the second support column, the first spring and the second spring are arranged between the connecting plate and the moving piece, a first blocking gear is arranged on the lower surface of the moving piece, the main rotating shaft penetrates through the moving piece and the first blocking gear in the up-down direction, the first blocking gear can move up and down along the axis of the main rotating shaft under the driving of the moving piece, when the first blocking gear moves downward to a preset position, the first blocking gear is engaged with a second blocking gear arranged on the auxiliary rotating shaft, so that the auxiliary rotating shaft cannot move any more; a self-locking control cable is further connected to the moving piece, the self-locking control cable is connected with a self-locking control cable shaft through a self-locking control cable sleeve, one end of the self-locking control cable sleeve is fixed on the connecting plate, and the other end is arranged in the operation handle, a limiting groove is arranged in the operation handle in the up-down direction, the self-locking control cable shaft can slide up and down along the limiting groove under control, a self-locking button assembly hole is further arranged on the operation handle, a self-locking button can slide along the self-locking button assembly hole under control, a first sliding groove and a second sliding groove are arranged on the self-locking button and are in communication with each other, the second sliding groove is in the form of an inclined slope, the self-locking control cable shaft is arranged at the second sliding groove, the self-locking control cable connected with the self-locking control cable shaft is arranged at the first sliding groove, when the self-locking button slides under control, the self-locking control cable shaft is driven to slide along the limiting groove through the second sliding groove, so as to realize the tensioning and relaxation of the self-locking control cable, when the self-locking control cable is tensioned, the first blocking gear moves upward under the driving of the moving piece and is separated from the second blocking gear, at this time, the self-locking mechanism is in an unlocked state; when the self-locking control cable is relaxed, the moving piece moves downward under the action of the first spring and the second spring, the first blocking gear is driven to move downward and is engaged with the second blocking gear, at this time, the self-locking mechanism is in a locked state.

4. A self-locking handheld surgical instrument according to claim 3, characterized in that: First and second V-shaped grooves are further arranged on the upper surface of the self-locking button, the first and second V-shaped grooves are arranged on both sides of the first sliding groove, first and second ball head plungers are arranged in the operation handle, when the self-locking control cable is in a tensioned state, the first ball head plunger is pressed in the first V-shaped groove, when the self-locking control cable is in a relaxed state, the second ball head plunger is pressed in the second V-shaped groove.

5. The self-locking handheld surgical instrument of claim 1, wherein: The protective shell comprises an upper shell and a lower shell which are used in cooperation, and the upper shell and the lower shell are assembled on the base, a through hole is arranged on the lower shell, and the operating handle and the opening and closing button connecting rod pass through the through hole.

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