A handheld surgical instrument

Abstract

The application provides a 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 yaw swing and pitch swing when the terminal instrument is controlled by the control mechanism through a plurality of swing control cables. The catheter is connected between the connecting structure and the control mechanism, and is used for connecting the swing control cables 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 cables, so that the terminal instrument can realize yaw swing and pitch swing. The control mechanism further comprises an opening and closing control mechanism which is used for controlling the opening and closing action of the terminal instrument. The control mechanism further comprises a rotation control mechanism which is used for controlling the terminal instrument to rotate. The handheld surgical instrument can control the opening and closing, yaw swing and pitch swing of the terminal instrument, and can also control the terminal instrument to rotate, so that the degree of freedom is relatively high.

Description

TECHNICAL FIELD

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

[0002] In recent years, minimally invasive surgery, such as endoscopic surgery, has been widely used in clinical practice. Endoscopic surgery is a surgical procedure in which a surgeon inserts an endoscope into a patient's body through a hole in the patient's body and 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 has gradually replaced open surgery, which has put higher requirements on the upgrading and innovation of surgical devices.

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

[0004] To solve the problems in the prior art, the present application provides a handheld surgical device 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, has a high degree of freedom, and further has a rotation control mechanism to control the rotation of the end device.

[0005] To achieve the above-mentioned purpose, the present application provides a handheld surgical device, 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 yaw swing and pitch swing; the control mechanism further comprises an opening and closing control mechanism for controlling the opening and closing action of the end device; the control mechanism further comprises a rotation control mechanism for controlling the rotation of the end device.

[0010] In some embodiments, the connecting structure comprises a connecting seat fixed on the catheter, an adapter seat is rotatably connected to the connecting seat through a pitch rotation axis, the adapter seat can pitch relative to the connecting seat, the adapter seat is rotatably connected to the end instrument through a yaw rotation axis, the end instrument can yaw relative to the adapter seat, and the first clamping part and the second clamping part are rotatably connected to the yaw rotation axis.

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

[0012] In some embodiments, the control mechanism comprises a base, 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 through 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 through a fourth cable connector, the upper guide wheel and the lower guide wheel are rotatably connected to a main rotation axis and are arranged at the upper and lower ends of the main rotation axis respectively, the main rotation axis passes through a first through hole arranged on the base, a vice rotation axis is arranged on the main rotation axis between the upper guide wheel and the lower guide wheel and is perpendicular to the main rotation axis, the two ends of the vice rotation axis are movably connected to the assembly grooves arranged on the inner wall of the first through hole in the circumferential direction, and the vice rotation axis is controlled to be movable in the assembly grooves but cannot be separated from the assembly grooves.

[0013] A guide seat is connected to the main rotation axis above the vice rotation axis, a guide groove is arranged in the guide seat, a sliding block is used in cooperation with the guide groove, a guide frame in the shape of V is connected to the sliding block, a first sliding groove and a second sliding groove are arranged on the two guide arms of the guide frame respectively, the two guide arms are arranged on the two sides of the guide seat, an upper swing arm connected to the upper guide wheel is inserted into the first sliding groove, and a lower swing arm connected to the lower guide wheel is inserted into the second sliding groove through a second through hole arranged on the base, and a first return spring is arranged between the guide frame and the inner wall of the guide groove.

[0014] The connecting pieces are connected with the upper and lower ends of the main rotating shaft respectively, the connecting pieces are also connected with a swing shaft base, the swing shaft base is hinged with one end of a swing shaft through a first joint bearing, the other end of the swing shaft is connected with an assembling frame through a second joint bearing, the assembling frame is used for assembling on the arm of a person, the end of the swing shaft is connected with an operating handle, the swing shaft can slide along the first joint bearing or the second joint bearing in the axial direction, and when the operating handle is operated, the swing shaft can drive the connecting pieces to rotate along the axis of the main rotating shaft or the axis of the secondary rotating shaft, thereby driving the main rotating shaft to rotate.

[0015] In some embodiments, the structure of the rotation control mechanism is as follows: a hollow shaft connected with the assembling frame through an axial connecting piece, the swing shaft passes through the hollow shaft, the hollow shaft is connected with a bearing seat through a first bearing, the bearing seat is connected with the base through a transfer piece, and a rotating hand wheel is also connected on the bearing seat, the rotation of the base can be controlled by controlling the rotation of the rotating hand wheel, thereby realizing the rotation of the end instrument.

[0016] In some embodiments, the opening and closing control mechanism is structured as follows: an opening and closing control cable is connected to the guide frame, the opening and closing control cable is connected to the inside of the operating handle through an opening and closing control cable sleeve, one end of the opening and closing control cable sleeve is connected to the guide seat through a pressing plate, the opening and closing control cable sleeve passes through the swing shaft, the other end of the opening and closing control cable sleeve is connected to a first rotating shaft, the first rotating shaft is connected to the side wall of a containing cavity arranged in the inside of the operating handle through a second bearing, the opening and closing control cable drawn from the opening and closing control cable sleeve is connected to a second rotating shaft, the second rotating shaft is connected to a sliding sleeve through a third bearing, the sliding sleeve is connected to a tensioning shaft, under the action of the tensioning shaft, the sliding sleeve can slide along the side wall of the containing cavity to realize the tensioning and relaxing of the opening and closing control cable, a first wedge block is arranged on the tensioning shaft, the first wedge block is used in cooperation with a second wedge block arranged on an opening and closing button, the opening and closing button is arranged on the operating handle and can slide relative to the operating handle, a second return spring is further sleeved on the tensioning shaft, the second return spring is arranged between the bottom inner wall of the containing cavity and a stop block arranged on the tensioning shaft, a groove in communication with the containing cavity is further arranged in the operating handle, the groove is used in cooperation with the end of the tensioning shaft, when the opening and closing button is pressed, the tensioning shaft moves to the direction close to the bottom of the groove through the cooperation of the second wedge block and the first wedge block, at this time, the opening and closing control cable is tensioned, and the second return spring is compressed; when the opening and closing button is released, the tensioning shaft moves to the direction away from the bottom of the groove under the action of the second return spring, at this time, the opening and closing control cable is relaxed, and the opening and closing button returns to the original position.

[0017] In some embodiments, a protective shell is further included, the protective shell includes an upper shell and a lower shell used in cooperation, the upper shell and the lower shell are both assembled on the base, and a through hole is arranged on the protective shell.

[0018] The hand-held surgical instrument has the advantages that the opening and closing of the end instrument can be controlled, the yaw swing and the pitch swing of the end instrument can be controlled, the degree of freedom is high, and the surgical instrument further has a rotating control mechanism to control the rotation of the end instrument. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A structural schematic diagram of a hand-held surgical instrument in an embodiment is shown.

[0020] Figure 2 A connection relationship schematic diagram of an end instrument and a connection structure in an embodiment is shown.

[0021] Figure 3(a) shows a structural schematic diagram of one angle of the end instrument in the embodiment; (b) shows a structural schematic diagram of another angle of the end instrument.

[0022] Figure 4 A connection relationship schematic diagram of the swing control cable, the swing control cable sleeve, the end instrument and the connecting structure in the embodiment is shown.

[0023] Figure 5 A connection relationship schematic diagram of the cable sleeve pressing plate and the swing control cable sleeve in the embodiment is shown.

[0024] Figure 6 A partial structural schematic diagram of the control mechanism in the embodiment is shown.

[0025] Figure 7 A partial structural schematic diagram of another angle of the control mechanism in the embodiment is shown.

[0026] Figure 8 A connection relationship schematic diagram of the main rotating shaft, the auxiliary rotating shaft and the base in the embodiment is shown.

[0027] Figure 9 A partial structural schematic diagram of the control mechanism in the embodiment is shown.

[0028] Figure 10 A partial structural schematic diagram of Figure 9 in the embodiment is shown.

[0029] Figure 11 A connection relationship schematic diagram of the guide frame, the guide seat and the first reset spring is shown.

[0030] Figure 12 A position relationship schematic diagram of the operation handle, the rotating handle and the assembling frame in the embodiment is shown.

[0031] Figure 13 A connection relationship schematic diagram of the main rotating shaft and the connecting piece in the embodiment is shown.

[0032] Figure 14 A partial structural sectional view schematic diagram of Figure 12 in the embodiment is shown.

[0033] Figure 15 A connection relationship schematic diagram of the operation handle, the second joint bearing, the swing shaft, the first joint bearing and the connecting piece in the embodiment is shown.

[0034] Figure 16 A structural schematic diagram of the inside of the operation handle in the embodiment is shown.

[0035] Reference: 1 - end device, 101 - first clamping part, 102 - second clamping part, 2 - connecting structure, 201 - yaw rotation axis, 202 - adapter seat, 203 - pitch rotation axis, 204 - connecting seat, 205 - first cable connector, 206 - second cable connector, 3 - catheter, 4 - connecting 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 - fourth cable connector, 5010 - auxiliary rotation axis, 5011 - first through hole, 5012 - assembly groove, 5013 - second through hole, 5014 - guide seat, 5015 - guide groove, 5016 - guide frame, 5017 - sliding block, 5018 - first sliding groove, 5019 - second sliding groove, 5020 - upper swing arm, 5021 - lower swing arm, 5022 - first return spring, 5023 - opening and closing control cable, 5024 - opening and closing control cable sleeve, 5025 - pressing plate, 5026 - connecting piece, 5027 - swing shaft seat, 5028 - swing shaft, 5029 - second joint bearing, 5030 - operating handle, 5031 - axial connecting piece, 5032 - hollow shaft, 5033 - first bearing, 5034 - bearing seat, 5035 - rotating hand wheel, 5036 - accommodating cavity, 5037 - second bearing, 5038 - first rotation axis, 5039 - sliding sleeve, 5040 - third bearing, 5041 - second rotation axis, 5042 - tensioning shaft, 5043 - first wedge-shaped block, 5044 - second wedge-shaped block, 5045 - opening and closing button, 5046 - second return spring, 5047 - adapter, 5048 - groove, 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 - protective shell, 1201 - upper shell, 1202 - lower shell, 13 - assembly frame, 14 - hook-and-loop fastener, A - yaw operation axis, B - yaw swing axis, C - pitch operation axis, D - pitch swing axis, E - rotation operation axis, F - rotation axis. DETAILED DESCRIPTION

[0036] The specific embodiments of the present application are further described below with reference to the accompanying drawings.

[0037] 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 based on the orientation or positional relationship shown in the drawings, and are only for convenience of description of the present application and simplification of 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.

[0038] As shown in Figures 1-16 The handheld surgical instrument involved in the present application comprises:

[0039] The end instrument 1 comprises a first clamping part 101 and a second clamping part 102 used in cooperation.

[0040] 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.

[0041] 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.

[0042] The operating mechanism 5 is used for operating the swing control cables, so that the end instrument 1 can realize yawing swing and pitching swing; the operating mechanism 5 further comprises an opening and closing control mechanism for controlling the opening and closing action of the end instrument 1; the operating mechanism 5 further comprises a rotation control mechanism for controlling the rotation of the end instrument 1.

[0043] In the embodiment, the connecting structure 2 comprises a connecting seat 204 fixed on the catheter 3, an adapter seat 202 is rotationally connected on the connecting seat 204 through a pitching rotation shaft 203, the adapter seat 202 can pitch swing relative to the connecting seat 204, the adapter seat 202 is rotationally connected with the end instrument 1 through a yawing rotation shaft 201, and the end instrument 1 can yaw swing relative to the adapter seat 202. Specifically, the first clamping part 101 and the second clamping part 102 are rotationally connected on the yawing rotation shaft 201.

[0044] 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.

[0045] In the embodiment, the conduit 3 can be 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 509. 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.

[0046] A guide seat 5014 is connected to the main rotating shaft 508 above the auxiliary rotating shaft 5010, the guide seat 5014 is provided with a guide groove 5015, a sliding block 5017 is used in cooperation with the guide groove 5015, a V-shaped guide frame 5016 is connected to the sliding block 5017, a first sliding groove 5018 and a second sliding groove 5019 are respectively arranged on two guide arms of the guide frame 5016, the two guide arms are separately arranged on two sides of the guide seat 5014, an upper swing arm 5020 connected with the upper guide wheel 506 is inserted into the first sliding groove 5018, a lower swing arm 5021 connected with the lower guide wheel 507 is inserted into the second sliding groove 5019 through a second through hole 5013 arranged on the base 501, and a first return spring 5022 is arranged between the guide frame 5016 and the inner wall of the guide groove 5015.

[0047] A connecting piece 5026 is connected with the upper and lower ends of the main rotating shaft 508 respectively, the connecting piece 5026 is also connected with a swing shaft seat 5027, the swing shaft seat 5027 is hingedly connected with one end of a swing shaft 5028 through a first joint bearing, the other end of the swing shaft 5028 is connected with an assembly frame 13 through a second joint bearing 5029, the assembly frame 13 is used for being assembled on the arm of a person through a Velcro tape 14 arranged on the assembly frame 13, the end of the swing shaft 5028 is connected with an operation handle 5030, the swing shaft 5028 can axially slide along the first joint bearing or the second joint bearing 5029, and when the operation handle 5030 is operated, the swing shaft 5028 can drive the connecting piece 5026 to rotate along the axis of the main rotating shaft 508 or the axis of the auxiliary rotating shaft 5010, thereby driving the main rotating shaft 508 to rotate.

[0048] In the embodiment, the structure of the rotating control mechanism is as follows: a hollow shaft 5032 connected with the assembly frame 13 through an axial connecting piece 5031, the swing shaft 5028 passes through the hollow shaft 5032, the hollow shaft 5032 is connected with a bearing seat 5034 through a first bearing 5033, the bearing seat 5034 is connected with the base 501 through a connecting piece 5047, and a rotating hand wheel 5035 is further connected to the bearing seat 5034, by controlling the rotation of the rotating hand wheel 5035, the rotation of the base 501 can be controlled, thereby realizing the rotation of the end instrument 1.

[0049] The structure of the opening and closing control mechanism is as follows: an opening and closing control cable 5023 is connected to the guide frame 5016, the opening and closing control cable 5023 is connected to the inside of an operating handle 5030 through an opening and closing control cable sleeve 5024, one end of the opening and closing control cable sleeve 5024 is connected to the guide seat 5014 through a pressing plate 5025, the opening and closing control cable sleeve 5024 passes through the swing shaft 5028, the other end of the opening and closing control cable sleeve 5024 is connected to a first rotating shaft 5038, the first rotating shaft 5038 is connected to the side wall of a containing cavity 5036 arranged in the inside of the operating handle 5030 through a second bearing 5037, the opening and closing control cable 5023 drawn out from the opening and closing control cable sleeve 5024 is connected to a second rotating shaft 5041, the second rotating shaft 5041 is connected to a sliding sleeve 5039 through a third bearing 5040, the sliding sleeve 5039 is connected to a tensioning shaft 5042, under the action of the tensioning shaft 5042, the sliding sleeve 5039 can slide along the side wall of the containing cavity 5036 to realize the tensioning and relaxing of the opening and closing control cable 5023, a first wedge block 5043 is arranged on the tensioning shaft 5042, the first wedge block 5043 is used in cooperation with a second wedge block 5044 arranged on an opening and closing button 5045, the opening and closing button 5045 is arranged on the operating handle 5030 and can slide relative to the operating handle 5030, a second reset spring 5046 is further sleeved on the tensioning shaft 5042, the second reset spring 5046 is between the bottom inner wall of the containing cavity 5036 and a stop block arranged on the tensioning shaft 5042, a recess 5048 in communication with the containing cavity 5036 is further arranged in the operating handle 5030, the recess 5048 is used in cooperation with the end of the tensioning shaft 5042, when the opening and closing button 5045 is pressed, the tensioning shaft 5042 moves to the direction close to the bottom of the recess 5048 through the cooperation of the second wedge block 5044 and the first wedge block 5043, at this time, the opening and closing control cable 5023 is tensioned, and the second reset spring 5046 is compressed; when the opening and closing button 5045 is released, the tensioning shaft 5042 moves to the direction away from the bottom of the recess 5048 under the action of the second reset spring 5046, at this time, the opening and closing control cable 5023 is relaxed, and the opening and closing button 5045 returns to the original position.

[0050] The surgical instrument also comprises a protective shell 12, the protective shell 12 comprises an upper shell 1201 and a lower shell 1202 used in cooperation, the upper shell 1201 and the lower shell 1202 are both assembled on the base 501, the structure of most of the operating mechanism 5 is protected, and a through hole is arranged on the protective shell 12, the swing shaft 5028 and other structures pass through the through hole.

[0051] In the specific use, the assembly frame 13 is fixed to the arm of the operator by the hook-and-loop fastener 14, the operation handle 5030 is held, the distal end instrument 1 is inserted into the patient together with the partial catheter 3, when the distal end instrument 1 needs to yaw, the operation handle 5030 is controlled to rotate along the yaw operation axis A, at this time, the swing shaft 5028 drives the connecting piece 5026 to rotate so that the main rotating shaft 508 rotates along the axis of the main rotating shaft 508, when the main rotating shaft 508 rotates clockwise along the axis of the main rotating shaft 508, 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 5014 together with the guide frame 5016 also rotates clockwise, under the action of the guide frame 5016, the upper swing arm 5020 drives the upper guide wheel 506 to rotate clockwise, the lower swing arm 5021 drives the lower guide wheel 507 to rotate clockwise, at this time, the first swing control cable 6 is taut, the second swing control cable 7 is relaxed, the third swing control cable 8 is taut, and the fourth swing control cable 9 is relaxed, so that the distal end instrument 1 swings right along the yaw swing axis B; when the main rotating shaft 508 rotates counterclockwise along the axis of the main rotating shaft 508, the distal end instrument 1 swings left along the yaw swing axis B.

[0052] When the distal end instrument 1 needs to pitch, the operation handle 5030 is controlled to act along the pitch operation axis C, at this time, the swing shaft 5028 drives the connecting piece 5026 to swing so that the main rotating shaft 508 rotates along the axis of the auxiliary rotating shaft 5010, when the main rotating shaft 508 rotates clockwise along the axis of the auxiliary rotating shaft 5010, under the drive of the main rotating shaft 508, the upper guide wheel 506 and the lower guide wheel 507 rotate clockwise along the axis of the auxiliary rotating shaft 5010, at this time, the first swing control cable 6 and the second swing control cable 7 are taut, the third swing control cable 8 and the fourth swing control cable 9 are relaxed, so that the distal end instrument 1 pitches up along the pitch swing axis D; when the main rotating shaft 508 rotates counterclockwise along the axis of the auxiliary rotating shaft 5010, the distal end instrument 1 pitches down along the pitch swing axis D.

[0053] When the end instrument 1 needs to be opened and closed, the opening and closing button 5045 is pressed, and through the cooperation of the second wedge block 5044 and the first wedge block 5043, the tension shaft 5042 moves towards the bottom of the groove 5048, at this time the opening and closing control cable 5023 is tightened, the second reset spring 5046 is compressed, when the opening and closing control cable 5023 is tightened, the guide frame 5016 moves towards the main rotating shaft 508, the first reset spring 5022 is compressed, under the action of the guide frame 5016, the upper swing arm 5020 and the lower swing arm 5021 move towards the guide seat 5014 at the same time, 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. When the opening and closing button 5045 is released, under the action of the second reset spring 5046, the tension shaft 5042 moves away from the bottom of the groove 5048, at this time the opening and closing control cable 5023 is loosened, and the opening and closing button 5045 returns to the original position; when the opening and closing control cable 5023 is loosened, under the action of the first reset spring 5022, the guide frame 5016 moves away from the main rotating shaft 508, under the action of the guide frame 5016, the upper swing arm 5020 and the lower swing arm 5021 move away from the guide seat 5014 at the same time, 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.

[0054] When the end instrument 1 needs to be rotated, the rotating handle 5035 is controlled to rotate along the rotating operation axis E, thereby controlling the base 501 to rotate, so that the catheter 3, the end instrument 1 and the like rotate along the rotating axis F.

[0055] The handheld surgical instrument involved in the present application can control the opening and closing of the end instrument, can also control the yaw swing and pitch swing of the end instrument, has more degrees of freedom, and in addition, the surgical instrument also has a rotating control mechanism, which can control the rotation of the end instrument. Therefore, the surgical instrument involved in the present application can meet various use requirements.

[0056] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and concept of the present application, can make equivalent replacements or changes within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A handheld surgical instrument, characterized by: The utility model relates to a kind of surgical instrument, including: End instrument: including first clamping part and second clamping part used in cooperation with each other; Connecting structure: connected between the end instrument and catheter, when the end instrument is controlled by operating mechanism through several swing control cables, the connecting structure can assist the end instrument 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 instrument 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 instrument can realize yaw swing and pitch swing;The operating mechanism also includes opening and closing control mechanism for controlling the opening and closing action of the end instrument;The operating mechanism also includes rotation control mechanism for controlling end instrument to rotate; 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, above-mentioned 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, upper support plate is provided on the upper surface of the base, lower support plate is provided 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 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 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 separately arranged at 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 also provided on the main rotating shaft between the upper guide pulley and the lower guide pulley and is arranged perpendicularly to the main rotating shaft, two ends of the vice rotating shaft are movably connected in the assembly groove arranged along the circumference on the inner wall of the first through-hole, the vice rotating shaft is controlled to be movable in the assembly groove, but will not be separated from the assembly groove; Guide seat is connected on the main rotating shaft above the vice rotating shaft, guide groove is arranged in the guide seat, slider is used in cooperation with the guide groove, V-shaped guide frame is connected on the slider, first sliding groove and second sliding groove are arranged on the two guide arms of the guide frame respectively, the two guide arms are separately arranged on the two sides of the guide seat, upper swing arm connected with the upper guide pulley is inserted into the first sliding groove, lower swing arm connected with the lower guide pulley is inserted into the second sliding groove through second through-hole arranged on the base, first return spring is arranged between the guide frame and the inner wall of the guide groove; The connecting pieces are connected with upper and lower ends of the main rotating shaft respectively, the connecting pieces are also connected with a swing shaft base, the swing shaft base is hinged with one end of a swing shaft through a first joint bearing, the other end of the swing shaft is connected with an assembling frame through a second joint bearing, the assembling frame is used for assembling on an arm of a person, an operating handle is connected with the end of the swing shaft, the swing shaft can slide along the first joint bearing or the second joint bearing in the axial direction, and when the operating handle is operated, the swing shaft can drive the connecting pieces to rotate along the axis of the main rotating shaft or the axis of the secondary rotating shaft, thereby driving the main rotating shaft to rotate.

2. The handheld surgical instrument of claim 1, wherein: The connecting structure comprises a connecting seat fixed on the catheter, a switching seat is rotationally connected with the connecting seat through a pitching rotating shaft, the switching seat can pitch relative to the connecting seat, the switching seat is rotationally connected with the end instrument through a yaw rotating shaft, the end instrument can yaw relative to the switching seat, and the first clamping part and the second clamping part are rotationally connected on the yaw rotating shaft.

3. The handheld surgical instrument of claim 1, wherein: The structure of the rotating control mechanism is as follows: a hollow shaft is connected with the assembling frame through an axial connecting piece, the swing shaft passes through the hollow shaft, the hollow shaft is connected with a bearing seat through a first bearing, the bearing seat is connected with the base through a switching piece, and a rotating hand wheel is also connected on the bearing seat, the base can be controlled to rotate by controlling the rotating hand wheel to rotate, thereby realizing the rotation of the end instrument.

4. The hand-held surgical instrument of claim 1 or 3, characterized in that: The opening and closing control mechanism comprises an opening and closing control cable connected with the guide frame, the opening and closing control cable is connected to the inside of the operating handle through an opening and closing control cable sleeve, one end of the opening and closing control cable sleeve is connected to the guide seat through a pressing plate, the opening and closing control cable sleeve passes through the swing shaft, the other end of the opening and closing control cable sleeve is connected with a first rotating shaft, the first rotating shaft is connected with the side wall of the accommodating cavity arranged in the inside of the operating handle through a second bearing, the opening and closing control cable drawn from the opening and closing control cable sleeve is connected with a second rotating shaft, the second rotating shaft is connected with a sliding sleeve through a third bearing, the sliding sleeve is connected with a tensioning shaft, under the action of the tensioning shaft, the sliding sleeve can slide along the side wall of the accommodating cavity to realize the tensioning and relaxing of the opening and closing control cable, a first wedge block is arranged on the tensioning shaft, the first wedge block is used in cooperation with a second wedge block arranged on an opening and closing button, the opening and closing button is arranged on the operating handle and can slide relative to the operating handle, a second reset spring is further sleeved on the tensioning shaft, the second reset spring is arranged between the bottom inner wall of the accommodating cavity and a stop block arranged on the tensioning shaft, a groove in communication with the accommodating cavity is further arranged in the operating handle, the groove is used in cooperation with the end of the tensioning shaft, when the opening and closing button is pressed, the tensioning shaft moves to the direction close to the bottom of the groove through the cooperation of the second wedge block and the first wedge block, at this time, the opening and closing control cable is tensioned, and the second reset spring is compressed; when the opening and closing button is released, the tensioning shaft moves to the direction away from the bottom of the groove under the action of the second reset spring, at this time, the opening and closing control cable is relaxed, and the opening and closing button returns to the original position.

5. The handheld surgical instrument of claim 1, wherein: The protection shell comprises an upper shell and a lower shell used in cooperation, the upper shell and the lower shell are assembled on the base, and a through hole is arranged on the protection shell.

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