A wearable multi-degree-of-freedom bendable surgical instrument

Abstract

The present invention discloses a wearable multi-degree-of-freedom bendable surgical instrument, comprising an execution end, a wearable handle, an extension section and a control end. The surgical instrument of the present invention is designed as a wearable structure, and when the operator (doctor) uses it, the whole hand extends through the annular structure to enter the hand operation area. On the one hand, during minimally invasive surgery, a chuka will be set up in the patient's surgical area to support the surgical instrument of the present application, and then the support of the operator's wristband to the annular structure of the surgical instrument of the present application can keep the surgical instrument stable, without the need to hold it with the hand, and completely free the whole hand to perform other operations. The multi-degree-of-freedom bendable surgical instrument of the present invention gives full play to the control of the doctor's hand, so that the control of 4 degrees of freedom can be completed with one hand, providing the doctor with a dexterous and convenient minimally invasive surgical instrument.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical instruments, and in particular relates to a wearable multi-degree-of-freedom bendable surgical instrument. Background Art

[0002] Endoscopic surgeries such as laparoscopy are typical representatives of minimally invasive surgery. With the improvement of laparoscopic instruments and the advancement of doctors' surgical techniques, many open surgeries have gradually been replaced by minimally invasive procedures such as laparoscopy.

[0003] During laparoscopic surgery, a hole is punctured in the abdomen to create a channel into the abdominal cavity. Currently, the commonly used laparoscopic surgical instruments are designed as slender rigid straight tubes. Due to the limitation of the location of the puncture holes, it is difficult to approach instruments or perform delicate operations in deep, narrow or obstructed areas of the abdominal cavity, which leads to low operating efficiency and increases the risk of complications to a certain extent. Most importantly, this limits the indications for surgery and seriously hinders the further development of endoscopic technologies such as laparoscopes. Minimally invasive surgery expects surgical instruments to develop in the direction of more degrees of freedom and greater flexibility.

[0004] For example, the invention application with publication number CN109907797A discloses a flexible laparoscopic surgical forceps, including a fixed handle, an outer protective tube is provided on the fixed handle, one end of the outer protective tube is connected to the fixed handle, and the other end is provided with a forceps head, the forceps head is connected to the movable handle on the fixed handle, the other end of the outer protective tube is connected to the forceps head through an active head, the active head is hinged to the other end of the outer protective tube, an elbow pull rod is provided between the active head and the outer protective tube, one end of the elbow pull rod is hinged to the active head, and the hinged portion where the elbow pull rod is connected to the active head is far away from the hinged portion where the active head is connected to the outer protective tube, the other end of the elbow pull rod is connected to a bending control assembly arranged on the fixed handle through a bending control tube arranged in the outer protective tube, and a spring shaft is also provided between the active head and the outer protective tube.

[0005] For another example, the invention application with publication number CN105125241A discloses a novel multi-section adjustable bending surgical instrument, including a functional instrument assembly, an instrument shaft and a control handle, the instrument shaft including an outer tube, a functional instrument control part, a bending control wire and an angle adjustment unit, the control handle also including a bending operating part, the proximal end of the angle adjustment unit or the proximal end of the outer tube is fixedly connected to the bending operating part, the angle adjustment unit is provided with one or more fixed angle segments, the adjacent parts of the fixed angle segments are straight segments, the outer tube is provided with one or more bendable segments, the adjacent parts of the bendable segments are rigid straight segments, by operating the bending operating part, the outer tube and the angle adjustment unit undergo relative displacement, when the fixed angle segment enters the bendable segment, the angle of the bendable segment is driven to change, when the fixed angle segment enters the rigid straight segment, the bendable segment is driven to become straight.

[0006] However, the above-mentioned existing technologies have the following problems: 1. The execution end is still not flexible enough; 2. The operation mapping is not intuitive, and often only a single degree of freedom can be controlled at the same time, which cannot give full play to the doctor's operating ability and reduce the efficiency of the operation. The unintuitive control mapping will also increase the learning cost and raise the technical threshold. Summary of the invention

[0007] In view of the above-mentioned deficiencies in the prior art, the present invention provides a wearable multi-degree-of-freedom bendable surgical instrument.

[0008] A wearable multi-degree-of-freedom bendable surgical instrument, comprising:

[0009] The execution end includes an execution arm and a clamp mounting seat arranged at the end of the execution arm, the clamp mounting seat is provided with a surgical clamp, and the execution arm includes a first universal joint with a plurality of sections connected in series;

[0010] The wearable handle has a base, one end of the base is provided with a mounting base, and the two sides of the other opposite end extend upward and gather to form a ring structure for the hand to extend during operation, and the base, the mounting base and the ring structure together form a hand operation area;

[0011] The extension section has two ends respectively connected to the actuator arm of the actuator end and the mounting base of the wearing handle;

[0012] A steering sleeve, which passes through the actuator arm, the extension section and the mounting base in sequence, wherein the distal end of the steering sleeve is connected to the clamp mounting seat, and when the steering sleeve rotates, the clamp mounting seat is driven to rotate so as to adjust the direction of the surgical clamp;

[0013] A pull cable, disposed in the steering sleeve, for controlling the clamping of the surgical clamp during stretching;

[0014] The control end is arranged in the hand operation area, including a control arm with one end fixed on the mounting base, the control arm includes at least one second universal joint, and a transmission cable for transmitting the bending action of the second universal joint to the first universal joint is provided between the second universal joint and a first universal joint of the actuator arm close to the extension section; the proximal end of the steering sleeve passes through the control arm, and the end of the control arm facing the annular structure is provided with a screw cap for controlling the rotation of the steering sleeve, the proximal end of the steering sleeve passes through the screw cap and the passing part is provided with a presser that stretches the cable when pressed; the screw cap and the presser are designed separately or as an integrated whole.

[0015] In this application, the proximal end refers to the end close to the operator (doctor) operation, that is, the end where the wearing handle is located, and the distal end refers to the end away from the operator operation, that is, the execution end.

[0016] The wearable multi-degree-of-freedom bendable surgical instrument of the present application is used by the operator when performing minimally invasive surgery. The execution end is used to extend into the patient's body for operation, while the wearable handle and the control end remain outside, thereby meeting the minimally invasive requirements. The steering sleeve needs to have a certain rigidity so that the twisting operation received at the proximal end can be transmitted to the distal end.

[0017] Preferably, the surgical clamp is provided at one end of the clamp mounting seat, and the other end is rotationally connected to the distal end of the actuator arm and fixed to the distal end of the steering sleeve. The clamp mounting seat has a U-shaped mounting opening, and a slide plate that can be pulled by a cable to move axially is provided in the U-shaped mounting opening, and the slide plate has a pair of linear gears arranged opposite to each other along the axial direction. The surgical clamp includes two clamp arms arranged in pairs, and one end of each clamp arm is rotationally connected to the U-shaped mounting opening and has a gear part that cooperates with one of the linear gears. The two arms of the U-shaped mounting opening are provided with a slide groove extending in the axial direction, and the slide plate is provided with a slider that cooperates with the slide groove. A waist-shaped hole extending in the axial direction is opened in the middle of the slide plate, and a pair of linear gears on the slide plate are arranged on the two long sides of the waist-shaped hole. The gear part provided on the clamp arm of the surgical clamp is a gear provided on the end face of the fan-shaped structure, and the angle of the fan-shaped structure is set according to the angle of the two clamp arms. When the cable is pulled toward the proximal end, the slide slides toward the proximal end, so that the linear gear rail drives the clamp arm to rotate around the shaft rotatably connected to the U-shaped mounting opening, thereby completing the clamping action of the surgical clamp.

[0018] Preferably, the presser includes a V-shaped pressing piece and a V-shaped stretching piece, the two arms of the stretching piece are respectively hinged with the two arms of the pressing piece to form a quadrilateral, the proximal end of the cable is connected to the connection between the two arms of the stretching piece, and when in use, the pressing piece is pressed and deformed to drive the stretching piece to deform, thereby stretching the cable. The cable can be made of high-elastic alloy wire, so that the cable can transmit thrust to open the surgical clamp. Of course, a reset spring can also be provided between the opening bottom of the U-shaped mounting port and the slide to reset the slide to open the surgical clamp.

[0019] Preferably, the top of the annular structure has a backrest extending toward one side of the hand operation area for the back of the hand to lean against during operation. When the operator compresses the palm toward the palm, the hand can be passed through the annular structure, and after the palm is opened, the wearing handle can be tightened to lift or rotate the entire surgical instrument. The setting of the backrest makes it unnecessary to rely solely on the action of the wristband on the annular structure to lift or rotate the entire surgical instrument during operation, but the back of the hand can be leaned against the backrest, thereby increasing the convenience of use.

[0020] Preferably, the actuator arm includes 2 to 5 first universal joints connected in series; the control arm includes 1 to 3 second universal joints. The superposition of the first universal joints in the actuator arm can extend the axial length of the actuator arm, so that the actuator arm can achieve a greater degree of bending. Similarly, the superposition of the second universal joints in the control arm can extend the axial length of the control arm, so that the control arm can achieve a greater degree of bending. The length of the actuator arm or the control arm is mainly set to meet the needs of the operation and is reasonably set.

[0021] More preferably, the first universal joints of the actuator arm have the same size, the circumferential outer diameter of the first universal joint is 5 to 15 mm; the circumferential outer diameter of the second universal joint is 15 to 30 mm. The circumferential outer diameter of the first universal joint is limited by the size of the surgical opening during minimally invasive surgery. The circumferential outer diameter of the second universal joint can be appropriately larger than the circumferential outer diameter of the first universal joint, so as to be suitable for hand operation.

[0022] Preferably, the first universal joint and the second universal joint each include two motion platforms and at least three sets of rotating components arranged in parallel between the two motion platforms.

[0023] The two motion platforms are the first motion platform and the second motion platform. Both the first motion platform and the second motion platform have a rotation center.

[0024] Each group of rotating components includes a first rotating member hinged to the first moving platform at one end, a second rotating member hinged to the second moving platform at one end, and a third rotating member hinged to the first rotating member and the other end of the second rotating member at both ends. The axis of the hinge shaft of the first rotating member hinged to the first moving platform and the third rotating member passes through the rotation center of the first moving platform; the axis of the hinge shaft of the second rotating member hinged to the second moving platform and the third rotating member passes through the rotation center of the second moving platform.

[0025] When adjacent first universal joints or second universal joints are connected in series, the rotating components correspond one to one and are connected to each other through transmission; the transmission components between the first universal joint of the actuator arm at the proximal end and the second universal joint of the control arm at the distal end also correspond one to one and are connected through the transmission cable.

[0026] More preferably, the first rotating member and the second rotating member of the first universal joint and the second universal joint are both processed into external gears, the rotation axis of the external gear of the first rotating member is the hinge axis between the first rotating member and the first motion platform, and the rotation axis of the external gear of the second rotating member is the hinge axis between the second rotating member and the second motion platform.

[0027] When adjacent first universal joints or second universal joints are connected in series, the rotating components are driven by meshing of corresponding external gears, and the transmission ratio of the meshing first rotating member and the second rotating member is 1:1, and the first rotating member and the second rotating member are symmetrical relative to the connecting plane.

[0028] Further preferably, the first universal joint and the second universal joint have three rotating components, and the three components have the same structure and are evenly distributed along the circumference; the first motion platform has the same structure as the second motion platform; the first rotating member has the same structure as the second rotating member; the third rotating member has a structure whose half close to the first rotating member is symmetrical with the half close to the second rotating member. In other words, the first rotating member and the second rotating member of each rotating component always maintain symmetry, so that the action of one end can be predicted by controlling the action of the other end after the action is transmitted.

[0029] Further preferably, when the second universal joint of the control arm at the far end is transmitted to the first universal joint of the actuator arm at the near end, the external gear on one side is meshed with a steering gear, and then the steering gear is connected to the transmission cable. Due to the limitation of the transmission mode between the universal joints (including the first universal joint and the second universal joint), when the action of the previous universal joint is transmitted to the next universal joint, the rotation directions of the mutually meshed external gears are opposite, and the rotation directions of the two external gears on the two moving platforms on the same universal joint are also opposite. After two reversals, the bending direction of the next universal joint is kept the same as the bending direction of the previous universal joint. However, when the second universal joint of the control arm at the far end is transmitted to the first universal joint of the actuator arm at the near end, the transmission is transmitted through the transmission cable, and the transmission cable can only drive the two external gears to rotate in the same direction, so that when the second universal joint is bent in one direction, the first universal joint is bent in the opposite direction, so that the hand movement during operation is opposite to the bending direction of the actuator end, which is not conducive to the operator's simple operation. Therefore, by providing a steering gear to reverse the rotation direction once, the first universal joint and the second universal joint can be bent in one direction, making the operation simpler and more intuitive, which is convenient for the operator to operate. The steering gear is preferably installed on one side of the second universal joint, because the actuator arm where the first universal joint is located needs to extend into the patient's surgical area, and its size is small, which is not convenient for installation. The steering gear is preferably installed on the mounting base.

[0030] Beneficial effects:

[0031] The wearable multi-degree-of-freedom bendable surgical instrument of the present invention is designed as a wearable structure. When the operator (doctor) uses it, he / she extends his / her entire hand through the annular structure to enter the hand operation area. During minimally invasive surgery, a chuka will be set up in the patient's surgical area to support the surgical instrument of the present application. The support of the operator's wristband to the annular structure of the surgical instrument of the present application can keep the surgical instrument stable, without the need to hold it with the hand, and the entire hand can be completely freed to perform other operations.

[0032] During operation, when the rotary cap and the presser are designed separately, the operator pinches the rotary cap at the control end with the index finger and thumb to move left and right and up and down to achieve 2-degree-of-freedom swing control of the execution end, and drives the steering sleeve to rotate by twisting the rotary cap with two fingers to achieve the rotation movement of the surgical clamp at the execution end; the operator presses the presser tightly with the remaining three fingers to stretch the pull cable to achieve the opening and closing of the surgical clamp; at the same time, the operator pinches the rotary cap at the control end with the index finger and thumb, and uses the rotary cap as the operating handle of the control arm to push and pull the second universal joint in different directions. The bending action of the second universal joint drives the bending of the first universal joint through the transmission cable, thereby making the execution arm bend in different directions, driving the movement of the surgical clamp. When the screw cap and the presser are designed as an integrated whole, the screw cap and the presser can be designed to be slender in the axial direction, and the screw cap part can still be pinched with the index finger and thumb, while the remaining three fingers are used to press the presser part against the palm; or the screw cap and the presser can be designed to be thicker and shorter in the axial direction, and then the index finger and thumb are used to press the presser part, while the rotation is directly controlled using the pressing position as the point of action.

[0033] The multi-degree-of-freedom bendable surgical instrument of the present invention gives full play to the control of the doctor's hands, so that a single hand can complete the control of a total of 4 degrees of freedom, including the 2-degree-of-freedom bending of the actuator arm, the rotation and opening and closing movement of the surgical clamp, thereby providing the doctor with a dexterous and convenient minimally invasive surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the wearable multi-degree-of-freedom bendable surgical instrument of the present invention.

[0035] Figure 2 It is a schematic diagram of the structure of the wearable handle and the control terminal.

[0036] Figure 3 It is a schematic diagram of the assembly structure of the executive end surgical clamp, where the left picture is a schematic diagram of the assembled structure, and the middle and right pictures are exploded views.

[0037] Figure 4 Schematic diagram of the structure of the actuator arm.

[0038] Figure 5 This is an exploded view of a single first universal joint.

[0039] Figure 6 This is a schematic diagram of the structure of the control end.

[0040] Figure 7 This is an exploded view of the control end.

[0041] Figure 8 Schematic diagram of the working structure of the transmission cable.

[0042] Fig. 9 It is a schematic diagram of the use of the wearable multi-degree-of-freedom bendable surgical instrument of the present invention.

[0043] Fig.10 This is a schematic diagram of the structure of the control terminal of Example 2.

[0044] Fig.11 This is a schematic diagram of the explosion structure of the control end of Example 2.

[0045] Reference numerals:

[0046] Wearing handle 1, base 11, mounting base 12, annular structure 13, backrest 14;

[0047] Control end 2, control arm 21, second universal joint 22, transmission cable 23, rotary cap 24, presser 25, steering gear 26, sealing cap 27, rotating inner core 28, bearing 29;

[0048] Rotary cap 24', sealing cap 27', rotating inner core 28', bearing 29';

[0049] Extension 3;

[0050] Executing end 4, executing arm 41, clamp mounting seat 42, surgical clamp 43, U-shaped mounting opening 432, slide 433, linear gear rail 434, clamp arm 435, gear portion 436, slide groove 437, pin 438, first universal joint 44, first motion platform 441, second motion platform 442, first rotating member 443, second rotating member 444, third rotating member 445, external gear 446, bearing 45;

[0051] Steering sleeve 5;

[0052] Cable 6. DETAILED DESCRIPTION

[0053] Example 1

[0054] like Figures 1 to 9As shown, a wearable multi-degree-of-freedom bendable surgical instrument comprises a wearable handle 1, a control end 2, an extension section 3 and an execution end 4. The wearable multi-degree-of-freedom bendable surgical instrument of the present application is used when an operator performs minimally invasive surgery, and the execution end 4 is used to extend into the patient's body for operation, while the wearable handle 1 and the control end 2 remain outside, thereby meeting the minimally invasive requirements. In the present application, the proximal end refers to the end close to the operator (doctor) for operation, that is, the end where the wearable handle 1 is located, and the distal end refers to the end away from the operator's operation, that is, the execution end 4.

[0055] like Figure 2 As shown, the wearing handle 1 has a base 11, one end of the base 11 is provided with a mounting base 12, and the other end of the opposite side extends upward and gathers to form an annular structure 13 for the hand to extend during operation. The base 11, the mounting base 12 and the annular structure 13 are surrounded to form a hand operation area. The control end 2 is arranged in the hand operation area. The top of the annular structure 13 has a backrest 14 extending to one side of the hand operation area for the back of the hand to lean against during operation. When the operator compresses the palm toward the palm, the hand can be passed through the annular structure 13, and the wearing handle 1 can be tightened after the palm is opened to achieve lifting or rotating the entire surgical instrument. The setting of the backrest 14 can make it unnecessary to rely solely on the action of the wristband on the annular structure to lift or rotate the entire surgical instrument during operation, but can use the back of the hand to lean against the backrest 14, thereby increasing the convenience of use.

[0056] like Figure 3 and 4 As shown, the execution end 4 includes an execution arm 41 and a clamp mounting seat 42 disposed at the distal end of the execution arm 41, and a surgical clamp 43 is disposed on the clamp mounting seat 42. The surgical clamp 43 can realize the clamping action, and the clamp mounting seat 42 can rotate along the vertical axial direction relative to the execution arm 41, thereby driving the surgical clamp 43 to rotate, and realizing the surgical clamp 43 to clamp from different directions.

[0057] The actuator arm 41 is used to bend the actuator end 4. The actuator arm 41 includes a plurality of first universal joints 44 connected in series.

[0058] The extension section 3 is rod-shaped and is used to connect the execution end 4 and the control end 2. The two ends of the extension section 3 are respectively connected to the execution arm 41 of the execution end 4 and the mounting base 12 of the wearing handle 1. The extension section 3 makes the execution end 4 and the control end 2 separate from each other, so that the operator can control the execution end 4 in the operation position to perform the operation by operating the control end 2 at a certain distance from the operation position.

[0059] The action of the clamp mounting seat 42 rotating the surgical clamp 43 in the vertical axial direction relative to the actuator arm 41 is accomplished by the steering sleeve 5. The steering sleeve 5 sequentially passes through the actuator arm 41, the extension section 3 and the mounting base 12. The distal end of the steering sleeve 5 is connected to the clamp mounting seat 42. When the steering sleeve 5 rotates, the clamp mounting seat 42 is driven to rotate so as to adjust the direction of the surgical clamp 43. The steering sleeve 5 needs to have a certain rigidity so as to be able to transmit the twisting operation received at the proximal end to the distal end.

[0060] The clamping action of the surgical clamp 43 is accomplished by the cable 6. The cable 6 is disposed in the steering sleeve 5 and is used to control the clamping of the surgical clamp 43 during stretching.

[0061] The control end 2 includes a control arm 21 with one end fixed on the mounting base 12, and the control arm 21 includes at least one second universal joint 22. A transmission cable 23 is provided between the second universal joint 22 and a first universal joint 44 of the actuator arm 41 close to the extension section 3, for transmitting the bending action of the second universal joint 22 to the first universal joint 44.

[0062] Figures 1 to 9 In the embodiment shown, the screw cap 24 and the presser 25 are designed separately. The proximal end of the steering sleeve 5 passes through the control arm 21, and the end of the control arm 21 facing the annular structure 13 is provided with a screw cap 24 for controlling the rotation of the steering sleeve 5. The proximal end of the steering sleeve 5 passes through the screw cap 24 and the part passing through is provided with a presser 25 that stretches the cable 6 when pressed. The presser 25 includes a V-shaped pressing member and a V-shaped stretching member, the two arms of the stretching member are respectively hinged with the two arms of the pressing member to form a quadrilateral, and the proximal end of the cable 6 is connected to the connection between the two arms of the stretching member. When in use, the pressing member is pressed and deformed, driving the stretching member to deform, thereby stretching the cable 6.

[0063] like Figure 6 and Figure 7 As shown, a sealing cap 27 is provided at the proximal end face of the second universal joint 22 on the control arm 21. If the control arm 21 includes multiple second universal joints 22, a sealing cap 27 is provided only at the proximal end face of the proximal second universal joint 22, and the sealing cap 27 is fixed to the second universal joint 22 by bolts. A rotating inner core 28 is also provided between the sealing cap 27 and the second universal joint 22. The rotating inner core 28 is sleeved outside the steering sleeve 5 and fixed to the steering sleeve 5. One end of the rotating inner core 28 passes through the sealing cap 27 for installing the rotary cap 24. In order to make the rotary cap 24 rotate more smoothly, a bearing 29 is also provided between the rotating inner core 28 and the sealing cap 27. The inner ring of the bearing 29 is fixed to the rotating inner core 28, and the outer ring is fixed to the sealing cap 27.

[0064] A surgical clamp 43 is provided at one end of the clamp mounting seat 42, and the other end is rotatably connected to the distal end of the actuator arm 41 and fixed to the distal end of the steering sleeve 5. A bearing 45 is provided at the distal end of the actuator arm 41 for mounting, and the outer ring of the bearing 45 is fixed to the actuator arm 41, and the clamp mounting seat 42 is fixed to the inner ring of the bearing 45. The clamp mounting seat 42 has a U-shaped mounting opening 432, and a slide 433 that can be pulled by the cable 6 to move axially is provided in the U-shaped mounting opening 432. The slide 433 has a pair of linear racks 434 arranged opposite to each other in the axial direction. The surgical clamp 43 includes two clamp arms 435 arranged in pairs, and one end of each clamp arm 435 is rotatably connected to the U-shaped mounting opening 432 and has a gear part 436 that matches one of the linear racks 434. A slide groove 437 extending in the axial direction is provided on the two arms of the U-shaped mounting opening 432, and a slider matching the slide groove 437 is provided on the slide 433. The slider shown in the figure is a pin 438 that passes through the slide 433 and is inserted into the slide grooves 437 on both sides at both ends. A waist-shaped hole extending axially is provided in the middle of the slide 433, and a pair of linear gear rails 434 on the slide 433 are arranged on the two long sides of the waist-shaped hole. The gear part 436 provided on the clamp arm 435 of the surgical clamp 43 is a fan-shaped structure with a gear on the end face, and the angle of the fan-shaped structure is set according to the angle of the two clamp arms 435. When the cable 6 is pulled toward the proximal end, the slide 433 slides toward the proximal end, so that the linear gear rail 434 drives the clamp arm 435 to rotate around the axis rotatably connected to the U-shaped mounting port 432, completing the clamping action of the surgical clamp 43.

[0065] The cable 6 can be made of a highly elastic alloy wire, so that the cable 6 can transmit thrust to open the surgical clamp 43. Of course, a return spring can also be provided between the opening bottom of the U-shaped mounting opening 432 and the slide 433 to reset the slide 433 to open the surgical clamp 43.

[0066] In one embodiment, the actuator arm 41 includes 2 to 5 first universal joints 44 connected in series; the control arm 21 includes 1 to 3 second universal joints 22. The superposition of the first universal joints 44 in the actuator arm 41 can extend the axial length of the actuator arm 41, so that the actuator arm 41 can achieve a greater degree of bending. Similarly, the superposition of the second universal joints 22 in the control arm 21 can extend the axial length of the control arm 21, so that the control arm 21 can achieve a greater degree of bending. The length of the actuator arm 41 or the control arm 21 is reasonably set mainly to meet the needs of the operation. In the embodiment shown in the figure, the actuator arm 41 includes 3 first universal joints 44 connected in series; the control arm 21 includes 1 second universal joint 22.

[0067] In a preferred embodiment, the first universal joints 44 of the actuator arm 41 have the same size, and the circumferential outer diameter of the first universal joint 44 is 5 to 15 mm; the circumferential outer diameter of the second universal joint 22 is 15 to 30 mm. The circumferential outer diameter of the first universal joint 44 is limited by the size of the surgical opening during minimally invasive surgery. The circumferential outer diameter of the second universal joint 22 can be appropriately larger than the circumferential outer diameter of the first universal joint 44, so as to be suitable for hand operation.

[0068] The first universal joint 44 and the second universal joint 22 have different sizes but the same structure, both of which include two motion platforms and at least three sets of rotating components arranged in parallel between the two motion platforms.

[0069] Figure 5 The structure of a first universal joint 44 is shown in FIG. The two motion platforms are a first motion platform 441 and a second motion platform 442. The first motion platform 441 and the second motion platform 442 both have a rotation center.

[0070] Each group of rotating components includes a first rotating member 443 hinged to the first moving platform 441 at one end, a second rotating member 444 hinged to the second moving platform 442 at one end, and a third rotating member 445 hinged to the first rotating member 443 and the other end of the second rotating member 444 at both ends. The axis of the hinge shaft of the first rotating member 443 hinged to the first moving platform 441 and the third rotating member 445 passes through the rotation center of the first moving platform 441; the axis of the hinge shaft of the second rotating member 444 hinged to the second moving platform 442 and the third rotating member 445 passes through the rotation center of the second moving platform 442.

[0071] When adjacent first universal joints 44 or second universal joints 22 are connected in series, the rotating components correspond one to one and are connected to each other through transmission; the transmission components between the first universal joint 44 at the proximal end of the actuator arm 41 and the second universal joint 22 at the distal end of the control arm 21 also correspond one to one and are connected through transmission cable 23.

[0072] In a preferred embodiment, the first rotating member and the second rotating member of the first universal joint 44 and the second universal joint 22 are both processed into an external gear 446, the rotation axis of the external gear of the first rotating member is the hinge axis between the first rotating member and the first motion platform, and the rotation axis of the external gear of the second rotating member is the hinge axis between the second rotating member and the second motion platform. When adjacent first universal joints 44 or second universal joints 22 are connected in series, the rotating components are driven by the meshing between the corresponding external gears 446. And the transmission ratio of the meshing first rotating member and the second rotating member is 1:1, and the first rotating member and the second rotating member are symmetrical with respect to the connecting plane, which can achieve consistent actions between the two connected universal joints and proportional transmission.

[0073] In a preferred embodiment, the first universal joint 44 and the second universal joint 22 each have three groups of rotating components, and the three groups have the same structure and are evenly distributed along the circumference. Correspondingly, the transmission cables 23 include three groups in total, and each group of transmission cables 23 corresponds to one rotating component. The first motion platform 441 has the same structure as the second motion platform 442; the first rotating member 443 has the same structure as the second rotating member 444; the structure of the third rotating member 445 is symmetrical between the half close to the first rotating member 443 and the half close to the second rotating member 444. In other words, the first rotating member 443 and the second rotating member 444 of each rotating component always maintain symmetry, so that the action of one end can be predicted by controlling the action of the other end after the action is transmitted.

[0074] like Figures 6 to 8 As shown, when the second universal joint 22 of the control arm 21 at the far end and the first universal joint 44 of the actuator arm 41 at the near end are transmitting, the external gear 446 on one side is meshed with a steering gear 26, and then the steering gear 26 is connected to the transmission cable 23. Due to the limitation of the transmission method between universal joints (including the first universal joint and the second universal joint), when the action of the previous universal joint is transmitted to the next universal joint, the rotation directions of the meshing external gears are opposite, and the rotation directions of the two external gears on the two moving platforms on the same universal joint are also opposite. After two reversals, the bending direction of the next universal joint is kept the same as the bending direction of the previous universal joint. However, the transmission between the second universal joint 22 at the far end of the control arm 21 and the first universal joint 44 at the near end of the actuator arm 41 is transmitted through the transmission cable 23, and the transmission cable 23 can only drive the two external gears 446 to rotate in the same direction, so that when the second universal joint 22 bends in one direction, the first universal joint 44 bends in the opposite direction, so that the hand movement during operation is opposite to the bending direction of the actuator end 4, which is not conducive to the operator's simple operation. Therefore, by setting a steering gear 26 to reverse the rotation direction once, the first universal joint 44 and the second universal joint 22 can be bent in one direction, making the operation simpler and more intuitive, which is conducive to the operator's operation. As shown in the figure, the steering gear 26 is preferably installed on one side of the second universal joint 22, because the actuator arm 41 where the first universal joint 44 is located needs to extend into the patient's surgical area, and its size is small and not easy to install. The steering gear 26 is preferably installed on the mounting base 12. The steering gear 26 also includes 3, each of which cooperates with a group of transmission cables 23.

[0075] like Fig. 9As shown, when the wearable multi-degree-of-freedom flexible surgical instrument of the present invention is used, the operator (doctor) extends his entire hand through the annular structure to enter the hand operation area. During minimally invasive surgery, a chuka will be set up in the patient's surgical area to support the surgical instrument of the present application. The support of the operator's wristband to the annular structure of the surgical instrument of the present application can keep the surgical instrument stable, without the need to hold it with the hand, and the entire hand is completely freed to perform other operations. During operation, the operator pinches the control end rotary cap 24 with the index finger and thumb to move left and right and up and down to realize the 2-degree-of-freedom yaw control of the end, twists the rotary cap 24 with two fingers to drive the steering sleeve 5 to rotate to realize the rotation movement of the surgical clamp 43 at the execution end 4, and presses the presser 25 with the remaining three fingers to stretch the cable 6 to realize the opening and closing of the surgical clamp 43; at the same time, the operator pinches the control end 2 rotary cap 24 with the index finger and thumb, and uses the rotary cap 24 as the operating handle of the control arm 21 to push and pull the second universal joint 22 in different directions. The bending action of the second universal joint 22 drives the first universal joint 44 to bend through the transmission cable 23, so that the execution arm 41 bends in different directions, driving the surgical clamp 43 to move. The multi-degree-of-freedom bendable surgical instrument of the present invention gives full play to the control of the doctor's hand, so that the 4-degree-of-freedom control can be completed with one hand, providing the doctor with a dexterous and convenient minimally invasive surgical instrument.

[0076] Example 2

[0077] The rest of the structure is the same as that in Example 1, except that the structure of the screw cap and the presser are different from those in Example 1. Fig.10 and Fig.11 As shown, the screw cap and the presser are designed as one body, named as screw cap 24'. The sealing cap 27', the rotating inner core 28' and the bearing 29' correspond to the sealing cap 27, the rotating inner core 28 and the bearing 29 in Example 1, and the assembly structure is also the same. The part of the rotating inner core 28' that passes through the sealing cap 27' at one end is used to install the screw cap 24'. The screw cap 24' includes a V-shaped pressing member and a V-shaped stretching member. The connecting ends of the two arms of the stretching member are used to be installed and fixed with the rotating inner core 28'. The two arms of the stretching member are respectively hinged with the two arms of the pressing member to form a quadrilateral. The outer sides of the free ends of the two arms of the stretching member can be provided with a pressing area that is convenient for the thumb and index finger to press. The proximal end of the cable is connected to the connection between the two arms of the stretching member.

[0078] When in use, the thumb and index finger deform the V-shaped pressing piece by pressing, thereby causing the V-shaped stretching piece to deform, which is equivalent to a quadrilateral being flattened, with two opposite end points approaching each other and the other two opposite end points moving away from each other, thereby stretching the cable and controlling the clamping of the surgical clamp; on the other hand, the thumb and index finger can rotate the rotary cap 24' to achieve the purpose of twisting the steering sleeve, thereby controlling the rotational movement of the surgical clamp.

Claims

1. A wearable multi-degree-of-freedom bendable surgical instrument, characterized in that: include: The execution end includes an execution arm and a clamp mounting seat arranged at the end of the execution arm, the clamp mounting seat is provided with a surgical clamp, and the execution arm includes a first universal joint of a plurality of sections connected in series; The wearable handle has a base, one end of the base is provided with a mounting base, and the two sides of the other opposite end extend upward and gather to form a ring structure for the hand to extend during operation, and the base, the mounting base and the ring structure together form a hand operation area; The extension section has two ends respectively connected to the actuator arm of the actuator end and the mounting base of the wearing handle; A steering sleeve, which passes through the actuator arm, the extension section and the mounting base in sequence, wherein the distal end of the steering sleeve is connected to the clamp mounting seat, and when the steering sleeve rotates, the clamp mounting seat is driven to rotate so as to adjust the direction of the surgical clamp; A pull cable, disposed in the steering sleeve, for controlling the clamping of the surgical clamp during stretching; The control end is arranged in the hand operation area, including a control arm with one end fixed on the mounting base, the control arm including at least one second universal joint, a transmission cable for transmitting the bending action of the second universal joint to the first universal joint is provided between the second universal joint and a first universal joint of the actuator arm close to the extension section; the proximal end of the steering sleeve passes through the control arm, and the end of the control arm facing the annular structure is provided with a screw cap for controlling the rotation of the steering sleeve, the proximal end of the steering sleeve passes through the screw cap and the passing part is provided with a presser that stretches the cable when pressed; the screw cap and the presser are designed separately or as one body; a sealing cap is provided at the proximal end face of the second universal joint on the control arm, and a rotating inner core is also provided between the sealing cap and the second universal joint, and one end of the rotating inner core passes through the sealing cap for installing the screw cap; During operation, the operator pinches the end rotating cap with the index finger and thumb to move it left and right and up and down to achieve 2-DOF yaw control of the actuator end.

2. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The surgical clamp is provided at one end of the clamp mounting seat, and the other end is rotatably connected to the distal end of the actuator arm and fixed to the distal end of the steering sleeve. The clamp mounting seat has a U-shaped mounting opening, and a slide that can be moved axially by a cable is provided in the U-shaped mounting opening, and the slide has a pair of linear gears arranged opposite to each other along the axial direction. The surgical clamp includes two clamp arms arranged in pairs, and one end of each clamp arm is rotatably connected to the U-shaped mounting opening and has a gear portion that cooperates with one of the linear gears.

3. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The presser includes a V-shaped pressing piece and a V-shaped stretching piece, the two arms of the stretching piece are respectively hinged with the two arms of the pressing piece to form a quadrilateral, the proximal end of the cable is connected to the connection between the two arms of the stretching piece, when in use, the pressing piece is pressed and deformed, driving the stretching piece to deform, thereby stretching the cable.

4. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The top of the annular structure is provided with a backrest portion extending toward one side of the hand operation area for the back of the hand to rest against during operation.

5. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The actuator arm includes 2 to 5 first universal joints connected in series; the control arm includes 1 to 3 second universal joints.

6. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 5, characterized in that: The first universal joints of the actuator arm have the same size, the circumferential outer diameter of the first universal joint is 5-15 mm; the circumferential outer diameter of the second universal joint is 15-30 mm.

7. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The first universal joint and the second universal joint each include two motion platforms and at least three sets of rotating components arranged in parallel between the two motion platforms. The two motion platforms are the first motion platform and the second motion platform. Both the first motion platform and the second motion platform have a rotation center. Each group of rotating components includes a first rotating member hinged to the first moving platform at one end, a second rotating member hinged to the second moving platform at one end, and a third rotating member hinged to the first rotating member and the other end of the second rotating member at both ends. The axis of the hinge shaft of the first rotating member hinged to the first moving platform and the third rotating member passes through the rotation center of the first moving platform; the axis of the hinge shaft of the second rotating member hinged to the second moving platform and the third rotating member passes through the rotation center of the second moving platform. When adjacent first universal joints or second universal joints are connected in series, the rotating components correspond one to one and are connected to each other through transmission; the transmission components between the first universal joint of the actuator arm at the proximal end and the second universal joint of the control arm at the distal end also correspond one to one and are connected through the transmission cable.

8. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 7, characterized in that: The first rotating member and the second rotating member of the first universal joint and the second universal joint are both processed into external gears, the rotation axis of the external gear of the first rotating member is the hinge axis between the first rotating member and the first motion platform, and the rotation axis of the external gear of the second rotating member is the hinge axis between the second rotating member and the second motion platform. When adjacent first universal joints or second universal joints are connected in series, the rotating components are driven by meshing between corresponding external gears.

9. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 8, characterized in that: The first universal joint and the second universal joint each have three rotating components, and the three groups have the same structure and are evenly distributed around the circumference; the first motion platform has the same structure as the second motion platform; the first rotating member has the same structure as the second rotating member; the structure of the third rotating member is symmetrical between the half close to the first rotating member and the half close to the second rotating member.

10. The wearable multi-degree-of-freedom bendable surgical instrument according to claim 8, characterized in that: When the control arm is transmitting between the second universal joint at the far end and the actuator arm is transmitting between the first universal joint at the near end, the outer gear on one side is meshed with a steering gear, and then the steering gear is connected to the transmission cable.

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