retractor

Abstract

This invention relates to a retractor. The retractor includes an end-fixation mechanism, a first clutch mechanism, a first operating lever, and a rotatable instrument rod. The end-fixation mechanism is located at the end of the instrument rod. The first operating lever is located within the instrument rod and can rotate under the drive of the instrument rod. The first clutch mechanism is located between the first operating lever and the end-fixation mechanism, and is used to connect or disconnect the first operating lever from the end-fixation mechanism, so that the end-fixation mechanism rotates together with the instrument rod and the first operating lever or not. This retractor can use the first clutch mechanism to connect or disconnect the end-fixation mechanism from the first operating lever, which rotates with the instrument rod, achieving synchronous or asynchronous rotation of the end-fixation mechanism and the support mechanism, thus ensuring surgical safety.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a retractor. Background Technology

[0002] Laparoscopic surgery is known for its precision and minimally invasive nature. This typically requires a retractor to grasp and pull surrounding tissues or organs to create a stable, appropriately angled surgical field for precise manipulation. One existing technology discloses a retractor with a rotatable connector at the end of its rod. This connector features a negative pressure port and expandable blades with hooks. In use, the blades are closed, and the retractor is inserted into the end of the endoscope's sleeve. Once in the designated position, the blades are opened to push or pull organs, while the hooks pull on the organs. Simultaneously, the negative pressure port uses external equipment to suction the tissue. However, once the retractor has suctioned and secured the tissue, rotating the connector to adjust the blade opening angle could cause tissue injury, compromising the safety of the surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide a puller to address the aforementioned technical problems.

[0004] A retractor includes: an end-fixing mechanism, a first clutch mechanism, a first operating lever, and a rotatable instrument lever;

[0005] The end-fixing mechanism is disposed at the end port of the instrument rod. The first operating lever is disposed on the instrument rod and can rotate under the drive of the instrument rod. The first clutch mechanism is disposed between the first operating lever and the end-fixing mechanism. The first clutch mechanism is used to connect or disconnect the first operating lever from the end-fixing mechanism, so that the end-fixing mechanism may or may not rotate together with the instrument rod and the first operating lever.

[0006] In one embodiment, the first operating lever is movable along the length of the instrument lever until it is connected to or disconnected from the end-fixing mechanism. The first clutch mechanism includes a first locking part disposed on the end-fixing mechanism and a second locking part disposed on the first operating lever. The second locking part is slidable along the length of the instrument lever until it locks or unlocks with the first locking part, so that the first operating lever is connected to or disconnected from the end-fixing mechanism.

[0007] In one embodiment, the retractor further includes a second clutch mechanism, a second operating lever disposed within the instrument rod, and an expandable or retractable support mechanism. The second operating lever is connected to the support mechanism and is capable of linear movement along the length of the instrument rod until the support mechanism is expanded or retracted.

[0008] When the supporting mechanism retracts, the second clutch mechanism is used to rotate the second operating lever under the drive of the instrument lever; when the supporting mechanism unfolds, the second clutch mechanism is used to fix the second operating lever in place.

[0009] In one embodiment, the first operating lever and the second operating lever are either eccentrically or coaxially distributed.

[0010] In one embodiment, the retractor further includes a drive mechanism, which includes a housing and a first drive module, a second drive module, and a third drive module, all disposed on the housing. The first drive module is used to drive the first operating lever to perform linear motion, the second drive module is used to drive the second operating lever to perform linear motion, and the third drive module is used to drive the instrument lever to rotate.

[0011] The second clutch mechanism is disposed on the second drive module or between the second operating lever and the second drive module.

[0012] In one embodiment, both the first and second drive modules are hinged to the housing, and the rotation axes of the first and second drive modules are perpendicular to the axis of the instrument rod.

[0013] The second clutch mechanism includes a third locking part disposed on the second drive module and a fourth locking part disposed on the second operating lever. The third locking part can lock or unlock with the fourth locking part.

[0014] In one embodiment, the third and fourth locking parts are rack and pinion structures, and the distance between the rack on the fourth locking part and the axis of the second operating lever gradually decreases along the direction from the end fixing mechanism to the second drive module.

[0015] In one embodiment, the first drive module and the second drive module are distributed sequentially along the length of the instrument rod;

[0016] The drive mechanism also includes an auxiliary operation module fixedly mounted on the housing, the auxiliary operation module being located between the first drive module and the second drive module.

[0017] In one embodiment, the first drive module includes a first drive unit and a first transmission unit. The first transmission unit is connected to the output shaft of the first drive unit and the first operating lever. The first transmission unit drives the first operating lever to move linearly along the length of the instrument lever; and / or

[0018] The second drive module includes a second drive unit and a second transmission unit. The second transmission unit is connected to the output shaft of the second drive unit and the second operating lever. The second transmission unit drives the second operating lever to move linearly along the length of the instrument lever; and / or,

[0019] The third drive module includes a third drive unit and a third transmission unit. The third transmission unit is connected to the output shaft of the third drive unit and the instrument rod, and the third transmission unit drives the instrument rod to rotate.

[0020] In one embodiment, the support mechanism is an elastically deformable spiral coil structure, with one end of the spiral coil structure fixed inside the instrument rod and the other end able to rotate inside the instrument rod to expand or contract the support mechanism.

[0021] In one embodiment, the retractor further includes a transmission mechanism, which includes a first transmission member rotatably disposed within the instrument rod and a second transmission member linearly disposed within the instrument rod. The second transmission member can drive the first transmission member to rotate during movement along the length direction of the instrument rod. One end of the spiral coil structure is connected to the instrument rod, and the other end is connected to the first transmission member.

[0022] The aforementioned retractor integrates the distal fixation mechanism and the support mechanism onto the same instrument rod, allowing for integrated operation of tissue grasping and visceral organ support in clinical practice, thus improving operational efficiency. Furthermore, a first clutch mechanism connects or disconnects the distal fixation mechanism from a first operating rod that rotates with the instrument rod. This allows the distal fixation mechanism to rotate with or without the first operating rod, achieving synchronous or asynchronous rotation of the distal fixation mechanism and the support mechanism. After the distal fixation mechanism has secured the tissue, if the optimal surgical angle is to be determined, the support mechanism can be rotated further without rotating the distal fixation mechanism, preventing the twisting of the grasped tissue and ensuring surgical safety. Attached Figure Description

[0023] Figure 1 This is a structural block diagram of the puller provided in some embodiments of the present invention when the supporting mechanism is deployed;

[0024] Figure 2This is a three-dimensional structural diagram of the puller provided in Embodiment 1 of the present invention when the supporting mechanism is deployed;

[0025] Figure 3 This is a schematic diagram of the internal structure of the puller provided in Embodiment 1 of the present invention when the supporting mechanism is deployed;

[0026] Figure 4 for Figure 3 A magnified view of a portion of the image;

[0027] Figure 5 This is a three-dimensional structural diagram of the end fixing structure provided in Embodiment 1 of the present invention when it is opened;

[0028] Figure 6 This is a schematic diagram showing the engagement of the end fixing structure with the first clutch mechanism when it is opened, as provided in Embodiment 1 of the present invention.

[0029] Figure 7 This is a partial structural schematic diagram of the instrument rod provided in Embodiment 1 of the present invention;

[0030] Figure 8 This is a schematic diagram of the cooperation between the first operating lever and the second operating lever provided in Embodiment 1 of the present invention;

[0031] Figure 9 This is a partial structural schematic diagram of the instrument rod provided in Embodiment 1 of the present invention;

[0032] Figure 10 This is a schematic diagram of the internal partial structure of the puller provided in Embodiment 1 of the present invention when the end fixing structure is closed;

[0033] Figure 11 for Figure 3 A magnified view of a portion of the image;

[0034] Figure 12 This is a three-dimensional structural diagram of the third driving module provided in Embodiment 1 of the present invention;

[0035] Figure 13 This is a schematic diagram showing the cooperation between the second connecting cylinder and the end fixing mechanism provided in Embodiment 1 of the present invention;

[0036] Figure 14 This is a three-dimensional structural diagram of the first type of support mechanism provided in Embodiment 1 of the present invention when it is unfolded.

[0037] Figure 15 This is a three-dimensional structural diagram of the second type of support mechanism provided in Embodiment 1 of the present invention when it is unfolded.

[0038] Figure 16 This is a three-dimensional structural diagram of the third type of support mechanism provided in Embodiment 1 of the present invention when unfolded;

[0039] Figure 17 This is a simplified structural diagram of the puller provided in Embodiment 2 of the present invention when the supporting mechanism is deployed;

[0040] Figure 18 This is a schematic diagram of the structure of the puller provided in Embodiment 3 of the present invention when the supporting mechanism is deployed;

[0041] Figure 19 This is a three-dimensional structural diagram of the support mechanism provided in Embodiment 3 of the present invention when it is unfolded.

[0042] Figure 20 This is a schematic diagram illustrating the cooperation between the transmission mechanism and the supporting mechanism provided in Embodiment 3 of the present invention;

[0043] Figure 21 This is a schematic diagram showing the cooperation between the transmission mechanism, the support mechanism, and the second operating lever provided in Embodiment 3 of the present invention;

[0044] Figure 22 This is a schematic diagram of the structure of the puller provided in Embodiment 4 of the present invention when the supporting mechanism is deployed;

[0045] Figure 23 This is a schematic diagram of the internal structure of the drive mechanism provided in Embodiment 4 of the present invention;

[0046] Figure 24 This is a schematic diagram of the internal partial structure of the retractor provided in Embodiment 4 of the present invention;

[0047] Figure 25 for Figure 24 A magnified view of a portion of the image;

[0048] Figure 26 This is a schematic diagram showing the cooperation between the third drive assembly and the instrument rod provided in Embodiment 4 of the present invention;

[0049] Figure 27 A bottom view of the drive mechanism provided in Embodiment 4 of the present invention;

[0050] Figure 28 This is a schematic diagram of the structure of the puller provided in Embodiment 5 of the present invention when the supporting mechanism is deployed;

[0051] Figure 29 This is a schematic diagram of the cooperation between the negative pressure suction mechanism and the first operating rod provided in Embodiment 5 of the present invention. Detailed Implementation

[0052] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0053] It should be noted that the terms "distal" and "proximal" in the text are only used to indicate relative positional relationships. The "distal" end of a component refers to the end that enters the patient's body first and / or is farther away from the surgeon during normal operation, while the "proximal" end refers to the end that enters the patient's body later and / or is closer to the surgeon.

[0054] See Figure 1 An embodiment of the present invention provides a retractor, including an end-fixing mechanism 100, a first clutch mechanism 210, a first operating lever 310, and a rotatable instrument lever 500. The end-fixing mechanism 100 is disposed at the end port of the instrument lever 500. The first operating lever 310 is disposed within the instrument lever 500 and can rotate under the drive of the instrument lever 500. The first clutch mechanism 210 is disposed between the first operating lever 310 and the end-fixing mechanism 100, and is used to connect or disconnect the first operating lever 310 from the end-fixing mechanism 100, so that the end-fixing mechanism 100 rotates together with the first operating lever 310 and the instrument lever 500 or does not rotate together. It should be noted that, in order to clearly describe the connection relationship between the various components of the retractor, Figure 1 The diagrams shown are simplified representations of the components of the retractor and do not represent the actual structures of each component.

[0055] As an example, see Figure 1 The retractor also includes a support mechanism 400 disposed on the instrument rod 500. The support mechanism 400 can extend to the outside of the instrument rod 500 or retract into the instrument rod 500, and the support mechanism 400 can rotate under the drive of the instrument rod 500. It should be noted that the support mechanism 400 and the first operating lever 310 will rotate with the rotation of the instrument rod 500, that is, the three rotate synchronously.

[0056] The aforementioned retractor can be used in laparoscopic surgery, such as cholecystectomy. In cholecystectomy, the gallbladder is located below and covered by the liver. In its natural state, the gallbladder cannot be exposed to the abdominal cavity for surgery. Therefore, it is necessary to continuously support the liver during the operation to expose the gallbladder to the surgical field. The working principle of the aforementioned retractor will be described below using cholecystectomy as an example:

[0057] First, the first operating lever 310 is connected to the end fixation mechanism 100 using the first clutch mechanism 210, and the support mechanism 400 is retracted into the instrument lever 500. Then, the instrument lever 500 is rotated, causing the support mechanism 400, the first operating lever 310, and the end fixation mechanism 100 to rotate together, thereby finding the optimal gripping angle of the end fixation mechanism 100 during clinical surgery. Afterward, the end fixation mechanism 100 is used to grip and fix the tissue, and the connection between the first operating lever 310 and the end fixation mechanism 100 is disconnected using the first clutch mechanism 210. Then, the instrument lever 500 is rotated again, causing the support mechanism 400 and the first operating lever 310 to rotate together, thereby adjusting the unfolding angle of the support mechanism 400. During this process, the end fixation mechanism 100, having disconnected from the first operating lever 310, does not rotate with the first operating lever 310, thus avoiding twisting the gripped tissue due to its own rotation. Finally, the support mechanism 400 is deployed so that it extends outside the instrument rod 500, thus supporting the organ tissue and exposing the gallbladder to the field of vision for surgery.

[0058] As can be seen, the aforementioned retractor, the end fixation mechanism 100, and the support mechanism 400 can be integrated on the same instrument rod 500, allowing tissue grasping and visceral organ support to be operated in one step in clinical practice, improving operational efficiency. Furthermore, the first clutch mechanism 210 connects or disconnects the end fixation mechanism 100 from the first operating rod 310, which rotates with the instrument rod 500. This allows the end fixation mechanism 100 to rotate with or without the first operating rod 310, achieving synchronous or asynchronous rotation of the end fixation mechanism 100 and the support mechanism 400. After the end fixation mechanism 100 has grasped and fixed the tissue, if the optimal surgical angle is to be further explored, the support mechanism 400 can be rotated further. During this process, the end fixation mechanism 100 does not rotate, avoiding twisting of the grasped tissue and ensuring the safety of the surgery.

[0059] The following describes four embodiments of the retractor's structure.

[0060] Example 1

[0061] like Figure 2 As shown, this embodiment provides a retractor. It should be noted that... Figure 2 The support mechanism 400 shown is in the deployed state, at which time the first operating lever 310 is disconnected from the end fixing mechanism 100.

[0062] In this embodiment, such as Figure 3As shown, the first operating lever 310 can move along the length of the instrument lever 500 until it is connected to or disconnected from the end-fixation mechanism 100. During the search for a suitable surgical angle, the first operating lever 310 can be pushed or pulled along the length of the instrument lever 500, thereby pushing or pulling the first clutch mechanism 210 to connect or disconnect the first operating lever 310 from the end-fixation mechanism 100, improving surgical efficiency. It should be noted that... Figure 3 The double arrows on the lines shown represent the direction of movement of the corresponding components.

[0063] Furthermore, in this embodiment, as Figure 4 As shown, the first clutch mechanism 210 includes a first locking part 211 disposed on the end-fixing mechanism 100 and a second locking part 212 disposed on the first operating lever 310. The second locking part 212 can slide along the length direction of the instrument lever 500 until it locks or unlocks with the first locking part 211, so that the first operating lever 310 is connected or disconnected from the end-fixing mechanism 100. This first clutch mechanism 210 can both connect and disconnect the end-fixing mechanism 100 from the first operating lever 310 and has the characteristics of simple structure.

[0064] See Figure 5 The end of the end-fixing structure near the support mechanism 400 may be provided with mounting posts 110 distributed along the length of the instrument rod 500. A first locking part 211 may be provided on the mounting post 110, and a second locking part 212 may slide along the mounting post 110 until it locks or unlocks with the first locking part 211. This facilitates locking or unlocking of the first locking part 211 and the second locking part 212. See also... Figure 5 and Figure 6 A first stop portion 111 may be provided at one end of the mounting post 110 near the support mechanism 400, and a second locking portion 212 may slide along the direction near the support mechanism 400 until it abuts against the first stop portion 111. The stop portion can limit the distance that the second locking portion 212 slides along the direction near the support mechanism 400, and prevent the second locking portion 212 from disengaging from the mounting post 110.

[0065] See Figure 4 The ends of the first locking part 211 near the second locking part 212 and the ends of the second locking part 212 near the first locking part 211 are provided with toothed surfaces for engaging and locking. By engaging the toothed surfaces on the first locking part 211 and the second locking part 212, the locking of the first locking part 211 and the second locking part 212 can be achieved.

[0066] The first locking part 211 can be integrally molded, welded, or bonded to the end fixing structure, and the second locking part 212 can also be integrally molded, bonded, or welded to the first operating rod 310.

[0067] In this embodiment, such as Figure 3 As shown, the retractor also includes a second operating lever 320 disposed within the instrument rod 500. The second operating lever 320 is connected to the support mechanism 400, and can move linearly along the length of the instrument rod 500 until the support mechanism 400 is expanded or retracted. During the search for a suitable surgical operating angle, the second operating lever 320 can be pushed or pulled along the length of the instrument rod 500 to expand or retract the support mechanism 400, improving surgical efficiency. It should be noted that... (See also...) Figure 7 The instrument rod 500 has an opening 500c on its side wall that communicates with its own rod cavity. The support mechanism 400 can extend out of the instrument rod 500 or retract into the instrument rod 500 through the opening 500c.

[0068] In this embodiment, such as Figure 8 As shown, the first operating lever 310 and the second operating lever 320 are eccentrically distributed (i.e., positioned on opposite sides of the axis of the instrument lever 500); as Figure 9 As shown, the proximal end face of the instrument rod 500 has a first guide hole 500a and a second guide hole 500b distributed on both sides of the axis of the instrument rod 500. The first guide hole 500a is used for the passage of the first operating rod 310, and the second guide hole 500b is used for the passage of the second operating rod 320. The first operating rod 310 and the second operating rod 320 are eccentrically positioned on the instrument rod 500. Therefore, when the instrument rod 500 rotates, it will simultaneously drive the first operating rod 310 and the second operating rod 320 to rotate. Furthermore, the placement of the first guide hole 500a and the second guide hole 500b can meet the requirement of small-angle rotation of the first operating rod 310 and the second operating rod 320 during their revolution, thus ensuring the normal use of the retractor. It should be noted that... Figure 8 The dotted line in the diagram represents the axis of the instrument lever 500. It should be noted that... Figure 9 The placement direction of the instrument rod 500 shown is the same as... Figure 7 The instrument rod 500 shown is placed in the opposite direction.

[0069] The first operating lever 310 and the second operating lever 320 are symmetrically distributed on both sides of the axis of the instrument lever 500. Correspondingly, the first guide hole 500a and the second guide hole 500b are symmetrically distributed on both sides of the axis of the instrument lever 500.

[0070] See Figure 8The proximal end of the first operating lever 310 extends from the first guide hole 500a of the instrument lever 500 and is provided with a first extension section 311. The proximal end of the second operating lever 320 extends from the second guide hole 500b of the instrument lever 500 and is provided with a second extension section 321. Both the first extension section 311 and the second extension section 321 are coaxially distributed with the instrument lever 500. The first extension section 311 is fitted outside the second extension section 321, or the second extension section 321 is fitted outside the first extension section 311. This arrangement facilitates the connection of the first operating lever 310 and the second operating lever 320 with other components, such as the drive mechanism 600 described below. The first extension section 311 can be connected to the first operating lever 310 by welding, integral molding, or other methods, and the second extension section 321 can be connected to the second operating lever 320 by welding, integral molding, or other methods.

[0071] Similarly, see Figure 8 The end of the first operating lever 310 furthest from the support mechanism 400 may be provided with a third extension section 312 coaxially distributed with the instrument lever 500, and the third extension section 312 is connected to the first clutch mechanism 210. This ensures that the end-fixing mechanism 100 can be coaxially distributed with the instrument lever 500, and ensures the gripping force of the end-fixing mechanism 100.

[0072] like Figure 10 As shown, the retractor also includes a second clutch mechanism 220. When the support mechanism 400 retracts, the second clutch mechanism 220 is used to rotate the second operating lever 320 under the drive of the instrument lever 500. When the support mechanism 400 unfolds, the second clutch mechanism 220 is used to fix the second operating lever 320 stationary. After adjusting the unfolding angle of the support mechanism 400 and unfolding the support mechanism 400, the second clutch mechanism 220 is used to fix the second operating lever 320 stationary, which can prevent the support mechanism 400 from rotating and ensure stable support during the operation.

[0073] like Figure 3 As shown, the retractor also includes a drive mechanism 600, which includes a housing 640 and a first drive module 610, a second drive module 620, and a third drive module 630, all mounted on the housing 640. The first drive module 610 drives the first operating lever 310 to move linearly, the second drive module 620 drives the second operating lever 320 to move linearly, and the third drive module 630 drives the instrument lever 500 to rotate. A second clutch mechanism 220 is disposed between the second operating lever 320 and the second drive module 620.

[0074] Specifically, both the first drive module 610 and the second drive module 620 are hinged to the housing 640, and the rotation axes of the first drive module 610 and the second drive module 620 are perpendicular to the axis of the instrument rod 500. By moving the first drive module 610, the first operating rod 310 is driven to make linear motion, thereby causing the first clutch mechanism 210 to connect or disconnect the end fixing mechanism 100 from the first operating rod 310, that is, to lock or unlock the first locking part 211 and the second locking part 212; by moving the second drive module 620, the second operating rod 320 is driven to make linear motion, thereby expanding or contracting the support mechanism 400.

[0075] The first drive module 610 has a first operating end and a first mounting end. The first operating end is for the operator to operate, and the first mounting end is for pushing and pulling the first operating lever 310. The pivot on the first drive module 610 is located between the first operating end and the first mounting end. The second drive module 620 has a second operating end and a second mounting end. The second operating end is for the operator to operate, and the second mounting end is for pushing and pulling the second operating lever 320. The pivot on the second drive module 620 is located between the second operating end and the second mounting end. It is understood that when the first drive module 610 is operated, the first operating end and the first mounting end move in opposite directions, for example, see [reference needed]. Figure 3 When the first operating end of the first drive module 610 is turned to the right, the first mounting end moves to the left; similarly, when the second drive module 620 is turned, the second operating end and the second mounting end move in opposite directions.

[0076] The first drive module 610 and the second drive module 620 can be sequentially distributed along the direction close to the end fixing mechanism 100. The second extension 321 on the second operating lever 320 cooperates with the second drive module 620, and the first extension 311 on the first operating lever 310 passes through the second extension 321 and cooperates with the first drive module 610. Of course, the first drive module 610 and the second drive module 620 can also be sequentially distributed along the direction away from the end fixing mechanism 100. In this case, the second extension 321 on the second operating lever 320 passes through the first extension 311 and cooperates with the second drive module 620.

[0077] See Figure 10The first drive module 610 may be provided with a first through hole 610a for the first extension 311 to pass through, and the second drive module 620 may be provided with a second through hole for the second extension 321 to pass through. As an example, the first through hole 610a is opened at a first mounting end on the first drive module 610, and the second through hole is opened at a second mounting end on the second drive module 620. The first through hole 610a can ensure the rotation and linear movement of the first operating lever 310, and the second through hole can ensure the rotation and linear movement of the second operating lever 320. The first extension 311 may also be provided with a second stop portion 3111 and a third stop portion 3112 spaced apart along its own axial direction, and the first drive module 610 is limited between the second stop portion 3111 and the third stop portion 3112; the second extension 321 may also be provided with a fourth stop portion 3211 and a fifth stop portion 3212 spaced apart along its own axial direction, and the second drive module 620 is limited between the fourth stop portion 3211 and the fifth stop portion 3212. This ensures that the first drive module 610 can effectively drive the first operating lever 310 to perform linear motion, and the second drive module 620 can effectively drive the second operating lever 320 to perform linear motion.

[0078] like Figure 11 As shown, the first drive module 610 and the second drive module 620 are sequentially distributed along the length of the instrument lever 500. The drive mechanism 600 also includes an auxiliary operation module 650 fixedly mounted on the housing 640, located between the first drive module 610 and the second drive module 620. The first drive module 610, the second drive module 620, and the auxiliary operation module 650 can cooperate to form a three-handle finger lever structure, allowing the surgeon to use all five fingers of one hand simultaneously. The thumb can move the first drive module 610 to push and pull the first clutch mechanism 210 to connect or disconnect the first operating lever 310 from the end fixing mechanism 100. The index and middle fingers support the auxiliary operation module 650, and the ring and little fingers can move the second drive module 620 to control the opening and closing of the support mechanism 400. During the operation, there is no need to change the hand posture. The other hand can hold the instrument lever 500 for rotation, thus improving operational efficiency.

[0079] See Figure 11 Both the first drive module 610 and the second drive module 620 can be provided with a first gripping through hole 600a and a gripping hook 600b sequentially along the direction of the first extension section 311. The auxiliary operation module 650 can be provided with two second gripping through holes 600c sequentially along the direction of the first extension section 311. As an example, both the first operation end of the first drive module 610 and the second operation end of the second drive module 620 are provided with a first gripping through hole 600a and a gripping hook 600b.

[0080] like Figure 10As shown, the second clutch mechanism 220 may include a third locking part 221 disposed on the second drive module 620 and a fourth locking part 222 disposed on the second operating lever 320. The third locking part 221 can lock or unlock with the fourth locking part 222. When the third locking part 221 is locked with the fourth locking part 222, the second operating lever 320 will no longer rotate; when the third locking part 221 is unlocked with the fourth locking part 222, the second operating lever 320 can rotate together with the instrument lever 500.

[0081] See Figure 10 The third locking part 221 can be provided on the inner wall of the second through hole of the second drive module 620, and the fourth locking part 222 can be provided on the fourth stop part 3211 on the second operating lever 320.

[0082] See Figure 10 The third locking part 221 and the fourth locking part 222 are rack and pinion structures, and the distance between the rack on the fourth locking part 222 and the axis of the second operating lever 320 gradually decreases along the direction from the end fixing mechanism 100 to the second drive module 620. This rack and pinion structure configuration of the third locking part 221 and the fourth locking part 222 allows for effective meshing between the rack on the third locking part 221 and the rack on the fourth locking part 222, thereby ensuring effective locking of the third locking part 221 and the fourth locking part 222.

[0083] In this embodiment, such as Figure 3 As shown, the third drive module 630 is a cylindrical structure that fits around the instrument rod 500. Rotating the third drive module 630 drives the instrument rod 500 to rotate. It should be noted that the third drive module 630 is rotatable relative to the drive mechanism 600.

[0084] See Figure 9 and Figure 12 The inner wall of the third drive module 630 may be provided with a buckle 633 and / or a slot along the circumference, and the outer wall of the instrument rod 500 may be provided with a slot 500d and / or a buckle along the circumference, with the buckle 633 engaging in the corresponding slot 500d. This facilitates the replacement of the third drive module 630.

[0085] See Figure 12 The outer wall of the aforementioned third drive module 630 may be provided with a gripping groove 630a along the circumference. The gripping groove 630a facilitates gripping of the third drive module 630.

[0086] The end of the aforementioned instrument rod 500 furthest from the end-fixing mechanism 100 can be connected to the housing 640 of the drive mechanism 600 via a first connecting cylinder (not shown in the attached drawings). The proximal end of the instrument rod 500 may have a first annular groove (not shown in the attached drawings), and the end of the first connecting cylinder furthest from the housing 640 may have a first limiting boss (not shown in the attached drawings), which is positioned within the first annular groove. The engagement of the first limiting boss and the first annular groove ensures that the instrument rod 500 can rotate relative to the housing 640. Alternatively, the end of the instrument rod 500 furthest from the end-fixing mechanism 100 may also have a first limiting boss, and the end of the first connecting cylinder furthest from the housing 640 may have a first annular groove. Multiple first limiting bosses may be present, evenly distributed circumferentially, and may be configured as an inverted structure.

[0087] In this embodiment, such as Figure 5 As shown, the end-fixation mechanism 100 is an openable clamp structure. The first operating lever can open or close the end-fixation mechanism 100 during movement along the length of the instrument lever 500. When the end-fixation mechanism 100 is in the open state, it is connected to the first operating lever 310; when it is in the closed state, it is disconnected from the first operating lever 310. The end-fixation mechanism 100 can use clamping force to fix surrounding tissues. By setting the cooperation relationship between the end-fixation mechanism 100 and the first clutch mechanism 210 in this way, the end-fixation mechanism 100 can rotate with the first operating lever 310 when it is open, and will not rotate with the first operating lever 310 once it is closed, ensuring the smooth progress and safety of the operation.

[0088] See Figure 5 The aforementioned end-fixing mechanism 100 may include a clamping part 120 and a connecting rod part 130 connected together. The clamping part 120 includes a first clamp 121 and a second clamp 122, both of which are rotatable. The end of the connecting rod part 130 away from the clamping part 120 is hinged to the mounting post 110. The connecting rod part 130 can deform during the movement of the first operating lever 310 along the length direction of the instrument lever 500, so that the first clamp 121 and the second clamp 122 rotate in opposite directions or in opposite directions, thereby opening or closing the clamping part 120.

[0089] The connecting rod portion 130 may include a first connecting rod portion 131 and a second connecting rod portion 132. The first connecting rod portion 131 includes a first connecting rod 1311 and a second connecting rod 1312 hinged together. The second connecting rod portion 132 includes a third connecting rod 1321 and a fourth connecting rod 1322 hinged together. The first connecting rod 1311 is connected to the first clamp 121, the third connecting rod 1321 is connected to the second clamp 122, and the second connecting rod 1312 and the fourth connecting rod 1322 are hinged to the mounting post 110. The middle portion of the first connecting rod 1311 is also hinged to the middle portion of the second connecting rod 1312. The first connecting rod 1311 and the third connecting rod 1321 may be Z-shaped. It should be noted that during the movement of the first operating lever 310 along the length of the instrument lever 500, the hinge point at the middle of the first connecting rod 1311 and the third connecting rod 1321 remains fixed.

[0090] like Figure 2 As shown, a second connecting cylinder 520 can be provided at the distal end of the aforementioned instrument rod 500, and the end fixing mechanism 100 can be connected to the second connecting cylinder 520. For example, the middle portions of the first connecting rod 1311 and the third connecting rod 1321 can be fixed within the second connecting cylinder 520 by a pin. A second annular groove (not shown in the attached figure) can be provided at the end of the aforementioned instrument rod 500 away from the supporting mechanism 400, and a second limiting boss 520a (see attached figure) is provided at the end of the second connecting cylinder 520 near the supporting mechanism 400. Figure 13 The second limiting boss 520a is located within the second annular groove. The engagement of the second limiting boss 520a and the second annular groove ensures that the instrument rod 500 can rotate relative to the end fixing mechanism 100. Alternatively, the end of the instrument rod 500 furthest from the supporting mechanism 400 may also have a second limiting boss 520a, and the end of the second connecting cylinder 520 closest to the supporting mechanism 400 may have a second annular groove. Multiple second limiting bosses 520a can be present and evenly distributed circumferentially; the second limiting bosses 520a can also be configured as an inverted structure.

[0091] In this embodiment, the support mechanism 400 is a symmetrical polygonal linkage structure, and the axis of symmetry of the support mechanism 400 is parallel or collinear with the axis of the instrument rod 500. This type of support mechanism 400 has a simple structure and is easy to deploy or retract. It should be noted that the instrument rod 500 has two openings 500c.

[0092] See Figure 14The aforementioned support mechanism 400 can be a quadrilateral linkage structure, that is, the support mechanism 400 includes a first link 410, a second link 420, a third link 430 and a fourth link 440 that are hinged end to end. The hinge joint of the first link 410 and the fourth link 440 is also connected to the instrument rod 500, and the hinge joint of the second link 420 and the third link 430 is also connected to the second operating rod 320.

[0093] See Figure 15 and Figure 16 The aforementioned support mechanism 400 can also be a hexagonal linkage structure, that is, the support mechanism 400 includes a fifth link 450, a sixth link 460, a seventh link 470, an eighth link 480, a ninth link 490, and a tenth link 4100 that are hinged end to end. The hinge joint of the fifth link 450 and the tenth link 4100 is also connected to the instrument rod 500, and the hinge joint of the seventh link 470 and the eighth link 480 is also connected to the second operating rod 320. Compared with the quadrilateral linkage structure, the hexagonal linkage structure has a larger unfolded area perpendicular to the instrument rod 500, which is more conducive to supporting the liver.

[0094] See Figure 15 The hinge positions of the fifth link 450 and the tenth link 4100, and the hinge positions of the seventh link 470 and the eighth link 480, bulge outward relative to the hexagonal link structure. See also Figure 16 The hinge positions of the fifth link 450 and the tenth link 4100, and the hinge positions of the seventh link 470 and the eighth link 480 can also be concave inward relative to the hexagonal link structure. Figure 16 The polygonal link structure shown is compared to Figure 15 The polygonal linkage structure shown can relatively shorten the length of the instrument rod 500.

[0095] The working process of the puller as described above is described below:

[0096] See Figure 3 Before the procedure, the surgeon can place the thumb of one hand on the first drive module 610 (i.e., Figure 3 The index and middle fingers are placed at the first grip through-hole 600a on the first operating part of the right-hand lever shown in the diagram, respectively, and the index and middle fingers are placed at the corresponding second grip through-holes 600c on the auxiliary operating module 650. The ring finger is placed on the second drive module 620 (i.e., Figure 2 At the first gripping through hole 600a on the second operating part of the left-hand finger lever shown, the little finger can be placed on the gripping hook 600b on the second operating part of the second drive module 620. In this way, the clamping part 120 of the end fixing structure and the support mechanism 400 can be operated by the five fingers of one hand in a coordinated manner, while the other hand can control the third control module.

[0097] The surgeon pulls the first operating part of the first drive module 610 to the right, causing the first operating lever 310 to open the clamping part 120 of the end fixation mechanism 100 and connect the first operating lever 310 to the end fixation mechanism 100. Then, the surgeon's other hand grasps and rotates the third drive module 630, causing the instrument lever 500 to rotate. The end fixation mechanism 100 and the support mechanism 400 rotate together with the instrument lever 500, allowing for the search of the optimal clamping angle during clinical surgery. Next, the surgeon presses the first operating part of the first drive module 610 to the left, causing the first operating linkage to close the clamping part 120 of the end fixation mechanism 100 and disconnect the connection between the first operating lever 310 and the end fixation mechanism 100. At this point, the end fixation mechanism 100 will not rotate with the first operating lever 310 due to the disengagement of the clutch, preventing the clamping part 120 of the end fixation mechanism 100 from rotating and twisting the tissue after closing.

[0098] The third drive module 630 continues to rotate, thereby driving the instrument lever 500 to rotate as well. The support mechanism 400 also continues to rotate with the instrument lever 500, thus adjusting the planar angle of the support mechanism 400 to be opened. Then, the surgeon presses the second operating part of the second drive module 620 to the right, and the second operating lever 320 opens the support mechanism 400 and locks the third locking part 221 and the fourth locking part 222 of the second clutch mechanism 220. The support mechanism 400 is opened to support organs and tissues clinically, and the locking of the third and fourth locking parts 222 of the second clutch mechanism 220 can prevent the support mechanism 400 from rotating, ensuring stable support during the operation.

[0099] After the surgery is completed, hold the third drive module 630 with one hand to prevent the instrument rod 500 from rotating. The surgeon opens the second drive module 620 to the left, and the support mechanism 400 retracts back into the instrument rod 500. The surgeon opens the first drive module 610 to the right, and the end fixation mechanism 100 opens, releasing the clamped tissue. At this point, all instrument functions are deactivated, and the retractor can be removed from the abdominal cavity.

[0100] Example 2

[0101] like Figure 17 As shown, this embodiment provides a retractor. The difference compared to the retractor provided in Embodiment 1 lies in the positional relationship between the first operating lever 310, the second operating lever 320, and the instrument lever 500. For example... Figure 3 As shown, in this embodiment, both the first operating lever 310 and the second operating lever 320 are coaxially distributed with the instrument lever 500, and the second operating lever 320 is sleeved outside the first operating lever 310. The retractor also includes a guide limiting mechanism, which enables both the first and second operating levers 320 to move along the axial direction of the instrument lever 500 and rotate together with the instrument lever 500. This arrangement makes the structure of the retractor more compact.

[0102] It should be noted that the second operating lever 320 extends through the instrument lever 500 and is connected to the second drive module 620, while the first operating lever 310 extends through the second operating lever 320 and is connected to the first drive module 610.

[0103] In this embodiment, such as Figure 17 As shown, the guide limiting mechanism may include a cooperating guide limiting member 510 and a guide limiting groove (not shown in the figure), the guide limiting groove being distributed along the length direction of the instrument rod 500; the guide limiting member 510 is disposed on the instrument rod 500 or the first and second operating rods 320, and the guide limiting groove is disposed on the first and second operating rods 320 or the instrument rod 500. Specifically, the guide limiting groove is a through groove and is disposed on the first operating rod 310 and the second operating rod 320, the guide limiting member 510 is disposed on the instrument rod 500 and passes through the guide limiting groove on the first operating rod 310 and the guide limiting groove on the second operating rod 320. The guide limiting member 510 may be a pin.

[0104] Example 3

[0105] like Figure 18 As shown, this embodiment provides a retractor. The retractor differs from that provided in Embodiment 1 in the structural type of the supporting mechanism 400. For example... Figure 19 As shown, in this embodiment, the support mechanism 400 is an elastically deformable spiral wire structure. One end of the support mechanism 400 is fixed inside the instrument rod 500, while the other end can rotate within the instrument rod 500 to expand or contract the support mechanism 400. It should be noted that the support mechanism 400 not only exhibits elastic deformation but also possesses a certain degree of toughness to prevent collapse after expansion. The support mechanism 400 can be made of stainless steel, beryllium copper alloy, or plastic. This structure of the support mechanism 400 is relatively flexible, reducing damage to tissues.

[0106] The cross-section of the aforementioned spiral coil structure can be circular or rectangular.

[0107] like Figure 20 and Figure 21As shown, in this embodiment, the retractor further includes a transmission mechanism 800. The transmission mechanism 800 includes a first transmission member 810 rotatably disposed within the instrument rod 500 and a second transmission member 820 linearly disposed within the instrument rod 500. The second transmission member 820 can drive the first transmission member 810 to rotate during movement along the length direction of the instrument rod 500. One end of the supporting mechanism 400 is connected to the instrument rod 500, and the other end is connected to the first transmission member 810. The second transmission member 820 can be connected to a second operating lever 320. When the second operating lever 320 moves along the length direction of the instrument rod 500, it can drive the second transmission member 820 to move along the length direction of the instrument rod 500, thereby driving the rotation of the first transmission member 810. During rotation, the first transmission member 810 can expand or contract the supporting mechanism 400.

[0108] The first and second transmission components 820 mentioned above can be coupled via a rack and pinion transmission method. See [link / reference needed]. Figure 20 The first transmission component 810 can be a gear, and the second transmission component 820 can be a transmission component with a rack. For example, the second transmission component 820 can be a "U"-shaped frame structure with a rack. One end of the supporting mechanism 400 can be connected to the center or bottom tangent of the first transmission component 810.

[0109] The first and second transmission components 820 mentioned above can be coupled through a lead screw transmission method. The first transmission component 810 can be a lead screw nut, and the second transmission component 820 can be a lead screw.

[0110] Example 4

[0111] like Figure 22 As shown, this embodiment provides a retractor. Unlike the retractor of Embodiment 1, the drive mechanism 600 has a different structure and does not include a second clutch mechanism 220. In this embodiment, the drive mechanism 600 can be an instrument box.

[0112] like Figure 23 As shown, in this embodiment, the first drive module 610 includes a first drive unit 611 and a first transmission unit 612. The first transmission unit 612 is connected to the output shaft of the first drive unit 611 and the first operating lever 310. The first transmission unit 612 drives the first operating lever 310 to move linearly along the length of the instrument lever 500. The first drive unit 611 can be a first rotor mounted on the instrument box body. The first transmission unit 612 can be a transmission type combining belt drive and lead screw drive. Specifically, see [link to documentation]. Figure 23The first transmission unit 612 may include a first pulley 6121 mounted on the first rotor, a first lead screw 6122 mounted on the first operating lever 310, a first lead wheel 6123 cooperating with the first lead screw 6122, and a first conveyor belt 6124 tensioned between the first pulley 6121 and the first lead wheel 6123. Of course, the first transmission unit 612 may be a transmission type combining belt drive and rack and pinion drive.

[0113] like Figure 23 As shown, in this embodiment, the second drive module 620 includes a second drive unit 621 and a second transmission unit 622. The second transmission unit 622 is connected to the output shaft of the second drive unit 621 and the second operating lever 320. The second transmission unit 622 drives the second operating lever 320 to move linearly along the length of the instrument lever 500. The second drive unit 621 can be a second rotor mounted on the instrument box body. The second transmission unit 622 can be a transmission type combining belt drive and lead screw drive. Specifically, see [link to documentation]. Figure 23 The second transmission unit 622 may include a second pulley 6221 mounted on the second rotor, a second lead screw 6222 mounted on the second operating lever 320, a second lead wheel 6223 cooperating with the second lead screw 6222, and a second conveyor belt 6224 tensioned between the second pulley 6221 and the second lead wheel 6223. Of course, the second transmission unit 622 may be a transmission type combining belt drive and rack and pinion drive.

[0114] The above-mentioned second lead screw 6222 and first lead screw 6122 can be coupled in the following way: Figure 24 and Figure 25 As shown, the end of the first operating lever 310 away from the end fixing mechanism 100 (i.e., the first extension 311) extends out of the second extension 321 of the second operating lever 320. The first lead screw 6122 is formed on the extended end of the first operating lever 310, and the second lead screw 6222 is formed on the end of the second operating lever 320 away from the end fixing mechanism 100.

[0115] like Figure 26As shown, in this embodiment, the third drive module 630 includes a third drive unit 631 and a third transmission unit 632. The third transmission unit 632 is connected to the output shaft of the third drive unit 631 and the instrument rod 500, and drives the instrument rod 500 to rotate. The second drive unit 621 can be a third rotor mounted on the instrument box body. The third transmission unit 632 can be a gear transmission type. Specifically, the third transmission unit 632 can include a drive gear 6321 mounted on the third rotor and a rotating gear mounted on the instrument rod 500 and meshing with the drive gear 6321. Of course, the third transmission unit 632 can be a transmission type combining belt drive and rack and pinion drive. See also... Figure 26 A transition gear 6323 may be provided between the drive gear 6321 and the rotating gear. The transition gear 6323 allows the drive gear 6321 and the rotating gear, which are too far apart, to cooperate.

[0116] In this embodiment, the first drive unit 611, and / or the second drive unit 621, and / or the third drive unit 631 are motors with self-locking output shafts. Depending on the operating state, the output shafts of the first drive unit 611, and / or the second drive unit 621, and / or the third drive unit 631 can be locked to ensure surgical safety. A brake may be provided on the first drive unit 611, and / or the second drive unit 621, and / or the third drive unit 631 to achieve self-locking of the motor output shaft. It should be noted that the brake on the second drive unit 621 constitutes the second clutch mechanism 220.

[0117] like Figure 27 As shown, the drive mechanism 600 also includes a backup drive module 660, which can be a third rotor mounted on the instrument box body. The backup drive module 660 can be used to replace the first drive unit 611, the second drive unit 621, or the third drive unit 631 if they are damaged.

[0118] The working process of the puller in this embodiment is described below:

[0119] The instrument rod 500 is delivered into the patient's abdominal cavity. The third drive module 630 drives the instrument rod 500 to rotate, causing the end fixation mechanism 100 and the support mechanism 400 to rotate together. During clinical surgery, the optimal deployment and clamping angles are determined. After the angles are determined, the output shaft of the third drive unit 631 of the third drive module 630 is locked to prevent the end fixation mechanism 100 from rotating and damaging tissues, and to prevent the support surface of the support mechanism 400 from swaying and affecting the clinical surgery.

[0120] The first rotor of the first drive module 610 is rotated, and the first lead wheel 6123 is rotated through the first transmission belt. The first lead screw 6122 rotates and drives the first operating rod 310 to move linearly, thereby closing the clamping part 120 of the end fixing mechanism 100. At this time, the output shaft of the first drive unit 611 of the first drive module 610 is locked to prevent the clamped tissue from falling off.

[0121] The second rotor of the second drive module 620 is rotated, and the second lead screw 6223 is driven to rotate via the second transmission belt. The second lead screw 6222 then drives the second operating rod 320 to move linearly, thereby unfolding the support mechanism 400. At this time, the output shaft of the second drive unit 621 of the second drive module 620 is locked to prevent the support mechanism 400 from loosening and affecting the operation.

[0122] After the surgery is completed, the first, second and third rotors are reversed, the support mechanism 400 is closed, and the clamping part 120 of the end fixation mechanism 100 is opened to loosen the clamped tissue. After confirming that the tissue has been loosened, the clamping part 120 of the end fixation mechanism 100 can be closed again. At this time, the function of the instrument is completely deactivated, and the retractor can be removed from the abdominal cavity.

[0123] Example 5

[0124] like Figure 28 As shown, this embodiment provides a retractor. The difference between this and the retractor of Embodiment 4 lies in the structure of the end-fixing mechanism 100. For example... Figure 28 As shown, in this embodiment, the end fixation mechanism 100 is provided with a negative pressure suction chamber. The end of the end fixation mechanism 100 away from the support mechanism 400 has a suction port 100a, which communicates with the negative pressure suction chamber. The end fixation mechanism 100 uses the suction port 100a to suction and fix tissue using negative pressure; the end fixation mechanism 100 can also be used as a suction device to aspirate ascites and other fluid foreign bodies from the abdominal cavity, or to inject saline solution for intraoperative irrigation. The suction port 100a can be a funnel-shaped opening.

[0125] In this embodiment, such as Figure 28 and Figure 29 As shown, the retractor also includes a negative pressure suction mechanism 700 disposed outside the instrument rod 500. The negative pressure suction mechanism 700 is connected to the negative pressure suction chamber via a suction conduit 710. The negative pressure suction mechanism 700 allows for real-time monitoring of the negative pressure suction status, and timely increases in negative pressure when an abnormal increase in pressure is detected, thereby improving surgical safety.

[0126] See Figure 28 and Figure 29The aforementioned negative pressure suction device may include a negative pressure suction module 720 and a power supply module 730 that powers the suction module. The negative pressure suction module 720 is connected to the suction conduit 710. The suction conduit 710 can pass through the rod cavity of the first operating rod 310 and communicate with the negative pressure suction cavity of the end fixing mechanism 100.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A retractor characterized by, include: The device includes an end-fixing mechanism, a first clutch mechanism, a first operating lever, and a rotatable instrument lever. The end-fixing mechanism is disposed at the end port of the instrument rod. The first operating lever is disposed inside the instrument rod and can rotate under the drive of the instrument rod. The first clutch mechanism is disposed between the first operating lever and the end-fixing mechanism. The first clutch mechanism is used to connect or disconnect the first operating lever from the end-fixing mechanism, so that the end-fixing mechanism may or may not rotate together with the instrument rod and the first operating lever. The retractor also includes a second clutch mechanism, a second operating lever, and a retractable support mechanism, all of which are located within the instrument rod. The second operating lever is connected to the support mechanism, and the second operating lever can move linearly along the length of the instrument lever until the support mechanism is expanded or retracted; When the supporting mechanism retracts, the second clutch mechanism is used to rotate the second operating lever under the drive of the instrument lever; when the supporting mechanism unfolds, the second clutch mechanism is used to fix the second operating lever in place.

2. The retractor of claim 1, wherein, The first operating lever is capable of moving along the length of the instrument lever until it connects or disconnects from the end-fixing mechanism. The first clutch mechanism includes a first locking part disposed on the end-fixing mechanism and a second locking part disposed on the first operating lever. The second locking part is capable of sliding along the length of the instrument lever until it locks or unlocks with the first locking part, so that the first operating lever connects or disconnects from the end-fixing mechanism.

3. The retractor of claim 1, wherein, The first operating lever and the second operating lever are either eccentrically or coaxially distributed.

4. The retractor of claim 1, wherein, The retractor further includes a drive mechanism, which includes a housing and a first drive module, a second drive module, and a third drive module, all disposed on the housing. The first drive module is used to drive the first operating lever to perform linear motion, the second drive module is used to drive the second operating lever to perform linear motion, and the third drive module is used to drive the instrument lever to rotate. The second clutch mechanism is disposed on the second drive module or between the second operating lever and the second drive module.

5. The retractor of claim 4, wherein, Both the first drive module and the second drive module are hinged to the housing, and the rotation axes of the first drive module and the second drive module are perpendicular to the axis of the instrument rod. The second clutch mechanism includes a third locking part disposed on the second drive module and a fourth locking part disposed on the second operating lever. The third locking part can lock or unlock with the fourth locking part.

6. The retractor of claim 5, wherein, The third and fourth locking parts are rack and pinion structures, and the distance between the rack on the fourth locking part and the axis of the second operating lever gradually decreases along the direction from the end fixing mechanism to the second drive module.

7. The retractor of claim 6, wherein, The first drive module and the second drive module are distributed sequentially along the length of the instrument rod; The drive mechanism also includes an auxiliary operation module fixedly mounted on the housing, the auxiliary operation module being located between the first drive module and the second drive module.

8. The retractor of claim 4 wherein, The first drive module includes a first drive unit and a first transmission unit. The first transmission unit is connected to the output shaft of the first drive unit and the first operating lever. The first transmission unit drives the first operating lever to move linearly along the length of the instrument lever; and / or, The second drive module includes a second drive unit and a second transmission unit. The second transmission unit is connected to the output shaft of the second drive unit and the second operating lever. The second transmission unit drives the second operating lever to move linearly along the length of the instrument lever; and / or, The third drive module includes a third drive unit and a third transmission unit. The third transmission unit is connected to the output shaft of the third drive unit and the instrument rod, and the third transmission unit drives the instrument rod to rotate.

9. The retractor of any one of claims 1 to 8, wherein, The support mechanism is an elastically deformable spiral coil structure. One end of the spiral coil structure is fixed inside the instrument rod, and the other end can rotate inside the instrument rod to expand or contract the support mechanism.

10. The retractor of claim 9, wherein, The retractor also includes a transmission mechanism, which includes a first transmission member rotatably disposed within the instrument rod and a second transmission member linearly disposed within the instrument rod. The second transmission member can drive the first transmission member to rotate during movement along the length of the instrument rod. One end of the spiral coil structure is connected to the instrument rod, and the other end is connected to the first transmission member.

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