A driving structure and minimally invasive surgical forceps

Abstract

The present invention provides a driving structure and minimally invasive surgical forceps, wherein the driving structure is suitable for connection with an external flexible joint, and includes a support member and a driving assembly, wherein the support member includes two supporting parts arranged on the same side, the flexible joint is arranged between the two supporting parts, and the distal end of the flexible joint is fixedly connected to the distal end of the support member and the supporting part; the driving assembly includes a first rotating member, which is rotatably connected to the proximal end of the support member and the supporting part, and the proximal end part of the flexible joint is arranged in the first rotating member and can slide in the first rotating member along the axial direction of the first rotating member; wherein the first rotating member is configured to drive the proximal end of the flexible joint to rotate relative to the distal end of the flexible joint so that the flexible joint bends.

Description

Technical Field

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

[0002] Minimally invasive surgery is the most cutting-edge development direction in today's medical technology. Due to its characteristics of small surgical trauma, mild postoperative pain, short hospitalization time, and good cosmetic effects, it has been widely used in clinical practice and achieved satisfactory results.

[0003] Existing surgical forceps can control the opening and closing and rotation of the forceps head, but if the forceps head is to be operated within a larger range, the handle needs to be deflected forcefully, which will cause the wrist to be twisted. Long-term use will cause wrist fatigue in the doctor, affecting the quality of the operation. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that the surgical forceps in the prior art can control the opening and closing and rotation of the forceps head, but if the forceps head is to be operated within a larger range, it is necessary to deflect the handle with force, which will cause the wrist to be twisted. Long-term use will cause wrist fatigue in the doctor, affecting the quality of the operation.

[0005] To this end, the present invention provides a driving structure suitable for connecting with an external flexible joint, comprising:

[0006] The support member comprises two support portions provided on the same side, the flexible joint is provided between the two support portions, and the distal end of the flexible joint is fixedly connected to the distal end of the support member and the support portion;

[0007] The driving assembly includes a first rotating member, which is rotatably connected to the support portion at the proximal end of the support member, and the proximal end portion of the flexible joint is disposed in the first rotating member and can slide in the first rotating member along the axis direction of the first rotating member;

[0008] Wherein, the first rotating member is configured to drive the proximal end of the flexible joint to rotate relative to the distal end of the flexible joint, so as to bend the flexible joint.

[0009] Optionally, the drive assembly further includes:

[0010] A second rotating member is rotatably connected to the support portion at the distal end of the support member;

[0011] at least three rotating rods disposed between the first rotating member and the second rotating member and movably connected to both, wherein, in an orthographic projection of the first rotating member or the second rotating member on a side close to the rotating rod, an angle between a proximal end and a distal end of the rotating rod is 180 degrees;

[0012] Wherein, the second rotating member is configured to rotate under the action of an external force, so as to drive the first rotating member to rotate in the opposite direction through the rotating rod.

[0013] Optionally, the connection points between the ends of the three rotating rods and the first rotating member and / or the second rotating member are equidistant from the center of the first rotating member and / or the second rotating member.

[0014] Optionally, the three rotating rods are arranged at equal intervals, and the proximal end of any rotating rod is twisted 180 degrees relative to its distal end.

[0015] Optionally, the drive assembly further includes:

[0016] a cover having a through hole in the middle, the cover being arranged at the distal end of the second rotating member, a spherical groove being provided on one side of the distal end of the second rotating member, the cover being connected to the distal end of the second rotating member to form a spherical cavity;

[0017] The limiting member is spherical, disposed in the spherical cavity and rotatable in the spherical cavity, and the limiting member is penetrated through the proximal end surface of the rigid rod.

[0018] Optionally, the drive assembly further includes:

[0019] a plurality of movable members, one end of which is movably connected to the first rotating member and the second rotating member, and the other end of which is movably connected to the end of the rotating rod;

[0020] a plurality of first pins connected between the movable member and the first rotating member and the second rotating member, so that the movable member can rotate around the first pins;

[0021] A plurality of second pins are connected between the movable member and the end of the rotating rod so that the end of the rotating rod can rotate around the second pins.

[0022] Optionally, the first pin and the second pin are arranged perpendicularly.

[0023] Optionally, the movable part is a ball pin, a Hooke's hinge or a cross coupling.

[0024] Optionally, the driving assembly further includes a bearing member connected to a distal end of the first rotating member, and the proximal end of the flexible joint is disposed in the bearing member.

[0025] A minimally invasive surgical forceps comprises a forceps head assembly and a rigid rod connected thereto, and the aforementioned drive structure, further comprising:

[0026] The flexible joint comprises a plurality of coaxially arranged joint units, wherein two adjacent joint units can be bent at an angle, and the distal end of the flexible joint is fixedly connected to the proximal end of the rigid rod;

[0027] A plurality of connecting wires are arranged along the axis of the flexible joint and around the joint unit, with distal ends of the connecting wires being connected to the clamp head assembly;

[0028] Wherein, the first rotating member is configured to rotate around its axis under the action of external force, driving the proximal end of the flexible joint to rotate relative to its distal end, so that the two adjacent joint units are bent at an angle, and then pulling the connecting line to control the clamp head assembly.

[0029] The driving structure and minimally invasive surgical forceps provided by the present invention have the following advantages:

[0030] 1. The driving structure provided by the present invention is suitable for connecting with an external flexible joint, and includes a support member and a driving assembly. The support member includes two supporting parts arranged on the same side, the flexible joint is arranged between the two supporting parts, and the distal end of the flexible joint is fixedly connected to the distal end of the support member and the supporting part; the driving assembly includes a first rotating member, which is rotatably connected to the proximal end of the support member and the supporting part, and the proximal end part of the flexible joint is arranged in the first rotating member and can slide in the first rotating member along the axial direction of the first rotating member; wherein, the first rotating member is configured to drive the proximal end of the flexible joint to rotate relative to the distal end of the flexible joint, so that the flexible joint bends.

[0031] The driving structure of this structure drives the first rotating member to rotate, thereby driving the proximal end of the flexible joint to rotate together. This flexible joint is a prior art. Since the distal end of the flexible joint is fixedly connected to the support portion at the distal end of the support member, the distal end of the flexible joint cannot rotate. When the first rotating member rotates, the proximal end of the flexible joint can be driven to rotate relative to its distal end. Since the proximal end of the flexible joint is arranged in the first rotating member and can slide in the first rotating member along the axis direction of the first rotating member, the flexible joint can bend when the proximal end of the flexible joint rotates relative to its distal end, and the proximal end of the flexible joint will partially move toward the distal direction to provide length for the bending of the flexible joint.

[0032] 2. The driving structure provided by the present invention, the driving assembly also includes a second rotating member and at least three rotating rods, the second rotating member is passed through the flexible joint surface and is arranged on the distal side of the first rotating member; at least three rotating rods are arranged between the first rotating member and the second rotating member and are hinged to the two, and on the positive projection of the first rotating member or the second rotating member close to the side of the rotating rod, the angle between the proximal end and the distal end of the rotating rod is 180 degrees; wherein, the second rotating member is configured to rotate under the action of an external force so as to drive the first rotating member to rotate in the opposite direction through the rotating rod.

[0033] This drive mechanism, by setting the first and second rotating members to rotate in opposite directions, applies reverse rotation to the flexible joint, which is more consistent with human operating logic. Furthermore, during rotation, when the handpiece twists in the positive direction, friction exists between the second rotating member and the stop member. Therefore, the positive rotation of the second rotating member applies a positive force to the rigid rod, while the reverse rotation of the first rotating member provides negative feedback to the rigid rod. The positive and negative feedback cancel each other out, increasing the stability of the operating device. The positive rotation of the second rotating member drives the reverse rotation of the first rotating member, which in turn provides a reverse force to the rigid rod, thus providing negative feedback.

[0034] 3. The driving structure provided by the present invention has a hemispherical protrusion provided in the middle part of the left side of the first rotating part, a limiting hole is provided in the middle of the hemispherical protrusion, and a bearing part is fixedly connected to the middle part of the hemispherical protrusion. During installation, the proximal end of the flexible joint is inserted into the bearing part and the limiting hole in the middle of the hemispherical protrusion to ensure that the proximal end of the flexible joint cannot rotate but can slide in the limiting hole in the middle of the bearing part and the hemispherical protrusion, and then when the first rotating part rotates, the proximal end of the flexible joint can be driven to rotate together.

[0035] 4. The drive structure provided by the present invention comprises a hemispherical groove disposed in the center of each fixed member. Two fixing holes are provided on the walls of the hemispherical groove, each of which is adapted to receive a first pin. In this embodiment, the axes of the first pins intersect and are perpendicular to the axis of the flexible joint. A spherical movable member is disposed within the hemispherical groove. A first pin passes through the center of the movable member to constrain the movable member, enabling it to rotate only about the first pin. A cylindrical protrusion is disposed on the other side of the movable member. A through-hole is provided in the cylindrical protrusion, the axis of which is perpendicular to the first pin in space. The end of a rotating rod is movably connected to the cylindrical protrusion on the movable member. Specifically, the end of the rotating rod is provided with two plate-like structures extending toward the movable member. The cylindrical protrusion of the movable member is disposed between the two plate-like structures. A second pin is disposed between the two plate-like structures and passes through the through-holes in the cylindrical protrusion, thereby enabling the end of the rotating rod to rotate about the second pin. In other words, the rotation direction of the end of the rotating rod is perpendicular to the rotation direction of the movable member. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic structural view of a driving structure and minimally invasive surgical forceps provided in an embodiment of the present invention;

[0038] Figure 2 A schematic structural view of a driving structure and a driving assembly in minimally invasive surgical forceps provided in an embodiment of the present invention;

[0039] Figure 3 A diagram showing the coordination relationship between the driving structure and the second rotating member in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0040] Figure 4 A diagram showing the coordination relationship between the driving structure and the first rotating member in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0041] Figure 5 A diagram showing the coordination relationship between the driving structure and the rotating rod and the second rotating member in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0042] Figure 6 An exploded view of a drive structure and a flexible joint in a minimally invasive surgical forceps provided in an embodiment of the present invention;

[0043] Description of reference numerals:

[0044] 1- Clamp head assembly;

[0045] 2- Rigid rod;

[0046] 3-Flexible joints;

[0047] 4-Connecting wire;

[0048] 5- support member;

[0049] 6-driving assembly; 61-first rotating member; 62-second rotating member; 63-rotating rod; 64-cover; 65-limiting member; 66-movable member; 67-first pin; 68-second pin; 69-bearing member;

[0050] 7-Handpiece. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0053] For the convenience of explanation, the present application sets the side close to the first rotating member as the proximal end, and the direction away from the first rotating member as the distal end.

[0054] Example

[0055] This embodiment provides a minimally invasive surgical forceps, such as Figure 1 As shown, it includes a pliers head assembly 1, a rigid rod 2, a flexible joint 3, a connecting line 4, a driving structure and a handpiece 7. The driving structure includes a support member 5 and a driving assembly 6, wherein the pliers head assembly 1 is connected to the rigid rod 2, the distal end of the flexible joint 3 is connected to the proximal end of the rigid rod 2, the support member 5 is connected to the driving assembly 6 and the rigid rod 2 to support the driving assembly 6, the rigid rod 2 and the flexible joint 3, the proximal end of the connecting line 4 is passed through the side of the flexible joint 3 and is fixed to the proximal end of the flexible joint 3, the distal end of the connecting line 4 passes through the interior of the rigid rod 2 and is passed through the side of the pliers head assembly 1, and the handpiece 7 is connected to the driving assembly 6 for driving the driving assembly 6.

[0056] In this embodiment, the flexible joint 3 is a prior art, and for ease of understanding, a partial description of the flexible joint 3 is given.

[0057] like Figure 2 and Figure 6 As shown, the flexible joint 3 includes several coaxially arranged joint units. Figure 6 The figure shows an exploded view of two joint units. The structure of each joint unit is the same. Two clamping parts are provided at the distal end of the joint unit. The outer surface of the clamping parts is an arc surface. The arc surfaces of the two clamping parts are both facing outward. There is a gap between the two clamping parts, and the gap between the two ends of the two clamping parts is equal.

[0058] Further, such as Figure 6As shown, the proximal end of the joint unit is open, and the inner wall of the opening is an arc surface. When installing two adjacent joint units, the two clamping parts of one joint unit can be inserted into the opening of the other joint unit, and the arc surface outer surfaces of the two clamping parts can fit together with the arc surface inner wall of the opening, so that the two clamping parts can slide in the opening.

[0059] In this embodiment, if Figure 6 As shown, the inner wall of the opening at the proximal end of the joint unit is provided with two adapter parts. When installing two adjacent joint units, the two adapter parts are inserted into the gap between the two clamping parts. During installation, the two clamping parts are partially inserted into the proximal opening of the other joint unit, and partially exposed to the outside of the proximal opening, so that when the two adjacent joint units are subjected to external force, the arcuate outer surfaces of the two clamping parts of one joint unit can slide relative to the arcuate inner wall of the proximal opening of the other joint unit, so that the two adjacent joint units can bend at an angle. At the same time, due to the limitation of the gap between the two adapter parts and the two clamping parts, the two adjacent joint units can only bend in the direction perpendicular to the connecting line 4 of the two adapter parts, that is, in Figure 6 Bend up or down in the middle.

[0060] In this embodiment, in order to facilitate the angular bending of two adjacent joint units, the surfaces where the two adapting portions contact the two clamping portions are arc-shaped surfaces, and the arc-shaped surfaces are convex toward the clamping portions.

[0061] In this embodiment, if Figure 6 As shown, four through holes are provided on the periphery of each joint unit ( Figure 6 Only two are drawn in the figure), the four through holes are evenly arranged, and the through holes on the multiple joint units in the flexible joint 3 are all on the same straight line. During installation, four connecting wires 4 are respectively inserted into the four through holes on the circumference of the joint units, and the proximal ends of the four connecting wires 4 are fixed to this joint unit after passing through the last joint unit. It can be understood that by pulling any one of the connecting wires 4, the flexible joint 3 can be controlled to bend and bulge in the direction opposite to the side where the connecting wire 4 is located. Similarly, by controlling the bending of the flexible joint 3, the distal end of the connecting wire 4 on the side of the bending and bulging direction of the flexible joint 3 can be controlled to move toward the proximal direction.

[0062] like Figure 2 As shown, the support member 5 includes two support parts arranged on the same side. In this embodiment, the support part is a rod-shaped structure, the flexible joint 3 is arranged between the two support parts, and the distal end of the flexible joint 3 is fixedly connected to the proximal end of the rigid rod 2, and the distal support part of the support member 5 is fixedly connected to the proximal outer surface of the rigid rod 2.

[0063] In this embodiment, the driving assembly 6 includes a first rotating member 61 , a second rotating member 62 , a rotating rod 63 , a cover 64 , a limiting member 65 , a movable member 66 , a first pin 67 , a second pin 68 and a bearing member 69 .

[0064] like Figure 2 and Figure 3 As shown, the second rotating member 62 is arranged on the distal side of the flexible joint 3, and a spherical groove is provided in the middle part of the distal side of the second rotating member 62. The limiting member 65 is spherical. During installation, the spherical limiting member 65 is placed in the spherical groove of the second rotating member 62, and the limiting member 65 can rotate in the spherical groove. The cover 64 is arranged on the outside of the limiting member 65, and a circular through hole is provided in the middle part of the cover 64. The cover 64 is fixed to the outer surface of the second rotating member 62, thereby limiting the spherical limiting member 65 in the spherical groove, and during installation, a gap is left between the cover 64, the limiting member 65 and the spherical groove so that the limiting member 65 can rotate in the spherical groove.

[0065] like Figure 2 As shown, the distal end of the flexible joint 3 is passed through the through hole in the middle of the limit member 65 and is fixedly connected to the proximal end of the rigid rod 2. At the same time, the proximal end of the rigid rod 2 is also fixedly connected to the limit member 65, so that when the second rotating member 62 rotates, the spherical groove on it cooperates with the limit member 65, so that the rotation of the second rotating member 62 will not affect the fixation of the distal end of the flexible joint 3.

[0066] In this embodiment, the first rotating member 61 and the second rotating member 62 have the same structure. A spherical groove is also provided on the side of the first rotating member 61 away from the second rotating member 62, and a spherical limit member 65 is also provided in the spherical groove. The spherical limit member 65 is fixedly connected to the support portion at the proximal end of the support member 5, so that the first rotating member 61 can rotate, and the first rotating member 61 and the second rotating member 62 are coaxially arranged.

[0067] like Figure 2 and Figure 4 As shown, a hemispherical protrusion is provided in the middle part of the left side of the first rotating member 61, and a limiting hole is provided in the middle of the hemispherical protrusion. A bearing member 69 is fixedly connected to the middle part of the hemispherical protrusion. With the assistance of the bearing member 69, the proximal end of the flexible joint 3 can move back and forth in this axial hole. During installation, the proximal end of the flexible joint 3 is inserted into the bearing member 69 and the limiting hole in the middle of the hemispherical protrusion to ensure that the proximal end of the flexible joint 3 cannot rotate but can slide in the bearing member 69 and the limiting hole in the middle of the hemispherical protrusion, and then when the first rotating member 61 rotates, it can drive the proximal end of the flexible joint 3 to rotate together.

[0068] In this embodiment, the distal end of the flexible joint 3 is fixedly connected to the proximal end of the rigid rod 2, and the outer surface of the proximal end of the rigid rod 2 is fixedly connected to the distal support portion of the support member 5, that is, Figure 2The support part on the right side of the middle part keeps the distal end of the flexible joint 3 fixed; the proximal end of the flexible joint 3 is inserted into the bearing member 69 and the limiting hole in the middle of the hemispherical protrusion. When the first rotating member 61 is rotated, the proximal end of the flexible joint 3 is driven to rotate together. When the first rotating member 61 is rotated, the first rotating member 61 drives the proximal end of the flexible joint 3 to rotate. At this time, the distal end of the flexible joint 3 is fixed. Therefore, the rotation of the first rotating member 61 will cause the proximal end of the flexible joint 3 to rotate relative to the distal end of the flexible joint 3, that is, Figure 2 The right end of the flexible joint 3 will rotate relative to the left end. Since the flexible joint 3 is composed of several joint units, the adjacent joint units can bend at the connection point. Therefore, the rotation of the right end of the flexible joint 3 relative to the left end will cause the flexible joint 3 to bend. At this time, the right end of the flexible joint 3 will move a distance to the left in the limiting hole between the bearing member 69 and the hemispherical protrusion to provide sufficient length for the bending of the flexible joint 3. By controlling the bending of the flexible joint 3, the distal end of the connecting line 4 in the bending direction of the flexible joint 3 can be controlled to move toward the proximal direction, thereby controlling the clamp head assembly 1 connected to the distal end of the connecting line 4. Specifically, the plane of the first rotating member 61 is parallel to the plane perpendicular to the axis of the flexible joint 3, and the rotation angle of the plane of the first rotating member 61 is the same as the rotation angle of the plane perpendicular to the axis of the flexible joint 3. The flexible joint 3 bends with the rotation angle of its own axis.

[0069] In this embodiment, the proximal end of the clamp head assembly 1 is also provided with a structure similar to the flexible joint 3, and as shown in FIG. Figure 1 and Figure 2 As shown, the proximal end of the pliers head assembly 1 is connected to the rigid rod 2, and when the flexible joint 3 bends, the distal end of the connecting line 4 on the side of the bending and protruding direction of the flexible joint 3 moves toward the proximal end, and then the pliers head assembly 1 is pulled to bend and protrude in the direction opposite to the side where the connecting line 4 is located. At this time, the pliers head assembly 1 and the flexible joint 3 form an S-like shape.

[0070] In this embodiment, the first rotating member 61 and the second rotating member 62 have the same structure. Three annular fixing members arranged at equal intervals are provided on the side close to each other of the first rotating member 61 and the second rotating member 62, and in the initial state, the three fixing members arranged on the first rotating member 61 and the three fixing members arranged on the second rotating member 62 are staggered, that is, for example, on the orthographic projection of the surface of the second rotating member 62, the fixing members arranged on the first rotating member 61 are located between the fixing members arranged on the second rotating member 62.

[0071] like Figure 2 and Figure 5As shown, the fixing members are each provided with a hemispherical groove in the middle, with two fixing holes provided on the wall of the hemispherical groove. The fixing holes are used to insert a first pin 67. In this embodiment, the axis of the first pin 67 intersects and is perpendicular to the axis of the flexible joint 3. A spherical movable member 66 is disposed within the hemispherical groove. The first pin 67 passes through the center of the movable member 66 to limit its position, allowing it to rotate only about the first pin 67. A cylindrical protrusion is provided on the other side of the movable part 66, and a through hole is provided on the cylindrical protrusion. The axis of the through hole is perpendicular to the first pin 67 in space, and the end of the rotating rod 63 is movably connected to the cylindrical protrusion on the movable part 66. Specifically, the end of the rotating rod 63 is provided with two plate-like structures extending toward the movable part 66. The cylindrical protrusion of the movable part 66 is arranged between the two plate-like structures, and a second pin 68 is passed through the two plate-like structures. The second pin 68 passes through the through hole on the cylindrical protrusion, so that the end of the rotating rod 63 can rotate around the second pin 68, that is, the rotation direction of the end of the rotating rod 63 is perpendicular to the rotation direction of the movable part 66.

[0072] In some other implementations of this embodiment, the first rotating member 61, the second rotating member 62 and the end of the rotating rod 63 can also be replaced by a Hooke's joint or a cross coupling.

[0073] In this embodiment, if Figure 2 and Figure 5 As shown, the three rotating rods 63 are movably connected to the first rotating member 61 and the second rotating member 62 through the movable members 66 on the first rotating member 61 and the second rotating member 62, and the proximal end of any rotating rod 63 is twisted 180 degrees relative to its distal end, and in the orthographic projection of the side of the first rotating member 61 or the second rotating member 62 close to the rotating rod 63, the angle between the proximal end of the rotating rod 63 and the distal end of the rotating rod 63 in the projection is 180 degrees, for example Figure 2 As shown, the proximal end of the rotating rod a is hinged to the movable part b on the first rotating member 61, and the distal end of the rotating rod a is hinged to the movable part c on the second rotating member 62. At this time, the angle between the movable part b and the movable part c on the orthographic projection of the first rotating member 61 or the second rotating member 62 close to the rotating rod 63 is 180 degrees.

[0074] In this embodiment, Figure 2 Taking the transfer rod a, the movable member b and the movable member c as an example, the working principles of the first rotating member 61 and the second rotating member 62 are explained:

[0075] like Figure 2As shown, the second rotating member 62 is driven by the handpiece 7 to rotate around the flexible joint 3 in the direction A, thereby driving the movable member c to rotate around the first pin 67 connected thereto in the direction B. The cylindrical protrusion of the moving movable member c away from the second rotating member 62 side will move in the direction away from the flexible joint 3, thereby pulling the end of the rotating rod a. At this time, the end of the rotating rod a rotates around the second pin 68 in the direction C. At this time, since the proximal end of the rotating rod a is twisted 180 degrees relative to its distal end, and the positive end of the second rotating member 62 near the rotating rod 63 side is In projection, the angle between the left end of the rotating rod a and the right end of the rotating rod a in projection is 180 degrees. When the movable part c pulls the distal end of the rotating rod a to move away from the flexible joint 3 and as the second rotating part 62 rotates, the proximal end of the rotating rod a will move toward the flexible joint 3 and move in the opposite direction of the rotation direction of the second rotating part 62. Since the proximal end of the rotating rod a is hinged to the movable part b, it will drive the first rotating part 61 to rotate in the direction opposite to the rotation direction of the second rotating part 62 through the movable part b.

[0076] The minimally invasive surgical forceps provided in this embodiment are configured such that a first rotating member 61 is engaged with the proximal end of the flexible joint 3, and a second rotating member 62 is configured at the distal end of the flexible joint 3 and is connected to the first rotating member 61 through three rotating rods 63. It is more in line with human operating logic to configure a handpiece 7 at the distal end of the flexible joint 3, so a second rotating member 62 is configured on the distal side of the first rotating member 61.

[0077] By setting the first rotating member 61 and the second rotating member 62 to rotate in opposite directions, the reverse rotation is applied to this flexible joint 3, which is more in line with the human body operation logic; and during the rotation process, when the handpiece 7 is twisted in the positive direction, due to the friction between the second rotating member 62 and the limit member 65, the positive rotation of the second rotating member 62 will give the rigid rod 2 a positive force, and the reverse rotation of the first rotating member 61 will bring negative feedback adjustment to the rigid rod 2, the positive and negative cancel each other out, and increase the stability of the operating device. Among them, the second rotating member 62 rotates forward, driving the first rotating member 61 to reverse, and the reverse provides a reverse force to the rigid rod, which is negative feedback. The positive direction here is Figure 2 Middle direction A.

[0078] In this embodiment, the rotating rods 63 are flat, and there are three rotating rods 63 . Since three points are needed to define a plane, three-point transmission is a surface transmission, so three rotating rods 63 are used.

[0079] In some other implementations of this embodiment, the rotating rod 63 may also be of other shapes, and the number of the rotating rods 63 may also be set to be more than three.

[0080] The minimally invasive surgical forceps provided in this embodiment work as follows:

[0081] First, the pliers head assembly 1 is sent into the part of the human body that requires surgery. The rigid rod 2 penetrates the human body, and axial displacement and rotational freedom are required. Then the operator drives the second rotating member 62 to rotate by toggling the handpiece 7. The second rotating member 62 drives the first rotating member 61 to rotate in the opposite direction of the second rotating member 62 through three rotating rods 63. The second rotating member 62 drives the proximal end of the flexible joint 3 to rotate relative to its distal end, so that the flexible joint 3 bends, and the distal end of the connecting line 4 on the side of the bending and protruding direction of the flexible joint 3 moves toward the proximal direction, which will then pull the pliers head assembly 1 to bend and protrude in the direction opposite to the side where the connecting line 4 is located. At this time, the pliers head assembly 1 and the flexible joint 3 form an S-like shape.

[0082] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A drive structure suitable for connecting to an external flexible joint (3), characterized in that include: The support member (5) comprises two support portions arranged on the same side, the flexible joint (3) is arranged between the two support portions, and the distal end of the flexible joint (3) is fixedly connected to the distal end of the support member (5) and the support portion; A driving assembly (6) comprising a first rotating member (61) rotatably connected to the proximal end of the support member (5) and the support portion, wherein the proximal end portion of the flexible joint (3) is disposed within the first rotating member (61) and is slidable within the first rotating member (61) along an axial direction of the first rotating member (61); Wherein, the first rotating member (61) is configured to drive the proximal end of the flexible joint (3) to rotate relative to the distal end of the flexible joint (3), so as to bend the flexible joint (3); The drive assembly (6) further comprises: A second rotating member (62) is rotatably connected to the support portion at the distal end of the support member (5); At least three rotating rods (63) are provided between the first rotating member (61) and the second rotating member (62) and are movably connected to both of them, and on the orthographic projection of the first rotating member (61) or the second rotating member (62) on the side close to the rotating rod (63), the angle between the proximal end and the distal end of the rotating rod (63) is 180 degrees; The second rotating member (62) is configured to rotate under the action of an external force, so as to drive the first rotating member (61) to rotate in the opposite direction through the rotating rod (63).

2. The driving structure according to claim 1, characterized in that: The connection points between the ends of the three rotating rods (63) and the first rotating member (61) and / or the second rotating member (62) are equidistant from the center of the first rotating member (61) and / or the second rotating member (62).

3. The driving structure according to claim 2, characterized in that: The three rotating rods (63) are arranged at equal intervals, and the proximal end of any rotating rod (63) is twisted 180 degrees relative to its distal end.

4. The driving structure according to claim 3, characterized in that: The drive assembly (6) further comprises: a cover (64) having a through hole in the middle thereof, the cover (64) being arranged at the distal end of the second rotating member (62), a spherical groove being arranged on one side of the distal end of the second rotating member (62), and the cover (64) being connected to the distal end of the second rotating member (62) to form a spherical cavity; The limiting member (65) is spherical, disposed in the spherical cavity and rotatable in the spherical cavity, and the limiting member (65) is penetrated through the proximal surface of the flexible joint (3).

5. The driving structure according to claim 4, characterized in that: The drive assembly (6) further comprises: A plurality of movable members (66), one end of which is movably connected to the first rotating member (61) and the second rotating member (62), and the other end of which is movably connected to the end of the rotating rod (63); a plurality of first pins (67) connected between the movable member (66) and the first rotating member (61) and the second rotating member (62), so that the movable member (66) can rotate around the first pins (67); A plurality of second pins (68) are connected between the movable member (66) and the end of the rotating rod (63), so that the end of the rotating rod (63) can rotate around the second pins (68).

6. The driving structure according to claim 5, characterized in that: The first pin (67) and the second pin (68) are arranged perpendicularly.

7. The driving structure according to claim 6, characterized in that: The movable part (66) is a ball pin, a Hooke's hinge or a cross coupling.

8. The driving structure according to claim 7, characterized in that: The driving assembly (6) further comprises a bearing member (69) connected to a distal end of the first rotating member (61), and the proximal end of the flexible joint (3) is disposed in the bearing member (69).

9. A minimally invasive surgical forceps, characterized in that: The invention comprises a clamp head assembly (1) and a rigid rod (2) connected thereto, and a driving structure according to any one of claims 1 to 8, further comprising: The flexible joint (3) comprises a plurality of coaxially arranged joint units, wherein two adjacent joint units can be bent at an angle, and the distal end of the flexible joint (3) is fixedly connected to the proximal end of the rigid rod (2); A plurality of connecting wires (4) are arranged along the axis of the flexible joint (3) and around the joint unit, and the distal ends of the connecting wires (4) are connected to the clamp head assembly (1); The first rotating member (61) is configured to rotate around its axis under the action of an external force, driving the proximal end of the flexible joint (3) to rotate relative to its distal end, so that two adjacent joint units are bent at an angle, thereby pulling the connecting line (4) to control the clamp head assembly (1).

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