A hand-held multi-degree-of-freedom bendable surgical instrument

Abstract

The present invention discloses a hand-held multi-degree-of-freedom bendable surgical instrument, comprising an execution end, a holding handle, an extension section and a control end. The surgical instrument of the present invention is designed as a hand-held structure, and the operator holds the surgical instrument in the palm of his hand, and the 2-degree-of-freedom swing control of the execution end is realized by pinching the control end rotary cap with the index finger and thumb to move left and right and up and down, and the rotation movement of the surgical clamp at the execution end is realized by twisting the rotary cap with two fingers to drive the steering sleeve to rotate, and the remaining three fingers press the palm to hold the operating rod, and the movement of the operating rod drives the cable to stretch, thereby realizing the opening and closing of the surgical clamp; at the same time, the operator pinches the control end rotary cap with the index finger and thumb, and uses the rotary cap as the operating handle of the control arm to push and pull the second universal joint in different directions, and the bending movement of the second universal joint drives the bending of the first universal joint through the transmission cable, so that the execution arm is bent in different directions, driving the movement of the surgical clamp.

Description

Technical Field

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

[0002] Laparoscopic surgery is a procedure performed by doctors using laparoscopic surgical systems and related instruments. It is a typical representative technology of minimally invasive surgery. Laparoscopic surgery has the characteristics of small incision, fast recovery, and definite surgical effect. With the rapid advancement of surgical technology in recent years, the indications of laparoscopic surgery have expanded compared with before, and have gradually been applied to operations such as radical resection of intra-abdominal tumors and dissection of intra-pelvic myomas, making many traditional open surgeries replaced by intracavitary surgeries.

[0003] However, because the location of the abdominal wall puncture hole in laparoscopic surgery is relatively fixed, the surgical instruments are designed with rigid straight tubes, which reversely reflect the doctor's hand movements. During the operation, the operating end of the instrument often has difficulty reaching the deep, narrow or obstructed areas of the abdominal cavity, causing the problem of "seeing but not touching"; even if it can barely reach it, it will be difficult to complete high-flexibility operations such as separation and suturing due to the limited range of motion. Even if there are surgical instruments with angled graspers, pre-bent or wrist-rotating ends to assist in completing some angle operations, there will still be problems such as insufficient flexibility and interference between instruments, resulting in low surgical efficiency, difficult operation and even surgical complications. The continued development of minimally invasive surgical technology requires surgical instruments to have more degrees of freedom and greater flexibility.

[0004] For example, the invention application with publication number US2020 / 0323601A1 discloses a surgical instrument, comprising: an end tool, the end tool comprising a first jaw and a second jaw that operate independently of each other; an operator, the operator controls the operation of the first jaw and the second jaw of the end tool; an operating force transmitter, the operating force transmitter comprising a pitch line connected to the operator to transmit the pitch motion of the operator to the pitch line of the end tool, a yaw line connected to the operator to transmit the yaw motion of the operator to the yaw line of the end tool, and an actuation line connected to the operator to transmit the actuation motion of the operator to the end tool; and a connector, the connector having an end portion connected to the end tool and another end portion connected to the operator to connect the operator and the end tool, wherein at least a portion of the operating member is formed to extend toward the end tool, and the operating direction of the operator and the operating direction of the end tool are intuitively the same as each other. The control of the two jaws in the prior art structure is relatively flexible and convenient, but the control of the steering and bending of the end tool is not very ideal.

[0005] For another example, the invention application with publication number CN109907797A discloses a bendable laparoscopic surgical forceps, including a fixed handle, an outer protective tube is provided on the fixed handle, one end of the outer protective tube is connected to the fixed handle, and the other end is provided with a forceps head, the forceps head is connected to the movable handle on the fixed handle, the other end of the outer protective tube is connected to the forceps head through an active head, the active head is hinged on the other end of the outer protective tube, an elbow pull rod is provided between the active head and the outer protective tube, one end of the elbow pull rod is hinged on the active head, and the hinged part where the elbow pull rod is connected to the active head is away from the hinged part where the active head is connected to the outer protective tube, the other end of the elbow pull rod is connected to the bending control assembly provided on the fixed handle through a bending control tube provided in the outer protective tube, and a spring shaft is provided between the active head and the outer protective tube. The prior art structure is also not very ideal for the control of bending, especially when one side of the fixed handle is operated by hand, in the case of controlling both the movement of the forceps head and the bending of the active head, the overall hand operation is more complicated and difficult. At the same time, the above two existing technologies also have the problem of unintuitive operation mapping. Often, only a single degree of freedom can be controlled at the same time, which cannot give full play to the doctor's operation ability and reduce the efficiency of the operation. The unintuitive control mapping will also increase the learning cost and raise the technical threshold. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention provides a hand-held multi-degree-of-freedom bendable surgical instrument, which can achieve relatively flexible and multi-degree-of-freedom bending while being relatively simple and convenient to operate by hand.

[0007] A hand-held multi-degree-of-freedom bendable surgical instrument, comprising:

[0008] The execution end includes an execution arm and a clamp mounting seat arranged at the end of the execution arm, the clamp mounting seat is provided with a surgical clamp, and the execution arm includes a plurality of first universal joints connected in series;

[0009] A grip handle, comprising a grip for holding during operation, one end of the grip being provided with a mounting base;

[0010] The extension section has two ends respectively connected to the actuator arm of the actuator end and the mounting base of the grip handle;

[0011] A steering sleeve, which passes through the actuator arm, the extension section and the mounting base in sequence, wherein the distal end of the steering sleeve is connected to the clamp mounting seat, and when the steering sleeve rotates, the clamp mounting seat is driven to rotate so as to adjust the direction of the surgical clamp;

[0012] A cable is arranged in the steering sleeve and is used to control the clamping of the surgical clamp when stretched. The side of the handle away from the back of the hand when holding is provided with an operating lever for controlling the stretching of the cable;

[0013] The control end includes a control arm with one end fixed on the mounting base, the control arm includes at least one second universal joint, and a transmission cable for transmitting the bending action of the second universal joint to the first universal joint is provided between the second universal joint and a first universal joint close to the extension section of the actuator arm; the proximal end of the steering sleeve passes through the control arm, and the proximal end of the control arm is provided with a rotary cap for controlling the rotation of the steering sleeve.

[0014] In the present application, the proximal end refers to the end close to the operator (doctor) for operation, that is, the end where the grip handle is located, and the distal end refers to the end away from the operator for operation, that is, the execution end.

[0015] The handheld multi-degree-of-freedom bendable surgical instrument of the present application is used by the operator when performing minimally invasive surgery, the execution end is used to extend into the patient's body for operation, and the holding handle and the control end are left outside, thereby meeting the minimally invasive requirements. The steering sleeve needs to have a certain rigidity so that the twisting operation received at the proximal end can be transmitted to the distal end.

[0016] Preferably, the surgical clamp is provided at one end of the clamp mounting seat, and the other end is rotationally connected to the distal end of the actuator arm and fixed to the distal end of the steering sleeve. The clamp mounting seat has a U-shaped mounting opening, and a slide plate that can be pulled by a cable to move axially is provided in the U-shaped mounting opening, and the slide plate has a pair of linear gears arranged opposite to each other along the axial direction. The surgical clamp includes two clamp arms arranged in pairs, and one end of each clamp arm is rotationally connected to the U-shaped mounting opening and has a gear part that cooperates with one of the linear gears. The two arms of the U-shaped mounting opening are provided with a slide groove extending in the axial direction, and the slide plate is provided with a slider that cooperates with the slide groove. A waist-shaped hole extending in the axial direction is opened in the middle of the slide plate, and a pair of linear gears on the slide plate are arranged on the two long sides of the waist-shaped hole. The gear part provided on the clamp arm of the surgical clamp is a gear provided on the end face of the fan-shaped structure, and the angle of the fan-shaped structure is set according to the angle of the two clamp arms. When the cable is pulled toward the proximal end, the slide slides toward the proximal end, so that the linear gear rail drives the clamp arm to rotate around the shaft rotatably connected to the U-shaped mounting opening, completing the clamping action of the surgical clamp. The cable can be made of high-elastic alloy wire, so that the cable can transmit thrust to open the surgical clamp. Of course, a reset spring can also be set between the opening bottom of the U-shaped mounting opening and the slide to reset the slide to open the surgical clamp.

[0017] Preferably, one end of the operating rod is connected to the handle through a connecting portion, and the other end is suspended as a movable end. The proximal end of the cable is connected to the movable end of the operating rod, and the cable is stretched when the movable end of the operating rod is pinched toward the handle. The distal end of the operating rod is connected to the distal end of the handle through a connecting portion, and then the operating rod and the handle can be parallel or nearly parallel, which is convenient for hand operation. The operating rod can have a certain elasticity, so that the movable end of the operating rod can bend and deform when it is pinched toward the handle; of course, the operating rod can also be rigid, but when a rigid operating rod is used, one end of the operating rod connected to the handle needs to be hinged, which is equivalent to the operating structure of a bicycle brake handle.

[0018] More preferably, the movable end of the operating rod is an end away from the mounting base, and a reset spring for resetting the movable end of the operating rod is provided between the handle and the movable end of the operating rod. The reset spring can assist in resetting the operating rod.

[0019] Further preferably, one end of the grip away from the mounting base extends toward one side of the operating rod to form a protective portion surrounding the movable end of the operating rod, the proximal end of the steering sleeve is fixed to the end of the protective portion, and the cable passes through the end of the protective portion and is connected to the movable end of the operating rod. The protective portion can protect the operating rod from being accidentally touched by other external objects and causing unexpected movements.

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

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

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

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

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

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

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

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

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

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

[0030] Beneficial effects:

[0031] The handheld multi-degree-of-freedom bendable surgical instrument of the present invention is designed as a handheld structure. The operator (doctor) holds the surgical instrument in the palm of his hand, and pinches the rotary cap of the control end with the index finger and thumb to move left and right and up and down to achieve 2-degree-of-freedom swing control of the execution end. The steering sleeve is driven to rotate by twisting the rotary cap with two fingers to achieve the rotational movement of the surgical clamp at the execution end. The remaining three fingers are used to press and hold the operating lever against the palm, and the movement of the operating lever drives the cable to stretch, thereby realizing the opening and closing of the surgical clamp. At the same time, the operator pinches the rotary cap of the control end with the index finger and thumb, and uses the rotary cap as the operating handle of the control arm to push and pull the second universal joint in different directions. The bending movement of the second universal joint drives the first universal joint to bend through the transmission cable, thereby making the executing arm bend in different directions, driving the movement of the surgical clamp.

[0032] The handheld multi-DOF bendable surgical instrument of the present invention gives full play to the control of the doctor's hand, so that a total of 4 degrees of freedom including 2-DOF bending of the actuator arm and rotation and opening and closing movement of the surgical clamp can be controlled with one hand, providing the doctor with a dexterous and convenient minimally invasive surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1It is a schematic structural diagram of the hand-held multi-degree-of-freedom bendable surgical instrument of the present invention.

[0034] Figure 2 It is a structural diagram of the grip handle and the control end.

[0035] Figure 3 It is a schematic diagram of the assembly structure of the executive end surgical clamp, where the left picture is a schematic diagram of the assembled structure, and the middle and right pictures are exploded views.

[0036] Figure 4 It is a schematic diagram of the structure of the execution arm.

[0037] Figure 5 This is an exploded view of a single first universal joint.

[0038] Figure 6 This is a schematic diagram of the structure of the control end.

[0039] Figure 7 This is an exploded view of the control end.

[0040] Figure 8 Schematic diagram of the working structure of the transmission cable.

[0041] Fig. 9 It is a schematic diagram of the use of the hand-held multi-degree-of-freedom bendable surgical instrument of the present invention.

[0042] Reference numerals:

[0043] Holding handle 1, grip 11, mounting base 12, operating rod 13, return spring 14, protection part 15;

[0044] Control end 2, control arm 21, second universal joint 22, transmission cable 23, rotary cap 24, steering gear 25, sealing cap 26, rotating inner core 27, bearing 28;

[0045] Extension 3;

[0046] Executing end 4, executing arm 41, clamp mounting seat 42, surgical clamp 43, U-shaped mounting opening 432, slide 433, linear gear rail 434, clamp arm 435, gear portion 436, slide groove 437, pin 438, first universal joint 44, first motion platform 441, second motion platform 442, first rotating member 443, second rotating member 444, third rotating member 445, external gear 446, bearing 45;

[0047] Steering sleeve 5;

[0048] Cable 6. DETAILED DESCRIPTION

[0049] like Figures 1 to 9As shown, a handheld multi-degree-of-freedom bendable surgical instrument comprises a handheld handle 1, a control end 2, an extension section 3 and an execution end 4. The handheld multi-degree-of-freedom bendable surgical instrument of the present invention is used by an operator to perform minimally invasive surgery, and the execution end 4 is used to extend into the patient's body for operation, while the handheld handle 1 and the control end 2 remain outside, thereby meeting the minimally invasive requirements. In this application, the proximal end refers to the end close to the operator (doctor) for operation, that is, the end where the handheld handle 1 is located, and the distal end refers to the end away from the operator's operation, that is, the execution end 4.

[0050] like Figure 2 As shown, the gripping handle 1 includes a grip 11 for gripping during operation, a mounting base 12 is provided at one end of the grip 11, and an operating rod 13 is provided on the side of the grip 11 away from the back of the hand when gripping. One end of the operating rod 13 is connected to the grip 11 through a connecting portion, and the other end is suspended as a movable end. Specifically, the distal end of the operating rod 13 is connected to the distal end of the grip 11 through a connecting portion, and then the operating rod 13 and the grip 11 can be parallel or nearly parallel, which is convenient for hand operation. The operating rod 13 can have a certain elasticity, so that the movable end of the operating rod 13 can be bent and deformed when pinched to the side of the grip 11; of course, the operating rod 13 can also be rigid, but when a rigid operating rod 13 is used, the end of the operating rod 13 connected to the grip 11 needs to be hinged, which is equivalent to the operating structure of the bicycle brake handle. The movable end of the operating rod 13 is the end away from the mounting base, and a reset spring 14 is provided between the grip 11 and the movable end of the operating rod 13 for resetting the movable end of the operating rod 13. The reset spring 14 can assist the reset of the operating rod 13 .

[0051] One end of the handle 11 away from the mounting base 12 extends toward one side of the operating rod 13 to form a protective portion 15 surrounding the movable end of the operating rod 13. The protective portion 15 can protect the operating rod 13 from being accidentally touched by other external objects and causing unexpected movements.

[0052] like Figure 3 and 4 As shown, the execution end 4 includes an execution arm 41 and a clamp mounting seat 42 disposed at the distal end of the execution arm 41, and a surgical clamp 43 is disposed on the clamp mounting seat 42. The surgical clamp 43 can realize the clamping action, and the clamp mounting seat 42 can rotate along the vertical axial direction relative to the execution arm 41, thereby driving the surgical clamp 43 to rotate, and realizing the surgical clamp 43 to clamp from different directions.

[0053] The actuator arm 41 is used to bend the actuator end 4. The actuator arm 41 includes a plurality of first universal joints 44 connected in series.

[0054] The extension section 3 is rod-shaped, and its two ends are respectively connected to the execution arm 41 of the execution end 4 and the mounting base 12 of the gripping handle 1. The extension section 3 makes the execution end 4 and the control end 2 separate from each other, so that the operator can control the execution end 4 in the operation position to perform the operation by operating the control end 2 at a certain distance from the operation position.

[0055] The control end 2 includes a control arm 21 with one end fixed on the mounting base 12, and the control arm 21 includes at least one second universal joint 22. A transmission cable 23 is provided between the second universal joint 22 and a first universal joint 44 of the actuator arm 41 close to the extension section 3, for transmitting the bending action of the second universal joint 22 to the first universal joint 44.

[0056] The action of the clamp mounting seat 42 rotating the surgical clamp 43 in the vertical axial direction relative to the actuator arm 41 is accomplished by the steering sleeve 5. The steering sleeve 5 sequentially passes through the actuator arm 41, the extension section 3 and the mounting base 12, and further passes through the control arm 21. The proximal end of the control arm 21 is provided with a screw cap 24 for controlling the rotation of the steering sleeve 5. The distal end of the steering sleeve 5 is connected to the clamp mounting seat 42. When the steering sleeve 5 rotates, it drives the clamp mounting seat 42 to rotate, thereby adjusting the direction of the surgical clamp 43. The steering sleeve 5 needs to have a certain rigidity so that the twisting operation received at the proximal end can be transmitted to the distal end.

[0057] The clamping action of the surgical clamp 43 is achieved by the cable 6. The cable 6 is arranged in the steering sleeve 5 and is used to control the clamping of the surgical clamp 43 when stretched. The proximal end of the cable 6 is connected to the movable end of the operating rod 13, and the cable 6 is stretched when the movable end of the operating rod 13 is pinched toward the grip side. The proximal end of the steering sleeve 5 is fixed to the end of the protection part 15, and the cable 6 passes through the end of the protection part 15 and is connected to the movable end of the operating rod 13. In this way, the stretching of the cable 6 is controlled by the action of the operating rod 13.

[0058] like Figure 6 and Figure 7 As shown, a sealing cap 26 is provided at the proximal end face of the second universal joint 22 on the control arm 21. If the control arm 21 includes multiple second universal joints 22, a sealing cap 26 is provided only at the proximal end face of the proximal second universal joint 22, and the sealing cap 26 is fixed to the second universal joint 22 by bolts. A rotating inner core 27 is also provided between the sealing cap 26 and the second universal joint 22. The rotating inner core 27 is sleeved outside the steering sleeve 5 and fixed to the steering sleeve 5. One end of the rotating inner core 27 passes through the sealing cap 26 for installing the rotary cap 24. In order to make the rotary cap 24 rotate more smoothly, a bearing 28 is also provided between the rotating inner core 27 and the sealing cap 26. The inner ring of the bearing 28 is fixed to the rotating inner core 27, and the outer ring is fixed to the sealing cap 26.

[0059] A surgical clamp 43 is provided at one end of the clamp mounting seat 42, and the other end is rotatably connected to the distal end of the actuator arm 41 and fixed to the distal end of the steering sleeve 5. A bearing 45 is provided at the distal end of the actuator arm 41 for mounting, and the outer ring of the bearing 45 is fixed to the actuator arm 41, and the clamp mounting seat 42 is fixed to the inner ring of the bearing 45. The clamp mounting seat 42 has a U-shaped mounting opening 432, and a slide 433 that can be pulled by the cable 6 to move axially is provided in the U-shaped mounting opening 432. The slide 433 has a pair of linear racks 434 arranged opposite to each other in the axial direction. The surgical clamp 43 includes two clamp arms 435 arranged in pairs, and one end of each clamp arm 435 is rotatably connected to the U-shaped mounting opening 432 and has a gear part 436 that matches one of the linear racks 434. A slide groove 437 extending in the axial direction is provided on the two arms of the U-shaped mounting opening 432, and a slider matching the slide groove 437 is provided on the slide 433. The slider shown in the figure is a pin 438 that passes through the slide 433 and is inserted into the slide grooves 437 on both sides at both ends. A waist-shaped hole extending axially is provided in the middle of the slide 433, and a pair of linear gear rails 434 on the slide 433 are arranged on the two long sides of the waist-shaped hole. The gear part 436 provided on the clamp arm 435 of the surgical clamp 43 is a fan-shaped structure with a gear on the end face, and the angle of the fan-shaped structure is set according to the angle of the two clamp arms 435. When the cable 6 is pulled toward the proximal end, the slide 433 slides toward the proximal end, so that the linear gear rail 434 drives the clamp arm 435 to rotate around the axis rotatably connected to the U-shaped mounting port 432, completing the clamping action of the surgical clamp 43.

[0060] The cable 6 can be made of a highly elastic alloy wire, so that the cable 6 can transmit thrust to open the surgical clamp 43. Of course, a return spring can also be provided between the opening bottom of the U-shaped mounting opening 432 and the slide 433 to reset the slide 433 to open the surgical clamp 43.

[0061] In one embodiment, the actuator arm 41 includes 2 to 5 first universal joints 44 connected in series; the control arm 21 includes 1 to 3 second universal joints 22. The superposition of the first universal joints 44 in the actuator arm 41 can extend the axial length of the actuator arm 41, so that the actuator arm 41 can achieve a greater degree of bending. Similarly, the superposition of the second universal joints 22 in the control arm 21 can extend the axial length of the control arm 21, so that the control arm 21 can achieve a greater degree of bending. The length of the actuator arm 41 or the control arm 21 is reasonably set mainly to meet the needs of the operation. In the embodiment shown in the figure, the actuator arm 41 includes 3 first universal joints 44 connected in series; the control arm 21 includes 1 second universal joint 22.

[0062] In a preferred embodiment, the first universal joints 44 of the actuator arm 41 have the same size, and the circumferential outer diameter of the first universal joint 44 is 5 to 15 mm; the circumferential outer diameter of the second universal joint 22 is 15 to 30 mm. The circumferential outer diameter of the first universal joint 44 is limited by the size of the surgical opening during minimally invasive surgery. The circumferential outer diameter of the second universal joint 22 can be appropriately larger than the circumferential outer diameter of the first universal joint 44, so as to be suitable for hand operation.

[0063] The first universal joint 44 and the second universal joint 22 have different sizes but the same structure, both of which include two motion platforms and at least three sets of rotating components arranged in parallel between the two motion platforms.

[0064] Figure 5 The structure of a first universal joint 44 is shown in FIG. The two motion platforms are a first motion platform 441 and a second motion platform 442. The first motion platform 441 and the second motion platform 442 both have a rotation center.

[0065] Each group of rotating components includes a first rotating member 443 hinged to the first moving platform 441 at one end, a second rotating member 444 hinged to the second moving platform 442 at one end, and a third rotating member 445 hinged to the first rotating member 443 and the other end of the second rotating member 444 at both ends. The axis of the hinge shaft of the first rotating member 443 hinged to the first moving platform 441 and the third rotating member 445 passes through the rotation center of the first moving platform 441; the axis of the hinge shaft of the second rotating member 444 hinged to the second moving platform 442 and the third rotating member 445 passes through the rotation center of the second moving platform 442.

[0066] When adjacent first universal joints 44 or second universal joints 22 are connected in series, the rotating components correspond one to one and are connected to each other through transmission; the transmission components between the first universal joint 44 at the proximal end of the actuator arm 41 and the second universal joint 22 at the distal end of the control arm 21 also correspond one to one and are connected through transmission cable 23.

[0067] In a preferred embodiment, the first rotating member and the second rotating member of the first universal joint 44 and the second universal joint 22 are both processed into an external gear 446, the rotation axis of the external gear of the first rotating member is the hinge axis between the first rotating member and the first motion platform, and the rotation axis of the external gear of the second rotating member is the hinge axis between the second rotating member and the second motion platform. When adjacent first universal joints 44 or second universal joints 22 are connected in series, the rotating components are driven by the meshing between the corresponding external gears 446. And the transmission ratio of the meshing first rotating member and the second rotating member is 1:1, and the first rotating member and the second rotating member are symmetrical with respect to the connecting plane, which can achieve consistent actions between the two connected universal joints and proportional transmission.

[0068] In a preferred embodiment, the first universal joint 44 and the second universal joint 22 each have three groups of rotating components, and the three groups have the same structure and are evenly distributed along the circumference. Correspondingly, the transmission cables 23 include three groups in total, and each group of transmission cables 23 corresponds to one rotating component. The first motion platform 441 has the same structure as the second motion platform 442; the first rotating member 443 has the same structure as the second rotating member 444; the structure of the third rotating member 445 is symmetrical between the half close to the first rotating member 443 and the half close to the second rotating member 444. In other words, the first rotating member 443 and the second rotating member 444 of each rotating component always maintain symmetry, so that the action of one end can be predicted by controlling the action of the other end after the action is transmitted.

[0069] like Figures 6 to 8 As shown, when the transmission is between the second universal joint 22 at the far end of the control arm 21 and the first universal joint 44 at the near end of the actuator arm 41, the external gear 446 on one side is meshed with a steering gear 25, and then the steering gear 25 is connected to the transmission cable 23. Due to the limitation of the transmission method between universal joints (including the first universal joint and the second universal joint), when the action of the previous universal joint is transmitted to the next universal joint, the rotation directions of the meshing external gears are opposite, and the rotation directions of the two external gears on the two moving platforms on the same universal joint are also opposite. After two reversals, the bending direction of the next universal joint is kept the same as the bending direction of the previous universal joint. However, the transmission between the second universal joint 22 at the far end of the control arm 21 and the first universal joint 44 at the near end of the actuator arm 41 is transmitted through the transmission cable 23, and the transmission cable 23 can only drive the two external gears 446 to rotate in the same direction, so that when the second universal joint 22 bends in one direction, the first universal joint 44 bends in the opposite direction, so that the hand movement during operation is opposite to the bending direction of the actuator end 4, which is not conducive to the operator's simple operation. Therefore, by setting a steering gear 25 to reverse the rotation direction once, the first universal joint 44 and the second universal joint 22 can be bent in one direction, making the operation simpler and more intuitive, which is conducive to the operator's operation. As shown in the figure, the steering gear 25 is preferably installed on one side of the second universal joint 22, because the actuator arm 41 where the first universal joint 44 is located needs to extend into the patient's surgical area, and its size is small and not easy to install. The steering gear 25 is preferably installed on the mounting base 12. The steering gear 25 also includes 3, each of which cooperates with a set of transmission cables 23.

[0070] like Fig. 9As shown, when the handheld multi-degree-of-freedom bendable surgical instrument of the present invention is used, the operator (doctor) holds the handle 11 with one hand, thereby holding the surgical instrument in the palm of his hand, and realizes the 2-degree-of-freedom swing control of the execution end by pinching the control end rotary cap with the index finger and thumb to move left and right and up and down, and realizes the rotation movement of the execution end surgical clamp by twisting the rotary cap with two fingers to drive the steering sleeve to rotate, and realizes the rotation movement of the execution end surgical clamp by pressing the remaining three fingers to hold the operating rod against the palm, and the movement of the operating rod drives the cable to stretch, thereby realizing the opening and closing of the surgical clamp; at the same time, the operator pinches the control end rotary cap with the index finger and thumb, and uses the rotary cap as the operating handle of the control arm to push and pull the second universal joint in different directions, and the bending movement of the second universal joint drives the first universal joint to bend through the transmission cable, so that the execution arm bends in different directions, driving the movement of the surgical clamp. The handheld multi-degree-of-freedom bendable surgical instrument of the present invention gives full play to the control of the doctor's hand, so that the 4-degree-of-freedom control can be completed with one hand, providing the doctor with a dexterous and convenient minimally invasive surgical instrument.

Claims

1. A hand-held multi-degree-of-freedom bendable surgical instrument, characterized in that: include: The execution end includes an execution arm and a clamp mounting seat arranged at the end of the execution arm, the clamp mounting seat is provided with a surgical clamp, and the execution arm includes a plurality of first universal joints connected in series; A grip handle, comprising a grip for holding during operation, one end of the grip being provided with a mounting base; The extension section has two ends respectively connected to the actuator arm of the actuator end and the mounting base of the grip handle; A steering sleeve, which passes through the actuator arm, the extension section and the mounting base in sequence, wherein the distal end of the steering sleeve is connected to the clamp mounting seat, and when the steering sleeve rotates, the clamp mounting seat is driven to rotate so as to adjust the direction of the surgical clamp; A cable is arranged in the steering sleeve and is used to control the clamping of the surgical clamp when stretched. The side of the handle away from the back of the hand when holding is provided with an operating lever for controlling the stretching of the cable; The control end includes a control arm with one end fixed on the mounting base, the control arm includes at least one second universal joint, a transmission cable for transmitting the bending action of the second universal joint to the first universal joint is provided between the second universal joint and a first universal joint of the actuator arm close to the extension section; the proximal end of the steering sleeve passes through the control arm, and the proximal end of the control arm is provided with a rotary cap for controlling the rotation of the steering sleeve; The first universal joint and the second universal joint each include two motion platforms and at least three sets of rotating components arranged in parallel between the two motion platforms. The two motion platforms are the first motion platform and the second motion platform. Both the first motion platform and the second motion platform have a rotation center. Each group of rotating components includes a first rotating member hinged to the first moving platform at one end, a second rotating member hinged to the second moving platform at one end, and a third rotating member hinged to the first rotating member and the other end of the second rotating member at both ends. The axis of the hinge shaft of the first rotating member hinged to the first moving platform and the third rotating member passes through the rotation center of the first moving platform; the axis of the hinge shaft of the second rotating member hinged to the second moving platform and the third rotating member passes through the rotation center of the second moving platform. When adjacent first universal joints or second universal joints are connected in series, the rotating components correspond one to one and are connected to each other through transmission; the transmission components between the first universal joint of the actuator arm at the proximal end and the second universal joint of the control arm at the distal end also correspond one to one and are connected through the transmission cable.

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

3. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: One end of the operating rod is connected to the handle through a connecting portion, and the other end is suspended as a movable end. The proximal end of the cable is connected to the movable end of the operating rod. When the movable end of the operating rod is pinched toward the handle, the cable is stretched.

4. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 3, characterized in that: The movable end of the operating rod is an end away from the mounting base, and a reset spring for resetting the movable end of the operating rod is arranged between the handle and the movable end of the operating rod.

5. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 4, characterized in that: One end of the handle away from the mounting base extends toward one side of the operating rod to form a protective portion surrounding the movable end of the operating rod. The proximal end of the steering sleeve is fixed to the end of the protective portion, and the cable passes through the end of the protective portion and is connected to the movable end of the operating rod.

6. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The actuator arm includes 2 to 5 first universal joints connected in series; the control arm includes 1 to 3 second universal joints; The first universal joints of the actuator arm have the same size, the circumferential outer diameter of the first universal joint is 5-15 mm; the circumferential outer diameter of the second universal joint is 15-30 mm.

7. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 1, characterized in that: The first rotating member and the second rotating member of the first universal joint and the second universal joint are both processed into external gears, the rotation axis of the external gear of the first rotating member is the hinge axis between the first rotating member and the first motion platform, and the rotation axis of the external gear of the second rotating member is the hinge axis between the second rotating member and the second motion platform. When adjacent first universal joints or second universal joints are connected in series, the rotating components are driven by meshing between corresponding external gears.

8. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 7, characterized in that: The first universal joint and the second universal joint each have three rotating components, and the three groups have the same structure and are evenly distributed around the circumference; the first motion platform has the same structure as the second motion platform; the first rotating member has the same structure as the second rotating member; the structure of the third rotating member is symmetrical between the half close to the first rotating member and the half close to the second rotating member.

9. The handheld multi-degree-of-freedom bendable surgical instrument according to claim 7, characterized in that: When the control arm is transmitting between the second universal joint at the far end and the actuator arm is transmitting between the first universal joint at the near end, the outer gear on one side is meshed with a steering gear, and then the steering gear is connected to the transmission cable.

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