Bending joints and surgical instruments

Abstract

The present application relates to a bending joint, wherein a first internal passage penetrating both ends is provided inside a first joint component, a first connection structure is provided at the end of the first joint component, a second internal passage penetrating both ends is provided inside a second joint component, a second connection structure is provided at the end of the second joint component, the first joint component is connected to the second connection structure of the second joint component by a fixed axis rotation through the first connection structure, an internal limiting passage penetrating both ends is provided inside a limiting joint component, and the limiting joint component is movably assembled between the first joint component and the second joint component. When a thrust rod is inserted into the first internal passage, the second internal passage and the internal limiting passage, the gap between the first joint component and the second joint component can be blocked by the internal limiting passage of the limiting joint component, thereby suppressing the extrusion of the bendable section in the thrust rod, solving the problem of bulging during the rotation of the bending joint, and enabling the thrust rod to stably and effectively perform push-pull driving actions.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to bending joints and surgical instruments. Background Art

[0002] With the application and development of robot-related technologies, the application of medical surgical robots in clinical practice is becoming more and more popular. Minimally invasive surgical robot systems can reduce the physical labor of doctors during surgery through interventional treatment, while achieving the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery. The design quality of the surgical instruments used in the minimally invasive surgical robot system affects the success or failure of the minimally invasive surgical robot system. Well-designed surgical instruments can better help doctors complete surgical operations. Therefore, the performance of surgical instruments is a key factor affecting the performance level of the minimally invasive surgical robot system.

[0003] The stapler is a commonly used surgical instrument in minimally invasive surgical robot systems. The stapler realizes the opening and closing of the distal jaws through the push-pull drive of the thrust rod, thereby realizing the anastomosis operation. Since the actual surgical environment is very complex, the stapler can be equipped with a bending joint, which is used to adjust the direction and angle of the distal jaws. When the thrust rod is pushed in the channel of the stapler, the bendable section of the thrust rod is easily squeezed out in the gap of the bending joint. Once the extrusion phenomenon occurs, the thrust rod will be unevenly stressed during the pushing process, which will worsen the extrusion phenomenon and form an obvious bulge in the gap of the bending joint, making the opening and closing of the distal jaws not smooth or even malfunctioning, affecting the safety of the operation. Summary of the invention

[0004] Based on this, it is necessary to provide a bending joint and a surgical instrument to address the problem that the thrust rod in the stapler bulges at the bending joint, causing the distal jaws to fail to open and close.

[0005] A bending joint, comprising:

[0006] A first joint component, wherein a first internal passage penetrating through both ends is provided inside the first joint component, and a first connection structure is provided at an end of the first joint component;

[0007] A second joint component, wherein a second internal passage penetrating through both ends is provided inside the second joint component, a second connection structure is provided at an end of the second joint component, and the first joint component is connected to the second connection structure of the second joint component for fixed-axis rotation via the first connection structure;

[0008] A limiting joint component, wherein an internal limiting channel running through both ends is provided inside the limiting joint component, and the limiting joint component is movably assembled between the first joint component and the second joint component, and the limiting joint component is used to adapt and move on at least one of the first joint component and the second joint component as the fixed axis rotation between the first joint component and the second joint component occurs, so that the internal limiting channel connects the first internal channel and the second internal channel.

[0009] In one embodiment, two ends of the first joint have two first connection structures, the number of the second joints is two, and the second connection structures of the two second joints are respectively connected to the two first connection structures at the two ends of the first joint for fixed-axis rotation; or,

[0010] There are multiple first joint components and multiple second joint components, and the multiple first joint components and the multiple second joint components are connected in sequence at intervals. The first connection structure of the adjacent first joint components is connected to the second connection structure of the second joint component for fixed-axis rotation.

[0011] In one embodiment, two rotation axes of the two second joints rotatably connected to the two ends of the first joint are respectively a first rotation axis and a second rotation axis, and the first rotation axis and the second rotation axis have an included angle; or,

[0012] The rotation axes between the adjacent first joint components and the second joint components have an included angle.

[0013] In one embodiment, the first rotation axis and the second rotation axis are perpendicular to each other; or,

[0014] The rotation axes between adjacent first joint components and second joint components are perpendicular to each other.

[0015] In one embodiment, the limiting joint component is located inside the first joint component and the second joint component; and / or,

[0016] A first movable structure is provided between the first joint component and the limiting joint component, and the limiting joint component is adapted to move relative to the first joint component through the first movable structure as the fixed axis between the first joint component and the second joint component rotates; and / or,

[0017] A second movable structure is arranged between the second joint component and the position-limiting joint component. The position-limiting joint component adapts and moves relative to the second joint component through the second movable structure as the fixed axis between the first joint component and the second joint component rotates.

[0018] In one embodiment, the first movable structure includes a first movable track and a first movable matching portion respectively located at the first joint component and the position-limiting joint component, and the first movable matching portion is movably assembled along the first movable track; the second movable structure includes a second movable track and a second movable matching portion respectively located at the second joint component and the position-limiting joint component, and the second movable matching portion is movably assembled along the second movable track;

[0019] At least one of the first movable structure and the second movable structure also includes a third movable track located on the limiting joint, and also includes a third movable matching part located on at least one of the first joint and the second joint, the third movable matching part is movably assembled along the third movable track, the third movable matching part is located on the rotation axis between the first joint and the second joint, and at least one of the first movable track and the second movable track has an angle with the third movable track.

[0020] In one embodiment, the connection direction of the first joint component and the second joint component is axial, the first movable track extends along the axial direction, the second movable track extends along the axial direction, and the third movable track is perpendicular to the axial direction constructed by the connection between the first joint component and the second joint component; the track extension line of the first movable track and the track extension line of the second movable track can pass through the midpoint of the third movable track when they coincide.

[0021] In one embodiment, the first movable structure comprises a fourth movable track and a fourth movable matching portion respectively located on the first joint component and the position-limiting joint component, and the fourth movable matching portion is movably assembled along the fourth movable track;

[0022] The second movable structure includes a movable rotating shaft and a rotating shaft hole respectively located at the second joint component and the position-limiting joint component. The second joint component and the position-limiting joint component are connected for fixed-axis rotation via the movable rotating shaft and the rotating shaft hole.

[0023] In one embodiment, the bending joint comprises:

[0024] A traction wire is movably connected to the first joint component and the second joint component, and is used to control the fixed-axis rotation of the first joint component and the second joint component.

[0025] A surgical instrument comprises the bending joint.

[0026] The above-mentioned relates to a bending joint and a surgical instrument, and a matching limiting joint component is constructed between the first joint component and the second joint component. When the thrust rod is inserted into the first internal channel, the second internal channel and the internal limiting channel, the gap between the first joint component and the second joint component can be blocked by the internal limiting channel of the limiting joint component, thereby suppressing the extrusion of the bendable section of the thrust rod from the first joint component and the second joint component, fundamentally solving the phenomenon of bulging during the rotation of the bending joint, so that the thrust rod can stably and effectively perform push-pull driving actions, and control the distal jaws to perform flexible opening and closing actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the straight state of a bending joint provided in one embodiment of the present application.

[0028] Figure 2 This is a schematic diagram of the bending state of a bending joint provided in one embodiment of the present application.

[0029] Figure 3 Schematic diagram of an explosion of a bending joint provided in one embodiment of the present application Figure 1 .

[0030] Figure 4 Schematic diagram of an explosion of a bending joint provided in one embodiment of the present application Figure 2 .

[0031] Figure 5 Schematic diagram of the bending state of the bending joint in the prior art Figure 1 .

[0032] Figure 6 Schematic diagram of the bending state of the bending joint in the prior art Figure 2 .

[0033] Figure 7 Schematic diagram of the bending state of the bending joint in the prior art Figure 3 .

[0034] Figure 8 A schematic diagram of the bending state of a multi-unit bending joint provided in one embodiment of the present application.

[0035] Fig. 9 An exploded schematic diagram of a multi-unit bending joint provided in one embodiment of the present application.

[0036] Fig.10 A schematic diagram of the internal structure of a multi-unit bending joint provided in one embodiment of the present application.

[0037] Fig.11 The schematic diagram of the bending joint provided in one embodiment of the present application is shown in FIG. Figure 1 .

[0038] Fig.12 The schematic diagram of the bending joint provided in one embodiment of the present application is shown in FIG. Figure 2 .

[0039] Fig.13 The schematic diagram of the bending joint provided in one embodiment of the present application is shown in FIG. Figure 3 .

[0040] Fig.14 For Figure 1 An exploded schematic diagram of a first variant embodiment of a bending joint is shown.

[0041] Fig.15 For Figure 1 The schematic diagram of the first variant embodiment of the bending joint shown in FIG. Figure 1 .

[0042] Fig.16 For Figure 1 The schematic diagram of the first variant embodiment of the bending joint shown in FIG. Figure 2 .

[0043] Fig.17 For Figure 1 An exploded schematic diagram of a first variant embodiment of a multi-unit bending joint is shown.

[0044] Fig.18 For Figure 1 The schematic diagram of the second variant embodiment of the bending joint shown in FIG. Figure 1 .

[0045] Fig.19 For Figure 1 The schematic diagram of the second variant embodiment of the bending joint shown in FIG. Figure 2 .

[0046] Fig. 20 A schematic diagram of the bending joint provided in another embodiment of the present application Figure 1 .

[0047] Fig.21 A schematic diagram of the bending joint provided in another embodiment of the present application Figure 2 .

[0048] Fig. 22 A schematic diagram of the principle of a multi-unit bending joint provided in another embodiment of the present application Figure 1 .

[0049] Fig.23 For Fig. 20 The schematic diagram of the first variant embodiment of the bending joint shown in FIG. Figure 1 .

[0050] Fig.24 For Fig. 20 The schematic diagram of the first variant embodiment of the bending joint shown in FIG. Figure 2 .

[0051] Fig.25 A schematic diagram of the structure of a push blade drive assembly provided in one embodiment of the present application.

[0052] Fig.26 This is a schematic diagram of the structure of a surgical instrument provided in one embodiment of the present application.

[0053] Fig. 27 A schematic diagram of a distal jaw and a push blade drive assembly provided in one embodiment of the present application.

[0054] Fig.28 For Fig. 27 An exploded schematic diagram of the distal jaw and push blade drive assembly is shown.

[0055] Fig.29 A schematic diagram of the curved structure of a push blade drive assembly provided in one embodiment of the present application.

[0056] Fig.30 This is a schematic diagram of the connection structure between the thrust rod and the push knife member provided in one embodiment of the present application.

[0057] Fig.31 This is a schematic diagram of the bending structure of the thrust rod provided in one embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0059] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0060] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0061] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0062] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0063] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0064] See also Figures 1 to 4As shown, the present application provides a bending joint 100, which includes a first joint component 1000, a second joint component 2000 and a limiting joint component 3000. The first joint component 1000 has a first internal passage extending through both ends, a first connecting structure 1100 is arranged at the end of the first joint component 1000, a second internal passage extending through both ends is arranged at the interior of the second joint component 2000, a second connecting structure 1200 is arranged at the end of the second joint component 2000, and the first joint component 1000 is connected to the second joint component 2000 through the first connecting structure 1100. The second connection structure 1200 of the two joint components 2000 is connected in a fixed-axis rotation manner, and an internal limiting channel running through both ends is opened inside the limiting joint component 3000. The limiting joint component 3000 is movably assembled between the first joint component 1000 and the second joint component 2000. The limiting joint component 3000 is used to adapt and move on at least one of the first joint component 1000 and the second joint component 2000 along with the fixed-axis rotation between the first joint component 1000 and the second joint component 2000, so that the internal limiting channel connects the first internal channel and the second internal channel.

[0065] The first joint component 1000 or the second joint component 2000 can be a single body structure or a split structure. For example, when the first joint component 1000 is a single body structure and the second joint component 2000 is a split structure composed of two parts, this structural method can make the assembly structure of the entire bending joint 100 simpler. At the same time, it can also enable the bending joint 100 to have a smooth outer surface, no pins, and no rivets or laser welding. This is beneficial to avoid accidental scratches on human tissue during surgery and the assembly is simple and reliable.

[0066] See also Figure 1 As shown, limited to Figure 1 The direction from top to bottom is the first joint component 1000, the second joint component 2000 and the two ends of the limit joint component 3000, continue to refer to Figure 1 As shown, at this time, the first joint component 1000, the second joint component 2000 and the limit joint component 3000 are in a non-bent straight state, and the direction from top to bottom is also the axial direction of the bending joint 100, see Figure 2 As shown, at this time, the first joint component 1000, the second joint component 2000 and the limiting joint component 3000 are in a bending state, and the bending direction along the first joint component 1000, the second joint component 2000 and the limiting joint component 3000 is limited to the axial direction of the bending joint 100. Therefore, the axial direction of the bending joint 100 is not completely limited to a straight line trajectory. With the mutual movement of the first joint component 1000, the second joint component 2000 and the limiting joint component 3000, the axial direction of the bending joint 100 also changes between a straight line trajectory and a curved trajectory.

[0067] Therefore, the first internal channel is a channel that passes through the first joint component 1000 in the axial direction, the second internal channel is a channel that passes through the second joint component 2000 in the axial direction, and the internal limiting channel is a channel that passes through the limiting joint component 3000 in the axial direction, wherein the specific channel structures of the first internal channel, the second internal channel and the internal limiting channel are not limited. For example, the internal structure of any one of the first internal channel, the second internal channel and the internal limiting channel can be a circular radial cross-section, a square radial cross-section, and other regular or irregular radial cross-sections, etc., which are not limited here. As long as the matching thrust rod 200 can be passed through the first internal channel, the second internal channel and the internal limiting channel to realize push-pull drive actions, technical personnel in this field can make specific limitations according to actual needs.

[0068] The first connection structure 1100 of the first joint component 1000 and the second connection structure 1200 of the second joint component 2000 may adopt a variety of assembly structures, for example, see Figure 3 As shown, the first connecting structure 1100 can be adopted as an axial hole and the second connecting structure 1200 can be adopted as a rotating shaft. In addition, the first connecting structure 1100 can be adopted as a rotating shaft and the second connecting structure 1200 can be adopted as an axial hole, or the first connecting structure 1100 and the second connecting structure 1200 can be adopted as other hinged structures that can realize the fixed-axis rotation of the first joint component 1000 and the second joint component 2000, which is not limited here.

[0069] When the first joint component 1000 and the second joint component 2000 rotate relative to the fixed axis, a gap will occur between the first joint component 1000 and the second joint component 2000, especially when compared Figure 1 and Figure 2 As shown, when the first joint component 1000 and the second joint component 2000 are oriented toward Figure 2 When the first joint component 1000 and the second joint component 2000 rotate toward the left side, a larger gap will appear on the right side of the first joint component 1000 and the second joint component 2000. Correspondingly, when the first joint component 1000 and the second joint component 2000 rotate toward the right side, a larger gap will appear on the left side of the first joint component 1000 and the second joint component 2000. Figures 5 to 7 As shown, once the thrust rod 200 performs a push-pull driving action in the first internal channel and the second internal channel of the first joint 1000 and the second joint 2000, the bendable section of the thrust rod 200 will be easily squeezed out from the gap between the first joint 1000 and the second joint 2000. As the gap increases, the extrusion effect will become worse, resulting in obvious bulging.

[0070] Therefore, a matching limiting joint component 3000 is constructed between the first joint component 1000 and the second joint component 2000. The limiting joint component 3000 can adapt and move on at least one of the first joint component 1000 and the second joint component 2000 along with the fixed-axis rotation between the first joint component 1000 and the second joint component 2000. The trajectory of the adaptive movement of the limiting joint component 3000 on the first joint component 1000 and the second joint component 2000 can be a regular trajectory such as a straight trajectory, a curved trajectory, etc., or it can also be constructed as an irregular trajectory according to actual movement requirements, and it can also be a single trajectory or a complex trajectory formed by a combination of multiple trajectories. In short, the purpose of the adaptive movement of the limiting joint component 3000 on the first joint component 1000 and the second joint component 2000 is to ensure that the first joint component 1000 and the second joint component 2000 can stably perform the expected fixed-axis rotation without affecting the flexibility and stability of the rotation between the first joint component 1000 and the second joint component 2000 due to the introduction of the limiting joint component 3000.

[0071] Therefore, when the thrust rod 200 is inserted into the first internal channel, the second internal channel and the internal limiting channel, the gap between the first joint component 1000 and the second joint component 2000 can be blocked by the internal limiting channel of the limiting joint component 3000, thereby suppressing the extrusion of the bendable section of the thrust rod 200 from the first joint component 1000 and the second joint component 2000, fundamentally solving the problem of bulging during the rotation of the bending joint 100, and enabling the thrust rod 200 to stably and effectively perform push-pull driving actions, and control the distal jaw 300 to perform flexible opening and closing actions.

[0072] It should be noted that the bending joint 100 composed of the first joint component 1000, the second joint component 2000 and the limiting joint component 3000 may be the entire bending joint 100 or a unit of the bending joint 100. For example, see Figure 8 As shown, in one embodiment, the two ends of the first joint component 1000 may have two first connection structures 1100, and the number of the second joint components 2000 is two. Therefore, the second connection structures 1200 of the two second joint components 2000 are respectively connected to the two first connection structures 1100 at both ends of the first joint component 1000 for fixed-axis rotation, forming a bending joint 100 constructed by a first joint component 1000 and two second joint components 2000, wherein the limited joint component 3000 is assembled between the first joint component 1000 and each second joint component 2000 in the same manner. The specific assembly method is described in the previous text and will not be repeated here.

[0073] Continue reading Figures 8 to 10As shown, the two rotation axes of the two second joint parts 2000 rotatably connected to the two ends of the first joint part 1000 are the first rotation axis 1000a and the second rotation axis 1000b, respectively. The first rotation axis 1000a and the second rotation axis 1000b have an angle, so the two second joint parts 2000 at the two ends of the first joint part 1000 can rotate relative to the first joint part 1000 in different directions, so that the bending joint 100 has a flexible rotation effect. In a specific embodiment, the first rotation axis 1000a and the second rotation axis 1000b can be perpendicular to each other, so that the bending joint 100 has two perpendicular rotation directions. Fig.10 As shown, the thrust rod 200 is inserted into the interior of the bending joint 100 and can rotate in different directions. Moreover, during a complex rotation process, no bulging will occur regardless of which direction any part of the thrust rod 200 rotates.

[0074] Moreover, the number of the first joint component 1000 and the second joint component 2000 can be multiple, and the multiple first joint components 1000 and the second joint components 2000 are connected one by one in sequence along the axial direction, and the first connection structure 1100 of the adjacent first joint component 1000 is connected with the second connection structure 1200 of the second joint component 2000 by fixed-axis rotation, and the limited joint component 3000 is assembled in the same way between each adjacent first joint component 1000 and each second joint component 2000. The specific assembly method is described in the previous text and will not be repeated here. The technicians in this field can choose the appropriate length requirement to construct the bending joint 100. The rotation axis between the adjacent first joint component 1000 and the second joint component 2000 has an angle, so the bending joint 100 can rotate in different directions at different axial positions, making the rotation effect of the bending joint 100 more flexible. In a specific embodiment, the rotation axis between the adjacent first joint component 1000 and the second joint component 2000 can be perpendicular to each other, or different rotation axes can also be adaptively constructed according to the rotation requirements of the bending joint 100. Technical personnel in this field can set it according to needs, and there is no limitation here.

[0075] Since the first joint component 1000 and the second joint component 2000 have the first internal channel and the second internal channel respectively, in one embodiment, the limiting joint component 3000 is located inside the first joint component 1000 and the second joint component 2000, so when the limiting joint component 3000 is under pressure, the pressure can be transmitted to the first joint component 1000 and the second joint component 2000, and the first joint component 1000 and the second joint component 2000 can withstand tension without separation, so that the connection reliability can be guaranteed and safety problems caused by breakage will not occur. In addition, the limiting joint component 3000 can also be constructed on the outside of at least one of the first joint component 1000 and the second joint component 2000, and those skilled in the art can construct the internal and external assembly relationship between the adjacent first joint component 1000, the second joint component 2000 and the limiting joint component 3000 according to the needs, which is not limited here.

[0076] The trajectory of the adaptive movement of the limiting joint component 3000 relative to the first joint component 1000 and the second joint component 2000 can be achieved through a variety of structural forms. For example, the limiting joint component 3000, the first joint component 1000 and the second joint component 2000 can cooperate to construct sliding holes, sliding grooves, sliding rails, etc. for relative limited sliding, and at the same time, sliders, sliding columns, etc. that can slide with structures such as sliding holes, sliding grooves, sliding rails, etc. are constructed. Technical personnel in this field can set them according to needs.

[0077] See also Figure 3 as well as Figures 11 to 13 As shown, a first movable structure is arranged between the first joint component 1000 and the limiting joint component 3000. The limiting joint component 3000 adapts and moves relative to the first joint component 1000 through the first movable structure as the fixed axis rotation between the first joint component 1000 and the second joint component 2000. The first movable structure includes a first movable track 1300a and a first movable matching part 1300b respectively located at the first joint component 1000 and the limiting joint component 3000. The first movable matching part 1300b is movably assembled along the first movable track 1300a.

[0078] A second movable structure is arranged between the second joint component 2000 and the limiting joint component 3000. The limiting joint component 3000 adapts and moves relative to the second joint component 2000 through the second movable structure as the fixed-axis rotation between the first joint component 1000 and the second joint component 2000 occurs. The second movable structure includes a second movable track 1300c and a second movable matching part 1300d respectively located on the second joint component 2000 and the limiting joint component 3000. The second movable matching part 1300d is movably assembled along the second movable track 1300c.

[0079] In addition, at least one of the first movable structure and the second movable structure also includes a third movable track 1300e located on the limiting joint 3000, and at least one of the first movable structure and the second movable structure also includes a third movable matching part 1300f located on at least one of the first joint 1000 and the second joint 2000. That is to say, the third movable track 1300e and the third movable matching part 1300f can be included in the first movable structure to assist the adaptive movement of the limiting joint 3000 relative to the first joint 1000, or the third movable track 1300e and the third movable matching part 1300f can also be included in the second movable structure to assist the adaptive movement of the limiting joint 3000 relative to the second joint 2000. Regardless of whether the third movable track 1300e and the third movable matching part 1300f belong to the first movable structure or the second movable structure, they are both dedicated to coordinating the flexible operation between the first joint 1000, the second joint 2000 and the limiting joint 3000.

[0080] The third movable matching part 1300f is movably assembled along the third movable track 1300e, and the third movable matching part 1300f is located on the rotation axis between the first joint 1000 and the second joint 2000. At least one of the first movable track 1300a and the second movable track 1300c has an angle with the third movable track 1300e. Therefore, when the first joint 1000 and the second joint 2000 rotate around a fixed axis, once the first joint 1000 and the second joint 2000 rotate to the extreme position, the first movable matching part 1300b can adaptably move along the first movable track 1300a, and the second movable matching part 1300d can adaptably move along the third movable track The second movable track 1300c moves, thereby further increasing the limit angle of fixed-axis rotation of the first joint component 1000 and the second joint component 2000. During the increase of the limit rotation angle between the first joint component 1000 and the second joint component 2000, the third movable matching part 1300f will also move along the third movable track 1300e, and then a flexible adaptive movement trajectory is constructed through three sliding pairs. The three sliding pairs can determine the movement posture of the limiting joint component 3000. The limiting joint component 3000 is symmetrical with respect to the first joint component 1000 and the second joint component 2000, and the symmetry plane of the limiting joint component 3000 is located on the angular bisector of the bending angle of the bending joint 100.

[0081] Continue reading Fig.11 As shown, in one embodiment, the direction of connection between the first joint component 1000 and the second joint component 2000 is axial, that is, Fig.11In the vertical direction, the first movable track 1300a extends along the axial direction, the second movable track 1300c extends along the axial direction, and the third movable track 1300e is perpendicular to the axial direction. In an optional embodiment, the track extension line of the first movable track 1300a and the track extension line of the second movable track 1300c can pass through the midpoint of the third movable track 1300e when they overlap. Figures 11 to 13 As shown, the axial distance of the limit joint component 3000 is S, the bending radius of the thrust rod 200 and the bending joint 100 is R, the distance from the center of the third movable matching part 1300f to the center of the third movable track 1300e is t, and the bending angle of the first joint component 1000 and the second joint component 2000 is θ, satisfying t=(R*1 / cos(θ / 2))-R=S / 2*tan(θ / 2), so it can be seen that R=(S*sin(θ / 2)) / 2(1-cos(θ / 2)). It can be seen from the formula that when the bending angle θ of the joint bending is a fixed value, the bending radius R is proportional to the axial distance S of the limit joint component 3000. Therefore, the larger the value of S, the larger the minimum bending radius R. In this way, by controlling the axial distance S of the limit joint component 3000, a large bending radius snake bone joint that meets the requirements can be designed. Moreover, α+β=θ can also make the angle distribution of α and β more flexible, so that the bending angle of the thrust rod 200 when turning becomes controllable.

[0082] Continue reading Figure 3 as well as Figures 11 to 13 As shown, the first movable structure may specifically include a first movable track 1300a located on the first joint component 1000 and a first movable matching portion 1300b located on the position-limiting joint component 3000, and the position-limiting joint component 3000 moves relative to the first joint component 1000. The second movable structure may specifically include a second movable track 1300c located on the second joint component 2000 and a second movable matching portion 1300d located on the position-limiting joint component 3000, and the position-limiting joint component 3000 moves relative to the second joint component 2000. In addition, at least one of the first joint component 1000 and the second joint component 2000 may also be moved relative to the position-limiting joint component 3000, for example, see Figures 14 to 17 As shown, the second movable track 1300c and the second movable matching portion 1300d in the second movable structure are exchanged, so that the second movable matching portion 1300d is located on the second joint component 2000, and the second movable track 1300c is located on the limiting joint component 3000, or further, refer to Fig.18 and Fig.19As shown, the first movable track 1300a and the first movable matching portion 1300b in the first movable structure are also swapped, so that the first movable matching portion 1300b is located on the first joint component 1000 and the first movable track 1300a is located on the limiting joint component 3000.

[0083] See also Figure 20 to Figure 22 As shown, in addition to using three sliding pairs to construct the moving track, the moving track can also be constructed by one sliding pair and one rotating pair. For example, in one embodiment, the first movable structure includes a fourth movable track 1300g and a fourth movable matching part 1300h respectively located at the first joint 1000 and the limiting joint 3000, and the fourth movable matching part 1300h is movably assembled along the fourth movable track 1300g; the second movable structure includes a movable shaft 1300i and a rotating shaft hole 1300j respectively located at the second joint 2000 and the limiting joint 3000, and the second joint 2000 and the limiting joint 3000 are connected by the movable shaft 1300i and the rotating shaft hole 1300j. It can be seen that the first movable structure and the second movable structure only contain the sliding pair composed of the fourth movable track 1300g and the fourth movable matching part 1300h and the rotating pair composed of the movable shaft 1300i and the rotating shaft hole 1300j.

[0084] Similarly, continue to refer to Figure 20 to Figure 22 As shown, the first movable structure may specifically include a fourth movable track 1300g located on the first joint component 1000 and a fourth movable matching portion 1300h located on the limiting joint component 3000, and the limiting joint component 3000 moves relative to the first joint component 1000, or refer to Fig.23 and Fig.24 As shown, the fourth movable track 1300g and the fourth movable matching part 1300h in the first movable structure can also be swapped so that the fourth movable matching part 1300h is located on the first joint component 1000 and the first movable track 1300a is located on the limiting joint component 3000.

[0085] See also Fig.25As shown, in one embodiment, the bending joint 100 includes a traction wire 4000, which is movably connected to the first joint component 1000 and the second joint component 2000, and is used to control the fixed-axis rotation of the first joint component 1000 and the second joint component 2000. The number of traction wires 4000 can be adapted and constructed according to the number of bending directions of the bending joint 100. For example, when the bending joint 100 has only one rotation direction, the bending joint 100 can be pulled by at least two traction wires 4000 to rotate forward and reversely. When the bending joint 100 has two rotation directions, the bending joint 100 can be pulled by at least four traction wires 4000 to rotate forward and reversely along the two rotation directions respectively. The traction wire 4000 can be movably connected to the first joint component 1000 and the second joint component 2000 through the openings, hanging rings and other structures on the first joint component 1000 and the second joint component 2000. Those skilled in the art can construct it according to the needs, which is not limited here.

[0086] See also Figure 26 to Figure 31 As shown, the present application also provides a push knife driving assembly for a surgical instrument, the push knife driving assembly includes a bending joint 100, a thrust rod 200 and a push knife member 200a, see Fig.30 As shown, at least a portion of the thrust rod 200 is a bendable section, which can be bent in any direction to transmit thrust and pull, and is bendable. The thrust rod 200 is inserted into the first internal channel, the internal limit channel, and the second internal channel of the bending joint 100. The pusher member 200a is connected to the distal end of the thrust rod 200. When the thrust rod 200 performs a push-pull driving action, it can adapt to the bending state of the bending joint 100 in the first internal channel, the internal limit channel, and the second internal channel. The existence of the first internal channel, the internal limit channel, and the second internal channel allows the bendable section to transmit torque more smoothly and is less likely to fail due to torsional instability. Fig.31 As shown, a flexible shaft structure that can transmit torque and is bendable can also be provided in the bending joint 100 .

[0087] Continue reading Fig.26 As shown, the present application also provides a surgical instrument, in particular a stapler, which includes a push blade drive assembly, a distal jaw 300, an instrument rod 400, an instrument drive box 500 and a staple cartridge box 600. The instrument drive box 500 provides power according to the following method. Fig.26 In the distal and proximal directions shown, the instrument drive box 500 is connected to the proximal end of the instrument rod 400, the bending joint 100 of the push knife drive assembly is connected to the distal end of the instrument rod 400, and the distal jaw 300 and the nail magazine box 600 are connected through the bending joint 100. The push knife drive assembly is used to control the opening and closing action of the distal jaw 300 and the movement of the nail magazine box 600. Those skilled in the art can set it according to needs and it is not limited here.

[0088] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0089] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A bending joint, characterized in that: The bending joint comprises: A first joint component, wherein a first internal passage penetrating through both ends is provided inside the first joint component, and a first connection structure is provided at an end of the first joint component; A second joint component, wherein a second internal passage penetrating through both ends is provided inside the second joint component, a second connection structure is provided at an end of the second joint component, and the first joint component is connected to the second connection structure of the second joint component for fixed-axis rotation via the first connection structure; A limiting joint component, wherein an internal limiting channel running through both ends is provided inside the limiting joint component, and the limiting joint component is movably assembled between the first joint component and the second joint component, and the limiting joint component is used to adapt and move on at least one of the first joint component and the second joint component as the fixed axis rotation between the first joint component and the second joint component occurs, so that the internal limiting channel connects the first internal channel and the second internal channel.

2. The bending joint according to claim 1, characterized in that: Two ends of the first joint have two first connection structures, the number of the second joint is two, and the second connection structures of the two second joints are respectively connected to the two first connection structures at the two ends of the first joint for fixed-axis rotation; or, There are multiple first joints and multiple second joints, and the multiple first joints and the multiple second joints are connected in sequence at intervals. The first connection structure of the adjacent first joints is connected to the second connection structure of the second joints for fixed-axis rotation.

3. The bending joint according to claim 2, characterized in that: The two rotation axes of the two second joints rotatably connected to the two ends of the first joint are respectively the first rotation axis and the second rotation axis, and the first rotation axis and the second rotation axis have an included angle; or, The rotation axes between the adjacent first joint components and the second joint components have an included angle.

4. The bending joint according to claim 3, characterized in that: The first rotation axis and the second rotation axis are perpendicular to each other; or, The rotation axes between adjacent first joint components and second joint components are perpendicular to each other.

5. The bending joint according to claim 1, characterized in that: The limiting joint component is located inside the first joint component and the second joint component; and / or, A first movable structure is disposed between the first joint component and the position-limiting joint component, and the position-limiting joint component is adapted to move relative to the first joint component through the first movable structure as the fixed axis between the first joint component and the second joint component rotates; and / or, A second movable structure is arranged between the second joint component and the position-limiting joint component. The position-limiting joint component adapts and moves relative to the second joint component through the second movable structure as the fixed axis between the first joint component and the second joint component rotates.

6. The bending joint according to claim 5, characterized in that: The first movable structure comprises a first movable track and a first movable matching part respectively located at the first joint component and the position-limiting joint component, and the first movable matching part is movably assembled along the first movable track; the second movable structure comprises a second movable track and a second movable matching part respectively located at the second joint component and the position-limiting joint component, and the second movable matching part is movably assembled along the second movable track; At least one of the first movable structure and the second movable structure also includes a third movable track located on the limiting joint, and also includes a third movable matching part located on at least one of the first joint and the second joint, the third movable matching part is movably assembled along the third movable track, the third movable matching part is located on the rotation axis between the first joint and the second joint, and at least one of the first movable track and the second movable track has an angle with the third movable track.

7. The bending joint according to claim 6, characterized in that: The connection direction of the first joint component and the second joint component is axial, the first movable track extends along the axial direction, the second movable track extends along the axial direction, and the third movable track is perpendicular to the axial direction constructed by the connection of the first joint component and the second joint component; The track extension line of the first movable track and the track extension line of the second movable track can pass through the midpoint of the third movable track when they overlap.

8. The bending joint according to claim 5, characterized in that: The first movable structure comprises a fourth movable track and a fourth movable matching portion respectively located on the first joint component and the position-limiting joint component, and the fourth movable matching portion is movably assembled along the fourth movable track; The second movable structure includes a movable rotating shaft and a rotating shaft hole respectively located at the second joint component and the position-limiting joint component. The second joint component and the position-limiting joint component are connected for fixed-axis rotation via the movable rotating shaft and the rotating shaft hole.

9. The bending joint according to claim 1, characterized in that: The bending joint comprises: A traction wire is movably connected to the first joint component and the second joint component, and is used to control the fixed-axis rotation of the first joint component and the second joint component.

10. A surgical instrument, characterized in that: The surgical instrument comprises a flexion joint as claimed in any one of claims 1-9.

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