Bionic surgical instruments

Abstract

The present application provides a bionic surgical instrument comprising a handle, an extension member connected to the handle and movable relative to the handle, and a functional member disposed at the end of the extension member. When a surgeon grips the handle, the extension member's center of motion relative to the handle is located below the surgeon's palm, and the handle can be forced to move relative to the extension member to adjust the operating position of the functional member. Consequently, the bionic surgical instrument of the present application provides intuitive control and a superior operating feel, thereby improving the accuracy of instrument operation.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of medical devices, and in particular to a handle-controlled device. Background Art

[0002] Minimally invasive surgery refers to the process of creating several surgical channels through punctures on the human body surface to perform resection or repair of organ lesions in the abdominal cavity, thoracic cavity, pelvic cavity or joint cavity; or passing an endoscope and operating instruments into the body cavity through natural cavities of the human body such as the mouth, urethra, rectum, vagina, etc., and the surgeon operates the instruments outside the patient's body under the supervision of the endoscope, inserting the working end of the instrument into the patient's body cavity, and performing operations such as resection of lesions in the cavity or repair and suturing of organs. After the operation, the endoscope and instruments are removed, and the small holes on the body surface or the natural cavity incisions are sutured to complete the entire operation.

[0003] In view of this, the main purpose of the present application is to provide a surgical instrument for assisting in performing minimally invasive surgery. Summary of the Invention

[0004] In view of the above problems, the present application provides a bionic surgical instrument to overcome the above problems or at least partially solve the above problems.

[0005] An embodiment of the present application provides a bionic surgical instrument, comprising: a handle; an extension piece connected to the handle and movable relative to the handle; and a functional piece disposed at the end of the extension piece; wherein, when the operator holds the handle, the center of the movable portion of the extension piece relative to the handle is located below the operator's palm; and the handle can be movable relative to the extension piece under force to adjust the operating position of the functional piece.

[0006] Optionally, the distance between the deflection center of the extension piece relative to the handle and the center of the operator's palm does not exceed 10 cm.

[0007] Optionally, the extension member includes: a first connecting rod, which is connected to the handle and extends vertically downward from the end of the handle; a second connecting rod, which is connected to the first connecting rod and extends laterally from the end of the first connecting rod; the handle can bend relative to the first connecting rod to adjust the positioning axis of the functional part through the second connecting rod; the handle axis of the handle and the second axis of the second connecting rod form an angle of no more than 90 degrees.

[0008] Optionally, the second axis of the second connecting rod is perpendicular to the first axis of the first connecting rod, so that a right angle is formed between the first connecting rod and the second connecting rod.

[0009] Optionally, the instrument further includes: a bendable structure at the head end, which connects the second connecting rod and the functional part; and a bendable structure at the tail end, which connects the first connecting rod and the handle; wherein the bendable structure at the tail end can bend in different directions under force, and drive the bendable structure at the head end to move in conjunction with each other in different directions to adjust the operating position of the functional part.

[0010] Optionally, the handle and the first connecting rod respectively position the first end and the second end of the tail end bendable structure; by controlling the handle to rotate in different directions relative to the first connecting rod to adjust the positioning position of the second end relative to the first end, the tail end bendable structure is bent in different directions.

[0011] Optionally, the first connecting rod includes an adjustment sleeve portion that can position the second end, and the handle includes a positioning sleeve portion that can position the first end; the adjustment sleeve portion and the positioning sleeve portion can be movably connected to each other to form an accommodating space for accommodating the bendable structure of the tail end; the adjustment sleeve portion can be flexible relative to the positioning sleeve portion to adjust the positioning position of the second end relative to the first end.

[0012] Optionally, the instrument further comprises an operating member provided on the handle, which is connected to the extension member via a drive shaft and can reciprocate between an active position and an inactive position relative to the handle to drive the extension member to reciprocate along its axial direction; wherein, the operating member is axially fixed relative to the drive shaft and rotates circumferentially, and when the operating member reciprocates between the active position and the inactive position relative to the handle, it can drive the drive shaft to move axially, thereby driving the extension member to reciprocate along its axial direction, so that the functional member switches between the active state and the inactive state.

[0013] Optionally, when the operator holds the handle, the operator's thumb can be inserted into the operating member to drive the operating member to move back and forth between the active position and the inactive position.

[0014] Optionally, the instrument further comprises a locking member; wherein, when the operator holds the handle, the operator's index finger and / or middle finger can be inserted into the locking member to drive the locking member to switch between a locked position and an unlocked position relative to the handle, thereby allowing or restricting the movement of the operating member relative to the handle.

[0015] Optionally, the instrument further comprises a rotating member provided on the handle, which is connected to the extension member and can rotate circumferentially relative to the handle, so as to drive the functional member to perform a rotational action via the extension member.

[0016] Optionally, when the operator holds the handle, the rotating member is located within the operable range of the operator's thumb.

[0017] Optionally, the device further comprises: a drive shaft connected to the rotating member; a first gear provided at an end of the drive shaft close to the first connecting rod; a second gear provided at an end of the first connecting rod close to the handle and meshing with the first gear; a third gear provided at an end of the first connecting rod close to the second connecting rod; a fourth gear provided at an end of the second connecting rod close to the first connecting rod and meshing with the third gear;

[0018] Optionally, when the rotating member rotates circumferentially relative to the handle, it can drive the first connecting rod to rotate circumferentially, and drive the second connecting rod to rotate circumferentially via the first connecting rod, so that the functional member performs a rotational action.

[0019] Optionally, the functional part includes one of surgical forceps and surgical scissors.

[0020] In summary, in the bionic surgical instrument of the present application, when operating the handle, the deflection center of the handle is located below the operator's palm. This structural design conforms to ergonomics and can improve the operator's operating experience.

[0021] Furthermore, the bionic surgical instrument of the present application can also provide an intuitive control form, with simple control and effect logic, and can be operated without special training, which can lower surgical barriers and expand the scope of indications.

[0022] In addition, the bionic surgical instrument of the present application has a compact handle, which can avoid collisions between different surgical instruments during surgery, thereby improving the smoothness of the surgery and shortening the operation time.

[0023] In addition, the bionic surgical instrument of the present application, by adding rotation control of the functional parts, can conveniently realize the rotation of the functional parts while positioning the functional parts in different operating positions, thereby expanding the operational flexibility and the scope of application of the instrument, and can provide better performance in cutting and suturing operations in blind spots of the side view. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the bionic surgical instrument of the present application.

[0026] Figure 2 for Figure 1 Schematic diagram of the structural cross-section.

[0027] Figure 3 This is a schematic diagram of the operating principle of the bionic surgical instrument of this application.

[0028] Figure 4 This is a schematic diagram of an embodiment of the holding posture of the bionic surgical instrument of the present application.

[0029] Figure 5 for Figure 1 Schematic diagram of the local structure.

[0030] Component number

[0031] 1: Bionic surgical instruments;

[0032] 10: handle;

[0033] 12: Positioning sleeve portion;

[0034] 20: extension piece;

[0035] 22: first connecting rod;

[0036] 222: adjusting sleeve portion;

[0037] 24: second connecting rod;

[0038] 30: functional parts;

[0039] 42: bendable structure at the head end;

[0040] 44: Tail end bendable structure;

[0041] 442: first end;

[0042] 444: second end;

[0043] 52: operating parts;

[0044] 524: Ring;

[0045] 54: locking piece;

[0046] 56: Rotating parts;

[0047] 562: dial;

[0048] 60: drive shaft;

[0049] 62: first gear;

[0050] 64: second gear;

[0051] 66: third gear;

[0052] 68: Fourth gear. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0054] Minimally invasive surgery refers to the removal or repair of organ lesions in the abdominal cavity, thoracic cavity, pelvic cavity or joint cavity by puncturing the human body surface to form several surgical channels; or passing an endoscope and operating instruments into the body cavity through the natural cavities of the human body such as the mouth, urethra, rectum, vagina, etc. Through the above-mentioned channels, the surgeon operates the instruments outside the patient's body under the supervision of the endoscope, and uses the working end of the instrument to extend into the patient's body cavity to remove the lesions in the cavity or repair or suture the organs. After the operation, the endoscope and instruments are removed, and the small holes on the body surface or the natural cavity incisions are sutured to complete the entire operation.

[0055] Compared to traditional surgery, minimally invasive surgery has become the preferred treatment option for many common surgical conditions, offering advantages such as minimal surgical trauma, fewer intraoperative complications, reduced postoperative pain, and shorter hospital stays. This procedure typically uses three to five incisions measuring approximately 5mm to 20mm as surgical access channels, and the surgeon utilizes specialized, slender laparoscopic instruments for the procedure.

[0056] Currently, the most commonly used laparoscopic surgical instruments worldwide are typically slender straight instruments, which have the following disadvantages compared to traditional open surgery: 1. The operating angle of straight instruments is severely limited, and they can only perform lever-like movements within the human body, with the surface incision as the fulcrum. 2. For surgeries requiring delicate separation, suturing, and knotting, these straight instruments are difficult to perform, and doctors usually need to undergo extensive model training or animal experiments to master them. 3. For single incision surgeries through the chest or abdominal cavity, or minimally invasive surgeries through natural human cavities, ordinary long straight instruments are difficult to adapt to the operating requirements of the confined space, posing a significant challenge to the training level of the operating surgeon. Although this surgical method is very popular with patients, the number of surgeons who can perform this procedure is very small. The main reason for this is the lack of multi-degree-of-freedom surgical instruments with flexible motion control capabilities that can be controlled intuitively through simple logic.

[0057] With the advancement of science and technology, intelligent surgical instrument systems represented by the da Vinci surgical robot have gradually been promoted and used in various countries around the world. Due to its lightweight and intuitive control form, comfortable remote control method for doctors, and wrist-like instrument movement, complex operations such as suturing and knotting have become very simple; however, the surgical instruments used in this technology are consumable products. The average cost of consumables per operation is between 30,000 and 50,000 yuan. Currently, the average number of robot-assisted minimally invasive surgeries performed in China each year is less than 100,000 (as of January 2022, the number of installed robots in China is less than 200). Compared with the demand for more than 10 million thoracic and laparoscopic minimally invasive surgeries each year, this is far from meeting people's demand for this high-tech.

[0058] In recent years, a new type of hand-controlled, flexible surgical instrument has emerged internationally. These instruments, based on traditional straight laparoscopic instruments, incorporate controlled bending joints. In addition to lever-like prying, they can also control the instrument tip to bend and rotate with multiple degrees of freedom through the combined movement of the arm and wrist. For example, the instruments provided in Patents CN101909526A and CN102525659A. However, years of clinical application have confirmed that, because the center of motion of the force-applying member of such instruments is located on the front of the palm, the ergonomics of operation are not ideal. Control of the instrument requires not only wrist movement but also extensive movements of the forearm, and even the upper arm and shoulder, leaving surgeons feeling very confused. As of now, both products have been withdrawn from the market.

[0059] Minimally invasive surgical instruments, as surgical operating tools that doctors must rely on, the ergonomic design of their control and effect mechanisms determines their clinical usability. In patent US20170095922A1 (FlexDex Surgical Inc.), a design with the center point of the human wrist as the center point of the flexible control appears. By wearing a bracelet on the doctor's hand, and then engaging the bracelet with the instrument force-applying member through the bracelet, the rotational motion center of the entire force-applying member is exactly located at the center point of the wrist cross-section. This is consistent with the intuitive movement habit of the human hand to grasp objects and swing objects by rotating the wrist. It achieves relatively simple control and effect logic, improves control efficiency, does not require long-term adaptive training, and lowers the threshold for use. However, after clinical application, doctors found that the gripping form of this instrument force-applying member made it impossible for doctors to complete the instrument grasping and detaching actions with one hand. In the event of an emergency such as bleeding during surgery, it is difficult for the surgeon to quickly release the instrument force-applying member, thus creating possible risks. In addition, due to the surgeries on different target organs or the selection of different surgical approaches for the same organ, the angles of insertion of surgical instruments into the human body will vary, so that there are variable requirements for the angle between the arm and the instrument body. That is, the angle and direction of the force-applying member of the doctor's hand holding the instrument are not fixed, but the force-applying member of the above-mentioned instrument has a single holding method and cannot adapt to the changes in various holding methods. As a result, during the surgical operation, the doctor's wrist or arm is more likely to be strained due to the inability to choose a flexible gripping method and angle, and the user experience is poor. Finally, another major defect of the above-mentioned instrument is that the force-applying member connection bridge accommodates the multiple pulling linkage wires used for motion control is too large, so that there are often collisions and interferences between instruments or between instruments and surgical endoscopes, which has a great impact on the efficiency of the surgical operation.

[0060] In patents US20180110577A1, US20200237466A1, and US10363055B2, a multi-joint, multi-degree-of-freedom surgical instrument is provided, the instrument head of which is composed of two orthogonally arranged motion pivots to simulate the movement of a human hand. Corresponding orthogonal axes are provided on the force-applying member for intuitively controlling the movement of the instrument head. It is capable of achieving multi-degree-of-freedom control of instruments similar to the da Vinci surgical robot (INTUITIVE SURGICAL OPERATIONS, INC.) (for example, the surgical instruments provided in patents: US5792135A, US6312435B1, and US6746443B1) through mechanical transmission force-applying members. The above-mentioned instruments better realize bionic control of the movement of a human hand, the control logic is relatively simple, and it is easy for doctors to adapt quickly without the need for long-term adaptive training, thereby lowering the threshold for use and operation. The characteristic of this instrument is that the movement center of the force-applying member is located directly above the wrist. When in use, the palm of the hand is wrapped around the cylindrical force-applying member, and the index finger and thumb are inserted into the operating ring to control the opening and closing and left and right movement of the instrument head. When the palm of the hand holds the force-applying member for pitch movement, the pitch movement of the instrument head end can be controlled. The rotation of the instrument head end along the instrument rod requires the doctor to hold the instrument force-applying member with his wrist and rotate it at a 1:1 angle to achieve it. The main disadvantage of this instrument is that the way of holding the force-applying member is strictly limited, and it cannot adapt to the diverse requirements of the instrument holding method for various target organs or surgical approach selections, which makes the doctor's wrist and arm easily strained; secondly, the head end of the instrument cannot independently control the rotation, so that when suturing or knotting, the doctor needs to control the rotation by constantly rotating the wrist or forearm, which increases the burden on the wrist and arm. When the head end of the instrument is already in a biased state, that is, when the wrist is already bent left, right, up or down, it is difficult to superimpose the rotation of the wrist and forearm, resulting in the inability to achieve the movement that requires superimposed bending and rotation, thereby limiting the applicability of the instrument in surgery; thirdly, the force-applying member of the technical solution described in the above patent is large in size, and collisions between force-applying members or between the instrument force-applying member and the endoscope force-applying member are likely to occur, thereby affecting the progress of the operation.

[0061] In view of this, the present application provides a handle control device that can at least partially solve the various problems existing in the above-mentioned prior art.

[0062] The following describes in detail various embodiments of the present application in conjunction with the accompanying drawings.

[0063] Please refer to Figures 1 to 3 The bionic surgical instrument 1 of the present application includes a handle 10 , an extension part 20 , and a functional part 30 .

[0064] The extension member 20 is connected to the handle 10 and is movable relative to the handle 10 .

[0065] In this embodiment, the extension member 20 includes a first connecting rod 22 and a second connecting rod 24 .

[0066] The first connecting rod 22 is connected to the handle 10 and extends vertically downward from the end of the handle 10 . The second connecting rod 24 is connected to the first connecting rod 22 and extends laterally from the end of the first connecting rod 22 .

[0067] Alternatively, the second link 24 may extend along a second axis that is perpendicular to the first axis of the first link 22 , such that a right angle is formed between the first link 22 and the second link 24 .

[0068] Optionally, an angle no greater than 90 degrees may be formed between the handle axis of the handle 10 and the second axis of the second connecting rod 24 .

[0069] The functional component 30 is disposed at the end of the extension component 20 .

[0070] In this embodiment, the functional component 30 is connected to the end of the second connecting rod 24 .

[0071] Optionally, the functional part 30 may include one of surgical forceps and surgical scissors.

[0072] When the operator holds the handle 10, the center of deflection of the extension 20 relative to the handle 10 is located below the operator's palm (refer to Figure 4 ).

[0073] In this embodiment, the distance between the center of deflection of the extension member 20 relative to the handle 10 and the operator's palm is no more than 10 cm.

[0074] In this embodiment, the handle 10 can be bent relative to the extension 20 to adjust the operating position of the functional part 30 (refer to Figure 1 、 Figure 2 ).

[0075] Specifically, the handle 10 can be flexible relative to the first link 22 to adjust the operating position of the functional component 30 via the second link 24 .

[0076] In this embodiment, the bionic surgical instrument 1 further includes a head-end bendable structure 42 and a tail-end bendable structure 44 .

[0077] In this embodiment, the head bendable structure 42 and the tail bendable structure 44 may include snake-bone structures.

[0078] The head-end bendable structure 42 connects the second connecting rod 24 and the functional component 30 , and is used to adjust the axial direction of the functional component 30 so that the functional component 30 is positioned at different operating positions.

[0079] The tail bendable structure 44 connects the first link 22 and the handle 10 to form a pivot center between the extension member 20 and the handle 10 .

[0080] The tail-end bendable structure 44 can be bent in different directions under force, and drive the head-end bendable structure 42 to move in different directions in conjunction with each other, so as to adjust the operating position of the functional component 30 .

[0081] Optionally, the handle 10 and the first connecting rod 22 respectively position the first end 442 and the second end 444 of the tail bendable structure 44 (refer to Figure 2 ), so as to adjust the positioning position of the second end 444 relative to the first end 442 by rotating the control handle 10 relative to the first connecting rod 22 in different directions, so that the tail end bendable structure 44 bends in different directions.

[0082] Specifically, the first connecting rod 22 may include an adjusting sleeve portion 222 for positioning the second end 444 , and the handle 10 may include a positioning sleeve portion 12 for positioning the first end 442 .

[0083] The adjusting sleeve portion 222 and the positioning sleeve portion 12 are movably sleeved with each other to form an accommodating space A for accommodating the tail end bendable structure 44 (refer to Figure 2 ).

[0084] In this embodiment, the adjusting sleeve portion 222 and the positioning sleeve portion 12 each include a hemispherical receiving cavity to form a spherical receiving space A.

[0085] In which, the adjustment sleeve 222 can bend relative to the positioning sleeve 12 (i.e., rotate 360 ​​degrees) to adjust the positioning position of the second end 444 relative to the first end 442, so that the tail end bendable structure 44 bends in different directions according to the positioning position of its second end 444 relative to the first end 442.

[0086] Alternatively, the first link 22 may include a bellows.

[0087] Optionally, the bionic surgical instrument 1 further comprises an operating member 52 provided on the handle 10 , which is connected to the extension member 20 via a drive shaft 60 and can reciprocate between an active position and an inactive position relative to the handle 10 to drive the extension member 20 to reciprocate along its axial direction.

[0088] refer to Figure 5 The operating member 52 is axially fixed relative to the drive shaft 60 and rotates circumferentially. When the operating member 52 moves back and forth between the active position and the inactive position relative to the handle 10, it can drive the drive shaft 60 to move axially and drive the extension member 20 to move back and forth along its axial direction, so that the functional member 30 switches between the active state and the inactive state.

[0089] For example, when the functional component 30 is a surgical forceps, it can be controlled by the operating component 52 to switch between a clamping state (ie, an active state) and an open state (ie, an inactive state).

[0090] In this embodiment, when the operating member 52 moves back and forth between the active position and the inactive position relative to the handle 10, it can drive the first connecting rod 22 to move axially back and forth, and drive the second connecting rod 24 to move axially back and forth, thereby controlling the functional member 30 to switch between the active state and the inactive state.

[0091] Optionally, the operating member 52 may include a finger ring 524 , wherein the operator's thumb may be inserted into the operating member 52 to drive the operating member 52 to reciprocate between the active position and the inactive position.

[0092] Optionally, the bionic surgical instrument 1 may further include a locking member 54 .

[0093] When the operator holds the handle 10, the operator's index finger and / or middle finger can be inserted into the locking member 54 to drive the locking member 54 to switch between the locked position and the unlocked position relative to the handle 10, thereby allowing or restricting the movement of the operating member 52 between the active position and the inactive position relative to the handle 10.

[0094] In this embodiment, the locking member 54 can position the operating member 52 at any position between the active position and the inactive position, so that the functional member 30 (eg, surgical forceps) can perform relevant operations on target tissues of different thicknesses.

[0095] Optionally, the bionic surgical instrument 1 further comprises a rotating member 56 provided on the handle 10 , which is connected to the extension member 20 and can rotate circumferentially relative to the handle 10 to drive the functional member 30 to perform a rotational motion via the extension member 20 .

[0096] Optionally, the rotating member 56 includes a thumbwheel 562 .

[0097] When the operator holds the handle 10 , the thumbwheel 562 is within the operable range of the operator's thumb, so as to drive the thumbwheel 562 to rotate clockwise or counterclockwise relative to the handle 10 .

[0098] Optionally, the bionic surgical instrument 1 further includes a drive shaft 60 , a first gear 62 , a second gear 64 , a third gear 66 , and a fourth gear 68 .

[0099] refer to Figure 5The drive shaft 60 is connected to the rotating member 56, the first gear 62 is provided at the end of the drive shaft 60 close to the first connecting rod 22, the second gear 64 is provided at the end of the first connecting rod 22 close to the handle 10, and is engaged with the first gear 62, the third gear 66 is provided at the end of the first connecting rod 22 close to the second connecting rod 24, and the fourth gear 68 is provided at the end of the second connecting rod 24 close to the first connecting rod 22, and is engaged with the third gear 66.

[0100] The thumbwheel 562 and the first gear 62 are circumferentially fixed relative to the drive shaft 60 and move axially, while the operating member 52 is axially fixed relative to the drive shaft 60 and rotates circumferentially. Therefore, when the operating member 52 controls the linear movement of the drive shaft 60 along its axial direction, the thumbwheel 562 and the first gear 62 do not move axially in conjunction with the axial movement of the drive shaft 60. Similarly, when the thumbwheel 562 controls the circumferential rotation of the drive shaft 60, the operating member 52 does not rotate circumferentially in conjunction with the circumferential rotation of the drive shaft 60.

[0101] In this embodiment, when the rotatable member 56 rotates circumferentially relative to the handle 10 , the first connecting rod 22 is driven to rotate circumferentially, and the second connecting rod 24 is driven to rotate circumferentially via the first connecting rod 22 , so that the functional member 30 performs a rotational motion.

[0102] In summary, the bionic surgical instruments provided in each embodiment of the present application can provide an open handle holding method to meet the requirements of different surgical approaches for diverse instrument holding angles. The design mechanism of the extension part with the deflection center relative to the handle located below the surgeon's palm can improve the surgeon's operating feel.

[0103] Furthermore, the bionic surgical instrument of the present application can provide an intuitive control form and can be operated without special training, which can lower surgical barriers and improve the control accuracy of the surgical instrument.

[0104] In addition, the bionic surgical instrument of the present application also has the advantage of being small in size, which can avoid collisions between the instrument bodies or instrument handles of different surgical instruments (such as the bionic surgical instrument of the present application and an endoscope) during surgery, thereby improving the smoothness of the surgery and shortening the surgery time.

[0105] In addition, the bionic surgical instrument of the present application, by adding the self-rotation control of the functional parts, can flexibly adjust the positioning axis of the functional parts to position them in different operating positions, while conveniently realizing the self-rotation of the functional parts, thereby expanding the operational flexibility and the scope of application of the instrument, and providing better performance in shearing and suturing operations in the blind spots of the side view.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, and not to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A bionic surgical instrument, comprising: handle; an extension member connected to the handle and movable relative to the handle; A functional part is provided at the end of the extension part; wherein, When the operator holds the handle, the center of deflection of the extension relative to the handle is located below the operator's palm; The handle can be subjected to force and bend relative to the extension member to adjust the operating position of the functional member; The instrument further includes an operating member provided on the handle, the operating member being connected to the extension member via a drive shaft and being reciprocatable relative to the handle between an active position and an inactive position, the operating member being axially fixed relative to the drive shaft and circumferentially rotatable; The device further comprises a rotating member provided on the handle, which is connected to the extension member and can rotate circumferentially relative to the handle to drive the functional member to perform a rotational action via the extension member; When the operator holds the handle, the rotating member is within the operable range of the operator's thumb or middle finger; The extension piece comprises: a first connecting rod connected to the handle and extending vertically downward from an end of the handle; a second connecting rod connected to the first connecting rod and extending laterally from an end portion of the first connecting rod; The apparatus further comprises: a driving shaft connected to the rotating member; a first gear disposed at an end of the drive shaft close to the first connecting rod; a second gear, which is provided at an end of the first connecting rod close to the handle and meshes with the first gear; a third gear, which is provided at an end of the first connecting rod close to the second connecting rod; a fourth gear, which is provided at an end of the second connecting rod close to the first connecting rod and meshes with the third gear; The self-rotating member and the first gear are circumferentially fixed relative to the drive shaft and move axially. When the self-rotating member rotates circumferentially relative to the handle, the first connecting rod is driven to rotate circumferentially, and the second connecting rod is driven to rotate circumferentially via the first connecting rod, so that the functional member performs a rotational action. When the operating member controls the driving shaft to move in a straight line along its axial direction, the rotating member will not produce axial movement linkage with the axial movement of the driving shaft; when the rotating member controls the driving shaft to rotate circumferentially, the operating member will not produce circumferential rotation linkage with the circumferential rotation of the driving shaft.

2. The apparatus according to claim 1, wherein The distance between the center of deflection of the extension piece relative to the handle and the center of the operator's palm is no more than 10 cm.

3. The apparatus according to claim 1, wherein: The handle is movable relative to the first connecting rod to adjust the positioning axis of the functional component via the second connecting rod; An included angle no greater than 90 degrees is formed between the handle axis of the handle and the second axis of the second connecting rod.

4. The apparatus according to claim 3, wherein The second axis of the second link is perpendicular to the first axis of the first link, so that a right angle is formed between the first link and the second link.

5. The apparatus according to claim 3, wherein: The apparatus further comprises: a bendable structure at the head end, connecting the second connecting rod and the functional component; a bendable tail end structure connecting the first connecting rod and the handle; The tail end bendable structure can be bent in different directions under force, and drive the head end bendable structure to move in conjunction with each other in different directions, so as to adjust the operating position of the functional part.

6. The apparatus according to claim 5, wherein: The handle and the first connecting rod respectively position the first end and the second end of the tail bendable structure; The handle is controlled to rotate in different directions relative to the first connecting rod to adjust the positioning position of the second end relative to the first end, so that the tail end bendable structure is bent in different directions.

7. The apparatus according to claim 6, wherein: The first connecting rod includes an adjusting sleeve portion capable of positioning the second end, and the handle includes a positioning sleeve portion capable of positioning the first end; The adjusting sleeve portion and the positioning sleeve portion are movably sleeved with each other to form an accommodating space for accommodating the tail end bendable structure; The adjusting sleeve portion can be flexible relative to the positioning sleeve portion to adjust the positioning position of the second end relative to the first end.

8. The apparatus according to claim 1 or 3, characterized in that When the operating member moves back and forth between the active position and the inactive position relative to the handle, the drive shaft can be driven to move axially and the extension member can be driven to move back and forth along its axial direction, so that the functional member switches between the active state and the inactive state.

9. The apparatus according to claim 8, wherein When the operator holds the handle, the operator's thumb can be inserted into the operating member to drive the operating member to move back and forth between the active position and the inactive position.

10. The apparatus according to claim 8, wherein The apparatus further comprises a locking member; When the operator holds the handle, the operator's index finger and / or middle finger can be inserted into the locking member to drive the locking member to switch between a locked position and an unlocked position relative to the handle, thereby allowing or restricting the movement of the operating member relative to the handle.

11. The apparatus according to claim 1, wherein The functional part includes one of surgical forceps and surgical scissors.

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