Bionic surgical instrument

Abstract

The application provides a bionic surgical instrument, which comprises a handle, an extension member extending from the handle and capable of being deflected relative to the handle, and a functional member arranged at an end of the extension member, wherein when a surgeon holds the handle, the deflection center of the extension member relative to the handle is located at the palm of the surgeon, and the handle can be deflected relative to the extension member under force to adjust the operating position of the functional member. Accordingly, the bionic surgical instrument of the application can provide intuitive control and better operation feeling, so as to improve the operating accuracy of the functional member.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more particularly to a handle control device. Background Technology

[0002] Minimally invasive surgery refers to procedures performed by creating several surgical channels through punctures on the body surface to remove or repair lesions in organs within the abdominal cavity, thoracic cavity, pelvic cavity, or joint cavity; or by inserting endoscopes and instruments into the body cavity through natural cavities such as the mouth, urethra, rectum, or vagina. Under the guidance of the endoscope, the surgeon operates the instruments outside the patient's body, using the working end of the instrument to insert it into the patient's body cavity to remove lesions or repair and suture organs. After the procedure, the endoscope and instruments are removed, and the small holes or natural cavity incisions on the body surface are sutured to complete the entire surgery.

[0003] In view of this, the main objective of this application is to provide a surgical instrument for assisting in the performance of minimally invasive surgical procedures. Summary of the Invention

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

[0005] This application provides a bionic surgical instrument, comprising: a handle; an extension extending from the handle and flexible relative to the handle; and a functional component disposed at the end of the extension; wherein, when the surgeon holds the handle, the center of flexion of the extension relative to the handle is located in the palm of the surgeon; the handle can be flexed relative to the extension by force to adjust the operating position of the functional component.

[0006] Optionally, the axis of the handle and the axis of the extension form an angle of no more than 90 degrees.

[0007] Optionally, the device further includes a bendable head end structure and a bendable tail end structure disposed at the head end and tail end of the extension member and capable of linkage, wherein the functional member is connected to the bendable head end structure; the bendable tail end structure can be bent in different directions under force and drive the bendable head end structure to move in different directions in linkage to adjust the operating position of the functional member.

[0008] Optionally, the handle and the extension respectively position the first end and the second end of the bendable tail structure; by controlling the handle to rotate relative to the extension in different directions, the positioning position of the second end relative to the first end is adjusted, so that the bendable tail structure bends in different directions.

[0009] Optionally, the extension includes an adjusting sleeve for positioning the second end, and the handle includes a positioning sleeve for positioning the first end; the adjusting sleeve and the positioning sleeve are movably fitted together to form an accommodating space for accommodating the flexible tail end structure; the adjusting sleeve can flex relative to the positioning sleeve to adjust the positioning position of the second end relative to the first end.

[0010] Optionally, the device further includes a locking element that can be coupled to at least one of the adjusting sleeve and the positioning sleeve, and can switch between a locked state and an unlocked state to allow or restrict the flexing of the adjusting sleeve relative to the positioning sleeve.

[0011] Optionally, the extension includes a first link and a second link, and the device further includes an adjustment part connecting the first link and the second link for adjusting the angle between the first link and the second link.

[0012] Optionally, the device further includes an operating element disposed on the handle, which is connected to the extension via a drive shaft and is reciprocating relative to the handle between an operating position and a non-operating position;

[0013] The operating component is axially fixed and circumferentially rotated relative to the drive shaft. When the operating component reciprocates between the active and inactive positions relative to the handle, it can drive the drive shaft to move axially and drive the extension component to reciprocate along its axial direction, thereby switching the functional component between the active and inactive states.

[0014] Optionally, when the operator holds the handle, the operator's thumb may be inserted into the operating element to drive the operating element to reciprocate between the active position and the inactive position.

[0015] Optionally, the device further includes a locking element; wherein, when the operator holds the handle, the operator's index finger and / or middle finger can be inserted into the locking element to drive the locking element to switch between a locked position and an unlocked position relative to the handle, thereby allowing or restricting the movement of the operating element relative to the handle.

[0016] Optionally, the device further includes a rotating component disposed on the handle, which is connected to the extension via a drive shaft; the rotating component is circumferentially fixed and axially movable relative to the drive shaft, and the drive component is engaged with the extension to enable circumferential rotational linkage between the drive component and the extension; when the rotating component rotates circumferentially relative to the handle, it can drive the extension to rotate circumferentially via the drive shaft, and drive the functional component to perform rotational actions.

[0017] Optionally, when the operator holds the handle, the self-rotating element is within the operable range of the operator's thumb, index finger, or middle finger.

[0018] Optionally, the functional component includes one of surgical forceps or surgical scissors.

[0019] In summary, the bionic surgical instrument of this application provides an open handle grip with various grip angles to meet the diverse grip angle requirements of different surgical approaches, and conforms to ergonomic design to improve the surgeon's operating experience.

[0020] Furthermore, the bionic surgical instrument of this application can also provide an intuitive control mode with simple control and effect logic. It can be operated without special training, quickly establish usage experience, reduce surgical barriers, and expand the scope of indications.

[0021] In addition, the bionic surgical instrument of this application has the advantage of a small handle size, and through the design mechanism that the center of motion of the extension relative to the handle is located in the palm of the surgeon, it can avoid mutual collision between different surgical instruments (such as the bionic surgical instrument of this application and the endoscope) during the operation, thereby improving the smoothness of the operation and shortening the operation time. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the bionic surgical instrument of this application.

[0024] Figure 2 for Figure 1 A partial structural diagram.

[0025] Figures 3 to 4 This is a simplified schematic diagram illustrating the operating principle of the bionic surgical instrument of this application.

[0026] Figure 5 This is a schematic diagram of an embodiment of the holding posture of the bionic surgical instrument of this application.

[0027] Figures 6A to 6B This is a schematic diagram of the overall structure of another embodiment of the bionic surgical instrument of this application.

[0028] Figure 6C for Figure 6A and Figure 6B A partial structural diagram.

[0029] Component designation

[0030] 1: Bionic surgical instruments;

[0031] 10: Handle;

[0032] 12: Positioning socket;

[0033] 20: Extension parts;

[0034] 22: Adjustable socket;

[0035] 24: First link;

[0036] 26: Second link;

[0037] 28: Adjustment section;

[0038] 280: Corrugated pipe;

[0039] 281: Positioning hemisphere;

[0040] 282: Adjusting the hemisphere;

[0041] 283: Locking ring;

[0042] 29: Pre-bending section;

[0043] 30: Functional components;

[0044] 42: Flexible head end structure;

[0045] 44: Flexible tail end structure;

[0046] 442: First end;

[0047] 443: Tail-end gear;

[0048] 444: Second end;

[0049] 50: Locking component;

[0050] 50a: Locking clamp;

[0051] 52: Operating components;

[0052] 520: Drive shaft;

[0053] 522: Drive gear;

[0054] 524: Ring;

[0055] 54: Locking components;

[0056] 56: Self-rotating component;

[0057] 562: Dial. Detailed Implementation

[0058] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0059] Minimally invasive surgery refers to procedures performed by creating surgical channels through punctures on the body surface to remove or repair lesions in organs within the abdominal, thoracic, pelvic, or joint cavities; or by inserting endoscopes and instruments into the body cavity through natural cavities such as the mouth, urethra, rectum, or vagina. Under the guidance of the endoscope, the surgeon manipulates the instruments externally and inserts the working end of the instrument into the body cavity to remove lesions or repair and suture organs. After the procedure, the endoscope and instruments are removed, and the small holes or natural cavity incisions on the body surface are sutured to complete the entire surgery.

[0060] Compared with traditional surgery, minimally invasive surgery has become the preferred treatment option for many common surgical diseases due to its advantages such as less surgical trauma, fewer intraoperative complications, reduced postoperative pain, and shorter hospital stay. This procedure typically uses 3-5 incisions of about 5mm-20mm as the surgical channel, and the surgeon needs to use slender, specialized laparoscopic surgical instruments to perform the operation.

[0061] Currently, the most commonly used laparoscopic surgical instruments worldwide are typically long, thin, straight instruments. Compared to traditional open surgery, these instruments have the following drawbacks: 1. The operating angle of straight instruments is severely limited; within the body, they can only perform lever-like movements using the external incision as a fulcrum. 2. For surgeries requiring delicate dissection, suturing, and knotting, these straight instruments are difficult to use, typically requiring extensive training on models or animals to master. 3. For single-incision surgeries through the thoracic or abdominal cavities, or minimally invasive surgeries through natural body cavities, ordinary long, straight instruments are ill-suited to the demands of confined spaces, posing a significant challenge to the surgeon's skill level. Although this surgical approach is very popular with patients, the number of surgeons capable of performing it is extremely limited. The main reason for this is the lack of multi-degree-of-freedom surgical instruments with flexible motion control capabilities, which can be controlled through simple logic and intuition.

[0062] With the advancement of technology, intelligent surgical instrument systems, represented by the da Vinci surgical robot, have been gradually promoted and used in countries around the world. Due to its lightweight and intuitive control, comfortable remote operation by doctors, and wrist-like instrument movement, complex operations such as suturing and knot tying have become very simple. However, the surgical instruments used in this technology are consumable products, with the average cost of consumables for each surgery ranging from 30,000 to 50,000 RMB. 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 robots installed in China was less than 200). Compared with the demand of more than 10 million thoracoscopic and laparoscopic minimally invasive surgeries each year, this is far from meeting the people's demand for this high-tech technology.

[0063] In recent years, a new type of hand-controlled flexible surgical instrument has emerged internationally. Based on traditional straight laparoscopic instruments, it incorporates controllable bending joints. Besides lever-like manipulation, it allows for multi-degree-of-freedom bending and rotation of the instrument's tip through combined arm and wrist movements. Examples include the instruments described in patents CN101909526A and CN102525659A. However, years of clinical application have shown that because the center of motion of the force-applying component is located on the front of the palm, the ergonomics during operation are not ideal. Controlling the instrument requires not only wrist movement but also significant movements of the forearm, and even the upper arm and shoulder, causing considerable confusion for surgeons. Both of these products have since been withdrawn from the market.

[0064] Minimally invasive surgical instruments, as essential surgical tools for doctors, rely heavily on ergonomic design in terms of their control and effect mechanisms, which significantly impacts their clinical usability. Patent US20170095922A1 (FlexDex Surgical Inc.) describes a design that uses the center point of the human wrist as the flexible control center. This design involves a wristband worn by the surgeon, which engages with the instrument's force-applying component. The rotational center of the entire force-applying component is positioned precisely at the center of the wrist's cross-section. This aligns with the intuitive movement of the human hand grasping an object and swinging it by rotating the wrist, achieving a relatively simple control and effect logic, improving control efficiency, requiring minimal adaptation training, and lowering the operational threshold. However, clinical application has revealed that this gripping mechanism of the instrument's force-applying component prevents surgeons from performing single-handed grasping and release actions. In emergencies such as bleeding during surgery, it is difficult for the surgeon to quickly release the force-applying component, potentially posing risks. Furthermore, due to the varying angles at which surgical instruments are inserted into the body during surgeries targeting different organs or even the same organ using different surgical approaches, the angle between the arm and the instrument body must be varied. This means the angle and direction at which the surgeon holds the instrument's force-applying component is not fixed. However, the aforementioned instruments have a single grip method, which cannot adapt to various grip variations. As a result, the surgeon's wrist or arm is more prone to strain during surgery due to the inability to choose flexible grip methods and angles, leading to a poor user experience. Finally, another major drawback of these instruments is the excessively large size of the connecting bridges for the force-applying components housed by the multiple traction linkages used for motion control. This frequently results in collisions and interference between instruments or between instruments and the surgical endoscope, significantly impacting the efficiency of the surgical procedure.

[0065] US20180110577A1, US20200237466A1, and US10363055B2 patents provide a multi-joint, multi-degree-of-freedom surgical instrument. The instrument's head end consists of two orthogonally arranged motion pivots that can simulate the movement of a human hand. Corresponding orthogonal axes are set on the force-applying components for intuitive control of the instrument's head end's movement. This allows instruments similar to those in the da Vinci Surgical Robot (INTUITIVE SURGICAL OPERATIONS, INC.) (e.g., surgical instruments provided in patents US5792135A, US6312435B1, and US6746443B1) to achieve multi-degree-of-freedom control through mechanical transmission force-applying components. These instruments effectively achieve biomimetic control of human hand movements. The control logic is relatively simple, allowing doctors to adapt quickly without requiring lengthy adaptation training, thus lowering the operational threshold. The instrument is characterized by the force-applying component's center of motion being located directly above the wrist. When in use, the palm wraps around and holds the cylindrical force-applying component, with the index finger and thumb inserted into the operating ring to control the opening, closing, left, and right movements of the instrument head. When the hand holds the force-applying component and moves it up and down, the pitch and roll of the instrument head can be controlled. The rotation of the instrument head along the instrument rod requires the doctor to rotate the force-applying component at a 1:1 angle with their wrist. The main drawbacks of this instrument are: firstly, the gripping method of the force-applying component is strictly limited, making it unsuitable for the diverse requirements of different target organs or surgical approaches, leading to easy strain on the surgeon's wrist and arm; secondly, the instrument tip cannot be independently controlled for rotation, requiring the surgeon to continuously rotate the wrist or forearm during suturing or knotting, increasing the burden on the wrist and arm. When the instrument tip is already in an off-center position, i.e., the wrist is already bent to the left, right, up, or down, it is difficult to superimpose wrist and forearm rotation, making it impossible to achieve the required combined bending and rotation movements, thus limiting the instrument's applicability in surgery; thirdly, the force-applying component of the aforementioned patented technical solution is relatively large, making it prone to collisions between force-applying components or between the instrument force-applying component and the endoscope force-applying component, thereby affecting the surgical process.

[0066] In view of this, this application provides a handle control device that can at least partially solve the various problems existing in the prior art.

[0067] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0068] Please refer to Figures 1 to 4 The bionic surgical instrument 1 of this application includes a handle 10, an extension 20, and a functional component 30.

[0069] The extension 20 extends from the handle 10 and can flex relative to the handle 10.

[0070] In this embodiment, the axis of the handle 10 and the axis of the extension 20 form an angle of no more than 90 degrees.

[0071] Functional component 30 is located at the end of extension component 20.

[0072] Optionally, the functional component 30 may include one of surgical forceps or surgical scissors.

[0073] When the surgeon holds the handle 10, the center of motion of the extension 20 relative to the handle 10 is located in the surgeon's palm (see reference). Figure 5 ).

[0074] The handle 10 can be flexed relative to the extension 20 to adjust the operating position of the functional component 30 (see reference). Figure 1 and Figure 6A ).

[0075] Optionally, the bionic surgical instrument 1 also includes a head-end flexible structure 42 and a tail-end flexible structure 44 disposed at the head end and tail end of the extension 20, the head-end flexible structure 42 and the tail-end flexible structure 44 can move together, and the functional component 30 is disposed at the end of the head-end flexible structure 42.

[0076] The tail-end flexible structure 44 can be bent in different directions under force, and drive the head-end flexible structure 42 to move in different directions to adjust the operating position of the functional component 30.

[0077] Optionally, the handle 10 and the extension 20 can respectively position the first end 442 and the second end 444 of the tail-end flexible structure 44 (see reference). Figure 2 The handle 10 can be rotated in different directions relative to the extension 20 (see reference). Figure 4 (as shown in the simplified diagram) to adjust the positioning position of the second end 444 relative to the first end 442, so that the tail end bendable structure 44 can be bent in different directions according to the positioning position of the second end 444 relative to the first end 442.

[0078] Optionally, the extension 20 includes an adjusting sleeve 22 that can position the second end 444, and the handle 10 includes a positioning sleeve 12 that can position the first end 442 (see reference). Figure 2 ).

[0079] In this embodiment, the adjusting sleeve 22 and the positioning sleeve 12 each include a hemispherical positioning cavity.

[0080] The adjusting sleeve 22 of the extension 20 and the positioning sleeve 12 of the handle 10 are movably sleeved together to form a receiving space A for accommodating the flexible tail structure 44.

[0081] The adjusting sleeve 22 can be flexed (i.e. rotated 360 degrees) relative to the positioning sleeve 12 to adjust the positioning position of the second end 444 relative to the first end 442.

[0082] Optionally, the bionic surgical instrument 1 also includes a locking element 50, which can be combined with at least one of the adjusting sleeve 22 and the positioning sleeve 12, and can be switched between a locked state and an unlocked state to allow or restrict the flexing of the adjusting sleeve 22 relative to the positioning sleeve 12.

[0083] For example, in Figure 2 In the embodiment shown, the locking member 50 includes a locking clamp 50a, which can be switched between a locked state and a non-locked state by adjusting the clamp diameter of the locking clamp 50a.

[0084] Optionally, the extension 20 may include a first link 24 and a second link 26, wherein the bionic surgical instrument 1 further includes an adjustment part 28 connecting the first link 24 and the second link 26 for adjusting the angle between the first link 24 and the second link 26.

[0085] Please refer to Figures 6A to 6C Optionally, the adjusting part 28 may include a bellows 280, a positioning hemisphere 281, an adjusting hemisphere 282, and a locking ring 283.

[0086] The bellows 280 connects the first link 281 and the second link 282. The positioning hemisphere 281 can position the end of the second link 26, and the adjusting hemisphere 282 can position the end of the first link 24.

[0087] The positioning hemisphere 281 and the adjusting hemisphere 282 are movably connected to each other to form a receiving space B for accommodating the bellows 280.

[0088] The adjusting hemisphere 282 can be flexed (i.e. rotated 360 degrees) relative to the positioning hemisphere 281 to adjust the angle between the first link 281 and the second link 282.

[0089] Optionally, a pre-bent portion 29 may also be provided on the extension 20 to enable the extension 20 to form various bending effects to meet the operational needs of different surgical scenarios.

[0090] Optionally, the bionic surgical instrument 1 also includes an operating element 52 disposed on the handle 10.

[0091] The operating member 52 is connected to the extension member 20 via the drive shaft 520 and can reciprocate between the operating position and the non-operating position relative to the handle 10.

[0092] refer to Figure 2The drive gear 522 of the drive shaft 520 meshes with the tail gear 443 of the tail flexible structure 44 of the extension 20. The operating member 52 is axially fixed and circumferentially rotated relative to the drive shaft 520, and the drive gear 522 is circumferentially fixed and axially movable relative to the drive shaft 520.

[0093] When the operating member 52 reciprocates between the active and inactive positions relative to the handle 10, it can drive the drive shaft 520 to move axially (the drive gear 522 will not move axially with the drive shaft 520 to maintain meshing with the tail gear 443), and drive the extension member 20 to reciprocate along its axial direction, so that the functional member 30 switches between the active and inactive states.

[0094] For example, when the functional component 30 is a surgical forceps, it can switch between a clamping state (active state) and an open state (non-active state).

[0095] Optionally, the operating element 52 may include a ring 524.

[0096] When the operator holds the handle 10, the operator's thumb can be inserted into the operating member 52 (ring 524) to drive the operating member 52 to move back and forth between the active position and the inactive position.

[0097] Optionally, the bionic surgical instrument 1 may also include a locking element 54 (see reference). Figure 1 , Figure 2 , Figures 5 to 6C ).

[0098] 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 a locked position and an unlocked position relative to the handle 10, thereby allowing or restricting the movement of the operating member 52 relative to the handle 10.

[0099] 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 (e.g., surgical forceps) can be adapted to perform relevant operations on target tissues of different thicknesses.

[0100] Optionally, the bionic surgical instrument 1 also includes a rotating component 56 (see reference) disposed on the handle 10. Figure 1 , Figure 2 , Figures 5 to 6C The extension 20 is connected and can rotate circumferentially relative to the handle 10 to drive the extension 20 to rotate circumferentially, thereby driving the functional component 30 to perform rotational action.

[0101] Optionally, the rotating component 56 includes a dial 562 (see reference). Figure 1 , Figure 2 , Figures 5 to 6C ).

[0102] refer to Figure 2 The dial 562 (rotating element 56) is circumferentially fixed and axially movable relative to the drive shaft 520, so that when the drive shaft 520 is moved axially by the operating element 52, the dial 562 will not generate axial linkage with the axial movement of the drive shaft 60.

[0103] In this embodiment, when the operator holds the handle 10, the dial 562 is within the operable range of the operator's thumb, index finger, or middle finger, so as to drive the dial 562 to rotate circumferentially relative to the handle 10 in a clockwise or counterclockwise direction.

[0104] In summary, the bionic surgical instruments provided in the embodiments of this application can provide an open handle grip to meet the diverse needs of different surgical approaches for instrument grip angles.

[0105] Furthermore, the bionic surgical instrument of this application provides an intuitive control method, which can be operated without special training, thereby reducing surgical barriers and improving the control accuracy of surgical instruments.

[0106] In addition, the bionic surgical instrument of this application has the advantage of small handle size, and by means of the design mechanism that the center of the extension relative to the handle is located in the palm of the surgeon, collisions between the instrument body or instrument handle (10) of different surgical instruments (such as the bionic surgical instrument and endoscope of this application) can be avoided during the operation, so as to improve the smoothness of the operation and shorten the operation time.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions 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 this application.

Claims

1. A bionic surgical instrument, comprising: handle; An extension that extends from the handle and is flexible relative to the handle; A functional component is disposed at the end of the extension; wherein, When the operator holds the handle, the center of motion of the extension relative to the handle is located in the operator's palm; The handle can be flexed relative to the extension to adjust the operating position of the functional component; The device also includes an operating element disposed on the handle, which is connected to the extension via a drive shaft and can reciprocate between an operating position and a non-operating position relative to the handle; The operating component is axially fixed and circumferentially rotated relative to the drive shaft. When the operating component reciprocates between the active and inactive positions relative to the handle, it can drive the drive shaft to move axially and drive the extension component to reciprocate along its axial direction, thereby switching the functional component between the active and inactive states. When the operator holds the handle, the operator's thumb can pass through the operating element to drive the operating element to reciprocate between the active position and the inactive position; The device also includes a locking mechanism; 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; The device also includes a rotating component on the handle, which is connected to the extension via a drive shaft; The self-rotating component is circumferentially fixed and axially movable relative to the drive shaft. The drive shaft is meshed with the extension component to enable circumferential rotational linkage between the drive shaft and the extension component. When the self-rotating component rotates circumferentially relative to the handle, it can drive the extension component to rotate circumferentially via the drive shaft, and drive the functional component to perform rotational actions. When the operator holds the handle, the self-rotating element is within the operable range of the operator's thumb, index finger, or middle finger.

2. The device according to claim 1, wherein, The axis of the handle and the axis of the extension form an angle of no more than 90 degrees.

3. The device according to claim 1, wherein, The device further includes a bendable head end structure and a bendable tail end structure disposed at the head end and tail end of the extension member and capable of linkage, and the functional component is connected to the bendable head end structure. The tail-end flexible structure can be bent in different directions under force, and drive the head-end flexible structure to move in conjunction in different directions to adjust the operating position of the functional component.

4. The device according to claim 3, wherein, The handle and the extension respectively position the first end and the second end of the tail-end flexible structure; By controlling the handle to rotate in different directions relative to the extension, the positioning position of the second end relative to the first end is adjusted, so that the tail end bendable structure bends in different directions.

5. The device according to claim 4, wherein, The extension includes an adjusting sleeve portion that can position the second end, and the handle includes a positioning sleeve portion that can position the first end. The adjusting sleeve and the positioning sleeve are movably sleeved together to form an accommodating space for accommodating the flexible tail end structure. The adjusting sleeve can flex relative to the positioning sleeve to adjust the positioning position of the second end relative to the first end.

6. The device according to claim 5, wherein, The device also includes a locking element that can be coupled to at least one of the adjusting sleeve and the positioning sleeve, and can switch between a locked state and an unlocked state to allow or restrict the flexing of the adjusting sleeve relative to the positioning sleeve.

7. The apparatus according to claim 3, wherein, The extension includes a first link and a second link, and the device further includes an adjustment part connecting the first link and the second link for adjusting the angle between the first link and the second link.

8. The device according to claim 1, characterized in that, The functional component includes one of surgical forceps or surgical scissors.

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