Laparoscopic surgical instrument and method of operating the same

Abstract

The present application relates to the technical field of medical devices, and discloses a laparoscopic surgical instrument and a control method thereof, the laparoscopic surgical instrument comprising: a rod body, the rod body being hollow inside, and the rod body being adapted to accommodate a yaw control line; a flexible motion joint, disposed between the rod body and an end effector, the flexible motion joint being connected to a distal end of the yaw control line, and the flexible motion joint being adapted to drive the end effector to move relative to the rod body under the traction of the yaw control line; and a control mechanism, disposed at an end of the rod body away from the flexible motion joint along an axial direction, the control mechanism being adapted to yaw in any direction relative to a central axis of the rod body under the action of an external force; the control mechanism being connected to a proximal end of the yaw control line, and the control mechanism being adapted to drive the flexible motion joint to yaw relative to the central axis of the rod body via the yaw control line. The laparoscopic surgical instrument improves the operational flexibility of a surgeon during a manual surgical process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a laparoscopic surgical instrument and a control method thereof. BACKGROUND

[0002] Laparoscopic minimally invasive surgery usually operates laparoscopic minimally invasive surgical instruments outside the abdominal cavity to explore, coagulate, hemostasis, tissue separation and incision, suture and other operations on the diseased tissue in the abdominal cavity.

[0003] At present, there are laparoscopic minimally invasive surgical instruments with flexible joint type movement shafts, such as the one shown in the publication No. CN103110456A, which controls four control lines through the handle end to realize the joint type movement of the end effector in multiple planes. In order to make the joint type movement of the end effector in a certain plane, the user or surgeon starts the motor through the actuation switch to make the spur gear rotate, the spur gear drives the planetary gear in turn, the planetary gear is connected to the first threaded shaft and the second threaded shaft through the first internal gear and the first internal gear, the planetary gear will cause the first gear and the second gear to rotate in the same direction, the rotation of the first threaded shaft and the second threaded shaft is converted into the linear motion of the first column and the second column through the matching threads formed in the interior of the first column and the second column; since the internal threads of the first column and the second column are opposite, when the planetary gear rotates, one column will move distally and one column will move proximally, so that the upper cable is pulled proximally to lift the end effector, and the lower cable must be relaxed; using the motor, the spur gear, the second planetary gear and the second set of threaded shaft and the second set of column and the other two steering cables, the same system can be used to control the left and right movement of the end effector. In addition, through a consistent action, the system using four steering cables can approach the movement of human wrist through three motors and their connected gear devices and steering cables, controlled by a computer controlled by a control unit.

[0004] However, the above laparoscopic minimally invasive surgical instrument has low operation flexibility in the process of manual implementation of the operation by the operator because it provides a power source through the motor and controls the steering cable through the wheel tooth engagement transmission. SUMMARY

[0005] In view of this, the present invention provides a laparoscopic surgical instrument and its control method to solve the problem of low operational flexibility in existing laparoscopic minimally invasive surgical instruments, which rely on motors for power and gear meshing to control steering cables during manual surgery. The laparoscopic surgical instrument provided by the present invention has a control mechanism that can deflect relative to the central axis of the rod in any direction under external force, and can determine the deflection angle in any deflection direction. Under the traction of the control mechanism, multiple deflection control lines can simultaneously change their stroke, thereby enabling control of the flexible motion segment to deflect in the direction specified by the surgeon and determining any specified deflection angle in that direction, exhibiting high flexibility. The control mechanism and the flexible motion segment are connected via deflection control lines to form direct, real-time force feedback, and the deflection control lines never loosen during real-time changes in traction, eliminating the need for intermediate transmission mechanisms and further improving operational flexibility.

[0006] In a first aspect, the present invention provides a laparoscopic surgical instrument, comprising:

[0007] The rod has one axial end adapted to be connected to the end effector and the other end adapted to be connected to the handle housing; the rod is hollow inside, and the rod is adapted to accommodate the yaw control line.

[0008] The flexible joint is located between the rod and the end effector. The flexible joint is connected to the far end of the yaw control line. The flexible joint is suitable for driving the end effector to move relative to the rod under the traction of the yaw control line.

[0009] The control mechanism is located at the end of the rod that is axially away from the flexible joint. The control mechanism is adapted to deflect in any direction relative to the central axis of the rod under the action of external force.

[0010] The control mechanism is connected to the proximal end of the yaw control line, and the control mechanism is adapted to drive the flexible motion segment to yaw relative to the central axis of the rod via the yaw control line.

[0011] The control mechanism can deflect relative to the central axis of the rod in any direction under the action of external force, and can determine the deflection angle in any deflection direction. Under the traction of the control mechanism, multiple deflection control lines can change their stroke simultaneously, thereby enabling the flexible motion segment to deflect in the direction specified by the operator and to determine any specified deflection angle in that direction, which has a high degree of flexibility. The control mechanism and the flexible motion segment are connected by deflection control lines to form direct real-time force feedback, and the deflection control lines will never loosen during the real-time change of traction amount, and no intermediate transmission mechanism is required for transmission, further improving the flexibility of operation.

[0012] In an alternative embodiment, the control mechanism comprises:

[0013] a first tube shaft, one axial end of which is fixedly connected to the rod body, and the other end of which is provided with a first hinged part;

[0014] a second tube shaft, which is arranged at the end of the first tube shaft away from the rod body in the axial direction, and one end of the second tube shaft close to the first tube shaft is provided with a second hinged part;

[0015] a first cross shaft, which is connected between the first tube shaft and the second tube shaft, the first cross shaft is hinged to the first hinged part at a first hinged shaft, and the first cross shaft is hinged to the second hinged part at a second hinged shaft, and the first hinged shaft and the second hinged shaft are arranged perpendicularly.

[0016] The first cross shaft is hinged to the first hinged shaft through the first hinged part, and the first cross shaft is hinged to the second hinged shaft through the second hinged part, so that the second tube shaft can be deflected in any direction relative to the central axis of the first tube shaft, so that the second tube shaft can control the flexible motion joint to deflect in a specified direction and determine any specified deflection angle in the deflection direction through the traction deflection control line.

[0017] In an alternative embodiment, the control mechanism further comprises a first spring, which is coaxially arranged with the first cross shaft, one axial end of the first spring is connected to the first tube shaft, and the other end is connected to the second tube shaft.

[0018] By arranging the first spring, on the one hand, the first tube shaft, the second tube shaft and the first cross shaft can be simultaneously supported, so that the laparoscopic surgical instrument can keep the control mechanism coaxial with the rod body in the natural state and / or initial state; on the other hand, the control mechanism can be reset through the elastic restoring force of the first spring during the work process; at the same time, real-time force feedback can be provided for the operator, which is convenient for the operator to adjust the size of the applied force in real time, and helps the operator to control the flexible motion joint to deflect in a specified direction and determine any specified deflection angle in the deflection direction in real time.

[0019] In an alternative embodiment, the laparoscopic surgical instrument further comprises a base and an open clasp, the base is coaxially arranged with the second tube shaft; the open clasp is clamped on the side of the base close to the second tube shaft in the axial direction;

[0020] The open clasp is made of elastic material, and a first positioning corrugated part is arranged on the inner side circumferential wall of the open clasp in the circumferential direction; a second positioning corrugated part is arranged on the outer side circumferential wall of the second tube shaft, and the second positioning corrugated part is adapted to be completely engaged with the first positioning corrugated part after the second tube shaft rotates a specified angle relative to the base.

[0021] During the rotation of the second tube shaft relative to the base, each time the second positioning corrugated part and the first positioning corrugated part are fully engaged, the open retaining ring completes a circumferential positioning of the second tube shaft. This allows the surgeon to accurately and promptly judge the change in the angle of circumferential rotation of the rod relative to the handle housing, which helps improve the accuracy of the operation during surgery.

[0022] In one optional embodiment, the open retaining ring includes a first retaining arm and a second retaining arm, which are arranged at a distance from each other along a first radial direction to form an adjustment notch. The width of the adjustment notch is adapted to be adjusted according to the elastic interference between the second positioning corrugated portion and the first positioning corrugated portion.

[0023] When transitioning from the current fully engaged moment to the next fully engaged moment, the second positioning corrugated part and the first positioning corrugated part are in a partially engaged state. In order to maintain the abutting state between the second positioning corrugated part and the first positioning corrugated part, the width of the notch is adjusted to open at least part of the opening, thereby achieving elastic interference between the second positioning corrugated part and the first positioning corrugated part. When the second positioning corrugated part and the first positioning corrugated part are fully engaged again, the notch is adjusted to return to the initial width in a timely manner through the elastic restoring force of the opening retaining ring.

[0024] In one optional embodiment, the laparoscopic surgical instrument further includes a rotating housing, which is fixedly connected to the first tube shaft and is adapted to drive the first tube shaft to rotate circumferentially under the action of external force.

[0025] Laparoscopic surgical instruments also include a circumferential locking structure, which is arranged circumferentially around the outer peripheral wall of the rotating housing. The circumferential locking structure is suitable for locking or releasing the rotating housing.

[0026] When the control mechanism rotates circumferentially relative to the base to a specified angle under the drive of the rotating housing, the rotating housing can be locked by closing the circumferential locking structure, thereby achieving circumferential locking of the control mechanism and the rod relative to the handle housing, which helps to improve the reliability of intraoperative operations; when the control mechanism needs to continue to rotate circumferentially relative to the base, the rotating housing can be released by opening the circumferential locking structure, which has a high degree of operational flexibility.

[0027] In one alternative implementation, the circumferential locking structure includes:

[0028] The locking ring is made of an elastic material, and its inner peripheral wall is adapted to selectively abut against the outer peripheral wall of the rotating housing.

[0029] A locking clamp is located on the side of the locking ring that is radially away from the rotating housing. The locking clamp is suitable for locking or loosening.

[0030] A clamping block is radially positioned between the locking ring and the locking clamp;

[0031] When the locking hoop is locked, the locking hoop radially extrudes the locking ring through the pressure holding block, so that the locking ring is extruded and fitted with the outer side circumferential wall of the dial shell to lock the dial shell circumferentially.

[0032] When the locking hoop is locked, the locking hoop radially extrudes the locking ring through the pressure holding block, so that the locking ring is extruded and fitted with the outer side circumferential wall of the dial shell to lock the dial shell circumferentially.

[0033] In an alternative embodiment, the flexible motion joint comprises:

[0034] The first segment is fixedly arranged at one end of the rod body close to the end effector in the axial direction;

[0035] The second segment is fixedly arranged at one end of the end effector close to the rod body;

[0036] The third segment is arranged between the first segment and the second segment, one end of the third segment is connected to the first segment through the second cross shaft, and the other end of the third segment is connected to the second segment through the third cross shaft.

[0037] The first end of the third segment is connected to the first segment through the second cross shaft, and the other end of the third segment is connected to the second segment through the third cross shaft, so that only a few segments are needed to realize the arbitrary direction deflection of the deflection control line relative to the central axis of the rod body, which is beneficial to simplify the structure of the instrument, and at the same time can ensure the flexibility of the distal end deflection.

[0038] In an alternative embodiment, the end effector comprises a head end shell and a driving block slidingly arranged in the head end shell, one end of the driving block is hingedly connected to the clamp, and the other end of the driving block is fixedly connected to the opening and closing control line, wherein the opening and closing control line is controlled by a trigger on the handle shell.

[0039] The flexible motion joint further comprises a second spring coaxially arranged with the third segment, one end of the second spring is connected to the first segment, and the other end of the second spring passes through the second segment and abuts against the driving block, the second spring is pre-compressed in the head end shell to push the driving block to move away from the flexible motion joint and / or maintain the tendency of the driving block to move away from the flexible motion joint.

[0040] In one aspect, the second spring is in a pre-compressed state between the first segment and the head-end housing, and an end of the second spring away from the first segment is in abutment with the driving block through the second segment, so as to keep the driving block in a tendency of moving axially towards the direction of approaching the clamp, thereby ensuring the open state of the clamp, and only needs to pull or release the opening and closing control line during the operation to realize the closing or opening of the clamp, thereby enhancing the convenience of operation. In another aspect, the flexible motion segment can be reset by the elastic restoring force of the second spring during the operation. Meanwhile, the second spring can provide real-time force feedback to the operator through real-time linkage with the first spring, so as to facilitate the operator to adjust the size of the applied force in real time, and help the operator to control the flexible motion segment to deflect in the direction specified by the operator and determine any specified deflection angle in the deflection direction.

[0041] In a second aspect, the present application further provides a control method of the laparoscopic surgical instrument.

[0042] The control handle housing drives the control mechanism to move along any direction relative to the central axis of the rod body, so that the control mechanism drives the flexible motion segment to deflect relative to the central axis of the rod body through the deflection control line.

[0043] The knob housing drives the control mechanism to rotate circumferentially, so that the rod body drives the end effector to rotate circumferentially, and the control mechanism is circumferentially positioned by the split ring.

[0044] The knob housing is circumferentially locked by the circumferential locking structure.

[0045] The trigger on the handle housing is pressed to abut the opening and closing control line, and the opening and closing of the end effector is controlled by the opening and closing control line.

[0046] The deflection action of the control mechanism through the deflection control line, the circumferential rotation action of the knob housing driving the control mechanism, and the opening and closing action of the end effector controlled by the opening and closing control line can be any one of them alone, or any two of them simultaneously, or all three of them simultaneously, without interference, with high flexibility. The operation of the circumferential locking structure to circumferentially lock or release the knob housing can be performed at any time, which not only improves the flexibility of the operation, but also improves the reliability of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any inventive labor.

[0048] Figure 1 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0049] Figure 2 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application; Figure 1 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0050] Figure 3 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0051] Figure 4 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application; Figure 1 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0052] Figure 5 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0053] Figure 6 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application; Figure 5 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0054] Figure 7 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0055] Figure 8 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0056] Figure 9 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application; Figure 1 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application;

[0057] Figure 10 A perspective view of a laparoscopic surgical instrument according to an embodiment of the present application.

[0058] BRIEF DESCRIPTION OF THE DRAWINGS

[0059] 10, rod body;

[0060] 20, end effector; 21, head shell; 22, driving block; 23, clamp; 24, opening and closing control line;

[0061] 30, handle shell;

[0062] 31, base;

[0063] 32, opening snap ring; 320, first positioning corrugated portion; 321, first clamping arm; 322, second clamping arm; 323, adjusting gap;

[0064] 33, dial shell;

[0065] 34, circumferential locking structure; 341, locking ring; 342, locking hoop; 343, pressure holding block;

[0066] 35, trigger;

[0067] 40, yaw control line; 41, first control line; 42, second control line; 43, third control line; 44, fourth control line;

[0068] 50, flexible motion joint; 51, first segment; 52, second segment; 53, third segment; 54, second cross shaft; 55, third cross shaft; 56, second spring;

[0069] 60, control mechanism; 61, first tube shaft; 611, first hinged part; 62, second tube shaft; 620, second positioning corrugated part; 621, second hinged part; 63, first cross shaft; 631, first hinged shaft; 632, second hinged shaft; 64, first spring;

[0070] 70, sleeve. DETAILED DESCRIPTION

[0071] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0072] The embodiments of the present application are described below with reference to the drawings. Figures 1 to 10 , the embodiments of the present application are described.

[0073] According to the embodiments of the present application, in one aspect, a laparoscopic surgical instrument is provided, comprising:

[0074] A rod body 10, one axial end of which is adapted to be connected with an end effector 20, and the other end is adapted to be connected with a handle shell 30; the rod body 10 is hollow inside, and the rod body 10 is adapted to accommodate a yaw control line 40 inside;

[0075] A flexible motion joint 50 is arranged between the rod body 10 and the end effector 20, the flexible motion joint 50 is connected with the distal end of the yaw control line 40, and the flexible motion joint 50 is adapted to drive the end effector 20 to move relative to the rod body 10 under the traction of the yaw control line 40;

[0076] A control mechanism 60 is arranged at one end of the rod body 10 away from the flexible motion joint 50 along the axial direction, and the control mechanism 60 is adapted to yaw in any direction relative to the central axis of the rod body 10 under the action of an external force;

[0077] The control mechanism 60 is connected with the proximal end of the yaw control line 40, and the control mechanism 60 is suitable for driving the flexible motion joint 50 to yaw relative to the central axis of the rod body 10 via the yaw control line 40.

[0078] It should be noted that, for better understanding, the terms "proximal" and "distal" are defined from the perspective of a doctor (or other operator). Therefore, the term "proximal" is used to indicate the part of the device side or end closest to the external body wall and / or the operator, and the term "distal" refers to the structure side or end in the opposite direction of the external body wall and / or the operator. The laparoscopic surgical instrument of the present application can be applied to the scenarios of coagulation, hemostasis, tissue separation and incision, suturing, etc. of the diseased tissue in the abdominal cavity. According to different surgical application scenarios, the effector of the distal head of the laparoscopic surgical instrument of the present application can be a clamp, a separation forceps, or other effectors such as scissors, thereby forming various special-purpose laparoscopic minimally invasive surgical instruments with different functions, which can be adjusted according to actual needs and are not limited to the case in the present embodiment.

[0079] It should be noted that the rod body 10 can be a rigid structure to provide support for the traction driving of the yaw control line 40 and the opening and closing control line 24. The distal end of the yaw control line 40 is suitable for traction of the flexible motion joint 50 to make the flexible motion joint 50 perform a yawing action. It can be understood that by selectively controlling one or more yaw control lines 40, the flexible motion joint 50 can yaw in any direction relative to the central axis of the rod body 10, i.e. the yawing direction can be any direction in the plane perpendicular to the central axis of the rod body 10, and the size of the yawing angle of the flexible motion joint 50 can be controlled by changing the traction variation of one or more yaw control lines 40 in any yawing direction. The distal end of the opening and closing control line 24 is suitable for traction of the end effector 20 to make the end effector 20 perform an opening and closing action. Specifically, the end effector 20 can be in a normally open state, and the opening and closing control line 24 can be used to switch the end effector 20 between the open state and the closed state. Please refer to Figure 1 It is shown that the inside of the rod body 10 is hollow, and the yaw control line 40 and the opening and closing control line 24 are suitable for being accommodated therein, thereby avoiding interference of the yaw control line 40 and the opening and closing control line 24 during traction. Further, please refer to Figure 8 It is shown that the opening and closing control line 24 can be coaxially arranged with the rod body 10, and the yaw control lines 40 can be arranged along the circumference of the opening and closing control line 24. The yaw control lines 40 and the opening and closing control line 24 can be spaced apart by a support tube (not shown in the figure), thereby avoiding interference between the yaw control lines 40 and the opening and closing control line 24. Still referring to Figure 1As shown, one end of the flexible motion joint 50 is fixedly connected with the rod body 10, and the other end is fixedly connected with the end effector 20, the flexible motion joint 50 can be deflected in any direction relative to the central axis of the rod body 10, and the flexible motion joint 50 can be deflected in the direction specified by the operator and can determine any specified deflection angle in the deflection direction under the common driving of the plurality of deflection control lines 40. Figure 1 As shown, the control mechanism 60 is arranged at one end of the rod body 10 away from the flexible motion joint 50 in the axial direction, the control mechanism 60 can be wholly built in the handle shell 30, the control mechanism 60 can be deflected in any direction relative to the central axis of the rod body 10 under the action of external force, and the deflection angle of the control mechanism 60 in any deflection direction is changed by the action of external force on the basis of the deflection direction, so as to change the traction variation of one or more deflection control lines 40, and then the flexible motion joint 50 is deflected in the direction specified by the operator and can determine any specified deflection angle in the deflection direction by controlling the deflection control line 40 through traction; in the specific implementation process, the rod body 10 can be inserted into the human body through the puncture cannula, at this time the rod body 10 is in a relatively fixed state, the operator can drive the flexible motion joint 50 by operating the control mechanism 60 with one hand, so that the flexible motion joint 50 drives the end effector 20 to realize the specified deflection action, which has high flexibility.

[0080] It should be noted that, for better illustration and understanding of the present application, please combine with Figure 1 , Figure 2 and Figure 7As shown, the embodiment is described by taking four deflection control lines 40 as an example, each of which has a constant length during the operation, and the deflection control lines 40 include a first control line 41, a second control line 42, a third control line 43 and a fourth control line 44, wherein the first control line 41 and the third control line 43 are oppositely arranged, and the second control line 42 and the fourth control line 44 are oppositely arranged; in the natural state or initial state, the center axis of the control mechanism 60 and the center axis of the flexible motion joint 50 are both coincident with the center axis of the rod body 10, and the four deflection control lines 40 are all in the tension state; during the operation, the operator applies a force to deflect a control end of the control mechanism 60 in a specified direction, and determines a control end deflection angle in the specified direction, and through the direct traction force of the deflection control lines 40, the flexible motion joint 50 generates an execution end deflection direction corresponding to the control end deflection direction, and determines an execution end deflection angle corresponding to the control end deflection angle in the execution end deflection direction, it can be understood that due to the lever effect of the rod body 10, first, the execution end deflection direction is completely opposite to the control end deflection direction, second, the ratio of the execution end deflection angle to the control end deflection angle is constant, so as to realize the control of the flexible motion joint 50 to deflect in the specified direction and to determine any specified deflection angle in the deflection direction, third, the ratio of the stroke change amount of any deflection control line 40 to the stroke change amount of another deflection control line 40 radially opposite to it is constant, so that during the realization of any deflection direction and deflection angle, all the control lines are always in the tension state, fourth, under the traction of the control mechanism 60, the multiple deflection control lines 40 can simultaneously change the stroke, so as to realize the control of the flexible motion joint 50 to deflect in the specified direction and to determine any specified deflection angle in the deflection direction; fifth, the control mechanism 60 and the flexible motion joint 50 are directly connected through the deflection control lines 40 and realize real-time force feedback, without the need for intermediate transmission mechanism, which has high flexibility. For example, the control mechanism 60 pulls the proximal end of the first control line 41 to make the distal end of the first control line 41 recover the stroke change amount S1, at the same time, the control mechanism 60 can broadcast the proximal end of the third control line 43 to make the distal end of the third control line 43 also broadcast the stroke change amount S1; and / or, the control mechanism 60 pulls the proximal end of the second control line 42 to make the distal end of the second control line 42 recover the stroke change amount S2, at the same time, the control mechanism 60 can broadcast the proximal end of the fourth control line 44 to make the distal end of the fourth control line 44 also broadcast the stroke change amount S2, so that the flexible motion joint 50 deflects in the specified direction and has a deflection angle corresponding to the stroke change amount of the deflection control line 40 in the deflection direction. The working principles of other deflection directions and angles are similar to the above, which will not be described here.

[0081] Compared with the laparoscopic minimally invasive surgical instrument in the related art which controls the steering cable through gear meshing transmission, the laparoscopic surgical instrument provided by the application has the following advantages: the control mechanism 60 can be deflected in any direction relative to the central axis of the rod body 10 under the action of external force, and the deflection angle of the control mechanism 60 in the deflection direction can be determined on the basis of the deflection direction; under the traction action of the control mechanism 60, the plurality of deflection control lines 40 can simultaneously change the stroke, so that the flexible motion joint 50 can be deflected in the direction specified by the operator and any specified deflection angle in the deflection direction can be determined, and the flexibility is high; the direct and real-time force feedback is formed between the control mechanism 60 and the flexible motion joint 50 through the deflection control line 40, and the deflection control line 40 will not be loose in the real-time change process of the traction change amount, and no intermediate transmission mechanism is needed for transmission, and the flexibility of operation is further improved.

[0082] In one embodiment, the control mechanism 60 comprises:

[0083] The first tube shaft 61 is fixedly connected to the rod body 10 at one axial end, and is provided with a first hinged part 611 at the other end;

[0084] The second tube shaft 62 is arranged at the end of the first tube shaft 61 away from the rod body 10 in the axial direction, and the end of the second tube shaft 62 close to the first tube shaft 61 is provided with a second hinged part 621;

[0085] The first cross shaft 63 is connected between the first tube shaft 61 and the second tube shaft 62, the first cross shaft 63 is hinged to the first hinged part 611 at a first hinged shaft 631, the first cross shaft 63 is hinged to the second hinged part 621 at a second hinged shaft 632, and the first hinged shaft 631 and the second hinged shaft 632 are arranged perpendicularly.

[0086] It should be noted that, please refer to Figure 2As shown, the control mechanism 60 mainly comprises a first tube shaft 61, a second tube shaft 62 and a first cross shaft 63, wherein one axial end of the first tube shaft 61 is fixedly connected with the rod body 10, the other end is provided with a first hinged part 611, a plurality of positioning holes (not shown in the figure) are formed on the first tube shaft 61 in the axial direction, the plurality of positioning holes are arranged circumferentially relative to the first tube shaft 61, and the positioning holes are suitable for positioning the deflection control line 40; the second tube shaft 62 is arranged at the end of the first tube shaft 61 away from the rod body 10 in the axial direction, the second tube shaft 62 is fixedly connected with the deflection control line 40, the end of the second tube shaft 62 close to the first tube shaft 61 is provided with a second hinged part 621, and the second hinged part 621 is arranged in a cross shape with the first hinged part 611; the first cross shaft 63 is hinged to the first hinged shaft 631 through the first hinged part 611, and the first cross shaft 63 is hinged to the second hinged shaft 632 through the second hinged part 621, so that the second tube shaft 62 can deflect in any direction relative to the central axis of the first tube shaft 61, so that the second tube shaft 62 controls the flexible motion joint 50 to deflect in the specified direction through the traction of the deflection control line 40 and can determine any specified deflection angle in the deflection direction.

[0087] In one embodiment, the control mechanism 60 further comprises a first spring 64, the first spring 64 is coaxially arranged with the first cross shaft 63, one axial end of the first spring 64 is connected with the first tube shaft 61, and the other end is connected with the second tube shaft 62.

[0088] It should be noted that, please see Figure 3 As shown, the first spring 64 is coaxially arranged with the first cross shaft 63, and the two axial ends of the first spring 64 are respectively arranged in the mounting grooves (not shown in the figure) of the first tube shaft 61 and the second tube shaft 62, and the first spring 64 is always located in the first cross shaft 63 and the first tube shaft 61 and the second tube shaft 62 at both ends thereof during the working process; by arranging the first spring 64, on the one hand, the first tube shaft 61, the second tube shaft 62 and the first cross shaft 63 can be simultaneously supported, so that the laparoscopic surgical instrument can keep the control mechanism 60 coaxial with the rod body 10 in the natural state and / or initial state; on the other hand, the control mechanism 60 can be reset by the elastic restoring force of the first spring 64 during the working process; at the same time, real-time force feedback can be provided for the operator, which is convenient for the operator to adjust the size of the applied force in real time, and helps the operator to control the flexible motion joint 50 to deflect in the specified direction and determine any specified deflection angle in the deflection direction in real time.

[0089] In one embodiment, the laparoscopic surgical instrument further comprises a base 31 and an open clasp 32, the base 31 is coaxially arranged with the second tube shaft 62; the open clasp 32 is clamped on the side of the base 31 close to the second tube shaft 62 in the axial direction;

[0090] The open snap ring 32 is made of elastic material, and a first positioning corrugated portion 320 is arranged on the inner circumferential wall of the open snap ring 32 in a circumferential direction. A second positioning corrugated portion 620 is arranged on the outer circumferential wall of the second tube shaft 62, and the second positioning corrugated portion 620 is adapted to be completely engaged with the first positioning corrugated portion 320 after the second tube shaft 62 rotates by a specified angle relative to the base 31.

[0091] It should be noted that, as shown in Figure 4 The laparoscopic surgical instrument further includes a base 31 fixedly arranged in the handle shell 30, the base 31 is coaxially arranged with the second tube shaft 62, and the second tube shaft 62 can rotate in a circumferential direction relative to the base 31 under the action of an external force, so as to drive the distal end effector 20 to rotate in a circumferential direction relative to the handle shell 30 through the rod body 10, which is beneficial to improve the flexibility of the laparoscopic surgical instrument during operation. The laparoscopic surgical instrument further includes an open snap ring 32, which can be connected with the base 31, which is beneficial to assembly and real-time adjustment of the width of the adjustment gap 323 during the operation of the open snap ring 32. The open snap ring 32 is made of elastic material, and a first positioning corrugated portion 320 is arranged on the inner circumferential wall of the open snap ring 32 in a circumferential direction. A second positioning corrugated portion 620 is arranged on the outer circumferential wall of the second tube shaft 62, and the second positioning corrugated portion 620 is adapted to be completely engaged with the first positioning corrugated portion 320 once during the rotation of the second tube shaft 62 relative to the base 31, and the open snap ring 32 completes a circumferential positioning of the second tube shaft 62 once, so as to facilitate the operator to accurately judge the change angle of the rod body 10 relative to the handle shell 30, and improve the accuracy of the operation.

[0092] In one embodiment, the open snap ring 32 includes a first clamping arm 321 and a second clamping arm 322, the first clamping arm 321 and the second clamping arm 322 are arranged in a first radial direction and form an adjustment gap 323, and the width of the adjustment gap 323 is adapted to be adjusted according to the elastic interference between the second positioning corrugated portion 620 and the first positioning corrugated portion 320.

[0093] It should be noted that the principle of elastic interference refers to that when the second positioning corrugated part 620 is fully engaged with the first positioning corrugated part 320, the adjusting gap 323 has an initial width in a natural state; when the second positioning corrugated part 620 is not fully engaged with the first positioning corrugated part 320, the adjusting gap 323 is opened by at least part of the width in the natural state through the elastic deformation of the split ring 32, so that the second shaft 62 can be driven to rotate relative to the base 31, and the second positioning corrugated part 620 and the first positioning corrugated part 320 are always in the abutting state; when the current fully engaged moment is transitioned to the next fully engaged moment, the second positioning corrugated part 620 and the first positioning corrugated part 320 are in the state of not fully engaged, in order to maintain the abutting state between the second positioning corrugated part 620 and the first positioning corrugated part 320, the adjusting gap 323 is opened by at least part of the width, so as to realize the elastic interference between the second positioning corrugated part 620 and the first positioning corrugated part 320, and when the second positioning corrugated part 620 and the first positioning corrugated part 320 are fully engaged again, the adjusting gap 323 timely returns to the initial width through the elastic restoring force of the split ring 32.

[0094] It should be noted that still referring to Figure 4 It should be noted that the first clamping arm 321 and the second clamping arm 322 can be an integral plastic structure, without the need for machining slots in the processing process, and the first clamping arm 321 and the second clamping arm 322 can be directly clamped with the base 31 in the assembly process, without the need for fixtures and without the need for laser welding, which is beneficial to simplify the preparation process and reduce the preparation difficulty and cost.

[0095] In one embodiment, the laparoscopic surgical instrument further comprises a dialing shell 33, the dialing shell 33 is fixedly connected with the first shaft 61, and the dialing shell 33 is suitable for driving the first shaft 61 to rotate circumferentially under the action of external force.

[0096] The laparoscopic surgical instrument further comprises a circumferential locking structure 34, which is arranged circumferentially relative to the outer side wall of the dialing shell 33, and the circumferential locking structure 34 is suitable for locking or loosening the dialing shell 33.

[0097] It should be noted that please refer to Figure 5As shown, the dialing shell 33 is fixedly connected with the first tube shaft 61 at one end and fixedly connected with the rod body 10 at the other end. The dialing shell 33 is adapted to drive the first tube shaft 61 to rotate circumferentially under the action of external force, thereby simultaneously driving the control mechanism 60 and the rod body 10 to rotate circumferentially relative to the handle shell 30. The circumferential locking structure 34 is arranged circumferentially relative to the outer side wall of the dialing shell 33. When the control mechanism 60 is driven by the dialing shell 33 to rotate circumferentially relative to the base 31 to a specified angle, the dialing shell 33 can be locked by closing the circumferential locking structure 34, thereby achieving circumferential locking of the control mechanism 60 and the rod body 10 relative to the handle shell 30, which is conducive to improving the reliability of intraoperative operation. When the control mechanism 60 needs to continue to rotate circumferentially relative to the base 31, the dialing shell 33 can be loosened by opening the circumferential locking structure 34, which has high operational flexibility.

[0098] In one embodiment, the circumferential locking structure 34 comprises:

[0099] The locking ring 341 is made of elastic material, and the inner side wall of the locking ring 341 is adapted to selectively abut against the outer side wall of the dialing shell 33.

[0100] The locking hoop 342 is arranged on the side of the locking ring 341 away from the dialing shell 33 in the radial direction, and the locking hoop 342 is adapted to be locked or loosened.

[0101] The clamping block 343 is arranged between the locking ring 341 and the locking hoop 342 in the radial direction.

[0102] When the locking hoop 342 is locked, the locking hoop 342 radially extrudes the locking ring 341 through the clamping block 343, so that the locking ring 341 is extruded and fitted with the outer side wall of the dialing shell 33 to circumferentially lock the dialing shell 33.

[0103] It should be noted that, please refer to Figure 6As shown, the circumferential locking structure 34 mainly comprises a locking ring 341, a locking hoop 342 and a pressure holding block 343. The locking ring 341 is made of elastic material, and the inner circumferential wall of the locking ring 341 is adapted to selectively abut against the outer circumferential wall of the dialing shell 33, so as to lock the dialing shell 33 by the friction force between the locking ring 341 and the dialing shell 33. The locking hoop 342 is arranged on the side of the locking ring 341 away from the dialing shell 33 in the radial direction. It can be understood that the locking or loosening of the locking hoop 342 can be realized by a clasp (not shown in the figure) arranged on the locking hoop 342. When the clasp is closed under the action of external force, the locking hoop 342 is locked. When the clasp is opened under the action of external force, the locking hoop 342 is loosened. Details are not described herein again. The pressure holding block 343 is arranged in the radial direction between the locking ring 341 and the locking hoop 342. The pressure holding block 343 can be made of rigid material. A plurality of pressure holding blocks 343 are evenly arranged along the outer circumferential wall of the locking ring 341. When the locking hoop 342 is locked, the pressure holding blocks 343 are radially extruded against the locking ring 341, so that the friction force is generated between the inner circumferential wall of the locking ring 341 and the outer circumferential wall of the dialing shell 33, thereby circumferentially locking the dialing shell 33 by the friction force. When the locking hoop 342 is loosened, the radial extrusion of the pressure holding blocks 343 against the locking hoop 342 is reduced until it completely disappears. At this time, the radial extrusion of the pressure holding blocks 343 against the locking ring 341 is cancelled, the locking ring 341 elastically recovers to the initial shape and is separated from the outer circumferential wall of the dialing shell 33. The friction force between the inner circumferential wall of the locking ring 341 and the outer circumferential wall of the dialing shell 33 disappears. At this time, the circumferential locking of the dialing shell 33 by the locking ring 341 is released, and the dialing shell 33 can continue to drive the control mechanism 60 and the rod body 10 to rotate relative to the handle shell 30 in the circumferential direction.

[0104] In one embodiment, the flexible motion joint 50 comprises:

[0105] The first segment 51 is fixedly arranged at one end of the rod body 10 close to the end effector 20 in the axial direction.

[0106] The second segment 52 is fixedly arranged at one end of the end effector 20 close to the rod body 10.

[0107] The third segment 53 is arranged between the first segment 51 and the second segment 52. One end of the third segment 53 is connected to the first segment 51 through the second cross shaft 54, and the other end is connected to the second segment 52 through the third cross shaft 55.

[0108] It should be noted that, please refer to Figure 7As shown, the flexible motion joint 50 mainly comprises a first segment 51, a second segment 52, a third segment 53, a second cross shaft 54 and a third cross shaft 55, wherein the first segment 51 is fixedly arranged at an axial end of the rod body 10, the second segment 52 is fixedly arranged at an axial end of the end effector 20, one end of the third segment 53 is connected with the first segment 51 through the second cross shaft 54, the other end of the third segment 53 is connected with the second segment 52 through the third cross shaft 55, the connection principle of the second cross shaft 54 and the third cross shaft 55 is the same as that of the first cross shaft 63, which will not be described here; the first segment 51, the second segment 52 and the third segment 53 are all connected with the yaw control line 40, the distal end of the yaw control line 40 passes through the first segment 51 and the third segment 53 in sequence and is fixed on the second segment 52, so as to realize the yaw action of the flexible motion joint 50 designated by the first segment 51, the second segment 52 and the third segment 53 pulled by the yaw control line 40, the one end of the third segment 53 is connected with the first segment 51 through the second cross shaft 54, and the other end of the third segment 53 is connected with the second segment 52 through the third cross shaft 55, so that only a few segments are needed to realize the yaw of the flexible motion joint 50 pulled by the yaw control line 40 relative to the central axis of the rod body 10 in any direction, which is conducive to simplifying the structure of the instrument and ensuring the flexibility of the distal yaw.

[0109] In one embodiment, the end effector 20 comprises a head-end housing 21 and a driving block 22 slidingly arranged in the head-end housing 21, one end of the driving block 22 is hingedly connected with the clamp 23, the other end of the driving block 22 is fixedly connected with the opening and closing control line 24, wherein the opening and closing control line 24 is controlled by the trigger 35 on the handle housing 30.

[0110] The flexible motion joint 50 further comprises a second spring 56, the second spring 56 is coaxially arranged with the third segment 53, one end of the second spring 56 is connected with the first segment 51, the other end of the second spring 56 abuts against the driving block 22 through the second segment 52, the second spring 56 is pre-compressed in the head-end housing 21 to push the driving block 22 to move away from the flexible motion joint 50 and / or maintain the tendency of the driving block 22 to move away from the flexible motion joint 50.

[0111] It should be noted that, please refer to Figure 8 As shown, the end effector 20 mainly comprises the head-end housing 21, the driving block 22 and the clamp 23, wherein the driving block 22 is slidingly arranged in the head-end housing 21, one end of the driving block 22 is hingedly connected with the clamp 23 to control the opening and closing of the clamp 23, the clamp 23 is in a normally open state, the other end of the driving block 22 is fixedly connected with the opening and closing control line 24, the driving block 22 is driven to move towards the proximal end by pulling the opening and closing control line 24, so that the clamp 23 is closed; specifically, please refer to Figure 9As shown, the opening and closing control line 24 can be controlled by the trigger 35 on the handle shell 30, by pulling the opening and closing control line 24 through the trigger 35 to pull the proximal end of the opening and closing control line 24, so that the distal end of the opening and closing control line 24 drives the driving block 22 to move proximally, thereby causing the clamp 23 to close, wherein the specific arrangement of the opening and closing control line 24 in the handle shell 30 is not specifically limited here and can be adjusted according to the actual layout in the handle shell 30. Still referring to Figure 8 As shown, the second spring 56 is coaxially arranged with the first segment 51, the second segment 52, the third segment 53 and the head-end shell 21, on the one hand, the second spring 56 is in a pre-compressed state between the first segment 51 and the head-end shell 21, and the end of the second spring 56 away from the first segment 51 penetrates through the second segment 52 and abuts against the driving block 22, so as to keep the driving block 22 in a tendency to move axially towards the clamp 23, thereby ensuring the normally open state of the clamp 23, and only needs to pull or release the opening and closing control line 24 during the work process to achieve the closing or opening of the clamp 23, thereby enhancing the convenience of operation; on the other hand, the flexible motion segment 50 can be reset by the elastic restoring force of the second spring 56 during the work process; at the same time, the second spring 56 can provide real-time force feedback to the operator through real-time linkage with the first spring 64, so as to facilitate the operator to adjust the size of the applied force in real time, which helps the operator to control the flexible motion segment 50 to deflect in the direction specified by the operator and to determine any specified deflection angle in the deflection direction.

[0112] According to the embodiments of the present application, on the other hand, a method for operating the laparoscopic surgical instrument is also provided, comprising:

[0113] The handle shell 30 drives the control mechanism 60 to move along the center axis of the rod body 10 in any direction, so that the control mechanism 60 drives the flexible motion segment 50 to deflect relative to the center axis of the rod body 10 through the deflection control line 40;

[0114] The control mechanism 60 is driven to rotate circumferentially by the rotation of the rotation shell 33, so that the rod body 10 drives the end effector 20 to rotate circumferentially, and the control mechanism 60 is circumferentially positioned by the split ring 32;

[0115] The rotation shell 33 is circumferentially locked by the circumferential locking structure 34;

[0116] The trigger 35 on the handle shell 30 is pressed to abut against the opening and closing control line 24, and the opening and closing of the end effector 20 is controlled by the opening and closing control line 24.

[0117] It should be noted that, please refer to Figure 10 As shown, Figure 10The working principle diagram of the laparoscopic surgical instrument combined with the sleeve 70 is shown, and the sleeve 70 can preliminarily fix the rod body 10. In the control method of the laparoscopic surgical instrument, the deflection action of the flexible motion joint 50 driven by the control mechanism 60 through the deflection control line 40, the circumferential rotation action of the control mechanism 60 driven by the deflection of the shell 33, and the opening and closing action of the end effector 20 controlled by the opening and closing control line 24 can be performed individually, simultaneously, or simultaneously, and the three are not interfered with each other, and have high flexibility; the circumferential locking or unlocking operation of the circumferential locking structure 34 on the deflection shell 33 can be performed at any time, which not only can improve the flexibility of the operation, but also can improve the reliability of the operation.

[0118] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A laparoscopic surgical instrument, characterized by, The utility model relates to a kind of flexible motion control mechanisms, including: Shaft (10), axial one end is suitable for being connected with end effector (20), the other end is suitable for being connected with handle shell (30);The inside of the shaft (10) is hollow, and the shaft (10) is suitable for accommodating yaw control line (40) in it; Flexible motion joint (50) is arranged between the shaft (10) and the end effector (20), and the flexible motion joint (50) is connected with the far end of the yaw control line (40), and the flexible motion joint (50) is suitable for driving the end effector (20) to move relative to the shaft (10) under the traction of the yaw control line (40); Control mechanism (60) is arranged at the end of the shaft (10) away from the flexible motion joint (50) in axial direction, and the control mechanism (60) is suitable for yawing along any direction relative to the central axis of the shaft (10) under external force action; The control mechanism (60) is connected with the near end of the yaw control line (40), and the control mechanism (60) is suitable for driving the flexible motion joint (50) to yaw relative to the central axis of the shaft (10) via the yaw control line (40); The control mechanism (60) includes: First tube shaft (61), one end of which is fixedly connected with the shaft (10), and the other end is provided with first hinged part (611); Second tube shaft (62) is arranged at the end of first tube shaft (61) away from the shaft (10) in axial direction, and the end of second tube shaft (62) close to first tube shaft (61) is provided with second hinged part (621); First cross shaft (63) is connected between the first tube shaft (61) and the second tube shaft (62), and the first cross shaft (63) is hinged to first hinged shaft (631) with the first hinged part (611), and the first cross shaft (63) is hinged to second hinged shaft (632) with the second hinged part (621), and the first hinged shaft (631) and the second hinged shaft (632) are arranged vertically; It further includes base (31) and open snap ring (32), and the base (31) is coaxially arranged with the second tube shaft (62);Open snap ring (32) is clamped to the side of base (31) close to the second tube shaft (62) in axial direction; The open snap ring (32) is made of elastic material, and the inner side peripheral wall of the open snap ring (32) is provided with first positioning corrugated part (320) in circumferential direction;Second positioning corrugated part (620) is arranged on the outer side peripheral wall of the second tube shaft (62), and the second positioning corrugated part (620) is suitable for being completely engaged with the first positioning corrugated part (320) after the second tube shaft (62) rotates a specified angle relative to the base (31). The opening snap ring (32) comprises a first clamping arm (321) and a second clamping arm (322), the first clamping arm (321) and the second clamping arm (322) are arranged in a first radial opposite interval and form an adjusting gap (323), the width of the adjusting gap (323) is suitable for adjusting the elastic interference size between the second positioning corrugated part (620) and the first positioning corrugated part (320).

2. The laparoscopic surgical instrument of claim 1, wherein, The control mechanism (60) further comprises a first spring (64), the first spring (64) is coaxially arranged with the first cross shaft (63), one end of the first spring (64) is connected with the first pipe shaft (61), and the other end is connected with the second pipe shaft (62).

3. The laparoscopic surgical instrument of claim 1, wherein, The laparoscopic surgical instrument further comprises a dialing shell (33), the dialing shell (33) is fixedly connected with the first pipe shaft (61), and the dialing shell (33) is suitable for driving the first pipe shaft (61) to rotate circumferentially under the action of external force. The laparoscopic surgical instrument further comprises a circumferential locking structure (34), the circumferential locking structure (34) is arranged around the outer side wall of the dialing shell (33), and the circumferential locking structure (34) is suitable for locking or releasing the dialing shell (33).

4. The laparoscopic surgical instrument of claim 3, wherein, The circumferential locking structure (34) comprises: A locking ring (341) made of elastic material, the inner side wall of the locking ring (341) is suitable for selectively abutting against the outer side wall of the dialing shell (33); A locking hoop (342) arranged on the side of the locking ring (341) away from the dialing shell (33) in the radial direction, the locking hoop (342) is suitable for locking or releasing; A pressure holding block (343) arranged in the radial direction between the locking ring (341) and the locking hoop (342); When the locking hoop (342) is locked, the locking hoop (342) radially extrudes the locking ring (341) through the pressure holding block (343), so that the locking ring (341) is extruded and fitted with the outer side wall of the dialing shell (33), to circumferentially lock the dialing shell (33).

5. The laparoscopic surgical instrument of any of claims 1-4, wherein, The flexible motion joint (50) comprises: A first segment (51) fixedly arranged at one end of the rod body (10) close to the end effector (20) in the axial direction; A second segment (52) fixedly arranged at one end of the end effector (20) close to the rod body (10); A third segment (53) arranged between the first segment (51) and the second segment (52), one end of the third segment (53) is connected with the first segment (51) through a second cross shaft (54), and the other end is connected with the second segment (52) through a third cross shaft (55).

6. The laparoscopic surgical instrument of claim 5, wherein, The end effector (20) comprises a head-end housing (21) and a driving block (22) slidingly arranged in the head-end housing (21), one end of the driving block (22) is hingedly connected with a clamp (23), and the other end is fixedly connected with an opening and closing control wire (24), wherein the opening and closing control wire (24) is controlled by a trigger (35) on the handle housing (30); The flexible motion joint (50) further comprises a second spring (56), the second spring (56) is coaxially arranged with the third segment (53), one end of the second spring (56) is connected with the first segment (51), the other end of the second spring (56) penetrates through the second segment (52) and abuts against the driving block (22), and the second spring (56) is pre-compressed in the head-end housing (21) to push the driving block (22) to move away from the flexible motion joint (50) and / or maintain the tendency of the driving block (22) to move away from the flexible motion joint (50).

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