A surgical multi-degree of freedom surgical instrument
Patent Information
- Application Number
- CN202410158620.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-04
- Publication Date
- 2026-09-18
- Estimated Expiration
- 2044-02-04
AI Technical Summary
然而，传统手术器械仅开合动作，部分器械具有俯仰动作
[0036]The surgical multi-degree-of-freedom instrument provided by the present invention achieves opening and closing motion by driving the working areas of the two opening and closing parts in the opening and closing part to move closer or further apart; it achieves spin motion by driving the spin member to rotate relative to the pitch member by driving the spin member to rotate relative to the pitch member by driving the pitch member to rotate relative to the extension rod by driving the pitch member to rotate.
Smart Images
Figure CN117942133B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of medical device technology, and in particular relates to a surgical instrument with multiple degrees of freedom. Background Technology
[0002] Minimally invasive surgery has been rapidly accepted by doctors and patients due to its numerous advantages, including smaller incisions, less bleeding, smaller postoperative scars, and faster recovery. However, traditional minimally invasive surgery presents a challenge for doctors. On the one hand, it involves a change from the operating habits of open surgery; on the other hand, it is limited by the low flexibility of surgical instruments. This has led to new demands from doctors for surgical instruments that are highly flexible, easy to operate, and precise. Therefore, highly flexible and reliable surgical instruments have become a research focus in recent years.
[0003] Minimally invasive surgical instruments are used under endoscopy, and given the limited field of vision of an endoscope and the limited space within the abdominal cavity, greater flexibility is required to minimize injury caused by instrument movement. However, traditional surgical instruments only have opening and closing movements, and some instruments have pitching movements. Summary of the Invention
[0004] To address the above problems, this invention provides a surgical instrument with multiple degrees of freedom, capable of opening and closing motion, rotational motion, and pitching motion.
[0005] The technical solution of this invention is as follows:
[0006] A surgical multi-degree-of-freedom instrument includes a fixed handle, an extension rod, a pitching component, a spinning component, and an opening / closing part. The proximal end of the extension rod is connected to the fixed handle. The pitching component is rotatably connected to the distal end of the extension rod about a pitching axis. The spinning component is rotatably connected to the pitching component about a spinning axis. The opening / closing part is connected to the distal end of the pitching component.
[0007] The fixed handle is provided with an opening and closing drive assembly. The opening and closing drive assembly is connected to the opening and closing part through the opening and closing transmission rod located in the extension rod. The opening and closing drive assembly is used to drive the working areas on the two opening and closing parts in the opening and closing part to move closer to each other or further away from each other through the opening and closing transmission rod.
[0008] The extension rod contains a spin drive rod arranged along the spin axis. The spin drive rod has a shaft hole and is sleeved on the opening and closing drive rod through the shaft hole. The fixed handle is provided with a spin drive assembly. The two ends of the spin drive rod are respectively connected to the output end of the spin drive assembly and the spin member. The spin drive assembly is used to drive the spin drive rod to rotate, thereby causing the spin member to rotate relative to the pitch member.
[0009] The fixed handle is provided with a pitch drive assembly, and the extension rod is provided with a pitch transmission component. The output end of the pitch drive assembly is connected to the proximal end of the pitch transmission component, and the distal end of the pitch transmission component is connected to the pitch component. The pitch drive assembly is used to drive the pitch component to rotate relative to the extension rod through the pitch transmission component.
[0010] Both the opening / closing transmission rod and the spin transmission rod have flexible sections to accommodate the rotation of the pitching member relative to the extension rod.
[0011] In one embodiment of a surgical multi-degree-of-freedom instrument, the opening and closing portion includes two opening and closing members, and the working area is located at the distal end of the opening and closing members;
[0012] The spinning component is provided with an opening and closing pivot shaft arranged along the opening and closing axis, and both opening and closing components are rotatably connected to the opening and closing pivot shaft;
[0013] An opening and closing control component is slidably connected to the spinning component. The opening and closing control component is provided with an opening and closing control shaft and an opening and closing slide groove. The opening and closing control shaft is slidably connected to the opening and closing slide grooves on both opening and closing components. The opening and closing transmission rod drives the opening and closing control component to slide under the drive of the opening and closing drive assembly, so as to drive the working areas of the two opening and closing components to move closer or further apart through the cooperation of the opening and closing control shaft and the two opening and closing slide grooves.
[0014] In one embodiment of a surgical multi-degree-of-freedom instrument, the opening and closing transmission rod includes an opening and closing core rod and a steel cable, and the steel cable is woven to transmit both tensile and thrust forces.
[0015] The proximal end of the opening / closing core rod is connected to the opening / closing drive assembly, the distal end of the opening / closing core rod is connected to the proximal end of the steel cable, and the distal end of the steel cable is connected to the opening / closing control component; the flexible section of the opening / closing transmission rod is the steel cable.
[0016] In one embodiment of a surgical multi-degree-of-freedom instrument, the opening and closing drive assembly includes a movable handle, which is rotatably connected to the fixed handle.
[0017] The proximal end of the opening and closing transmission rod is connected to an opening and closing control ball. The movable handle is provided with a movable space, and the opening and closing control ball is restricted within the movable space so that when the movable handle rotates relative to the fixed handle, it drives the opening and closing transmission rod to push or pull the opening and closing control component to slide.
[0018] In one embodiment of a surgical multi-degree-of-freedom instrument, the distal end of the pitching member is provided with a rotation hole arranged along the spin axis, and the spin member is at least partially housed in the rotation hole and can rotate about the spin axis within the rotation hole;
[0019] A limiting member is protruding on the inner wall of the rotating hole, and an annular groove corresponding to the limiting member is provided on the outer wall of the rotating hole. The limiting member is slidably connected in the annular groove. The limiting member and the annular groove cooperate with each other to restrict the movement of the spinning member and the pitching member along the direction of the spinning axis.
[0020] In one embodiment of a surgical multi-degree-of-freedom instrument, the spin drive rod includes a spin sleeve and a torque spring tube, wherein the torque spring tube can transmit torque in a bent state;
[0021] The output end of the spin drive assembly is connected to the proximal end of the spin sleeve, the distal end of the spin sleeve is connected to the proximal end of the torque spring tube, and the distal end of the torque spring tube is connected to the spin element; the flexible section of the spin drive rod is the torque spring tube.
[0022] A surgical multi-degree-of-freedom instrument in one embodiment, wherein the spin drive assembly includes a spin wheel;
[0023] The spin wheel is rotatably connected to the fixed handle, the proximal end of the spin sleeve is connected to the spin wheel, and the spin wheel rotates synchronously with the spin sleeve when it rotates; the spin wheel is provided with a through hole for the opening and closing transmission rod to pass through;
[0024] The spin wheel is provided with actuating teeth to facilitate the operator in driving the spin wheel to rotate relative to the fixed handle.
[0025] In one embodiment of a surgical multi-degree-of-freedom instrument, the fixed handle is provided with a spin-locking component for gripping the spin sleeve to restrict its rotation or releasing the spin sleeve.
[0026] In one embodiment of a surgical multi-degree-of-freedom instrument, the spin-locking assembly includes:
[0027] The device includes a fixed clamping plate and a movable clamping plate. The fixed clamping plate is fixedly connected to the fixed handle, and the movable clamping plate is slidably connected to the fixed handle. An unlocking elastic element is provided between the fixed clamping plate and the movable clamping plate to drive the movable clamping plate to move away from the fixed clamping plate.
[0028] A paddle is rotatably connected to the fixed handle at its center. One side of the paddle's center has an operating part for the operator to apply force to drive the paddle to rotate relative to the fixed handle. The other side of the paddle's center abuts against the movable retaining plate. The paddle drives the movable retaining plate to move towards the fixed retaining plate by rotating relative to the fixed handle, overcoming the resistance of the unlocking elastic element. When the paddle rotates to the locked position, the fixed retaining plate and the movable retaining plate grip the self-rotating sleeve tightly.
[0029] In one embodiment of a surgical multi-degree-of-freedom instrument, the proximal end of the pitch member and the distal end of the extension rod are rotatably connected by a pitch axis, the pitch axis being arranged along the pitch axis.
[0030] The proximal end of the pitch component is rotatably connected to the distal end of a pitch linkage, and the proximal end of the pitch linkage is rotatably connected to the distal end of the pitch transmission component; furthermore, the pitch linkage and the pitch pivot are located on both sides of the spin transmission rod.
[0031] The pitch transmission component is slidably connected to the extension rod, and the output end of the pitch transmission assembly is connected to the pitch transmission component to drive the pitch transmission component to slide so as to cooperate with the pitch linkage to drive the pitch component to rotate relative to the extension rod.
[0032] In one embodiment of a surgical multi-degree-of-freedom instrument, the pitch drive assembly includes a pitch wheel and a conversion element, the pitch wheel is rotatably connected to the fixed handle, and the pitch wheel is provided with actuating teeth for facilitating the operator to drive the pitch wheel to rotate relative to the fixed handle;
[0033] The proximal end of the pitch drive is connected to the conversion component, and the conversion component is slidably connected to the fixed handle, with the sliding direction being the same as the sliding direction of the pitch drive and the extension rod.
[0034] The pitch dial has a threaded hole, the axis of which coincides with the rotation axis of the pitch dial and the fixed handle; the conversion element is at least partially located in the threaded hole, and the conversion element is threadedly connected to the threaded hole to convert the rotational motion of the pitch dial into the sliding motion of the conversion element.
[0035] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:
[0036] The surgical multi-degree-of-freedom instrument provided by the present invention achieves opening and closing motion by driving the working areas of the two opening and closing parts in the opening and closing part to move closer or further apart; it achieves spin motion by driving the spin member to rotate relative to the pitch member by driving the spin member to rotate relative to the pitch member by driving the pitch member to rotate relative to the extension rod by driving the pitch member to rotate.
[0037] The opening and closing motion is based on a spin element, which rotates around the spin axis under the drive of the spin transmission rod. This invention avoids interference that the spin motion may cause to the opening and closing motion by setting a shaft hole on the spin transmission rod and placing the opening and closing transmission rod in the shaft hole.
[0038] The rotation of the pitch component relative to the fixed handle will cause a change in the relative position of the spin component and the opening / closing part as a whole with respect to the fixed handle. Therefore, the rotation of the pitch component relative to the fixed handle may conflict with the opening / closing transmission rod and the spin transmission rod. This invention solves this conflict by providing flexible sections on the opening / closing transmission rod and the spin transmission rod. Attached Figure Description
[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.
[0040] Figure 1 This is a schematic diagram of the structure of a surgical multi-degree-of-freedom instrument according to the present invention;
[0041] Figure 2 This is a schematic diagram illustrating the opening and closing of a surgical multi-degree-of-freedom instrument according to the present invention;
[0042] Figure 3 This is a schematic diagram of the spin of a surgical multi-degree-of-freedom instrument according to the present invention;
[0043] Figure 4 This is a pitch diagram of a surgical multi-degree-of-freedom instrument according to the present invention;
[0044] Figure 5 This is a schematic cross-sectional view of the distal portion of a surgical multi-degree-of-freedom instrument according to the present invention.
[0045] Figure 6 This is a schematic cross-sectional view of the proximal portion of a surgical multi-degree-of-freedom instrument according to the present invention (corresponding to the working areas of the two opening and closing parts being in the open state);
[0046] Figure 7 This is a schematic diagram of the position of the paddle in this invention;
[0047] Figure 8This is a schematic diagram of the structure of a spin-locking component according to the present invention;
[0048] Figure 9 This is a cross-sectional schematic diagram of a spin-locking component according to the present invention.
[0049] Explanation of reference numerals in the attached figures:
[0050] 1-1: Opening / closing component; 1-1-1: Opening / closing slide groove; 1-2: Opening / closing pivot; 1-3: Opening / closing control component; 1-3-1: Opening / closing control shaft; 1-4: Steel cable; 1-5: Opening / closing core rod; 1-6: Opening / closing control ball; 1-7: Movable handle; 1-7-1: (On the movable handle) slide groove; 1-7-2: Channel;
[0051] 2-1: Spinning component; 2-2: Limiting component; 2-3: Torque spring tube; 2-4: Spinning sleeve; 2-5: Spinning intermediate component; 2-6: Spinning dial; 2-7: Spinning locking assembly; 2-7-1: Fixed clamping plate; 2-7-2: Movable clamping plate; 2-7-3: Dial plate; 2-7-4: Fixed rod; 2-7-5: Spring; 2-7-6: Guide rod;
[0052] 3-1: Pitch component; 3-2: Pitch pivot; 3-3: Pitch linkage; 3-4: Pitch transmission component; 3-5: Converter component; 3-6: Pitch dial;
[0053] 4-1: Fixed handle; 4-2: Extension rod. Detailed Implementation
[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.
[0055] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".
[0056] See Figures 1 to 9This embodiment provides a surgical multi-degree-of-freedom instrument, including a fixed handle 4-1, an extension rod 4-2, a pitching member 3-1, a spin member 2-1, and an opening / closing part. The proximal end of the extension rod 4-2 is connected to the fixed handle 4-1. The pitching member 3-1 is rotatably connected to the distal end of the extension rod 4-2 about the pitching axis (the distal end refers to the end relatively far from the operator, and the proximal end refers to the end relatively close to the operator). The spin member 2-1 is rotatably connected to the pitching member 3-1 about the spin axis. The opening / closing part is connected to the distal end of the pitching member 3-1.
[0057] Specifically, such as Figure 5 As shown, the opening and closing part includes two opening and closing components 1-1. A working area is provided at the distal end of each opening and closing component 1-1. The opening and closing action involves the working areas on the two opening and closing components 1-1 moving closer to or further apart from each other (see reference). Figure 2 The spinning component 2-1 is provided with an opening and closing shaft 1-2 arranged along the opening and closing axis, and the middle parts of the two opening and closing components 1-1 are rotatably connected to the opening and closing shaft 1-2.
[0058] An opening / closing control component 1-3 is slidably connected to the spin component 2-1. Specifically, the spin component 2-1 is provided with a sliding limiting groove, and the opening / closing control component 1-3 is slidably connected within the sliding limiting groove. The opening / closing control component 1-3 can only move in the left and right directions within the sliding limiting groove (here, the left and right directions are...). Figure 5 The opening and closing control component 1-3 is equipped with an opening and closing control shaft 1-3-1. Each of the two opening and closing components 1-1 has a corresponding opening and closing groove 1-1-1. The opening and closing control shaft 1-3-1 is simultaneously slidably connected to the opening and closing grooves 1-1-1 on both opening and closing components 1-1. The opening and closing control component 1-3 slides within the sliding limit groove, causing the opening and closing control shaft 1-3-1 to slide within the opening and closing groove 1-1-1. Since the opening and closing components 1-1 are rotatably connected to the rotating component 2-1, they will rotate. During rotation, the working areas of the two opening and closing components 1-1 will move closer to or further away from each other, thus achieving the opening and closing action.
[0059] The distal end of the pitch component 3-1 has a rotating hole along the spin axis, with the axis of the rotating hole coinciding with the spin axis. The distal end of the spin component 2-1 extends into the rotating hole, and the spin component 2-1 can rotate around the spin axis within the rotating hole. A limiting component 2-2 protrudes from the inner wall of the rotating hole, and an annular groove corresponding to the limiting component 2-2 is provided on the outer wall of the spin component 2-1 within the rotating hole. The limiting component 2-2 is slidably connected within the annular groove. The limiting component 2-2 and the annular groove cooperate to restrict the movement of the spin component 2-1 and the pitch component 3-1 along the spin axis, that is, to ensure that the spin component 2-1 can only rotate within the rotating hole and cannot slide along the spin axis. The rotation of the spin component 2-1 within the rotating hole on the pitch component 3-1 achieves spin rotation. Specifically, the limiting component 2-2 can be a pin, driven into the pitch component 3-1 and extending into the rotating hole.
[0060] The proximal end of the pitch component 3-1 and the distal end of the extension rod 4-2 are rotatably connected by a pitch pivot 3-2, which is positioned along the pitch axis. Figure 5 As shown in the diagram, the pitch axis 3-2 is positioned relatively high. The pitch movement is achieved by the rotation of the pitch component 3-1 relative to the extension rod 4-2.
[0061] Main reference Figure 5 and Figure 6 The fixed handle 4-1 is provided with an opening and closing drive assembly. The opening and closing drive assembly is connected to the opening and closing control component 1-3 through the opening and closing transmission rod located in the extension rod 4-2. The opening and closing drive assembly is used to drive the opening and closing control component 1-3 to slide through the opening and closing transmission rod, thereby driving the two opening and closing components 1-1 to rotate relative to each other, and thus realizing the opening and closing movement.
[0062] Specifically, the opening and closing transmission rod includes an opening and closing core rod 1-5 and a steel cable 1-4, with the steel cable 1-4 woven to transmit both tension and thrust. The distal end of the opening and closing core rod 1-5 is connected to the proximal end of the steel cable 1-4, and the distal end of the steel cable 1-4 is connected to the opening and closing control component 1-3. As the flexible section of the opening and closing transmission rod, the steel cable 1-4 can transmit either tension or thrust, whether bending due to pitching motion or twisting due to spin motion.
[0063] The opening / closing drive assembly includes a movable handle 1-7, which is rotatably connected to a fixed handle 4-1. An opening / closing control ball 1-6 is connected to the proximal end of the opening / closing core rod 1-5. The movable handle 1-7 has a movable space, within which the opening / closing control ball 1-6 is confined, so that when the movable handle 1-7 rotates relative to the fixed handle 4-1, it drives the opening / closing transmission rod to push or pull the opening / closing control component 1-3 to slide. Specifically, the movable space can be a groove 1-7-1 on the movable handle 1-7, and the opening / closing control ball 1-6 can be a metal ball that can move up and down within the groove 1-7-1 (here, "up and down" refers to...). Figure 6The movable handle 1-7 can move (as shown in the diagram) and can also rotate within the slide groove 1-7-1. A channel 1-7-2 is provided on the movable handle 1-7, connecting to the slide groove 1-7-1. The proximal end of the opening / closing core rod 1-5 is fixedly connected to the metal ball through this channel 1-7-2. The channel 1-7-2 moves vertically (here, vertically is...). Figure 6 The dimension in the direction shown is greater than the diameter of the opening and closing core rod 1-5, so that when the movable handle 1-7 rotates relative to the fixed handle 4-1, the metal ball can pull the opening and closing core rod 1-5.
[0064] During the opening and closing motion, ① when closing: the operator drives the movable handle 1-7 to rotate relative to the fixed handle 4-1, which pulls the opening and closing core rod 1-5 and the steel cable 1-4 through the opening and closing control ball 1-6, thereby pulling the opening and closing control component 1-3 to the left relative to the self-rotating component 2-1 (the left side here is...). Figure 5 (As shown in the direction) Slide to drive the two opening / closing parts 1-1 to rotate, so that the working areas on the two opening / closing parts 1-1 move closer to each other; ② When opening: The operator drives the movable handle 1-7 to rotate in the opposite direction, so that the opening / closing control ball 1-6 pushes the opening / closing core rod 1-5 and the steel cable 1-4, thereby pushing the opening / closing control part 1-3 to the right relative to the self-rotating part 2-1 (the right side here is...) Figure 5 Slide in the direction shown, driving the two opening and closing parts 1-1 to rotate, so that the working areas on the two opening and closing parts 1-1 are far apart from each other.
[0065] The extension rod 4-2 contains a spin drive rod arranged along the spin axis. The spin drive rod has a shaft hole and is fitted onto the opening / closing drive rod through this shaft hole. Specifically, the spin drive rod includes a spin sleeve 2-4 and a torque spring tube 2-3. The distal end of the spin sleeve 2-4 is connected to the proximal end of the torque spring tube 2-3, and the distal end of the torque spring tube 2-3 is connected to the spin element 2-1. The hole formed in the inner wall of the spin sleeve 2-4 and the hole formed in the inner wall of the torque spring tube 2-3 communicate to form the shaft hole on the spin drive rod. The torque spring tube 2-3 can transmit torque in a bent state; therefore, as a flexible section of the spin drive rod, it can eliminate the bending effect of pitch motion on the spin drive rod.
[0066] The fixed handle 4-1 is equipped with a spin drive assembly, see main reference. Figure 6The spin drive assembly includes a spin wheel 2-6 and a spin intermediate component 2-5. The spin intermediate component 2-5 is rotatably connected to the inside of the fixed handle 4-1. The proximal end of the spin sleeve 2-4 is connected to the spin intermediate component 2-5. The spin intermediate component 2-5 has a through hole for accommodating the opening / closing mandrel 1-5. The spin sleeve 2-4 and the spin intermediate component 2-5 rotate synchronously. The spin wheel 2-6 is sleeved and fixed on the spin intermediate component 2-5. The spin wheel 2-6 has actuating teeth to facilitate the operator's rotation of the spin wheel 2-6 relative to the fixed handle 4-1. When the spin wheel 2-6 is rotated, it drives the spin intermediate component 2-5 to rotate. The spin sleeve 2-4 and the torque spring tube 2-3 rotate synchronously, finally driving the spin component 2-1 to rotate within the rotation hole on the pitch component 3-1, thus realizing the spin motion.
[0067] Furthermore, a spin-locking assembly 2-7 can be provided on the fixed handle 4-1 to grip the spin sleeve 2-4 to restrict its rotation or release the spin sleeve 2-4. Specifically, the spin-locking assembly 2-7 includes a fixed gripping plate 2-7-1, a movable gripping plate 2-7-2, and a lever 2-7-3. The fixed gripping plate 2-7-1 is fixedly connected to the fixed handle 4-1, and the movable gripping plate 2-7-2 is slidably connected to the fixed handle 4-1 in a direction perpendicular to the spin sleeve 2-4. The middle part of the lever 2-7-3 is rotatably connected to the fixed handle 4-1. One side of the middle part of the lever 2-7-3 extends out of the fixed handle 4-1 and is provided with an operating part, while the other side of the middle part of the lever 2-7-3 is provided with a cam structure. The cam structure abuts against the movable gripping plate 2-7-2 (the abutting position is located on the side of the movable gripping plate 2-7-2 opposite to the fixed gripping plate 2-7-1). The operator applies force to the operating part, causing the lever 2-7-3 to rotate, which in turn drives the movable clamping piece 2-7-2 to slide closer to the fixed clamping piece 2-7-1. When the lever 2-7-3 rotates to the locked position, the fixed clamping piece 2-7-1 and the movable clamping piece 2-7-2 clamp the spinning sleeve 2-4, preventing the spinning sleeve 2-4 from rotating. An unlocking elastic element is provided between the fixed clamping piece 2-7-1 and the movable clamping piece 2-7-2 to drive the movable clamping piece 2-7-2 away from the fixed clamping piece 2-7-1. When the lever 2-7-3 rotates out of the locked position, the unlocking elastic element drives the movable clamping piece 2-7-2 away from the fixed clamping piece 2-7-1, and the movable clamping piece 2-7-2 and the fixed clamping piece 2-7-1 release the spinning sleeve 2-4, thus unlocking the sleeve.
[0068] Furthermore, such as Figure 8 and Figure 9As shown, two guide rods 2-7-6 can be set on the fixed retaining plate 2-7-1. The movable retaining plate 2-7-2 is slidably connected to the two guide rods 2-7-6, thereby achieving a slidable connection with the fixed handle 4-1. The unlocking elastic element can be a spring 2-7-5, which is sleeved on the guide rod 2-7-6. A fixed rod 2-7-4 is set on the fixed handle 4-1, and the paddle 2-7-3 is rotatably connected to the fixed rod 2-7-4, thereby achieving a rotatable connection with the fixed handle 4-1. A sliding groove corresponding to the fixed rod 2-7-4 is set on the fixed retaining plate 2-7-1. The fixed rod 2-7-4 extends into the sliding groove and is slidably connected to it. This arrangement also achieves a slidable connection between the fixed retaining plate 2-7-1 and the fixed handle 4-1.
[0069] A pitch drive assembly is provided on the fixed handle 4-1, and a pitch transmission component 3-4 is provided inside the extension rod 4-2. The output end of the pitch drive assembly is connected to the proximal end of the pitch transmission component 3-4, and the distal end of the pitch transmission component 3-4 is connected to the pitch component 3-1. The pitch drive assembly is used to drive the pitch component 3-1 to rotate relative to the extension rod 4-2 through the pitch transmission component 3-4. Specifically, the pitch transmission component 3-4 can be a sleeve-type structure, sleeved on the outside of the spin drive rod.
[0070] The pitch transmission component 3-4 is slidably connected to the extension rod 4-2 along the spin axis. A pitch connecting rod 3-3 is also provided between the pitch transmission component 3-4 and the pitch component 3-1 to... Figure 5 As shown in the diagram, the pitch linkage 3-3 is positioned relatively lower, with the pitch linkage 3-3 and the pitch pivot 3-2 located on opposite sides of the spin drive rod. Specifically, the proximal end of the pitch linkage 3-3 is rotatably connected to the distal end of the pitch drive component 3-4, and the distal end of the pitch linkage 3-3 is rotatably connected to the proximal end of the pitch component 3-1. When the pitch drive component 3-4 moves to the left (here, the left side is...)... Figure 5 When sliding in the direction shown, the pitch component 3-1 is driven clockwise via the pitch linkage 3-3 (the clockwise direction here is...). Figure 5 Rotate in the direction shown; when the pitch drive 3-4 moves to the right (the right side here is...) Figure 5 When sliding in the direction shown, the pitch component 3-1 is driven counterclockwise by the pitch linkage 3-3 (the counterclockwise direction here is...). Figure 5 Rotate in the direction shown.
[0071] Main reference Figure 6 The pitch drive assembly includes a pitch dial 3-6 and a conversion element 3-5. The pitch dial 3-6 is rotatably connected to the fixed handle 4-1, and its rotation axis coincides with the spin axis. The pitch dial 3-6 is provided with actuating teeth to facilitate the operator's driving of the pitch dial 3-6 to rotate relative to the fixed handle 4-1.
[0072] The conversion element 3-5 is slidably connected to the fixed handle 4-1, and the sliding direction is the same as the sliding direction of the pitch transmission element 3-4 and the extension rod 4-2. The proximal end of the pitch transmission element 3-4 is connected to the conversion element 3-5, so when the conversion element 3-5 slides, it can drive the pitch transmission element 3-4 to slide.
[0073] The pitch dial 3-6 has a threaded hole, the axis of which coincides with the rotation axis of the pitch dial 3-6 and the fixed handle 4-1. The conversion element 3-5 is a cylindrical structure located inside the threaded hole; the outer wall of the cylindrical structure of the conversion element 3-5 has an external thread, which connects to the threaded hole. Therefore, when the pitch dial 3-6 is turned, that is, when the pitch dial 3-6 rotates relative to the fixed handle 4-1, it drives the conversion element 3-5 to slide relative to the fixed handle 4-1, thereby driving the pitch transmission element 3-4 to slide, and further driving the pitch element 3-1 to rotate relative to the extension rod 4-2, resulting in pitch motion.
[0074] During surgery, the surgeon's demands on the instruments increase; the more movements an instrument can perform, the more flexible its operation. Especially during surgical suturing, flexible surgical instruments often mean shorter operation time, reduced surgical difficulty, and faster mastery of the procedure by the surgeon. The multi-degree-of-freedom surgical instrument provided in this embodiment can achieve opening, closing, pitching, and rotating movements, and the rotational movement can be locked through a spin-locking component, greatly improving surgical flexibility and facilitating the surgeon's operation. The rotation and pitching movements of the instrument can be operated by flicking the fingers, thus shortening the surgeon's learning curve.
[0075] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.
Claims
1. A surgical instrument with multiple degrees of freedom, characterized in that, It includes a fixed handle, an extension rod, a pitch component, a spin component, and an opening / closing part. The proximal end of the extension rod is connected to the fixed handle. The pitch component is rotatably connected to the distal end of the extension rod about a pitch axis. The spin component is rotatably connected to the pitch component about a spin axis. The opening / closing part is connected to the distal end of the pitch component. The fixed handle is provided with an opening and closing drive assembly. The opening and closing drive assembly is connected to the opening and closing part through an opening and closing transmission rod located in the extension rod. The opening and closing drive assembly is used to drive the working areas on the two opening and closing parts in the opening and closing part to move closer to each other or further away from each other through the opening and closing transmission rod. The extension rod contains a spin drive rod arranged along the spin axis. The spin drive rod has a shaft hole and is sleeved on the opening and closing drive rod through the shaft hole. The fixed handle is provided with a spin drive assembly. The two ends of the spin drive rod are respectively connected to the output end of the spin drive assembly and the spin member. The spin drive assembly is used to drive the spin drive rod to rotate, thereby causing the spin member to rotate relative to the pitch member. The fixed handle is provided with a pitch drive assembly, and the extension rod is provided with a pitch transmission component. The output end of the pitch drive assembly is connected to the proximal end of the pitch transmission component, and the distal end of the pitch transmission component is connected to the pitch component. The pitch drive assembly is used to drive the pitch component to rotate relative to the extension rod through the pitch transmission component. Both the opening / closing transmission rod and the spin transmission rod have flexible sections to accommodate the rotation of the pitching member relative to the extension rod.
2. The surgical multi-degree-of-freedom instrument according to claim 1, characterized in that, The opening and closing part includes two opening and closing components, and the working area is located at the far end of the opening and closing components; The spinning component is provided with an opening and closing pivot shaft arranged along the opening and closing axis, and both opening and closing components are rotatably connected to the opening and closing pivot shaft; An opening and closing control component is slidably connected to the spinning component. The opening and closing control component is provided with an opening and closing control shaft and an opening and closing slide groove. The opening and closing control shaft is slidably connected to the opening and closing slide grooves on both opening and closing components. The opening and closing transmission rod drives the opening and closing control component to slide under the drive of the opening and closing drive assembly, so as to drive the working areas of the two opening and closing components to move closer or further apart through the cooperation of the opening and closing control shaft and the two opening and closing slide grooves.
3. The surgical multi-degree-of-freedom instrument according to claim 2, characterized in that, The opening and closing transmission rod includes an opening and closing core rod and a steel cable, and the steel cable is woven in a way that can transmit both tension and thrust. The proximal end of the opening / closing core rod is connected to the opening / closing drive assembly, the distal end of the opening / closing core rod is connected to the proximal end of the steel cable, and the distal end of the steel cable is connected to the opening / closing control component; the flexible section of the opening / closing transmission rod is the steel cable.
4. The surgical multi-degree-of-freedom instrument according to claim 2, characterized in that, The opening and closing drive assembly includes a movable handle, which is rotatably connected to the fixed handle. The proximal end of the opening and closing transmission rod is connected to an opening and closing control ball. The movable handle is provided with a movable space, and the opening and closing control ball is restricted within the movable space so that when the movable handle rotates relative to the fixed handle, it drives the opening and closing transmission rod to push or pull the opening and closing control component to slide.
5. The surgical multi-degree-of-freedom instrument according to claim 1, characterized in that, The distal end of the pitching member is provided with a rotation hole arranged along the spin axis, and the spin member is at least partially housed in the rotation hole and can rotate about the spin axis within the rotation hole; A limiting member is protruding on the inner wall of the rotating hole, and an annular groove corresponding to the limiting member is provided on the outer wall of the rotating hole. The limiting member is slidably connected in the annular groove. The limiting member and the annular groove cooperate with each other to restrict the movement of the spinning member and the pitching member along the direction of the spinning axis.
6. The surgical multi-degree-of-freedom instrument according to claim 1 or 5, characterized in that, The spin drive rod includes a spin sleeve and a torque spring tube, wherein the torque spring tube can transmit torque in a bent state; The output end of the spin drive assembly is connected to the proximal end of the spin sleeve, the distal end of the spin sleeve is connected to the proximal end of the torque spring tube, and the distal end of the torque spring tube is connected to the spin element; the flexible section of the spin drive rod is the torque spring tube.
7. The surgical multi-degree-of-freedom instrument according to claim 6, characterized in that, The spin drive assembly includes a spin dial; The spin wheel is rotatably connected to the fixed handle, the proximal end of the spin sleeve is connected to the spin wheel, and the spin wheel rotates synchronously with the spin sleeve when it rotates; the spin wheel is provided with a through hole for the opening and closing transmission rod to pass through; The spin wheel is provided with actuating teeth to facilitate the operator in driving the spin wheel to rotate relative to the fixed handle.
8. The surgical multi-degree-of-freedom instrument according to claim 6, characterized in that, The fixed handle is equipped with a spin-locking component, which is used to hold the spin sleeve to restrict its rotation or to release the spin sleeve.
9. The surgical multi-degree-of-freedom instrument according to claim 8, characterized in that, The spin-locking component includes: The device includes a fixed clamping plate and a movable clamping plate. The fixed clamping plate is fixedly connected to the fixed handle, and the movable clamping plate is slidably connected to the fixed handle. An unlocking elastic element is provided between the fixed clamping plate and the movable clamping plate to drive the movable clamping plate to move away from the fixed clamping plate. A paddle is rotatably connected to the fixed handle at its center. One side of the paddle's center has an operating part for the operator to apply force to drive the paddle to rotate relative to the fixed handle. The other side of the paddle's center abuts against the movable retaining plate. The paddle drives the movable retaining plate to move towards the fixed retaining plate by rotating relative to the fixed handle, overcoming the resistance of the unlocking elastic element. When the paddle rotates to the locked position, the fixed retaining plate and the movable retaining plate grip the self-rotating sleeve tightly.
10. The surgical multi-degree-of-freedom instrument according to claim 1, characterized in that, The proximal end of the pitch member and the distal end of the extension rod are rotatably connected by a pitch pivot, which is arranged along the pitch axis. The proximal end of the pitch component is rotatably connected to the distal end of a pitch linkage, and the proximal end of the pitch linkage is rotatably connected to the distal end of the pitch transmission component; furthermore, the pitch linkage and the pitch pivot are located on both sides of the spin transmission rod. The pitch transmission component is slidably connected to the extension rod, and the output end of the pitch drive assembly is connected to the pitch transmission component to drive the pitch transmission component to slide so as to cooperate with the pitch linkage to drive the pitch component to rotate relative to the extension rod.
11. The surgical multi-degree-of-freedom instrument according to claim 10, characterized in that, The pitch drive assembly includes a pitch dial and a conversion element. The pitch dial is rotatably connected to the fixed handle. The pitch dial is provided with actuating teeth to facilitate the operator to drive the pitch dial to rotate relative to the fixed handle. The proximal end of the pitch drive is connected to the conversion component, and the conversion component is slidably connected to the fixed handle, with the sliding direction being the same as the sliding direction of the pitch drive and the extension rod. The pitch dial has a threaded hole, the axis of which coincides with the rotation axis of the pitch dial and the fixed handle; the conversion element is at least partially located in the threaded hole, and the conversion element is threadedly connected to the threaded hole to convert the rotational motion of the pitch dial into the sliding motion of the conversion element.
Citation Information
Patent Citations
Flexible minimally invasive surgery instrument based on natural orifice
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