A medical instrument for minimally invasive surgery

Abstract

The application provides a medical instrument for minimally invasive surgery, which comprises an instrument rod, a bending structure, an instrument end, an operation assembly, two sets of control groups, a first connecting structure and a second connecting structure. The distal ends of four control wires in the two sets of control groups are connected to the distal end of the bending structure respectively, and the bending structure is driven to bend through the tightening and loosening of the four control wires. The proximal ends of the four control wires are connected in the operation assembly through the first connecting structure and the second connecting structure, and a mapping relationship exists between the rotation of the first operation frame relative to the base frame and the rotation of the second operation frame relative to the first operation frame and the bending movement of the bending structure, so that the operator holds the handle, rotates the wrist to drive the relative movement of each component in the operation assembly, and can drive the bending structure to bend and adjust the orientation of the instrument end.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a medical device for minimally invasive surgery. Background Technology

[0002] During minimally invasive surgery, instruments are often used for a series of operations such as cutting, traction, and suturing. However, the handles of conventional instruments can only control the opening and closing of the head end, but cannot control the bending of the head end, which is not conducive to the operator's operation. On the other hand, some surgical instruments that can control the bending of the head end require the operator's forearm / upper arm to follow the movement during operation, which is inconvenient and easy to cause fatigue. Therefore, there is an urgent need to provide a handle structure that can directly feed back the rotation of the wrist joint to the bending of the instrument head end. Summary of the Invention

[0003] To address the aforementioned problems, the present invention provides a medical device for minimally invasive surgery, which facilitates control of the bending of the device tip.

[0004] The technical solution of this invention is as follows:

[0005] A medical device for minimally invasive surgery, comprising:

[0006] An instrument rod, the distal end of which is connected to a curved structure, the distal end of which is connected to an instrument end;

[0007] The operating assembly includes a base frame, a first operating frame, a second operating frame, and a handle. The base frame is connected to the proximal end of the instrument rod, the first operating frame is rotatably connected to the base frame, the second operating frame is rotatably connected to the first operating frame, and the handle is connected to the second operating frame.

[0008] Two control groups are provided, each group comprising two control wire bundles, the distal ends of which are symmetrically connected to the distal end of the curved structure. The instrument rod has a wire bundle channel for the control wire bundles to pass through, the opening of which is a proximal port at the proximal end. The control wire bundle is divided into two segments by the proximal port, with the length of the segment closer to the distal end being the control length. The two control groups are designated as the first control group and the second control group.

[0009] A first connecting structure is provided on the base frame and the first operating frame; the first connecting structure is used to fix the proximal end of the control wire bundle in the first control group to the first operating frame, and to configure the control wire bundle in the first control group such that: when the first operating frame rotates relative to the base frame, the control length of one of the control wire bundles in the first control group increases, and the control length of the other control wire bundle decreases, and the increase and decrease lengths are equal or the difference between the two is less than 0.5 mm;

[0010] A second connecting structure is provided on the base frame, the first operating frame, and the second operating frame. The second connecting structure is used to fix the proximal end of the control wire bundle in the second control group to the second operating frame, and to configure the control wire bundle in the second control group such that when the second operating frame rotates relative to the first operating frame, the control length of one of the control wire bundles in the second control group increases, and the control length of the other control wire bundle decreases, and the increase and decrease lengths are equal or the difference between them is less than 0.5 mm.

[0011] In one embodiment of a medical device for minimally invasive surgery, the rotation axes of the first operating frame and the base frame are perpendicular to the rotation axes of the second operating frame and the first operating frame, and the grip portion on the handle for the user to hold is located at the intersection of the two rotation axes.

[0012] In one embodiment of the medical device for minimally invasive surgery, the base frame is a U-shaped structure, the outer side of the middle part of the U-shape of the base frame is connected to the proximal end of the instrument rod, and the two ends of the U-shape of the base frame are respectively rotatably connected to the first operating frame with the two rotation axes coinciding.

[0013] The second operating frame has a U-shaped structure. The inner side of the middle part of the U-shape of the second operating frame is connected to the handle. The two ends of the U-shape of the second operating frame are respectively rotatably connected to the first operating frame and the two rotation axes coincide.

[0014] Both the base frame and the second operating frame are located at the far end of the first operating frame, and the second operating frame is located on the inner side of the U-shape of the base frame. The base frame is provided with a through hole that communicates with the inner side of the U-shape of the second operating frame. In use, the operator is located at the near end of the first operating frame and contacts the handle through the through hole.

[0015] In one embodiment of the medical device for minimally invasive surgery, the control wire bundle in the first control group leaves the proximal port of the wire bundle channel and travels along a first preset path on the base frame. After leaving the first preset path, it is in a taut state and fixedly connected to the first operating frame.

[0016] The first connection structure includes a first holding part and a first fixing part. The first holding part is disposed on the base frame and is used to allow the control wire bundle in the first control group to travel along the first preset path on the base frame. The first fixing part is disposed on the first operating frame and is used to fix the proximal end of the control wire bundle in the first control group to the first operating frame.

[0017] After the control wire bundle in the second control group leaves the near port of the wire bundle channel, it travels along the second preset path on the base frame and the first operating frame. After leaving the second preset path, it is in a taut state and fixedly connected to the second operating frame.

[0018] The second connection structure includes a second holding part and a second fixing part. The second holding part is disposed on the base frame and the first operating frame, and is used to allow the control wire bundle in the second control group to travel along the second preset path on the base frame and the first operating frame. The second fixing part is disposed on the second operating frame, and is used to fix the proximal end of the control wire bundle in the second control group to the second operating frame.

[0019] In one embodiment of the medical device for minimally invasive surgery, the rotation axis between the base frame and the first operating frame is a first axis, and the rotation axis between the first operating frame and the second operating frame is a second axis.

[0020] In the same group, the portion of the two control wire bundles from the point where they leave the first preset path / second preset path to the point where their relative position with the first operating frame / second operating frame remains fixed is a free segment, and the point on the free segment where the relative position with the first operating frame / second operating frame remains fixed is a fixed point; the free segments of the two control wire bundles in the same control group are simultaneously tangent to a circle centered on the first axis / second axis, and the tangency point is the fixed point.

[0021] In one embodiment of the medical device for minimally invasive surgery, each control wire bundle is provided with a rigid wire sheath. The proximal end of the control wire bundle extends into the rigid wire sheath from the distal opening corresponding to the rigid wire sheath and is fixedly connected thereto. The rigid wire sheath is fixedly connected to the first operating frame / second operating frame, and the position of the control wire bundle at the distal opening corresponding to the rigid wire sheath is the fixing point.

[0022] In one embodiment of the medical device for minimally invasive surgery, at least one of the first connecting structure and the second connecting structure further includes an operating wheel;

[0023] When the first connection structure includes the operating wheel, the operating wheel is connected to the first operating frame, and the operating wheel is arranged along the rotation axis of the base frame and the first operating frame; the control wire bundle in the first control group leaves the first preset path, passes around the operating wheel, and is then fixedly connected to the first operating frame; the two control wire bundles in the first control group wrap around the operating wheel in opposite directions, and the wrap angle on the operating wheel is greater than β1;

[0024] When the second connection structure includes the operating wheel, the operating wheel is connected to the second operating frame, and the operating wheel is arranged along the rotation axis of the first operating frame and the second operating frame; the control wire bundle in the second control group leaves the second preset path, passes around the operating wheel, and is then fixedly connected to the second operating frame; the two control wire bundles in the second control group are wound around the operating wheel in opposite directions, and the wrap angle on the operating wheel is greater than β2.

[0025] Wherein, β1 is the maximum angle at which the first operating frame will rotate relative to the base frame during use, and β2 is the maximum angle at which the second operating frame will rotate relative to the first operating frame during use.

[0026] In one embodiment of the medical device for minimally invasive surgery, the operating wheel is also provided with a pulley group. The pulley group includes a plurality of fixed pulleys for the control wire bundle to be wound around. The fixed pulleys in the pulley group cooperate with each other to adjust the path of the control wire bundle after it leaves the first preset path / second preset path.

[0027] In one embodiment of a medical device for minimally invasive surgery, the second holding part includes a coupling wheel, the coupling wheel being disposed on the base frame and the axis of the coupling wheel being coincident with or parallel to the rotation axis of the base frame and the first operating frame;

[0028] The coupling wheel is provided with two arc-shaped grooves or annular grooves arranged along its axis, and the two arc-shaped grooves or annular grooves are arranged side by side along the axis direction that drives the coupling wheel; the coupling wheel is located on the second preset path, and the two arc-shaped grooves or annular grooves correspond to the two control wire bundles in the second control group respectively. The two control wire bundles pass around the corresponding arc-shaped grooves or annular grooves and enter the second preset path on the first operating frame.

[0029] In one embodiment of the medical device for minimally invasive surgery, the rotation axis between the base frame and the first operating frame is a first axis, and the rotation axis between the first operating frame and the second operating frame is a second axis.

[0030] The distance between the axis of the coupling wheel and the first axis is Where r is the distance between the portion of the control wire bundle wound in the arc-shaped groove or annular groove and the axis of the coupling wheel;

[0031] The axis of the coupling wheel is located in a plane that rotates 45° around the first axis as the center of rotation, passing through the plane of the first axis and the second axis; and the axis of the coupling wheel is located in the proximal direction of the first axis.

[0032] A medical device for minimally invasive surgery, comprising:

[0033] An instrument rod, the distal end of which is connected to a curved structure, the distal end of which is connected to an instrument end;

[0034] An operating assembly includes a base frame, an operating frame, and a handle. The base frame is connected to the proximal end of the instrument rod, the operating frame is rotatably connected to the base frame, and the handle is connected to the operating frame.

[0035] Two control wire bundles are provided, with their distal ends symmetrically connected to the distal end of the curved structure. The instrument rod is provided with a wire bundle channel for the control wire bundles to pass through. The opening of the wire bundle channel at the proximal end of the instrument rod is a proximal port. The control wire bundle is divided into two segments with the proximal port as the boundary, and the length of the end closer to the distal end is the control length.

[0036] A connecting structure is provided on the base frame and the operating frame; the connecting structure is used to fix the proximal ends of the two control wire bundles to the operating frame, and to configure the two control wire bundles such that when the operating frame rotates relative to the base frame, the control length of one control wire bundle increases and the control length of the other control wire bundle decreases, and the increase and decrease lengths are equal or the difference between them is less than 0.5 mm.

[0037] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0038] The medical device for minimally invasive surgery provided by this invention establishes a mapping relationship between the rotation of the components in the operating assembly and the bending of the bending structure through the control wire bundles and the first and second connecting structures in the control group. When the first operating frame rotates relative to the base frame (or the second operating frame rotates relative to the base frame), one of the two corresponding control wire bundles will be tightened and the other will be prevented from loosening, thereby causing the bending structure to bend. When using the device, the operator only needs to hold the handle and rotate the wrist to drive the relative rotation of the components in the operating assembly to control the bending of the device head. 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 a medical device used in minimally invasive surgery (the end of the device is not shown).

[0041] Figure 2This is a schematic diagram of a curved structure;

[0042] Figure 3 This is a schematic diagram of another type of curved structure;

[0043] Figure 4 This is a schematic diagram of a rotating connection between a base frame and a first operating frame;

[0044] Figure 5 This is a schematic diagram of the internal structure of an operating component;

[0045] Figure 6 This is a schematic diagram of a structure near the connection point between a base frame and an instrument rod (the reference numerals in the diagram refer to the corresponding control wire bundles within the wire limiting channel);

[0046] Figure 7 This is a schematic diagram of part of the first retaining section;

[0047] Figure 8 A schematic diagram of the four control wire bundles at the base frame and the first operating frame;

[0048] Figure 9 This is a schematic diagram of the rotational connection between the four control wire bundles and the first operating frame;

[0049] Figure 10 This is a simplified model diagram of the rotational connection between the first control wire bundle and the second control wire bundle in Embodiment 1, at the base frame and the first operating frame.

[0050] Figure 11 This is a schematic diagram of the rotational connection between the first control wire bundle and the second control wire bundle in Embodiment 2, on the base frame and the first operating frame.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1: Bending structure; 2: Instrument rod; 3: Base frame; 4: First operating frame; 5: Second operating frame; 6: Handle; 7: Grip part; 8: First axis; 9: Second axis; 10: First joint; 11: Second joint; 12: Third joint; 13: First control wire bundle; 14: Second control wire bundle; 15: Third control wire bundle; 16: Fourth control wire bundle; 17: Rotating shaft; 18: Bearing; 19: Snap ring; 20: First limiting member; 21: Second limiting member; 22: Structure similar to the second limiting member; 23: Wire limiting channel; 24: Mounting component; 25: Coupling wheel; 26: Pin; 27: First pulley seat; 28: Second pulley seat; 29: Operating wheel; 30: Wire fixing wheel; 31: Fixed pulley; 32: Nut; 33: Hard wire sleeve; 34: Wire pressing block. Detailed Implementation

[0053] 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.

[0054] 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".

[0055] Example 1

[0056] See Figures 1 to 10 This embodiment provides a medical device for minimally invasive surgery, including an instrument rod 2, an operating component, two control groups, a first connecting structure, and a second connecting structure.

[0057] The distal end of instrument lever 2 (in this text, 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) connects to the instrument head, which includes a curved structure 1 and an instrument tip. The instrument tip is the part that directly acts on the target object during surgery, performing various movements on the target object to achieve the surgical objective. Depending on the application scenario, the instrument tip can have various structures, such as needle holders, grasping forceps, bipolar curved scissors, monopolar electric hooks, etc., without specific limitations.

[0058] The bending structure 1 can bend itself, allowing the instrument's end to face different directions, thus achieving adjustment of the instrument's end. The specific structure of the bending structure 1 is not limited; for example, it can be a snake-bone structure or a structure formed by multiple revolute joints connected in series. In this embodiment, a structure formed by two revolute joints connected in series is used. Specifically, the bending structure 1 includes three joints: a first joint 10, a second joint 11, and a third joint 12. The distal end of the first joint 10 is connected to the instrument's end, the proximal end of the first joint 10 is rotatably connected to the distal end of the second joint 11, the proximal end of the second joint 11 is connected to the distal end of the third joint 12, and the proximal end of the third joint 12 is connected to the distal end of the instrument rod 2. In other embodiments using revolute joints to form the bending structure 1, the number of joints can be more or less. More than three joints can improve the flexibility of the bending structure 1, but the bending radius of the bending structure 1 will increase during bending. The minimum number of joints is two, but two joints will reduce one degree of freedom (fewer functions but simpler structure). Three joints are generally the preferred option. In this embodiment, the two rotating pairs formed by the first joint 10, the second joint 11, and the third joint 12 need to be configured to rotate in different directions. Preferably, the rotation axis between the first joint 10 and the second joint 11 is perpendicular to the rotation axis between the second joint 11 and the third joint 12.

[0059] Two control groups are used to control the bending motion of the bending structure 1. Each control group includes two control wire bundles, with the distal ends of the two control wire bundles in the same group symmetrically connected to the distal end of the bending structure 1. Preferably, in this embodiment, the distal ends of the four control wire bundles in the two control groups are all fixedly connected to the first joint 10, and their fixed positions are evenly distributed circumferentially at the distal end of the bending structure 1. The instrument rod 2 is provided with a wire bundle channel for controlling the passage of the wire bundles, and the opening of the wire bundle channel at the proximal end of the instrument rod 2 is the proximal port. One end (i.e., the distal end) of the control wire bundle is fixed to the bending structure 1, and the other end enters the wire bundle channel on the instrument rod 2 after leaving the bending structure 1, and then leaves from the proximal port of the wire bundle channel, enters the operating component (the operating component will be described in detail below) and is fixed to the operating component. The control wire bundle is divided into two segments with the proximal port as the boundary, and the length of the end closer to the distal end is the control length.

[0060] The two control groups are designated as the first control group and the second control group. The first control group contains two control wire bundles, namely control wire bundle 13 and control wire bundle 14, while the second control group contains two control wire bundles, namely control wire bundle 15 and control wire bundle 16. When control wire bundle 13 is tightened (i.e., the control length decreases), the distal end of the bending structure 1 is pulled, causing it to bend towards control wire bundle 13, thus moving the instrument tip in that direction. At this time, control wire bundle 14 is relaxed (i.e., the control length increases), and the changes in the lengths of control wire bundles 13 and 14 are the same or approximately the same. The methods for driving the instrument tip towards control wire bundle 14, control wire bundle 15, and control wire bundle 16 are similar and will not be elaborated further in this paper. Driving the instrument tip towards directions other than these four can be achieved by controlling the four control wire bundles in the two control groups in coordination. It should be noted that in other embodiments, when the bending structure 1 includes three or more joints, that is, two or more revolute joints connected in series, the two sets of control groups in this embodiment can be used to drive the bending structure 1 to achieve its own bending; when the bending includes two joints, that is, only one revolute joint, the bending structure 1 can be controlled by one set of control groups.

[0061] In this embodiment, as Figure 2 As shown, preferably, in the initial state (when the bending structure 1 remains straight and unbent), the first plane passes through the rotation axes of the first joint 10 and the second joint 11 and the center line of the bending structure 1; the second plane passes through the rotation axes of the second joint 11 and the third joint 12 and the center line of the bending structure 1; the fixing points of the first control wire bundle 13 and the second control wire bundle 14 on the first joint 10 are symmetrical about the first plane; and the fixing points of the third control wire bundle 15 and the fourth control wire bundle 16 on the first joint 10 are symmetrical about the second plane. Of course, in other embodiments, the positions of the fixing points of the four control wire bundles on the first joint 10 and the first and second planes can have other relationships, which are not limited; for example, as... Figure 3 As shown, the four control wire bundles are fixed at the first joint 10. Figure 2 Based on the position shown, rotate 45° clockwise around the center line of the curved structure 1.

[0062] The operating components include a base frame 3, a first operating frame 4, a second operating frame 5, and a handle 6. The base frame 3 is connected to the proximal end of the instrument rod 2. The first operating frame 4 is rotatably connected to the base frame 3, the second operating frame 5 is rotatably connected to the first operating frame 4, and the handle 6 is connected to the second operating frame 5. The rotation axis of the first operating frame 4 and the base frame 3 is the first axis 8, and the rotation axis of the second operating frame 5 and the first operating frame 4 is the second axis 9.

[0063] Specifically, the base frame 3 has a U-shaped structure. The outer middle part of the U-shape of the base frame 3 is connected to the proximal end of the instrument rod 2. The two ends of the U-shape of the base frame 3 are rotatably connected to the first operating frame 4, and the two rotation axes coincide with the first axis 8. The second operating frame 5 has a U-shaped structure. The inner middle part of the U-shape of the second operating frame 5 is connected to the handle 6. The two ends of the U-shape of the second operating frame 5 are rotatably connected to the first operating frame 4, and the two rotation axes coincide with the second axis 9. The base frame 3 and the second operating frame 5 are both located at the distal end of the first operating frame 4, and the second operating frame 5 is located inside the U-shape of the base frame 3. The base frame 3 has a through hole communicating with the inner U-shape of the second operating frame 5. During use, the operator is located near the proximal end of the first operating frame 4 and contacts the handle 6 through the through hole. The U-shaped structure is a structure similar to the shape "U", including "U", "Π", semi-circular arc, semi-elliptical arc, etc., and the shape is not strictly limited to "U". Of course, in other embodiments, the base frame 3, the first operating frame 4, and the second operating frame 5 can also adopt other shapes, as long as they satisfy the connection relationship between them and do not affect the mapping relationship between the movement of each component in the operating assembly and the bending of the bending structure 1 itself (see below for details of the mapping relationship).

[0064] The rotating structure between the base frame 3 and the first operating frame 4 is as follows Figure 4 As shown, Figure 4 This is a sectional view with the plane passing through the first axis 8 and the second axis 9 as the sectional plane, and the cutting position is... Figure 1 The rotation shaft 17 is fixed to the base frame 3, passes through a set of bearings 18 mounted on the first operating frame 4, and is then fixed and limited by a retaining ring 19. The first operating frame 4 and the base frame 3 can rotate relative to the axis of the rotation shaft 17. In this embodiment, there are four sets of rotational structures between the base frame 3 and the first operating frame 4, and between the first operating frame 4 and the second operating frame 5, all of which can be used to achieve rotational connection using the above-described rotational structure. Of course, in other embodiments, other rotational structures can also be used to achieve rotational connection.

[0065] The first connecting structure is provided on the base frame 3 and the first operating frame 4. The first connecting structure is used to fix the proximal end of the control wire bundle in the first control group to the first operating frame 4, and to configure the control wire bundle in the first control group such that when the first operating frame 4 rotates relative to the base frame 3, the control length of one control wire bundle in the first control group increases, and the control length of the other control wire bundle decreases, and the increase and decrease in length are equal or the difference between the two is less than 0.5 mm (when the difference is less than 0.5 mm, it can be regarded as approximately equal). In this way, the rotation of the first operating frame 4 relative to the base frame 3 will be converted into bending of the bending structure 1 in the direction of the first control wire bundle 13 and the direction of the second control wire bundle 14 through the first control group.

[0066] The second connecting structure is provided on the base frame 3, the first operating frame 4, and the second operating frame 5. The second connecting structure is used to fix the proximal end of the control wire bundle in the second control group to the second operating frame 5, and to configure the control wire bundles in the second control group such that when the second operating frame 5 rotates relative to the first operating frame 4, the control length of one control wire bundle in the second control group increases, and the control length of the other control wire bundle decreases, and the increase and decrease in length are equal or the difference between them is less than 0.5 mm (when the difference is less than 0.5 mm, it can be considered approximately equal). Thus, the rotation of the second operating frame 5 relative to the first operating frame 4 is converted by the second control group into bending of the bending structure 1 in the direction of the third control wire bundle 15 and the fourth control wire bundle 16.

[0067] Therefore, the lifting, lowering, and lateral swaying movements of the operator holding the handle 6 are all converted into rotations between the base frame 3, the first operating frame 4, and the second operating frame 5, which in turn are converted into the bending of the bending structure 1 itself, driving the movement of the instrument's end effector. That is, there is a mapping relationship between the movement of each component in the operating assembly and the bending of the bending structure 1 itself.

[0068] Preferably, the first axis 8 and the second axis 9 are perpendicular to each other, and the grip portion 7 on the handle 6 for the user to hold is located at the intersection of the first axis 8 and the second axis 9, thus, as Figure 1 As shown, when the operator holds the grip 7 on the handle 6, the wrist is basically aligned with the rotation center (that is, the intersection of the first axis 8 and the second axis 9); in the initial state (such as... Figure 1 As shown, the rotation axes of the first joint 10 and the second joint 11 are parallel to the rotation axes of the base frame 3 and the first operating frame 4, and the rotation axes of the second joint 11 and the third joint 12 are parallel to the rotation axes of the first operating frame 4 and the second operating frame 5.

[0069] by Figure 1 Since the two ends of the second axis 9 are in the up-down direction and the two ends of the first axis 8 are in the left-right direction, the lifting, lowering, and left-right swaying of the operator's hand correspond to the bending directions of the bending structure 1 as up, down, left, and right, respectively. For ease of description, the movement of the instrument end caused by the rotation of the first joint 10 and the second joint 11 in the bending structure 1 is called pitching motion, and the rotation between the base frame 3 and the first operating piece is used to control pitching motion; the movement of the instrument end caused by the rotation of the second joint 11 and the third joint 12 in the bending structure 1 is called yaw motion, and the rotation of the first operating frame 4 and the second operating frame 5 is used to control yaw motion.

[0070] After exiting the near end of the wire bundle channel, the control wire bundle in the first control group travels along a first preset path on the base frame 3. After leaving the first preset path, it is taut and fixedly connected to the first operating frame 4. The first connection structure includes a first holding part and a first fixing part. The first holding part is located on the base frame 3 and is used to allow the control wire bundle in the first control group to travel along the first preset path on the base frame 3. The first fixing part is located on the first operating frame 4 and is used to fix the near end of the control wire bundle in the first control group to the first operating frame 4.

[0071] After exiting the near end of the wire bundle channel, the control wire bundle in the second control group travels along a second preset path on the base frame 3 and the first operating frame 4. After leaving the second preset path, it is taut and fixedly connected to the second operating frame 5. The second connection structure includes a second holding part and a second fixing part. The second holding part is provided on the base frame 3 and the first operating frame 4 to allow the control wire bundle in the second control group to travel along the second preset path on the base frame 3 and the first operating frame 4. The second fixing part is provided on the second operating frame 5 to fix the near end of the control wire bundle in the second control group to the second operating frame 5.

[0072] There are no specific restrictions on how the first holding part is configured to allow the control wire bundle in the first control group to travel along the first preset path on the base frame 3, and how the second holding part is configured to allow the control wire bundle in the second control group to travel along the second preset path on the base frame 3 and the first operating frame 4.

[0073] Main reference Figure 5-7In this embodiment, the first holding part includes a first limiting member 20, a second limiting member 21, a wire limiting channel 23, a limiting groove, etc., as specifically configured as described in this paragraph. The first preset path starts at the first limiting member 20 and ends at the second limiting member 21. The first limiting member 20 is located on the base frame 3 at the proximal end of the instrument rod 2. The first limiting member 20 has two channels for the first control wire bundle 13 and the second control wire bundle 14 to pass through. The distal opening of the channel communicates with the wire bundle channel on the instrument rod 2, and the proximal opening of the channel communicates with the wire limiting channel 23. After the first control wire bundle 13 and the second control wire bundle 14 leave the wire bundle channel, they respectively enter the corresponding channel on the first limiting member 20 and the wire limiting channel 23. The second limiting member 21 is located on the base frame 3 near the connection with the first operating frame 4. The end openings of the two wire limiting channels 23 through which the first control wire bundle 13 and the second control wire bundle 14 pass are fixed by the second limiting member 21. Since the second limiting member 21 is fixed on the first operating frame 4, the positions of the first control wire bundle 13 and the second control wire bundle 14 extending out of the corresponding wire limiting channels 23 are fixed relative to the base frame 3. That is, the positions of the first control wire bundle 13 and the second control wire bundle 14 leaving the first preset path are fixed relative to the operating frame. In the corresponding wire limiting channels 23, the first control wire bundle 13 and the second control wire bundle 14 can only move forward or backward along the center line of the wire limiting channel 23. Therefore, the length of the first control wire bundle 13 and the second control wire bundle 14 within the corresponding wire limiting channels 23 remains unchanged and is the same as the length of the wire limiting channel 23 itself. Between the first limiting member 20 and the second limiting member 21, a limiting groove is provided on the base frame 3. Most of the length of the wire limiting channel 23 is located in the limiting groove and is fixed in the limiting groove, thus keeping the position of the wire limiting channel 23 on the base frame 3 stationary. Some structures similar to the second limiting member 22 can also be set on the first preset path. The position of the wire limiting channel 23 remains fixed when passing through the structure 22, thereby adjusting the position of the wire limiting channel 23 and further ensuring that the two wire limiting channels 23 are set along the first preset path. For example, a structure 22 similar to the second limiting member can be set before the wire limiting channel 23 enters the limiting groove, thereby adjusting the wire limiting channel 23 so that multiple wire limiting channels 23 passing through the structure 22 enter the limiting groove according to a preset arrangement.The wire limiting channel 23 can be made of plastic or metal, as long as it can be bent to a certain extent to provide a relatively fixed and low-friction limiting channel for the control wire bundle. In some other embodiments, the base frame 3 and the first operating frame 4 can be made of wear-resistant and low-friction materials, thus eliminating the structure of the wire limiting channel 23 (the control wire bundle passes directly through the channel on the first limiting member 20, and the second limiting member 21 provides a separate channel for each control wire bundle to ensure that the position of the control wire bundle on the second limiting member 21 remains fixed). The connection method between the wire limiting channel 23 and the first limiting member 20 can be welding, snap-fitting, or bonding. The function of the limiting groove is to prevent the path of the wire limiting channel 23 on the base frame 3 from deviating. Therefore, in other embodiments, instead of using the limiting groove, it is acceptable to use glue to firmly attach the control wire bundle to the base frame 3 or to use a component to press the control wire bundle onto the base frame 3.

[0074] In this embodiment, the second holding part includes a first limiting member 20, a second limiting member 21, a wire limiting channel 23, a limiting groove, a coupling wheel 25, etc., and the specific configuration is as described in the following four sections (including this section). The first limiting member 20 is also provided with two channels corresponding to the third control wire bundle 15 and the fourth control wire bundle 16. The distal openings of these two channels are connected to the wire bundle channels on the instrument rod 2, and the proximal openings are respectively connected to the two wire limiting channels 23. These two wire limiting channels 23 are used for the passage of the third control wire bundle 15 and the fourth control wire bundle 16 (that is, the first limiting member 20 is provided with four channels, respectively corresponding to the four control wire bundles in the two control groups, and the proximal openings of these four channels are respectively connected to the four wire limiting channels 23). These two wire limiting channels 23, together with the two wire limiting channels 23 corresponding to the first control wire bundle 13 and the second control wire bundle 14, follow the same path on the base frame 3, pass through the limiting groove, and the end openings are fixed by the second limiting member 21.

[0075] The paths of the third control wire bundle 15 and the fourth control wire bundle 16 on the first operating frame 4 are also provided with two wire limiting channels 23. The openings at the beginning of the two wire limiting channels 23 are fixed by a structure 22 similar to a second limiting member fixed to the first operating frame 4, and the openings at the end of the two wire limiting channels 23 are also fixed by a structure 22 similar to a second limiting member fixed to the first operating frame 4. The third control wire bundle 15 and the fourth control wire bundle 16 move forward or backward within the two wire limiting channels 23 respectively. The position where the third control wire bundle 15 and the fourth control wire bundle 16 pass through the first limiting member 20 is the starting position of the second preset path; the structure 22 similar to a second limiting member used to fix the end openings of the two wire limiting channels 23 corresponding to the first operating frame 4, the position where the third control wire bundle 15 and the fourth control wire bundle 16 pass through this structure 22 similar to a second limiting member is the ending position of the second preset path.

[0076] However, it should be noted that the third control wire bundle 15 and the fourth control wire bundle 16 travel along the second preset path, unlike the first control wire bundle 13 and the second control wire bundle 14 which travel along the first preset path. The third control wire bundle 15 and the fourth control wire bundle 16 will pass through the rotating structure between the base frame 3 and the first operating frame 4. Therefore, to simultaneously control the pitch and yaw directions, it is necessary to eliminate the coupling problem caused by the rotation of the base frame 3 and the first operating frame 4 on the other control group. There are various methods to solve this coupling problem; this embodiment provides one solution, as described in the following paragraph.

[0077] Main reference Figure 8 and Figure 9 The second holding part also includes a coupling wheel 25, which is mounted on the base frame 3 and its axis coincides with or is parallel to the first axis 8. Specifically, it can be fixed to a mounting member 24 by a pin 26, and the mounting member 24 is fixed to the base frame 3. The coupling wheel 25 has two arc-shaped grooves or annular grooves arranged along its axis, and the two arc-shaped grooves or annular grooves are arranged side by side along the axis that drives the coupling wheel 25. The coupling wheel 25 is located on a second preset path, and the two arc-shaped grooves or annular grooves correspond to two control wire bundles in the second control group, respectively. The two control wire bundles pass around the corresponding arc-shaped grooves or annular grooves and enter the second preset path on the first operating frame 4. That is, the third control wire bundle 15 and the fourth control wire bundle 16 are turned by the coupling wheel 25 and then enter the structure 22, which is similar to the second limiting member, used to fix the opening of the first wire limiting channel 23 corresponding to the first operating frame 4. At this time, the third control wire bundle 15 and the fourth control wire bundle 16 have the same layout relative to the first axis 8. When the first operating frame 4 rotates relative to the base frame 3, the third control wire bundle 15 and the fourth control wire bundle 16 simultaneously elastically stretch or elastically retract, canceling each other out the movement around the first axis 8, and thus converting into a simultaneous increase or decrease in the tension of the third control wire bundle 15 and the fourth control wire bundle 16. Of course, if the change in elastic stretching or elastic retraction of the third control wire bundle 15 and the fourth control wire bundle 16 is too large, resulting in a significant increase or decrease in tension, it is easy to cause adverse effects such as wire breakage, increased backlash, and difficulty in swaying movement. Therefore, in this embodiment, it is preferable to set the axis of the coupling wheel 25 as follows: Figure 8 The orientation shown indicates that the axis of the coupling wheel 25 lies within a plane that rotates 45° around the first axis 8 as its center of rotation, passing through the plane of the first axis 8 and the second axis 9; and the axis of the coupling wheel 25 lies near the end of the first axis 8, more preferably at a 45° downward angle along the first axis 8; the distance between the portion of the third control wire bundle 15 and the fourth control wire bundle 16 wound in the arc-shaped groove or annular groove and the axis of the coupling wheel 25 is defined as r, and the distance between the axis of the coupling wheel 25 and the first axis 8 is set as... In this preferred configuration, regardless of whether the first operating frame 4 rotates upward or downward relative to the base frame 3, the third control wire bundle 15 and the fourth control wire bundle 16 will always elastically elongate rather than elastically retract relative to the initial state, i.e., there will be no idle stroke. Furthermore, the more the third control wire bundle 15 and the fourth control wire bundle 16 are elastically elongated, the greater the tension will be, and the less smooth the rotation will be. In this preferred state, the maximum elastic elongation of the third control wire bundle 15 and the fourth control wire bundle 16 is smaller than in other states. In other words, when bent to the limit, this preferred configuration has the least increase in tension on the wire and the best feel.

[0078] Regarding the first connecting structure, the control wire bundles in the first control group are configured such that when the first operating frame 4 rotates relative to the base frame 3, the control length of one control wire bundle in the first control group increases, and the control length of the other control wire bundle decreases, with the increase and decrease being equal or the difference between them being less than 0.5 mm. Similarly, regarding the second connecting structure, the control wire bundles in the second control group are configured such that when the second operating frame 5 rotates relative to the first operating frame 4, the control length of one control wire bundle in the second control group increases, and the control length of the other control wire bundle decreases, with the increase and decrease being equal or the difference between them being less than 0.5 mm. Both can use the same structure or different structures. In this embodiment, the following structure is used:

[0079] In the same control wire bundle, the portion from the point where it leaves the first preset path / second preset path to the point where its relative position with the first operating frame 4 / second operating frame 5 remains fixed is a free segment. Points on the free segments where the relative position with the first operating frame 4 / second operating frame 5 remains unchanged are fixed points. The free segments of the two control wire bundles in the same control group are simultaneously tangent to a circle centered on the first axis 8 / second axis 9, and the points of tangency are all fixed points. Specifically, each control wire bundle is provided with a corresponding rigid wire sleeve 33. The proximal end of the control wire bundle extends into the corresponding rigid wire sleeve 33 from its distal opening and is fixedly connected to it. The rigid wire sleeve 33 is fixedly connected to the first operating frame 4 / second operating frame 5, and the position of the control wire bundle at the distal opening of the corresponding rigid wire sleeve 33 is a fixed point. The following uses the first control group and the first connection structure as examples to provide a more detailed explanation of the structure.

[0080] The connection method between the control wire bundle and the rigid wire sleeve 33 is not limited; for example, it can be bonded or crimped. The rigid wire sleeve 33 is a rigid structure, which ensures that the position of the control wire bundle at the distal opening of the rigid wire sleeve 33 (that is, the opening facing the instrument rod among the two openings of the rigid wire sleeve) remains fixed relative to the first operating frame 4.

[0081] There are various ways to fix the rigid wire sleeve 33 to the first operating frame 4, such as bonding or crimping, and this invention does not limit the method. In this embodiment, the rigid wire sleeve 33 is pressed and fixed to the first operating frame 4 by a wire clamping block 34, which is connected to the first operating frame 4 by a threaded fastener. Thus, in actual operation, the wire clamping block 34 can be initially connected to the first operating frame 4 by a threaded pre-tightening member, with the rigid wire sleeve 33 located between the wire clamping block 34 and the first operating frame 4. Then, the control wire bundle is pre-tightened to a suitable force value using a tension gauge or other measuring device. While maintaining this pre-tightening force, the threaded pre-tightening member is tightened to secure the wire clamping block 34 and the first operating frame 4, thereby pressing and fixing the rigid wire sleeve 33 to the first operating frame 4. This ensures that the control wire bundle has a suitable pre-tightening force, thus ensuring that the control wire bundle does not loosen or have any idle stroke initially, thereby ensuring the reliability of the initial state.

[0082] Main reference Figure 2 , Figure 8-10 During the rotation of the first operating frame 4 relative to the base frame 3, when the bending structure 1 bends upward, the control length of the first control wire bundle 13 shortens, and the control length of the second control wire bundle 14 increases, with both changes being consistent. Since the total length of the control wire bundles is the same, at the operating component, it is necessary to ensure that the length of the first control wire bundle 13 increases, the length of the second control wire bundle 14 shortens, and both changes are consistent. The structural model related to the first control wire bundle 13 and the second control wire bundle 14 is simplified (refer to...). Figure 8 (Controlling the position of the filament bundle), such as Figure 10 As shown, the first control wire bundle 13 is simplified to line segment ABD, where B is the point where the first control wire bundle 13 exits from the second limiting member 21 (that is, the point where it leaves the first preset path), D is the foremost point of the first control wire bundle 13 and the rigid wire sleeve 33 (that is, the far end opening of the rigid wire sleeve 33), O is the point on the plane projected by the first axis 8, and C is the distance of the first operating frame 4 body rotating by an angle β along the first axis 8. Points B and H are symmetrical about the straight line OL. At this time, segment AB represents the length of the first control wire bundle 13 inside the wire limiting channel 23, and segment BD represents the initial distance from the first control wire bundle 13 exiting from the wire limiting channel 23 (that is, exiting from the second limiting member 21) to the fixed point. Since the base frame 3 can be considered a rigid component, and the first control wire bundle 13 has no displacement within the base frame 3, the length of AB can be considered constant. Therefore, the change in length of the first control wire bundle 13 after rotating by an angle β along the first axis 8 at the operating component is the difference between BD and BC, denoted as "BD-BC". Similarly, the change in length of the second control wire bundle 14 at this time is "HF-HG". Figure 10It can be seen that regardless of the rotation, points D, C, G, and F always lie on a virtual circle with O as the center and OE as the radius. β angle is the angle that the operator's wrist joint needs to rotate when manipulating the device, which is the angle that drives the first operating frame 4 to rotate relative to the base frame 3. β1 is the maximum angle at which the first operating frame 4 will rotate relative to the base frame 3. Considering that β1 should not be too small, otherwise even slight wrist tremors will be amplified to the bending structure 1; at the same time, β1 should not be too large, otherwise it will cause difficulty in operation and wrist pain, which is detrimental to product use. Therefore, based on ergonomics and the handle structure, β1 is preferably between 20° and 30°. Simultaneously, the following conditions must be met in the design: In the initial state, BD and HG need to be tangent to the virtual circle, with the tangency points being points D and G; whether the first operating frame 4 rotates clockwise or counterclockwise relative to the base frame 3 by β1... ， BC must always be above line AB, and HF must always be below line KH. Thus, the values ​​of "BD-BC" and "HF-HG" are always monotonic. Assuming that when rotating by angle β1, BC and HF intersect the virtual circle at points C' and F' respectively, the maximum elongation of the first control wire bundle 13 is "HF'-HG". From the initial state until the first operating frame 4 rotates β1 relative to the base frame 3, the maximum change in the control length M of the first control wire bundle 13 can be determined based on the specific bending structure 1 used. The values ​​of points B and H to line OL and line segment OE (line segment OE is perpendicular to line OL) can be determined based on the position of the second limiting member 21. At this time, according to the actual situation, "M = HF'-HG", so the value of OE, i.e., the radius of the virtual circle, can be obtained. If "HF'-HG = BD-BC'", then all the conditions for controlling the bending of the bending structure through the rotation of the first operating frame 4 relative to the base frame 3 are satisfied, i.e., "(HF'-HG) - (BD-BC') = 0". Generally speaking, due to structural and dimensional limitations, it is difficult for "(HF'-HG)-(BD-BC')=0" to hold true. However, it can be made closer to zero by adjusting various dimensions. In general, when "(HF'-HG)-(BD-BC')≤0.1M", the intuitive feeling of the operator can be ignored. Therefore, it can be assumed that in this state, when the first operating frame 4 rotates relative to the base frame 3, the length changes of the first control wire bundle 13 and the second control wire bundle 14 at the operating component are the same. Thus, the change in the control length of the first control wire bundle 13 and the second control wire bundle 14 is also the same. In general, for most bending structures 1, M is less than 50 mm. Therefore, if the design is to be further simplified, the condition can be directly designed as (HF'-HG)-(BD-BC')≤0.5 mm.

[0083] When the first operating frame 4 rotates relative to the base frame 3, the length of the first control wire bundle 13 at the operating component is lengthened or shortened, and the length of the second control wire bundle 14 at the operating component is shortened or lengthened. Correspondingly, the control length of the first control wire bundle 13 is shortened or lengthened, and the control length of the second control wire bundle 14 is lengthened or shortened, thereby causing the bending structure 1 to bend upward or downward, thereby achieving the purpose of controlling the bending of the instrument head end by controlling the handle through the wrist.

[0084] In this embodiment, each control wire bundle includes one control wire; however, in other embodiments, each control wire bundle may also include multiple control wires. When multiple control wires are used, the direction of the control wires in each control wire bundle is basically the same. Compared with using a single control wire, using multiple control wires results in a greater overall tensile force and better rigidity of the control wire bundle, which is beneficial for transmission and maintaining posture after bending. Furthermore, from a safety perspective, the breakage of one control wire will not cause structural failure.

[0085] Handle 6 is for the operator to grip. Of course, if the end effector itself has some movement or function, such as proportional opening and closing movement, or power supply, the control switches for these movements or functions can be set on handle 6, and the operator can use these control switches when gripping handle 6.

[0086] Example 2

[0087] See Figures 1 to 9 , Figure 11 This embodiment provides a medical device for minimally invasive surgery based on Embodiment 1.

[0088] Regarding the first connecting structure, the control wire bundles in the first control group are configured such that when the first operating frame 4 rotates relative to the base frame 3, the control length of one control wire bundle in the first control group increases, and the control length of the other control wire bundle decreases, with the increase and decrease being equal. Similarly, regarding the second connecting structure, the control wire bundles in the second control group are configured such that when the second operating frame 5 rotates relative to the first operating frame 4, the control length of one control wire bundle in the second control group increases, and the control length of the other control wire bundle decreases, with the increase and decrease being equal. This embodiment provides a new structure, taking the first connecting structure as an example, as shown below.

[0089] Main reference Figure 11The first connecting structure also includes an operating wheel 29. The operating wheel 29 is mounted on the first operating frame 4 via a fixed base, and the axis of the operating wheel 29 coincides with the first axis 8. The control wire bundle in the first control group leaves the first preset path, passes around the operating wheel 29, and is then fixedly connected to the first operating frame 4. The first control wire bundle 13 and the second control wire bundle 14 are wound around the operating wheel 29 in opposite directions. Specifically, a groove suitable for placing the control wire bundle is provided on the operating wheel 29, and the control wire bundle is located in the groove when it is wound around the operating wheel 29.

[0090] Preferably, the operating wheel 29 is also provided with a pulley group, which includes a number of fixed pulleys 31 for controlling the winding of the filament bundle. The fixed pulleys 31 in the pulley group cooperate with each other to adjust and control the path of the filament bundle after it leaves the first preset path.

[0091] Specifically, two first pulley seats 27 are fixedly connected to the base frame 3. Each of the two first pulley seats 27 has a fixed pulley 31. The third control wire bundle 15 and the fourth control wire bundle 16 pass around the fixed pulleys 31 on these two first pulley seats 27 before passing through the operating wheel 29. A second pulley seat 28 is connected to the first operating frame 4, and it has two fixed pulleys 31. The third control wire bundle 15 and the fourth control wire bundle 16 pass through the operating wheel 29 and then pass around the two fixed pulleys 31 on the second pulley seat 28. Two identical wire-fixing wheels 30 are provided, each with grooves for controlling the wire bundle and slots for engaging the wire-pressing terminal. The two wire-fixing wheels 30 are fixedly connected to the first operating frame 4 by nuts 32. The proximal end of the first control wire bundle 13 is fixedly connected to a wire-pressing terminal (the wire-pressing terminal is actually a block-like structure fixed to the control wire bundle), which can be engaged and fixed to the wire-fixing wheel 30. The first control wire bundle 13 passes through the fixed pulley 31 on the first pulley seat 27, around the operating wheel 29, then through the fixed pulley 31 on the second pulley seat 28, and through the groove on the wire-fixing wheel 30, where it is fixed to the wire-fixing wheel 30 by the wire-pressing terminal. Similarly, the second control wire bundle 14 passes through another fixed pulley 31 on the first pulley seat 27, around the operating wheel 29, and then through another fixed pulley 31 on the second pulley seat 28, where it is fixed to another wire-fixing wheel 30. It should be noted that in this structure, the purpose of the fixed pulleys 31 on the first pulley seat 27 and the second pulley seat 28 is to guide the control wire bundles and optimize their spatial arrangement; there can be more or fewer of them, and they do not necessarily have to follow a specific arrangement. Figure 11 The arrangement shown; the groove on the wire-fixing wheel 30 can be a circular groove in the shape of an arc, or a multi-circle groove structure with a threaded helix angle, which can be used flexibly according to the actual situation.

[0092] After the first control wire bundle 13 is fixed in place according to the above path, the wire fixing wheel 30 can be rotated with a torque wrench to the required torque. After that, the torque wrench is locked to keep the wire fixing wheel 30 in different positions. At the same time, the nut 32 is tightened to press the wire fixing wheel 30 onto the first operating frame 4 (the first operating frame 4 is connected to a bolt corresponding to the nut 32). The initial torque is adjusted by the torque wrench to ensure that the first control wire bundle 13 does not loosen or have any idle play in the initial state, thereby ensuring the reliability of the initial state. The second control wire bundle 14 is handled in the same way.

[0093] The first control wire bundle 13 and the second control wire bundle 14 need to have a certain wrap angle on the operating wheel 29. The wrap angle must be greater than β1, which is the maximum angle at which the first operating frame 4 will rotate relative to the base frame 3 during use. If the wrap angle is not greater than β1, when the first operating frame 4 rotates to its maximum angle relative to the base frame 3, the first control wire bundle 13 or the second control wire bundle 14 will no longer have a wrap angle on the operating wheel 29 and will not be in contact with the operating wheel 29. The requirement that the increase in the control length of the first control wire bundle 13 and the decrease in the control length of the second control wire bundle 14 be equal when the first operating frame 4 rotates relative to the second operating frame 5 is derived from the equal change in the wrap angle of the first control wire bundle 13 and the second control wire bundle 14 on the operating wheel 29; therefore, if there is no wrap angle, it cannot be achieved.

[0094] When handle 6 controls the first operating frame 4 to move clockwise relative to the base frame 3 (corresponding to...) Figure 1 When the operator holds the handle 6 and raises their wrist, causing the bending structure 1 to bend upwards, the fixed pulleys 31 on the two first pulley seats 27 will move relative to the operating wheel 29 under the drive of the base frame 3, rotating clockwise by an angle β. The wrap angle of the first control wire bundle 13 on the operating wheel 29 increases by an angle β, while the wrap angle of the second control wire bundle 14 on the operating wheel 29 decreases by an angle β. Since the groove on the winding wheel is a circular arc, the decrease in the wrap angle on one side and the increase in the wrap angle on the other side are always equal. That is, the elongation of the first control wire bundle 13 on the operating component (the increased wrap angle arc) and the contraction of the second control wire bundle 14 on the operating component (the decreased wrap angle arc) are always equal, thereby realizing the operation mode in which the rotation of the first operating frame 4 and the base frame 3 corresponds to the pitching motion of the bending structure 1.

[0095] have Figure 11The preferred configuration of the fixed pulley 31 is as follows: it is preferable that the wrap angle of the first control wire bundle 13 and the second control wire bundle 14 on each fixed pulley 31 is greater than 90°. At this time, the transmission efficiency of the fixed pulley 31 will be significantly improved compared with the wrap angle being less than 90°. In addition, the position of each fixed pulley 31 can be set so that the total wrap angle of the first control wire bundle 13 and the second control wire bundle 14 after wrapping around the fixed pulley 31 on their respective first pulley group and second pulley group is equal. At this time, the force transmission efficiency of the first control wire bundle 13 and the second control wire bundle 14 through the fixed pulley 31 is consistent, which is beneficial to the operator's experience and the life of the control wire bundle.

[0096] In this embodiment, the second connection structure also adopts the above-described new structure. The second connection structure includes an operating wheel 29, which is connected to the second operating frame 5 and is arranged along the rotation axis of the first operating frame 4 and the second operating frame 5. The control wire bundle in the second control group leaves the second preset path, passes around the operating wheel 29, and is then fixedly connected to the second operating frame 5. The two control wire bundles in the second control group wrap around the operating wheel 29 in opposite directions, and the wrap angle on the operating wheel 29 is greater than β2, where β2 is the maximum angle at which the second operating frame 5 will rotate relative to the first operating frame 4 during use.

[0097] Example 3

[0098] This embodiment, based on Embodiment 1 or 2, provides a medical device for minimally invasive surgery. In this embodiment, it includes an instrument rod 2, an operating assembly, two control wire bundles, and a connecting structure.

[0099] The distal end of the instrument rod 2 is connected to a curved structure 1, and the distal end of the curved structure 1 is connected to an instrument end. The operating assembly includes a base frame 3, an operating frame, and a handle 6. The base frame 3 is connected to the proximal end of the instrument rod 2, the operating frame is rotatably connected to the base frame 3, and the handle 6 is connected to the operating frame. The distal ends of two control wire bundles are symmetrically connected to the distal ends of the curved structure 1. The instrument rod 2 is provided with a wire bundle channel for the passage of the control wire bundles. The opening of the wire bundle channel at the proximal end of the instrument rod 2 is a proximal port. The control wire bundle is divided into two segments with the proximal port as the boundary, and the length of the end closer to the distal end is the control length. A connecting structure is provided on the base frame 3 and the operating frame. The connecting structure is used to fix the proximal ends of the two control wire bundles to the operating frame and to configure the two control wire bundles such that when the operating frame rotates relative to the base frame 3, the control length of one control wire bundle increases, and the control length of the other control wire bundle decreases, and the increase and decrease in length are equal or the difference between the two is less than 0.5 mm.

[0100] Unlike Embodiments 1 and 3, the bending structure 1 in this embodiment only includes two joints, so only two control wire bundles are needed for control. Correspondingly, the operating component only needs one rotational movement of the operating frame and the base frame 3. Only one connection structure needs to be set, and there is no need to consider the coupling of the movement.

[0101] The medical device used for minimally invasive surgery in this embodiment can be set up as in Embodiment 1 or Embodiment 2, with only corresponding modifications. For example, the bending structure 1 includes a first joint 10 and a second joint 11. The distal end of the first joint 10 is connected to the end of the instrument, and the first joint 10 and the second joint 11 are rotatably connected. The proximal end of the second joint 11 is connected to the distal end of the instrument rod 2. The first operating frame 4 and the second operating frame 5 in Embodiment 1 or Embodiment 2 are directly fixedly connected. The second connecting structure is removed, leaving only the first connecting structure (that is, the connecting structure in this embodiment). The second control group is removed, leaving only the first control group (that is, the two control wire bundles in this embodiment). And so on.

[0102] 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 medical device for minimally invasive surgery, characterized in that, include: An instrument rod, the distal end of which is connected to a curved structure, the distal end of which is connected to an instrument end; The operating assembly includes a base frame, a first operating frame, a second operating frame, and a handle. The base frame is connected to the proximal end of the instrument rod, the first operating frame is rotatably connected to the base frame, the second operating frame is rotatably connected to the first operating frame, and the handle is connected to the second operating frame. Two control groups are provided, each group comprising two control wire bundles, the distal ends of which are symmetrically connected to the distal end of the curved structure. The instrument rod has a wire bundle channel for the control wire bundles to pass through, the opening of which is a proximal port at the proximal end. The control wire bundle is divided into two segments by the proximal port, with the length of the segment closer to the distal end being the control length. The two control groups are designated as the first control group and the second control group. A first connecting structure is provided on the base frame and the first operating frame; the first connecting structure is used to fix the proximal end of the control wire bundle in the first control group to the first operating frame, and to configure the control wire bundle in the first control group such that: when the first operating frame rotates relative to the base frame, the control length of one of the control wire bundles in the first control group increases, and the control length of the other control wire bundle decreases, and the increase and decrease lengths are equal or the difference between the two is less than 0.5 mm; A second connecting structure is provided on the base frame, the first operating frame, and the second operating frame; the second connecting structure is used to fix the proximal end of the control wire bundle in the second control group to the second operating frame, and to configure the control wire bundle in the second control group such that: when the second operating frame rotates relative to the first operating frame, the control length of one of the control wire bundles in the second control group increases, and the control length of the other control wire bundle decreases, and the increase and decrease lengths are equal or the difference between them is less than 0.5 mm; In this case, the control wire bundle in the first control group leaves the near port of the wire bundle channel and travels along the first preset path on the base frame. After leaving the first preset path, it is in a taut state and fixedly connected to the first operating frame. The first connection structure includes a first holding part and a first fixing part. The first holding part is disposed on the base frame and is used to allow the control wire bundle in the first control group to travel along the first preset path on the base frame. The first fixing part is disposed on the first operating frame and is used to fix the proximal end of the control wire bundle in the first control group to the first operating frame. After the control wire bundle in the second control group leaves the near port of the wire bundle channel, it travels along the second preset path on the base frame and the first operating frame. After leaving the second preset path, it is in a taut state and fixedly connected to the second operating frame. The second connection structure includes a second retaining part and a second fixing part. The second retaining part is disposed on the base frame and the first operating frame, and is used to allow the control wire bundle in the second control group to travel along the second preset path on the base frame and the first operating frame. The second fixing part is disposed on the second operating frame, and is used to fix the proximal end of the control wire bundle in the second control group to the second operating frame. The second holding part includes a coupling wheel, which is disposed on the base frame and the axis of the coupling wheel coincides with or is parallel to the rotation axis of the base frame and the first operating frame; The coupling wheel is provided with two arc-shaped grooves or annular grooves arranged along its axis, and the two arc-shaped grooves or annular grooves are arranged side by side along the axis direction that drives the coupling wheel; the coupling wheel is located on the second preset path, and the two arc-shaped grooves or annular grooves correspond to the two control wire bundles in the second control group respectively. The two control wire bundles pass around the corresponding arc-shaped grooves or annular grooves and enter the second preset path on the first operating frame.

2. The medical device for minimally invasive surgery according to claim 1, characterized in that, The rotation axes of the first operating frame and the base frame are perpendicular to the rotation axes of the second operating frame and the first operating frame, and the grip portion on the handle for the user to hold is located at the intersection of the two rotation axes.

3. The medical device for minimally invasive surgery according to claim 1 or 2, characterized in that, The base frame has a U-shaped structure. The outer middle part of the U-shape of the base frame is connected to the proximal end of the instrument rod. The two ends of the U-shape of the base frame are respectively rotatably connected to the first operating frame and the two rotation axes coincide. The second operating frame has a U-shaped structure. The inner side of the middle part of the U-shape of the second operating frame is connected to the handle. The two ends of the U-shape of the second operating frame are respectively rotatably connected to the first operating frame and the two rotation axes coincide. Both the base frame and the second operating frame are located at the far end of the first operating frame, and the second operating frame is located on the inner side of the U-shape of the base frame. The base frame is provided with a through hole that communicates with the inner side of the U-shape of the second operating frame. In use, the operator is located at the near end of the first operating frame and contacts the handle through the through hole.

4. The medical device for minimally invasive surgery according to claim 1, characterized in that, The axis of rotation between the base frame and the first operating frame is the first axis, and the axis of rotation between the first operating frame and the second operating frame is the second axis; In the same group, the portion of the two control wire bundles from the point where they leave the first preset path / second preset path to the point where their relative position with the first operating frame / second operating frame remains fixed is a free segment, and the point on the free segment where the relative position with the first operating frame / second operating frame remains fixed is a fixed point; the free segments of the two control wire bundles in the same control group are simultaneously tangent to a circle centered on the first axis / second axis, and the tangency point is the fixed point.

5. The medical device for minimally invasive surgery according to claim 4, characterized in that, Each of the control wire bundles is provided with a corresponding rigid wire sleeve. The proximal end of the control wire bundle extends into the rigid wire sleeve from the distal opening of the corresponding rigid wire sleeve and is fixedly connected to it. The rigid wire sleeve is fixedly connected to the first operating frame / second operating frame, and the position of the control wire bundle at the distal opening of the corresponding rigid wire sleeve is the fixing point.

6. The medical device for minimally invasive surgery according to claim 1, characterized in that, At least one of the first connection structure and the second connection structure further includes an operating wheel; When the first connection structure includes the operating wheel, the operating wheel is connected to the first operating frame, and the operating wheel is arranged along the rotation axis of the base frame and the first operating frame; the control wire bundle in the first control group leaves the first preset path, passes around the operating wheel, and is then fixedly connected to the first operating frame; the two control wire bundles in the first control group wrap around the operating wheel in opposite directions, and the wrap angle on the operating wheel is greater than β1; When the second connection structure includes the operating wheel, the operating wheel is connected to the second operating frame, and the operating wheel is arranged along the rotation axis of the first operating frame and the second operating frame; the control wire bundle in the second control group leaves the second preset path, passes around the operating wheel, and is then fixedly connected to the second operating frame; the two control wire bundles in the second control group are wound around the operating wheel in opposite directions, and the wrap angle on the operating wheel is greater than β2. Wherein, β1 is the maximum angle at which the first operating frame will rotate relative to the base frame during use, and β2 is the maximum angle at which the second operating frame will rotate relative to the first operating frame during use.

7. The medical device for minimally invasive surgery according to claim 6, characterized in that, The operating wheel is also provided with a pulley group, which includes a number of fixed pulleys for winding the control wire bundle. The fixed pulleys in the pulley group cooperate with each other to adjust the path of the control wire bundle after it leaves the first preset path / second preset path.

8. The medical device for minimally invasive surgery according to claim 1, characterized in that, The axis of rotation between the base frame and the first operating frame is the first axis, and the axis of rotation between the first operating frame and the second operating frame is the second axis; The distance between the axis of the coupling wheel and the first axis is *r; where r is the distance between the portion of the control wire bundle wound in the arc-shaped groove or annular groove and the axis of the coupling wheel; The axis of the coupling wheel is located in a plane that rotates 45° around the first axis as the center of rotation, passing through the plane of the first axis and the second axis; and the axis of the coupling wheel is located in the proximal direction of the first axis.

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