Multi-degree-of-freedom minimally invasive surgical instruments

Abstract

The present invention discloses a multi-degree-of-freedom minimally invasive surgical instrument, comprising an end effector, an operating part and a transmission part, wherein the transmission part comprises a first wiring structure, a second wiring structure, an intermediate transmission assembly connecting the first wiring structure and the second wiring structure, and a plurality of drive guide wires formed to sequentially pass through the operating part, the first wiring structure, the intermediate transmission assembly, the second wiring structure, and the end effector; the intermediate transmission assembly comprises a pitch center axis, a terminal connector rotatably arranged around the pitch center axis, and at least one drive wheel, wherein the pitch center axis is fixedly mounted at the end of the first wiring structure, the second wiring structure is fixedly mounted at the terminal connector, and the relative movement between the terminal connector, the drive wheel and the pitch center axis controls the pitch action and the deflection action of the end effector through a plurality of drive guide wires. The multi-degree-of-freedom minimally invasive surgical instrument of the present invention has the advantages of high transmission efficiency, stability and reliability, and high precision.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a multi-degree-of-freedom minimally invasive surgical instrument. Background Art

[0002] Minimally invasive surgical instruments such as endoscopes can assist doctors in performing minimally invasive surgeries more smoothly. Most minimally invasive surgical instruments include a proximal controller, a wiring structure (including a slender rod and a frame), and a distal actuator. Some distal actuators include two degrees of freedom, pitch and yaw. The proximal controller is used to control the distal actuator through the wiring device to complete the pitch and yaw movements of the distal actuator. During the operation, the distal actuator and part of the wiring structure will pass through the surgical perforation on the skin, so that the end actuator performs actions at the surgical site. Therefore, the diameter of the distal actuator and part of the wiring structure directly affects the size of the surgical perforation, thereby affecting the side effects of the operation such as bleeding and scarring. In order to achieve flexible operation of the distal actuator, the existing surgical machinery will set up complex transmission components for the proximal controller and the distal actuator, which directly leads to the excessive diameter of the instrument shaft. When used for perforation surgery, the patient's skin opening is large, and the side effects of the operation will also increase. Simply reducing the complexity of the transmission component will result in insufficient freedom of the distal actuator, and the operation of the operating part that performs the surgical action is intuitively inconsistent with the actual action of the distal tool performing the operation. This makes it difficult for the surgeon to operate intuitively and freely. In addition, the existing transmission method is generally a simple guide wire through a pulley transmission, which will cause the wire and the pulley to slip at some transmission joints, seriously affecting the transmission efficiency, transmission reliability and transmission accuracy. Summary of the invention

[0003] The embodiment of the present invention provides a multi-degree-of-freedom minimally invasive surgical instrument, which aims to solve the problems existing in existing surgical instruments that the device size and operational flexibility cannot be taken into account at the same time, and the errors in transmission efficiency and transmission accuracy affect the intuitiveness of operation.

[0004] A multi-degree-of-freedom minimally invasive surgical instrument, comprising an end effector, an operating unit for controlling the movement of the end effector, and a transmission unit for transmitting the movement of the operating unit to the end effector, wherein the transmission unit comprises a first wiring structure, a second wiring structure, an intermediate transmission assembly connecting the first wiring structure and the second wiring structure, and a plurality of drive guide wires that sequentially pass through the operating unit, the first wiring structure, the intermediate transmission assembly, the second wiring structure, and the end effector; the operating unit controls the movement of the drive guide wires and transmits the movement to the end effector to realize pitch movement and yaw movement;

[0005] The intermediate transmission assembly includes a pitch center axis, an end connector rotatable around the pitch center axis, and at least one driving wheel. The pitch center axis is fixedly installed at the end of the first routing structure, and the second routing structure is fixedly installed at the end connector. The relative movement between the end connector, the driving wheel and the pitch center axis controls the pitch and deflection movements of the end actuator through a plurality of driving guide wires.

[0006] In one embodiment, the driving wheel is a bevel gear or a double-bevel gear structure, and the intermediate transmission assembly further includes an auxiliary shaft, a first double-bevel gear shaft and a second double-bevel gear shaft, the first bevel gear and the third bevel gear are respectively rotatably mounted on the auxiliary shaft, the second bevel gear and the fourth bevel gear are respectively rotatably mounted on the pitch center shaft, the first double-bevel gear is rotatably mounted on the first double-bevel gear shaft and meshes with the first bevel gear and the second bevel gear respectively, the second double-bevel gear is rotatably mounted on the second double-bevel gear shaft and meshes with the third bevel gear and the fourth bevel gear respectively, the first drive guide wire A and the second drive guide wire A are respectively partially wound around the first bevel gear, the first drive guide wire B and the second drive guide wire B are respectively partially wound around the second bevel gear and then extend to the second routing structure; the third drive guide wire A and the fourth drive guide wire A are respectively partially wound around the third bevel gear, the third drive guide wire B and the fourth drive guide wire B are respectively partially wound around the fourth bevel gear and then extend to the second routing structure.

[0007] In one embodiment, the intermediate transmission assembly further includes a pitch drive wire locking wheel rotatably mounted on the pitch center axis, and one end of two pitch drive guide wires are respectively fixed to the pitch drive wire locking wheel and at least partially wound around the pitch drive wire locking wheel and then extend to the end actuator.

[0008] In one embodiment, the intermediate transmission assembly further includes a pitch drive wire locking wheel rotatably mounted on the pitch center axis and a fixed wheel mounted on the auxiliary axis, and one end of two pitch drive guide wires are respectively fixed to the fixed wheel and are sequentially wound around the fixed wheel and the pitch drive wire locking wheel and then extend to the end actuator.

[0009] In one embodiment, the intermediate transmission assembly further includes a first pulley shaft installed on the end connecting member and a second pulley shaft installed on the end of the first routing structure, and the first pulley, the second pulley, and the third pulley are rotatably installed on the first pulley shaft, the second pulley shaft and the pitch center axis respectively, and the four drive guide wires extending from the first routing structure contact the second pulley, the third pulley, and the first pulley in sequence and then extend to the second routing structure.

[0010] In one embodiment, one end of two pitch drive guide wires is respectively fixed to the second pulley and at least partially wound around the second pulley to contact the third pulley and the first pulley in sequence and extend to the end effector.

[0011] In one embodiment, the operating unit includes:

[0012] An operating shaft A, and a finger sleeve A and a winding wheel A fixedly mounted on the operating shaft A;

[0013] An operating shaft B, and a finger sleeve B and a winding wheel B fixedly mounted on the operating shaft B;

[0014] A central axis of deflection of the control unit; and

[0015] Pulley A and pulley B rotatably mounted on the deflection center axis of the operating part;

[0016] Two driving guide wires are sequentially wound around the winding wheel A and the pulley A and then extend to the first wiring structure, and the other two driving guide wires are sequentially wound around the winding wheel B and the pulley B and then extend to the first wiring structure.

[0017] In one embodiment, the end effector comprises:

[0018] A fixed joint fixedly connected to the second wiring structure;

[0019] A terminal pitch center axis and a terminal pulley axis mounted on the fixed joint;

[0020] A first end pulley rotatably mounted on the end pulley shaft;

[0021] A second end pulley and a pitch joint rotatably mounted on the end pitch central axis;

[0022] A terminal deflection center axis mounted on the pitch joint; and

[0023] Clamp A and clamp B rotatably mounted on the end deflection center axis;

[0024] After four driving guide wires are extended from the second wiring structure and contact the first end pulley and the second end pulley in sequence, two driving guide wires are wound around the clamp A and fixed, and the other two driving guide wires are wound around the clamp B and fixed.

[0025] In one embodiment, at least one guide transmission assembly is provided between the operating portion and the first wiring structure to guide the extension direction of the driving guide wire so that the end effector is formed toward the same side as the operating portion.

[0026] In one of the embodiments, the drive guide wire extends at least a distance between the guide transmission assembly and the intermediate transmission assembly to form the shaft of the multi-degree-of-freedom minimally invasive surgical instrument.

[0027] A multi-degree-of-freedom minimally invasive surgical instrument of the present invention is suitable for the field of medical instruments, and includes an end effector, an operating unit for controlling the movement of the end effector, and a transmission unit for transmitting the movement of the operating unit to the end effector, wherein the transmission unit includes a first wiring structure, a second wiring structure, an intermediate transmission assembly connecting the first wiring structure and the second wiring structure, and a plurality of drive guide wires that sequentially pass through the operating unit, the first wiring structure, the intermediate transmission assembly, the second wiring structure, and the end effector; wherein the instrument pitch center included in the intermediate transmission assembly is located between the instrument control unit and the end effector, so that the movement direction of the control unit can be completely consistent with the movement direction of the end effector, which is convenient for observation and control. In addition, compared with other multi-degree-of-freedom instruments, the multi-degree-of-freedom minimally invasive surgical instrument of the present invention has the advantages of intuitive and simple control, small size, and small operating space, and is suitable for a wider range of clinical surgical needs. In addition, in one of the embodiments, the intermediate transmission component adopts bevel gear transmission, which has high transmission efficiency, stability, reliability and high precision compared with simple wire transmission; it is particularly suitable for replacing wire transmission, which has high precision requirements, high tension, and where the wire and the pulley are prone to slipping. Moreover, the number of teeth on the bevel gear can be changed as required to achieve a larger transmission ratio, thereby greatly improving the control and use performance, making the application range extremely wide. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the three-dimensional structure of a multi-degree-of-freedom minimally invasive surgical instrument provided by an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the three-dimensional structure of an intermediate transmission assembly provided in one embodiment of the present invention;

[0031] Figure 3 A transmission schematic diagram of an intermediate transmission assembly provided in one embodiment of the present invention;

[0032] Figure 4 A schematic diagram of the three-dimensional structure of a pitch drive assembly in an intermediate transmission assembly provided in one embodiment of the present invention;

[0033] Figure 5A schematic diagram of the three-dimensional structure of an intermediate transmission assembly provided in another embodiment of the present invention;

[0034] Figure 6 Another schematic diagram of the three-dimensional structure of an intermediate transmission assembly provided by another embodiment of the present invention;

[0035] Figure 7 A schematic diagram of the three-dimensional structure of an operating unit provided by an embodiment of the present invention;

[0036] Figure 8 A schematic diagram of a three-dimensional structure of an end effector provided in one embodiment of the present invention;

[0037] Fig. 9 A schematic diagram of a three-dimensional structure of an end effector provided in another embodiment of the present invention;

[0038] Fig.10 A schematic diagram of the pitching action of an apparatus provided in one embodiment of the present invention;

[0039] Fig.11 A schematic diagram of a deflection action of an apparatus provided in one embodiment of the present invention;

[0040] Description of reference numerals:

[0041] 201, clamp A, 202, clamp B, 203, pitch joint, 204, fixed joint, 205, end deflection center axis, 206, end pitch center axis, 2071, first end pulley, 2072, second end pulley, 208, first drive guide wire, 2081, first drive guide wire A, 2082, first drive guide wire B, 209, second drive guide wire, 2091, second drive guide wire A, 2092, second drive guide wire B, 210, third drive guide wire Wire, 2101, third drive guide wire A, 2102, third drive guide wire B, 211, fourth drive guide wire, 2111, fourth drive guide wire A, 2112, fourth drive guide wire B, 2121, first pitch drive wire, 2122, second pitch drive wire, 213, pitch center axis, 213A, pitch center axis axis, 214, operation unit deflection center axis, 215, finger sleeve A, 216, finger sleeve B, 2171, pulley A, 2172, pulley B, 218, first Three pulleys, 2191, winding wheel A, 2192, winding wheel B, 220, end pulley shaft, 221, first pulley, 223, first pulley shaft, 224, second pulley shaft, 225, second pulley, 226. Upper mounting part, 227, lower mounting part, 228, rotating upper fixing part, 229, rotating lower fixing part, 230, operating shaft A, 231, operating shaft B, 239, second routing structure, 240, end connecting part, 242, first routing structure, 243, Connecting part, 250, intermediate transmission assembly, 251, first bevel gear, 252, first double-bevel gear, 252A, first double-bevel gear axis, 253, second bevel gear, 254, third bevel gear, 255, second double-bevel gear, 256, fourth bevel gear, 257, first double-bevel gear shaft, 258, second double-bevel gear shaft, 259, pitch drive wire locking wheel, 260, auxiliary shaft, 260A, auxiliary shaft axis, 261, fixed wheel, T, control deflection rotation center. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0045] Or implicitly indicate the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0049] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] An embodiment of the present invention provides a multi-degree-of-freedom minimally invasive surgical instrument, specifically, Figure 1-8 As shown, it includes an end effector, an operating unit for controlling the action of the end effector, and a transmission unit for transmitting the action of the operating unit to the end effector, the transmission unit includes a first wiring structure 242, a second wiring structure 239, an intermediate transmission assembly 250 connecting the first wiring structure 242 and the second wiring structure 239, and a plurality of drive guide wires that sequentially pass through the operating unit, the first wiring structure 242, the intermediate transmission assembly 250, the second wiring structure 239, and the end effector; the operating unit controls the action of the drive guide wire and transmits it to the end effector to realize the pitch action and the yaw action;

[0051] The intermediate transmission assembly 250 includes a pitch center axis 213, an end connector 240 rotatable around the pitch center axis 213, and at least one driving wheel. The pitch center axis 213 is fixedly installed at the end of the first routing structure 242, and the second routing structure 239 is fixedly installed at the end connector 240. The relative movement between the end connector 240, the driving wheel and the pitch center axis 213 controls the pitch and deflection movements of the end actuator through a number of driving guide wires.

[0052] It can be understood that the multi-degree-of-freedom minimally invasive surgical instrument described in the above embodiment can be applied to various occasions where minimally invasive surgery is required. In one specific embodiment, Figure 1As shown, the first driving guide wire B2082 and the second driving guide wire B2092 are wound and fixed on the clamp A201, and the third driving guide wire B2102 and the fourth driving guide wire B2112 are wound and fixed on the clamp B202. The clamp A201 and the clamp B202 are installed on the pitch joint 203 through the terminal deflection center axis 205, and can rotate around the center of the terminal deflection center axis 205. The pitch joint 203 is installed on the fixed joint 204 through the terminal pitch center axis 206, and the pitch joint 203 can rotate around the terminal pitch center axis 206. The first terminal pulley 2071 is installed on the fixed joint 204 through the terminal pitch center axis 206 and the terminal pulley axis 220, and the first terminal pulley 2071 can rotate independently. The first driving guide wire B2082, the second driving guide wire B2092, the third driving guide wire B2102 and the fourth driving guide wire B2112 sequentially pass through the pitch joint 203, the first end pulley 2071 and the fixed joint 204. The first pitch driving wire 2121 and the second pitch driving wire 2122 are fixed on the pitch joint 203.

[0053] like Figure 1 As shown, the fixed joint 204 is fixedly mounted on the second routing structure 239, and the second routing structure 239 is fixedly mounted on the end connector 240; the end connector 240 is respectively connected to 241-fixture 1 and 242-fixture 2, and the 240-end fixture can rotate around 213-pitch center axis, the first routing structure 242 is connected and fixedly mounted on the connector 243, and the connector 243 is fixedly mounted on the upper mounting member 226 and the lower mounting member 227.

[0054] The pulley B2172 is mounted on the upper mounting member 226 and the lower mounting member 227 via the operating portion deflection center axis 214, and the pulley B2172 can rotate independently. Figure 1 The first drive guide wire A2081 and the second drive guide wire A2091 pass through the pulley A2171 ( Figure 1 Not shown), fixed on the winding wheel A2191 ( Figure 1 (not shown). The third drive guide wire A2101 and the fourth drive guide wire A2111 sequentially pass through the pulley B2172 and are fixed on the winding wheel B2192.

[0055] In this way, the pitch center of the instrument is located between the instrument control part and the end effector, and the movement direction of the control part is completely consistent with the movement direction of the end effector, which is convenient for observation and control. Compared with other multi-degree-of-freedom instruments, it has the advantages of intuitive and easy control, small size, and small operating space, and is suitable for a wider range of clinical surgical needs.

[0056] In one embodiment of the present invention, Figure 1 , Figure 2 As shown, the driving wheel in the intermediate transmission assembly 250 is a bevel gear or a double-bevel gear structure. Specifically, the intermediate transmission assembly 250 further includes an auxiliary shaft 260, a first double-bevel gear shaft 257, and a second double-bevel gear shaft 258. The first bevel gear 251 and the third bevel gear 254 are rotatably mounted on the auxiliary shaft 260, the second bevel gear 253 and the fourth bevel gear 256 are rotatably mounted on the pitch center axis 213, the first double-bevel gear 252 is rotatably mounted on the first double-bevel gear shaft 257 and meshes with the first bevel gear 251 and the second bevel gear 253, respectively. The second double-bevel gear 255 is rotatably mounted on the second double-bevel gear shaft 257. The bevel gear shaft 258 is meshed with the third bevel gear 254 and the fourth bevel gear 256 respectively. The first drive guide wire A2081 and the second drive guide wire A2091 are partially wound around the first bevel gear 251 respectively, and the first drive guide wire B2082 and the second drive guide wire B2092 are partially wound around the second bevel gear 253 respectively and then extend to the second routing structure 239; the third drive guide wire A2101 and the fourth drive guide wire A2111 are partially wound around the third bevel gear 254 respectively, and the third drive guide wire B2102 and the fourth drive guide wire B2112 are partially wound around the fourth bevel gear 256 respectively and then extend to the second routing structure 239. The axial rotation direction of the first double bevel gear 252 is perpendicular to the axial rotation direction of the first bevel gear 251 and the second bevel gear 253, and the axial rotation direction of the second double bevel gear 255 is perpendicular to the axial rotation direction of the third bevel gear 254 and the fourth bevel gear 256.

[0057] Combination Figure 1 , Figure 2 , Figure 3As shown, the first bevel gear 251 is mounted on the auxiliary shaft 260 and can rotate around the axis of the auxiliary shaft 260. The first drive guide wire A2081 and the second drive guide wire A2091 are wound around the first bevel gear 251 and can drive the first bevel gear 251 to rotate around the axis of the auxiliary shaft 260. The first double bevel gear 252 is mounted on the first double bevel gear shaft 257 and can rotate around the first double bevel gear shaft 257. The second bevel gear 253 is mounted on the pitch center shaft 213 and can rotate around the axis of the pitch center shaft 213. The first drive guide wire B2082 and the second drive guide wire B2092 are wound around the second bevel gear 253 and can drive the second bevel gear 253 to rotate around the axis of the pitch center shaft 213. The first bevel gear 251 is meshed with the first double bevel gear 252, and the second bevel gear 253 is meshed with the first double bevel gear 252.

[0058] The third bevel gear 254 is mounted on the auxiliary shaft 260 and can rotate around the axis of the auxiliary shaft 260. The third drive guide wire A2101 and the fourth drive guide wire A2111 are wound around the third bevel gear 254 and can drive the third bevel gear 254 to rotate around the axis of the auxiliary shaft 260. The second double bevel gear 255 is mounted on the second double bevel gear shaft 258 and can rotate around the second double bevel gear shaft 258. The fourth bevel gear 256 is mounted on the pitch center shaft 213 and can rotate around the axis of the pitch center shaft 213. The third drive guide wire B2102 and the fourth drive guide wire B2112 are wound around the fourth bevel gear 256 and can drive the fourth bevel gear 256 to rotate around the axis of the pitch center shaft 213. The third bevel gear 254 is meshed with the second double bevel gear 255, and the fourth bevel gear 256 is meshed with the second double bevel gear 255.

[0059] The intermediate transmission assembly 250 further includes a pitch drive wire locking wheel rotatably mounted on the pitch central axis 213. One end of two pitch drive guide wires are respectively fixed to the pitch drive wire locking wheel and at least partially wound around the pitch drive wire locking wheel and then extend to the end effector. It is worth noting that only the structure of the pitch drive wire locking wheel is obvious and available, so in Figure 2-Figure 4 The situation where only the pitch drive wire locks the wheel is not shown.

[0060] Combination Figure 2 , Figure 3 , Figure 4 As shown, the intermediate transmission assembly 250 further includes a pitch drive wire locking wheel 259 rotatably mounted on the pitch center axis 213 and a fixed wheel 261 mounted on the auxiliary axis 260. One end of the two pitch drive guide wires are respectively fixed to the fixed wheel 261 and are sequentially wound around the fixed wheel 261 and the pitch drive wire locking wheel 259 and then extend to the end execution part.

[0061] Combination Figure 1-Figure 4 As shown, the pitch drive wire locking wheel 259 and the fixed wheel 261 are respectively installed on the pitch center axis 213 and the auxiliary axis 260, and the pitch drive wire locking wheel 259 can rotate around the axis of the pitch center axis 213, the first pitch drive wire 2121 is wound around the pitch drive wire locking wheel 259, and one end of the first pitch drive wire 2121 is fixed on the fixed wheel 261; the second pitch drive wire 2122 is wound around the pitch drive wire locking wheel 259, and one end of the second pitch drive wire 2122 is fixed on the fixed wheel 261.

[0062] The pulley B2172 is installed on the upper mounting member 226 and the lower mounting member 227 through the operating portion deflection center axis 214, and the pulley B2172 can rotate independently. The finger sleeve A215, the winding wheel A2191 and the operating shaft A230 are fixedly installed, and are integrally installed between the rotating upper fixing member 228 and the rotating lower fixing member 229, and can rotate. The finger sleeve B216, the wire winding wheel B2192 and the operating shaft B231 are fixedly installed, and are integrally installed between the rotating upper fixing member 228 and the rotating lower fixing member 229, and can rotate. The first drive guide wire A2081 and the second drive guide wire A2091 pass through the pulley A2171 in sequence and are fixed on the wire winding wheel A2191. The third drive guide wire A2101 and the fourth drive guide wire A2111 pass through the pulley B2172 in sequence and are fixed on the wire winding wheel B2192.

[0063] When the first driving guide wire A2081 moves downward and the second driving guide wire A2091 moves upward, the first bevel gear 251 is driven to rotate counterclockwise along the auxiliary shaft axis 260A, and the first double bevel gear 252 is further driven to rotate counterclockwise along the first double bevel gear axis 252A, and the second bevel gear 253 is further driven to rotate clockwise along the pitch center axis 213A, and the first driving guide wire B2082 is further driven to move downward and the second driving guide wire B2092 is further driven to move upward. The first driving guide wire A2081 and the first driving guide wire B2082 move in the same direction, and the second driving guide wire A2091 and the second driving guide wire B2092 move in the same direction.

[0064] The above-mentioned intermediate transmission component 250 adopts bevel gear transmission, which has high transmission efficiency, stability, reliability and high precision compared with simple wire transmission. It is particularly suitable for replacing wire transmission where high precision requirements, high tension, and the wire and pulley are prone to slippage. The transmission ratio can be changed by changing the number of teeth on the bevel gear as required, thereby greatly improving the control and performance, and has a wide range of applications.

[0065] See also Figure 1 , Figure 4When the pitch driving wire locking wheel 259 rotates clockwise around the axis of the pitch center axis 213, the first pitch driving wire 2121 is applied with a pulling force, thereby driving the pitch joint 203 to rotate clockwise around the axis of the terminal pitch center axis 206, and further driving the entire end actuator to rotate clockwise around the axis of the terminal pitch center axis 206; when the pitch driving wire locking wheel 259 rotates counterclockwise around the axis of the pitch center axis 213, the second pitch driving wire 2122 is applied with a pulling force, thereby driving the pitch joint 203 to rotate clockwise around the axis of the terminal pitch center axis 206. 03 rotates counterclockwise around the axis of the terminal pitch center axis 206, further driving the terminal actuator as a whole to rotate counterclockwise around the axis of the terminal pitch center axis 206; the overall rotation direction of the terminal is consistent with the rotation direction of the pitch drive wire locking wheel 259. Since the pitch drive wire locking wheel 259 and the fixed wheel 261 are installed on the first wiring structure 242 through 213-pitch center axis and / or auxiliary axis 260, they move synchronously with the control unit, further achieving the consistency between the overall rotation direction of the terminal and the rotation direction of the control unit.

[0066] In one embodiment of the present invention, see Figure 1 , Figure 5 The intermediate transmission assembly 250 further includes a first pulley shaft 223 installed on the end connecting member and a second pulley shaft 224 installed on the end of the first routing structure 242. The first pulley 221, the second pulley 225, and the third pulley 218 are rotatably installed on the first pulley shaft 223, the second pulley shaft 224 and the pitch center axis 213 respectively. The four driving guide wires extending from the first routing structure 242 contact the second pulley 225, the third pulley 218, and the first pulley 221 in sequence and then extend to the second routing structure 239.

[0067] See also Figure 5 The first pulley 221 and the third pulley 218 are respectively installed on the end connector 240 through the first pulley shaft 223 and the pitch center shaft 213, and the first pulley 221 and the third pulley 218 can rotate independently. The second pulley 225 is installed on the first routing structure 242 through the second pulley shaft 224, and the second pulley 225 can rotate independently. The first drive guide wire 208, the second drive guide wire 209, the third drive guide wire 210, and the fourth drive guide wire 211 pass through the second pulley 225, the third pulley 218, and the first pulley 221 in sequence.

[0068] See also Figure 1 , Figure 6 One end of the two pitch driving guide wires 2121 and 2122 is respectively fixed to the second pulley 225 and at least partially wound around the second pulley 225 to contact the third pulley 218 and the first pulley 221 in sequence and extend to the end effector.

[0069] See also Figure 6The third pulley 218 and the first pulley 221 are respectively installed on the end connector 240 through the pitch center axis 213 and the first pulley shaft 223, and the third pulley 218 and the first pulley 221 can rotate independently. The second pulley 225 is installed on the first routing structure 242 through the second pulley shaft 224, and the second pulley 225 can rotate independently. The first drive guide wire 208, the second drive guide wire 209, the third drive guide wire 210, the fourth drive guide wire 211, the first pitch drive wire 2121, and the second pitch drive wire 2122 pass through the second pulley 225, the third pulley 218, and the first pulley 221 in sequence.

[0070] See also Figure 1 , Figure 7 The operating part includes an operating shaft A230, a finger sleeve A215 and a winding wheel A2191 fixedly installed on the operating shaft A230; an operating shaft B231, a finger sleeve B216 and a winding wheel B2192 fixedly installed on the operating shaft B231; an operating part deflection center axis 214; and a pulley A2171 and a pulley B2172 rotatably installed on the operating part deflection center axis 214; two driving guide wires are sequentially wound around the winding wheel A2191 and the pulley A2171 and then extend to the first routing structure 242, and the other two driving guide wires are sequentially wound around the winding wheel B2192 and the pulley B2172 and then extend to the first routing structure 242.

[0071] See also Figure 7 , pulley A2171 and pulley B2172 are installed on the upper mounting member 226 and the lower mounting member 227 through the operating portion deflection center axis 214, and pulley A2171 and pulley B2172 can rotate independently. Finger sleeve A215 and winding wheel A2191 are fixedly installed with the operating shaft A230, and are integrally installed between the rotating upper fixing member 228 and the rotating lower fixing member 229, and can rotate. Finger sleeve B216 and winding wheel B2192 are fixedly installed with the operating shaft B231, and are integrally installed between the rotating upper fixing member 228 and the rotating lower fixing member 229, and can rotate. The first drive guide wire 208 and the second drive guide wire 209 pass through the pulley A2171 in sequence and are fixed to the winding wheel A2191. The third drive guide wire 210 and the fourth drive guide wire 211 pass through the pulley B2172 in sequence and are fixed to the winding wheel B2192.

[0072] See also Figure 1 , Figure 8 , Fig. 9The end effector comprises: a fixed joint 204 fixedly connected to the second routing structure 239; a terminal pitch center axis 206 and a terminal pulley axis 220 mounted on the fixed joint 204; a first terminal pulley 2071 rotatably mounted on the terminal pulley axis 220; a second terminal pulley 2072 and a pitch joint 203 rotatably mounted on the terminal pitch center axis 206; a terminal deflection center axis 205 mounted on the pitch joint 203; and a clamp A201 and a clamp B202 rotatably mounted on the terminal deflection center axis 205; the second routing structure 239 extends four drive guide wires, which contact the first terminal pulley 2071 and the second terminal pulley 2072 in sequence, and then two drive guide wires are wound around the clamp A201 and fixed, and the other two drive guide wires are wound around the clamp B202 and fixed. The second routing structure 239 extends two pitch drive guide wires, which contact the terminal pitch center axis 206 and are fixed to the pitch joint 203.

[0073] See also Figure 1 At least one guide transmission assembly is provided between the operating part and the first wiring structure 242 to guide the extension direction of the drive guide wire so that the end effector is formed toward the same side of the operating part. Furthermore, the drive guide wire extends at least a distance between the guide transmission assembly and the intermediate transmission assembly to form a multi-degree-of-freedom minimally invasive surgical instrument shaft.

[0074] See also Figure 8 The first driving guide wire 208 and the second driving guide wire 209 are wound and fixed on the clamp A201, and the third driving guide wire 210 and the fourth driving guide wire 211 are wound and fixed on the clamp B202. The clamp A201 and the clamp B202 are installed on the pitch joint 203 through the terminal deflection center axis 205, and can rotate around the center of the terminal deflection center axis 205. The pitch joint 203 is installed on the fixed joint 204 through the terminal pitch center axis 206, and the pitch joint 203 can rotate around the terminal pitch center axis 206. The first terminal pulley 2071 and the second terminal pulley 2072 are installed on the fixed joint 204 through the terminal pulley axis 220 and the terminal pitch center axis 206, respectively, and the first terminal pulley 2071 and the second terminal pulley 2072 can rotate independently. The first driving guide wire 208 , the second driving guide wire 209 , the third driving guide wire 210 , and the fourth driving guide wire 211 pass through the pitch joint 203 , the first end pulley 2071 , the second end pulley 2072 , and the fixed joint 204 in sequence.

[0075] See also Figure 5 , Figure 8When the control connection part rotates clockwise as a whole, the first drive guide wire 208 and the second drive guide wire 209 are applied with tension, the third drive guide wire 210 and the fourth drive guide wire 211 are reduced in tension, the clamp A201, the clamp B202 and the pitch joint 203 are subjected to clockwise tension, and the whole rotates clockwise around the center of the terminal pitch central axis 206. When the control connection part rotates counterclockwise as a whole, the third drive guide wire 210 and the fourth drive guide wire 211 are applied with tension, the first drive guide wire 208 and the second drive guide wire 209 are reduced in tension, the clamp A201, the clamp B202 and the pitch joint 203 are subjected to counterclockwise tension, and the whole rotates counterclockwise around the center of the terminal pitch central axis 206.

[0076] See also Fig. 9 The first driving guide wire 208 and the second driving guide wire 209 are wound and fixed on the clamp A201, and the third driving guide wire 210 and the fourth driving guide wire 211 are wound and fixed on the clamp B202. The clamp A201 and the clamp B202 are installed on the pitch joint 203 through the terminal deflection center axis 205, and can rotate around the center of the terminal deflection center axis 205. The pitch joint 203 is installed on the fixed joint 204 through the terminal pitch center axis 206, and the pitch joint 203 can rotate around the terminal pitch center axis 206. The first terminal pulley 2071 and the second terminal pulley 2072 are installed on the fixed joint 204 through the terminal pulley shaft 220 and the terminal pitch center axis 206, respectively, and the first terminal pulley 2071 and the second terminal pulley 2072 can rotate independently. The first driving guide wire 208, the second driving guide wire 209, the third driving guide wire 210, and the fourth driving guide wire 211 sequentially pass through the pitch joint 203, the first end pulley 2071, the second end pulley 2072, and the fixed joint 204. The first pitch driving wire 2121 and the second pitch driving wire (not shown) are fixed on the pitch joint 203.

[0077] See also Figure 6 , Fig. 9 When the control connection part rotates clockwise as a whole, the first drive guide wire 208 and the second drive guide wire 209 are applied with tension, the tension of the third drive guide wire 210 and the fourth drive guide wire 211 is reduced, the clamp A201, the clamp B202 and the pitch joint 203 are subjected to clockwise tension, and the whole rotates clockwise around the center of the terminal pitch central axis 206. When the control connection part rotates counterclockwise as a whole, the third drive guide wire 210 and the fourth drive guide wire 211 are applied with tension, the tension of the first drive guide wire 208 and the second drive guide wire 209 is reduced, the clamp A201, the clamp B202 and the pitch joint 203 are subjected to counterclockwise tension, and the whole rotates counterclockwise around the center of the terminal pitch central axis 206.

[0078] When the control connection part rotates clockwise as a whole, the first pitch driving wire 2121 is applied with tension, and the first pitch driving wire 2121 drives the pitch joint 203 to rotate clockwise, thereby driving the clamp A 201, the clamp B 202 and the pitch joint 203 to rotate clockwise around the center of the terminal pitch central axis 206. This assists the first driving guide wire 208 and the second driving guide wire 209, and reduces the tension of the first driving guide wire 208 and the second driving guide wire 209.

[0079] When the control connection part rotates counterclockwise as a whole, the second pitch driving wire 2122 is applied with tension, and the second pitch driving wire 2122 drives the pitch joint 203 to rotate counterclockwise, thereby driving the clamp A201, the clamp B202 and the pitch joint 203 to rotate counterclockwise around the center of the terminal pitch central axis 206. This assists the third driving guide wire 210 and the fourth driving guide wire 211, and reduces the tensile force of the third driving guide wire 210 and the fourth driving guide wire 211.

[0080] See also Figure 7 , Figure 8 When the control unit rotates clockwise as a whole, the first drive guide wire 208 and the third drive guide wire 210 are applied with tension, the tension of the second drive guide wire 209 and the fourth drive guide wire 211 is reduced, and the clamp A201 and the clamp B202 are simultaneously subjected to clockwise tension, and the whole rotates clockwise around the center of the terminal deflection center axis 205. When the control unit rotates counterclockwise as a whole, the second drive guide wire 209 and the fourth drive guide wire 211 are applied with tension, the tension of the first drive guide wire 208 and the third drive guide wire 210 is reduced, and the clamp A201 and the clamp B202 are simultaneously subjected to counterclockwise tension, and the whole rotates counterclockwise around the center of the terminal deflection center axis 205.

[0081] When the finger sleeve A215 rotates clockwise around the center of the operating axis A230, a tension is applied to the first drive guide wire 208, the tension of the second drive guide wire 209 is reduced, and the clamp A201 rotates clockwise around the center of the terminal deflection center axis 205. When the finger sleeve A215 rotates counterclockwise around the center of the operating axis A230, a tension is applied to the second drive guide wire 209, the tension of the first drive guide wire 208 is reduced, and the clamp A201 rotates counterclockwise around the center of the terminal deflection center axis 205.

[0082] When the finger sleeve B216 rotates clockwise around the center of the operating axis B231, a tension is applied to the third drive guide wire 210, the tension of the fourth drive guide wire 211 is reduced, and the clamp B202 rotates clockwise around the center of the terminal deflection center axis 205. When the finger sleeve B216 rotates counterclockwise around the center of the operating axis B231, a tension is applied to the fourth drive guide wire 211, the tension of the third drive guide wire 210 is reduced, and the clamp B202 rotates counterclockwise around the center of the terminal deflection center axis 205.

[0083] See also Figure 1 , Fig.10 and Fig.11 The operating part and the end actuator use the pitch center axis 213 and the end pitch center axis 206 as the control pitch rotation center and the end pitch rotation center respectively to realize the pitch movement of the end actuator; the operating part and the end actuator use the control deflection rotation center T and the end deflection center axis 205 as the control deflection rotation center and the end deflection rotation center respectively to realize the deflection movement of the end actuator. When the finger sleeve A215 and the finger sleeve B216 are far away from opening, the clamp A201 and the clamp B202 perform the opening movement; when the finger sleeve A215 and the finger sleeve B216 are close to closing, the clamp A201 and the clamp B202 perform the closing movement.

[0084] The multi-degree-of-freedom minimally invasive surgical instrument given in combination with the above embodiments is suitable for the field of medical instruments, and includes an end effector, an operating unit that controls the action of the end effector, and a transmission unit that transmits the action of the operating unit to the end effector, the transmission unit including a first wiring structure, a second wiring structure, an intermediate transmission assembly connecting the first wiring structure and the second wiring structure, and a plurality of drive guide wires that sequentially pass through the operating unit, the first wiring structure, the intermediate transmission assembly, the second wiring structure, and the end effector; wherein the instrument pitch center included in the intermediate transmission assembly is located between the instrument control unit and the end effector, so that the action direction of the control unit can be completely consistent with the action direction of the end effector, which is convenient for observation and control, and the multi-degree-of-freedom minimally invasive surgical instrument of the present invention has the advantages of intuitive and simple control, small size, and small operating space compared to other multi-degree-of-freedom instruments, and is suitable for a wider range of clinical surgical needs. In addition, in one of the embodiments, the intermediate transmission component adopts bevel gear transmission, which has high transmission efficiency, stability, reliability and high precision compared with simple wire transmission. It is particularly suitable for replacing wire transmission where high precision requirements, high tension, and the wire and pulley are prone to slippage. The transmission ratio can be changed by changing the number of teeth on the bevel gear as required, thereby greatly improving the control and performance, and has an extremely wide range of applications.

[0085] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A multi-degree-of-freedom minimally invasive surgical instrument, comprising an end effector, an operating unit for controlling the movement of the end effector, and a transmission unit for transmitting the movement of the operating unit to the end effector, characterized in that: The transmission part includes a first wiring structure, a second wiring structure, an intermediate transmission assembly connecting the first wiring structure and the second wiring structure, and a plurality of drive guide wires that sequentially pass through the operating part, the first wiring structure, the intermediate transmission assembly, the second wiring structure, and the end effector; The intermediate transmission assembly includes a pitch center axis, an end connection member rotatably arranged around the pitch center axis, and at least one driving wheel, wherein the pitch center axis is fixedly mounted on the end of the first routing structure, and the second routing structure is fixedly mounted on the end connection member, and the relative movement between the end connection member, the driving wheel and the pitch center axis controls the pitch and yaw movements of the end actuator through a plurality of driving guide wires; The intermediate transmission assembly further includes a first pulley shaft installed on the end connecting member and a second pulley shaft installed on the end of the first routing structure. The first pulley, the second pulley, and the third pulley are rotatably installed on the first pulley shaft, the second pulley shaft, and the pitch center axis, respectively. The four drive guide wires extending from the first routing structure contact the second pulley, the third pulley, and the first pulley in sequence and then extend to the second routing structure.

2. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 1, characterized in that: Another alternative structure of the drive wheel and the intermediate transmission assembly is: The driving wheel is a bevel gear or a double-bevel gear structure, the intermediate transmission assembly further includes an auxiliary shaft, a first double-bevel gear shaft and a second double-bevel gear shaft, the first bevel gear and the third bevel gear are rotatably mounted on the auxiliary shaft, the second bevel gear and the fourth bevel gear are rotatably mounted on the pitch center shaft, the first double-bevel gear is rotatably mounted on the first double-bevel gear shaft and meshes with the first bevel gear and the second bevel gear, the second double-bevel gear is rotatably mounted on the second double-bevel gear shaft and meshes with the third bevel gear and the fourth bevel gear, the first drive guide wire A and the second drive guide wire A are partially wound around the first bevel gear, the first drive guide wire B and the second drive guide wire B are partially wound around the second bevel gear and then extend to the second routing structure; The third drive guide wire A and the fourth drive guide wire A are respectively partially wound around the third bevel gear, and the third drive guide wire B and the fourth drive guide wire B are respectively partially wound around the fourth bevel gear and then extend to the second routing structure.

3. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 2, characterized in that: The intermediate transmission assembly further includes a pitch drive wire locking wheel rotatably mounted on the pitch central axis, and one end of two pitch drive guide wires are respectively fixed to the pitch drive wire locking wheel and at least partially wound around the pitch drive wire locking wheel and then extend to the end actuator.

4. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 2, characterized in that: The intermediate transmission assembly further includes a pitch drive wire locking wheel rotatably mounted on the pitch center axis and a fixed wheel mounted on the auxiliary axis. One ends of two pitch drive guide wires are respectively fixed to the fixed wheels and are sequentially wound around the fixed wheel and the pitch drive wire locking wheel and then extend to the end actuator.

5. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 1, characterized in that: One ends of the two pitch drive guide wires are respectively fixed to the second pulley and are at least partially wound around the second pulley to contact the third pulley and the first pulley in sequence, and extend to the end actuator.

6. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 1, characterized in that: The operating unit comprises: An operating shaft A, and a finger sleeve A and a winding wheel A fixedly mounted on the operating shaft A; An operating shaft B, and a finger sleeve B and a winding wheel B fixedly mounted on the operating shaft B; A central axis of deflection of the control unit; and Pulley A and pulley B rotatably mounted on the deflection center axis of the operating part; Two driving guide wires are sequentially wound around the winding wheel A and the pulley A and then extend to the first wiring structure, and the other two driving guide wires are sequentially wound around the winding wheel B and the pulley B and then extend to the first wiring structure.

7. The multi-degree-of-freedom minimally invasive surgical instrument according to any one of claims 1 to 6, characterized in that: The end effector comprises: A fixed joint fixedly connected to the second wiring structure; A terminal pitch center axis and a terminal pulley axis mounted on the fixed joint; A first end pulley rotatably mounted on the end pulley shaft; A second end pulley and a pitch joint rotatably mounted on the end pitch central axis; A terminal deflection center axis mounted on the pitch joint; and Clamp A and clamp B rotatably mounted on the end deflection center axis; After four driving guide wires are extended from the second wiring structure and contact the first end pulley and the second end pulley in sequence, two driving guide wires are wound around the clamp A and fixed, and the other two driving guide wires are wound around the clamp B and fixed.

8. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 6, characterized in that: At least one guide transmission assembly is provided between the operating portion and the first wiring structure to guide the extension direction of the driving guide wire so that the end actuator is formed toward the same side of the operating portion.

9. The multi-degree-of-freedom minimally invasive surgical instrument according to claim 8, characterized in that: The driving guide wire extends at least a distance between the guide transmission assembly and the intermediate transmission assembly to form the shaft of the multi-degree-of-freedom minimally invasive surgical instrument.

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