Transmission chain for surgical instrument and surgical instrument

Abstract

The embodiment of the present invention provides a transmission chain for surgical instruments and surgical instruments, which relate to the field of surgical tools. The transmission chain for surgical instruments includes a screwing mechanism, an extension mechanism and a swinging mechanism; the screwing mechanism includes a driving member, a first follower, a second follower and a locking member, the locking member is used to lock or unlock the second follower, the proximal end of the extension mechanism is slidably connected to the second follower, and the swinging mechanism is rotatably connected to the distal end of the extension mechanism; the driving member is used to drive the first follower to rotate under the action of an external force, the first follower is used to drive the locking member to unlock the second follower, and the second follower is used to rotate with the driving member in the unlocked state, and drive the extension mechanism to slide, so that the swinging mechanism performs a swinging motion. The transmission chain for surgical instruments can stably lock the swinging mechanism, and it will not easily swing and deviate from the preset position, thereby ensuring the suturing accuracy and avoiding negative effects on the surgical effect.

Description

Technical Field

[0001] The present invention relates to the field of surgical tools, and in particular to a transmission chain for surgical instruments and the surgical instruments. Background Art

[0002] The cutting stapler among surgical instruments is often used in suturing operations in surgical operations, which usually causes the end effector to swing, so a transmission chain is required to realize the swing transmission.

[0003] The existing end effector is difficult to be stably locked during the swinging process, so it is easy to swing due to the reaction force during the operation, and then deviate from the preset position, resulting in reduced suturing accuracy, which in turn affects the surgical effect. Summary of the invention

[0004] The present invention provides a transmission chain for surgical instruments and surgical instruments, which can stably lock an end effector and prevent it from swinging and deviating from a preset position, thereby ensuring suturing accuracy and avoiding negative impact on surgical effects.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] An embodiment of the present invention provides a transmission chain for a surgical instrument, comprising:

[0007] Twisting mechanism, extension mechanism and swing mechanism;

[0008] The screwing mechanism comprises a driving member, a first follower, a second follower and a locking member, wherein the locking member is used to lock or unlock the second follower, the proximal end of the extending mechanism is slidably connected to the second follower, and the swing mechanism is rotatably connected to the distal end of the extending mechanism;

[0009] The driving member is used to drive the first follower to rotate under the action of external force, the first follower is used to drive the locking member to unlock the second follower, and the second follower is used to rotate with the driving member in the unlocked state and drive the extension mechanism to slide so that the swing mechanism performs a swinging motion.

[0010] Optionally, the driving member includes a knob cover and a rotating disk, the rotating disk is drivingly connected to the knob cover, the rotating disk is coaxially arranged with the first follower and the second follower, the first follower is arranged between the knob cover and the rotating disk, and the rotating disk cooperates with the first follower;

[0011] The first follower is used to rotate with the rotating disk, or the first follower is used to move axially and away from the rotating disk.

[0012] Optionally, a first helical tooth and a second helical tooth are formed on a surface of the rotating disk and the first driven member that are close to each other, respectively, and the first helical tooth cooperates with the second helical tooth.

[0013] Optionally, the driving member also includes a first elastic member, which is held between the knob cover and the first follower, and is used to hold the first follower in a relaxed state so that the first follower cooperates with the rotating disk, and the first follower is used to compress the first elastic member in the process of moving away from the rotating disk.

[0014] Optionally, the locking member includes two locking rods arranged at intervals, one end of each of the locking rods is rotatably connected to the extension mechanism, and the other end is used to lock or unlock the second follower, and the first follower is used to unlock one of the locking rods to allow the second follower to rotate in one direction.

[0015] Optionally, the locking member also includes two second elastic members, both of which are connected to the extension mechanism and correspond one-to-one to the two locking rods, the second elastic member is used to hold the locking rod against the second follower in a relaxed state, and the locking rod is used to compress the second elastic member in an unlocked state.

[0016] Optionally, a third oblique tooth is formed on the second follower, and a locking tooth is formed at the end of the locking rod, and the locking tooth cooperates with the third oblique tooth.

[0017] Optionally, the first follower includes a first rotating disk and a first support arm, the first rotating disk cooperates with the rotating disk and is coaxially arranged, and the first support arm is used to abut against the locking member to unlock the second follower.

[0018] Optionally, the extension mechanism includes an extension shell and a transmission member, the driving member is arranged on the upper side of the extension shell, the first follower, the second follower and the locking member are all accommodated between the extension shell and the driving member, a third elastic member is arranged in the extension shell, the third elastic member is used to support the second follower, the proximal end of the transmission member is slidably connected to the second follower, and the swing mechanism is rotatably connected to the distal end of the transmission member.

[0019] Optionally, a first protrusion is formed on the third elastic member, a through groove and an arc-shaped groove are formed on the second follower, the through groove is spaced apart from the arc-shaped groove, and the first protrusion is accommodated in the through groove or the arc-shaped groove.

[0020] An embodiment of the present invention further provides a surgical instrument, comprising a main housing, an end effector and the transmission chain for the surgical instrument, wherein the screwing mechanism and the extending mechanism are both arranged on the main housing, and the end effector is connected to the main housing and the swinging mechanism.

[0021] The beneficial effects of the transmission chain for surgical instruments and the surgical instruments according to the embodiments of the present invention include, for example:

[0022] The transmission chain for surgical instruments includes a screwing mechanism, an extension mechanism and a swinging mechanism; wherein the screwing mechanism includes a driving member, a first follower, a second follower and a locking member, the locking member is used to lock or unlock the second follower, the proximal end of the extension mechanism is slidably connected to the second follower, and the swinging mechanism is rotatably connected to the distal end of the extension mechanism; the driving member is used to drive the first follower to rotate under the action of an external force, the first follower is used to drive the locking member to unlock the second follower, and the second follower is used to rotate with the driving member in the unlocked state, and drive the extension mechanism to slide, so that the swinging mechanism performs a swinging motion. During operation, the locking member will lock the second follower so that the swinging angle of the swinging mechanism relative to the extension mechanism is stable; when the angle needs to be adjusted, when the driving member applies force, the first follower is first driven to rotate so that the locking member unlocks the second follower, and the unlocked second follower can rotate with the driving member, and the swinging angle of the swinging mechanism is adjusted through the extension mechanism. The transmission chain for surgical instruments can stably lock the swing mechanism and prevent it from swinging and deviating from the preset position, thereby ensuring suturing accuracy and avoiding negative impact on surgical results.

[0023] The surgical instrument comprises a transmission chain for a surgical instrument, which has all the functions of a transmission chain for a surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the structure of a surgical instrument provided in an embodiment of the present invention;

[0026] Figure 2 It is a schematic structural diagram of a transmission chain for a surgical instrument provided in an embodiment of the present invention;

[0027] Figure 3It is a schematic structural diagram of a driving member and an extending mechanism provided in an embodiment of the present invention at a first viewing angle;

[0028] Figure 4 It is a schematic structural diagram of a driving member and an extending mechanism provided in an embodiment of the present invention at a second viewing angle;

[0029] Figure 5 It is a schematic structural diagram of a driving member and an extending mechanism provided in an embodiment of the present invention at a third viewing angle;

[0030] Figure 6 A schematic structural diagram of a second follower provided in an embodiment of the present invention;

[0031] Figure 7 Schematic diagram of the operation of the transmission chain for surgical instruments provided in an embodiment of the present invention Figure 1 ;

[0032] Figure 8 Schematic diagram of the operation of the transmission chain for surgical instruments provided in an embodiment of the present invention Figure 2 ;

[0033] Fig. 9 It is a schematic structural diagram of an extension housing provided in an embodiment of the present invention;

[0034] Fig.10 for Figure 2 A partial enlarged schematic diagram of X in FIG.

[0035] Icons: 100-transmission chain for surgical instruments; 110-screwing mechanism; 111-driving member; 1111-knob cover; 1112-rotating disk; 1113-first oblique tooth; 1115-first elastic member; 112-first follower; 1121-first rotating disk; 1122-first support arm; 1123-second oblique tooth; 113-second follower; 1131-third oblique tooth; 1132-through groove; 1133-arc groove; 1134-guide column; 1135-bottom surface; 114-locking member; 1 141-locking rod; 1142-second elastic member; 1143-locking tooth; 120-extension mechanism; 121-extension shell; 1211-third elastic member; 1212-first protrusion; 1213-circular groove; 1214-guide arc groove; 122-transmission member; 1221-transmission slider; 1222-transmission rack; 1223-transmission gear; 130-swinging mechanism; 131-steering rod; 132-steering gear; 200-main shell; 400-end effector; 1000-surgical instrument. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0039] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0041] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0042] Unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, "connected" 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, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0044] As mentioned in the background technology, the cutting stapler in surgical instruments is often used in the suturing operation of surgical operations, which usually causes the end effector to swing, so a transmission chain is required to achieve the swinging motion. The existing end effector is difficult to be stably locked during the swinging process, which makes it easy to swing due to the reaction force during the operation, and then deviate from the preset position, resulting in reduced suturing accuracy, which in turn affects the surgical effect.

[0045] Please refer to Figure 1 and Figure 2 The transmission chain 100 and surgical instrument 1000 for surgical instruments provided in the embodiments of the present invention can solve the above problems, which will be described in detail below.

[0046] refer to Figure 2 , Figure 4 and Figure 5 , the transmission chain 100 for surgical instruments includes a screwing mechanism 110, an extension mechanism 120 and a swing mechanism 130;

[0047] The screwing mechanism 110 includes a driving member 111, a first follower 112, a second follower 113 and a locking member 114, wherein the locking member 114 is used to lock or unlock the second follower 113, the proximal end of the extending mechanism 120 is slidably connected to the second follower 113, and the swing mechanism 130 is rotatably connected to the distal end of the extending mechanism 120;

[0048] The driving member 111 is used to drive the first follower 112 to rotate under the action of external force, and the first follower 112 is used to drive the locking member 114 to unlock the second follower 113. The second follower 113 is used to rotate with the driving member 111 in the unlocked state and drive the extending mechanism 120 to slide, so that the swing mechanism 130 performs a swinging motion.

[0049] During operation, the locking member 114 locks the second follower 113 so that the swing angle of the swing mechanism 130 relative to the extension mechanism 120 is stable; when the angle needs to be adjusted, the first follower 112 is first driven to rotate when the driving member 111 applies force so that the locking member 114 unlocks the second follower 113, and the unlocked second follower 113 can rotate with the driving member 111, and the swing angle of the swing mechanism 130 is adjusted through the extension mechanism 120. The transmission chain 100 for surgical instruments can stably lock the swing mechanism 130, and will not easily swing and deviate from the preset position, thereby ensuring the suturing accuracy and avoiding negative impact on the surgical effect.

[0050] refer to Figure 4 and Figure 5 The driving member 111 includes a knob cover 1111 and a rotating disk 1112, the rotating disk 1112 is transmission-connected to the knob cover 1111, the rotating disk 1112 is coaxially arranged with the first follower 112 and the second follower 113, the first follower 112 is arranged between the knob cover 1111 and the rotating disk 1112, and the rotating disk 1112 cooperates with the first follower 112;

[0051] The first follower 112 is used to rotate along with the rotating disk 1112 , or the first follower 112 is used to move axially and away from the rotating disk 1112 .

[0052] In this embodiment, the knob cover 1111 includes an upper shell, an upper cover and a middle cover. The upper shell is located on the upper side of the upper cover. The upper and lower sides of the upper cover are both provided with a raised structure. The raised structure located on the upper side of the upper cover is used to be inserted into the upper shell and connected to the upper shell through a pin. A groove is formed on the edge of the raised structure, and a convex rib matching the groove is formed in the upper shell. The staff can apply force to the upper shell to drive the upper cover to rotate synchronously. The middle cover is provided with a through hole to facilitate the penetration of the raised structure located on the lower side of the upper cover. The rotating disk 1112 is provided with a first recessed structure that is compatible with the raised structure, so that the upper cover of the knob cover 1111 can drive the rotating disk 1112 to rotate synchronously when it is rotated by an external force.

[0053] It is worth noting that a second recessed structure is provided in the middle portion of the second follower 113 , and the protruding structure can pass through the first recessed structure and cooperate with the second recessed structure, thereby driving the unlocked second follower 113 to rotate.

[0054] Moreover, both the first recessed structure and the second recessed structure are fan-shaped. When the protruding structure rotates in the middle position of the fan, it will not directly drive the rotating disk 1112 or the second follower 113 to rotate; when the protruding structure contacts the side wall of the fan-shaped space, if it continues to be twisted in the direction close to the side wall, it can drive the rotating disk 1112 or the second follower 113 to rotate.

[0055] Specifically, first bevel teeth 1113 and second bevel teeth 1123 are respectively formed on the surfaces of the rotating disk 1112 and the first follower 112 that are close to each other, and the first bevel teeth 1113 match with the second bevel teeth 1123 .

[0056] In the first process, due to the cooperation between the first bevel teeth 1113 and the second bevel teeth 1123, the rotating disk 1112 can drive the first follower 112 to rotate synchronously, and the first follower 112 can drive the locking member 114 to unlock the second follower 113 during the rotation, and then the first follower 112 rotates to the extreme position; when the rotating disk 1112 continues to rotate after reaching the extreme position, the first bevel teeth 1113 can guide the second bevel teeth 1123, so that the first follower 112 can convert the rotational motion into linear motion along the first bevel teeth 1113, and then move away from the rotating disk 1112 axially.

[0057] refer to Figure 4 and Figure 5 In order to prevent the first follower 112 from easily separating from the rotating disk 1112 during the rotation of the rotating disk 1112, the driving member 111 may further include a first elastic member 1115, the first elastic member 1115 being supported between the knob cover 1111 and the first follower 112, the first elastic member 1115 being used to support the first follower 112 in a relaxed state so that the first follower 112 cooperates with the rotating disk 1112, and the first follower 112 being used to compress the first elastic member 1115 during the process of moving away from the rotating disk 1112.

[0058] That is, in this process, when the supporting force of the first bevel tooth 1113 on the second bevel tooth 1123 does not exceed the supporting force of the first elastic member 1115 on the first follower 112, the first follower 112 will rotate synchronously with the rotating disk 1112; when the first follower 112 reaches the limit position, the rotating disk 1112 continues to rotate, and the first bevel tooth 1113 will provide a certain supporting force on the second bevel tooth 1123, and after the axial component of this force on the first follower 112 is greater than the supporting force of the first elastic member 1115 on the first follower 112, the first elastic member 1115 will be compressed, thereby causing the first follower 112 to move axially and away from the rotating disk 1112.

[0059] Furthermore, the first follower 112 may include a first rotating disk 1121 and a first support arm 1122. The first rotating disk 1121 cooperates with the rotating disk 1112 and is coaxially arranged. The first support arm 1122 is used to abut against the locking member 114 to unlock the second follower 113. The second oblique teeth 1123 are formed on the lower side of the first rotating disk 1121, and the first elastic member 1115 abuts against the upper side of the first rotating disk 1121. The first rotating disk 1121 is used to rotate with the rotating disk 1112 or move away from the rotating disk 1112 axially. The first support arm 1122 can abut against the locking member 114 during the rotation process and drive the locking member 114 to move, thereby unlocking the second follower 113.

[0060] refer to Figure 4-Figure 8 The locking member 114 includes two locking rods 1141 arranged at intervals, one end of the two locking rods 1141 is rotatably connected to the extension mechanism 120, and the other end is used to lock or unlock the second follower 113. The first follower 112 is used to unlock one of the locking rods 1141 to allow the second follower 113 to rotate in one direction.

[0061] Under normal conditions, the locking rod 1141 will abut against the second follower 113 to lock the second follower 113. When the first follower 112 rotates with the rotating disk 1112, it will contact the locking rod 1141 and drive the locking rod 1141 to rotate, so that the locking rod 1141 disengages from the second follower 113 to unlock it. When the locking rod 1141 disengages from the end of the second follower 113 and rotates to the extreme position (i.e., abuts against the extending mechanism 120), the first follower 112 also rotates to the extreme position. Even if the rotating disk 1112 continues to rotate, it cannot drive the first follower 112 to continue rotating.

[0062] It is worth noting that there are two locking rods 1141, and the two locking rods 1141 correspond one to one with the two first arms 1122. During the rotation process, only one of the first arms 1122 can unlock one locking rod 1141, while the other locking rod 1141 continues to be locked. At this time, the second follower 113 can only rotate toward the unlocked side, but cannot rotate toward the locked side, thereby achieving the purpose of one-way rotation.

[0063] refer to Figure 4-Figure 8 In order to ensure the locking stability of the locking rod 1141 on the second follower 113, the locking member 114 may also include two second elastic members 1142. The two second elastic members 1142 are both connected to the extension mechanism 120 and correspond one-to-one to the two locking rods 1141. The second elastic member 1142 is used to resist the locking rod 1141 in the relaxed state to lock the second follower 113, and the locking rod 1141 is used to compress the second elastic member 1142 in the unlocked state.

[0064] In this embodiment, the locking rod 1141 is connected to the extension mechanism 120 through a pin, and the second elastic member 1142 can be a torsion spring. The center of the torsion spring is sleeved on the pin, and the two ends of the torsion spring are respectively in contact with the extension mechanism 120 and the locking rod 1141; of course, in other embodiments of the present invention, the second elastic member 1142 can also be a spring, one end of the spring is against the extension mechanism 120, and the other end is against one end of the locking rod 1141 close to the second follower 113. In the normal state, the spring can against the locking rod 1141 to lock the second follower 113. When unlocking is required, the first follower 112 will drive the locking rod 1141 to rotate and move away from the second follower 113, and the spring will be compressed in the process.

[0065] refer to Figure 4 and Figure 6 In order to improve the locking stability of the locking rod 1141 on the second follower 113, a third oblique tooth 1131 may be formed on the second follower 113, and a locking tooth 1143 is formed at the end of the locking rod 1141, and the locking tooth 1143 cooperates with the third oblique tooth 1131.

[0066] Specifically, the second follower 113 can be a ratchet, and the locking rod 1141 can be a pawl; of course, in other embodiments of the present invention, the second follower 113 and the locking rod 1141 can also be other matching locking mechanisms.

[0067] refer to Figure 3 and Fig. 9 The extension mechanism 120 includes an extension shell 121 and a transmission member 122. The driving member 111 is covered in the extension shell 121. The first follower 112, the second follower 113 and the locking member 114 are all accommodated between the extension shell 121 and the driving member 111. A third elastic member 1211 is arranged in the extension shell 121. The third elastic member 1211 is used to resist the second follower 113. The proximal end of the transmission member 122 is slidably connected to the second follower 113. The swing mechanism 130 is rotatably connected to the distal end of the transmission member 122.

[0068] Specifically, a circular groove 1213 may be formed on one side of the extension housing 121 close to the driving member 111, so that the first follower 112, the second follower 113 and the locking member 114 are all accommodated in the circular groove 1213. The third elastic member 1211 is disposed at the bottom of the circular groove 1213, and is used to abut against the second follower 113 during the rotation of the second follower 113 to provide a damping feeling.

[0069] In addition, a first protrusion 1212 is formed on the third elastic member 1211, and a through groove 1132 and an arc groove 1133 are formed on the second follower 113. The through groove 1132 and the arc groove 1133 are separated by a bottom surface 1135 of the second follower 113, and the first protrusion 1212 is accommodated in the through groove 1132 or the arc groove 1133.

[0070] Under normal conditions, the first protrusion 1212 is accommodated in the through groove 1132. When the second follower 113 rotates, the through groove 1132 will be separated from the first protrusion 1212, thereby providing a certain shifting feeling when the second follower 113 starts to rotate, so that the staff can clearly feel it when turning the knob cover 1111. When the second follower 113 rotates a certain angle, the first protrusion 1212 will enter the arc groove 1133, thereby avoiding resistance to continuous rotation.

[0071] It is worth noting that when the first protrusion 1212 moves from the through groove 1132 toward the arc groove 1133, it will climb over the bottom surface 1135 of the second follower 113. When the first protrusion 1212 begins to contact with the bottom surface 1135 and when it leaves the bottom surface 1135, a gear shifting feeling will be generated, thereby increasing the user experience of the staff and making it easier for the staff to determine the working status of the second follower 113 by feeling.

[0072] At the same time, in order to stabilize the relative position of the second follower 113 and the circular groove 1213, two guide columns 1134 can be formed on the lower side of the second follower 113, and two guide arc grooves 1214 are formed at the bottom of the circular groove 1213, and the guide arc grooves 1214 are used to accommodate the guide columns 1134.

[0073] refer to Figure 3 and Fig.10 The transmission member 122 includes a transmission slider 1221, a transmission rack 1222 and a transmission gear 1223. The transmission slider 1221 is slidably connected to the second follower 113 and is used to drive the transmission rack 1222 to move axially. The transmission gear 1223 cooperates with the transmission rack 1222 and the swing mechanism 130 at the same time.

[0074] It is worth noting that there are two transmission sliders 1221, and long grooves are provided on the top surfaces of the two transmission sliders 1221, which extend in a direction perpendicular to the transmission rack 1222. The guide column 1134 can pass through the arc groove 1133 and extend into the long groove, so that the guide column 1134 can slide in the long groove while making an arc motion, thereby converting the arc motion into a sliding motion of the transmission slider 1221 in the extension direction of the transmission rack 1222, so as to drive the transmission gear 1223 to rotate.

[0075] In addition, the swing mechanism 130 includes a steering rod 131 and a steering gear 132 . The steering gear 132 is disposed at an end of the steering rod 131 , and the steering gear 132 cooperates with the transmission gear 1223 .

[0076] It can be understood that when the second follower 113 rotates, the transmission rack 1222 can be driven to move axially through the transmission slider 1221, and then the transmission gear 1223 can be driven to rotate, and the cooperation between the transmission gear 1223 and the steering gear 132 can be used to make the steering gear 132 drive the steering rod 131 to rotate, thereby realizing power transmission.

[0077] It is worth noting that in other embodiments of the present invention, the transmission member 122 and the swingable mechanism 130 may also be other belt drive or chain drive structures, and the specific rotation structure thereof is not limited.

[0078] refer to Figure 1 and Figure 2 An embodiment of the present invention further provides a surgical instrument 1000, including a main housing 200, an end effector 400 and a transmission chain 100 for the surgical instrument. The screwing mechanism 110 and the extending mechanism 120 are both arranged on the main housing 200. The end effector 400 is connected to the main housing 200 and the swing mechanism 130. The swing mechanism 130 can drive the end effector 400 to swing synchronously or lock synchronously when swinging or locking.

[0079] It should be noted that the specific working principle of the transmission chain 100 for surgical instruments is as follows:

[0080] Before applying force to tighten the knob cover 1111, the two locking rods 1141, under the elastic action of the second elastic member 1142, press the third bevel teeth 1131 on the second follower member 113 via the locking teeth 1143, so that the second follower member 113 can remain in a locked state and will not easily drive the transmission slider 1221 to slide, thereby making the transmission rack 1222, the transmission gear 1223 and the swing mechanism 130 all remain in a locked state, so that the end actuator 400 can also remain locked and will not easily swing due to the reaction force.

[0081] When the staff applies force to turn the knob cover 1111, the convex structure can drive the rotating disk 1112 to rotate synchronously. Under the abutment of the first elastic member 1115, the first follower 112 is pressed against the upper side of the rotating disk 1112, and the second beveled teeth 1123 cooperate with the first beveled teeth 1113, so that the rotating disk 1112 can drive the first follower 112 to rotate synchronously. When the first follower 112 rotates, the two first arms 1122 rotate synchronously. After rotating a certain angle, one of the first arms 1122 will contact one of the locking rods 1141 and abut the locking rod 1141 to rotate, and the third elastic member 1211 will be squeezed during the abutment process. After the locking rod 1141 rotates, the locking teeth 1143 on the locking rod 1141 will disengage from the third beveled teeth 1131, thereby unidirectionally unlocking the second follower 113. At this time, the locking tooth 1143 on the other locking rod 1141 is still against the third oblique tooth 1131 , so the second follower 113 is still in a locked state in this direction, and thus the bidirectional unlocking effect cannot be achieved.

[0082] After unlocking, the second follower 113 can rotate with the rotating disk 1112, and during the rotation process, the rotational motion can be converted into linear motion through the cooperation of the guide column 1134 and the transmission slider 1221, so that the transmission slider 1221 drives the transmission rack 1222 to move axially, thereby driving the transmission gear 1223 to rotate, and then driving the steering gear 132 to rotate, so as to achieve the swing drive of the steering rod 131, thereby driving the end effector 400 to swing. The second follower 113 can rotate in two directions, thereby driving the transmission slider 1221 and the transmission rack 1222 to slide in two directions, so that the transmission gear 1223 and the steering gear 132 can also rotate in two directions, which is reflected in that the steering rod 131 and the end effector 400 can also swing in two directions.

[0083] In summary, the transmission chain 100 for surgical instruments and the surgical instrument 1000 provided by the embodiments of the present invention have at least the following advantages:

[0084] (1) During operation, the locking member 114 can be used to lock the second follower 113 so that the swing angle of the swing mechanism 130 relative to the extension mechanism 120 is stable. When the angle needs to be adjusted, the driving member 111 applies force to first drive the first follower 112 to rotate so that the locking member 114 unlocks the second follower 113, and the unlocked second follower 113 can rotate with the driving member 111, so that the swing angle of the swing mechanism 130 can be adjusted through the extension mechanism 120.

[0085] (2) During operation, the first arm 1122 connected to the first rotating disk 1121 can be used to unlock one of the two locking rods 1141, while the other locking rod 1141 will continue to abut against the second follower 113, thereby achieving unidirectional rotation of the second follower 113.

[0086] (3) During operation, by providing the third elastic member 1211 and utilizing the cooperation between the first protrusion 1212, the through groove 1132 and the arc groove 1133, the second follower 113 can increase the gear sense and damping sense during the rotation relative to the third elastic member 1211, so that the staff can feel the working state of the second follower 113 more accurately.

[0087] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A transmission chain for surgical instruments, characterized in that: include: A screwing mechanism (110), an extending mechanism (120), and a swinging mechanism (130); The screwing mechanism (110) comprises a driving member (111), a first follower (112), a second follower (113) and a locking member (114); the locking member (114) is used to lock and unlock the second follower (113); the proximal end of the extending mechanism (120) is slidably connected to the second follower (113); and the swinging mechanism (130) is rotatably connected to the distal end of the extending mechanism (120); The driving member (111) comprises a knob cover (1111) and a rotating disk (1112); the rotating disk (1112) is drivingly connected to the knob cover (1111); the rotating disk (1112) is coaxially arranged with the first driven member (112) and the second driven member (113); the first driven member (112) is arranged between the knob cover (1111) and the rotating disk (1112); and the rotating disk (1112) cooperates with the first driven member (112); The first follower (112) is used to rotate with the rotating disk (1112), and the first follower (112) is used to move axially away from the rotating disk (1112), so that the rotating disk (1112) can continue to rotate after the first follower (112) reaches the limit position; The first follower (112) is used to drive the locking member (114) to unlock the second follower (113); the second follower (113) is used to rotate with the driving member (111) in an unlocked state and drive the extending mechanism (120) to slide, so that the swing mechanism (130) performs a swinging motion.

2. The transmission chain for surgical instruments according to claim 1, characterized in that: A first oblique tooth (1113) and a second oblique tooth (1123) are respectively formed on the mutually adjacent sides of the rotating disk (1112) and the first driven member (112), and the first oblique tooth (1113) cooperates with the second oblique tooth (1123).

3. The transmission chain for surgical instruments according to claim 2, characterized in that: The driving member (111) further comprises a first elastic member (1115), wherein the first elastic member (1115) is abutted between the knob cover (1111) and the first follower (112), the first elastic member (1115) being used to abut the first follower (112) in a relaxed state so that the first follower (112) cooperates with the rotating disk (1112), and the first follower (112) being used to compress the first elastic member (1115) in the process of moving away from the rotating disk (1112).

4. The transmission chain for surgical instruments according to claim 1, characterized in that: The locking member (114) comprises two locking rods (1141) arranged at intervals, one end of each of the two locking rods (1141) being rotatably connected to the extension mechanism (120), and the other end being used to lock or unlock the second follower member (113), and the first follower member (112) being used to unlock one of the locking rods (1141) so as to allow the second follower member (113) to rotate in one direction.

5. The transmission chain for surgical instruments according to claim 4, characterized in that: The locking member (114) further comprises two second elastic members (1142), the two second elastic members (1142) are both connected to the extension mechanism (120) and correspond one-to-one to the two locking rods (1141), the second elastic member (1142) is used to abut against the locking rod (1141) in a relaxed state to lock the second follower member (113), and the locking rod (1141) is used to compress the second elastic member (1142) in an unlocked state.

6. The transmission chain for surgical instruments according to claim 4, characterized in that: A third oblique tooth (1131) is formed on the second follower (113), and a locking tooth (1143) is formed at the end of the locking rod (1141), and the locking tooth (1143) cooperates with the third oblique tooth (1131).

7. The transmission chain for surgical instruments according to claim 1, characterized in that: The first driven member (112) comprises a first rotating disk (1121) and a first support arm (1122); the first rotating disk (1121) cooperates with the rotating disk (1112) and is coaxially arranged; the first support arm (1122) is used to abut against the locking member (114) to unlock the second driven member (113).

8. The transmission chain for surgical instruments according to any one of claims 1 to 7, characterized in that: The extension mechanism (120) comprises an extension shell (121) and a transmission member (122); the driving member (111) is arranged on the upper side of the extension shell (121); the first follower member (112), the second follower member (113) and the locking member (114) are all accommodated between the extension shell (121) and the driving member (111); a third elastic member (1211) is arranged in the extension shell (121); the third elastic member (1211) is used to resist the second follower member (113); the proximal end of the transmission member (122) is slidably connected to the second follower member (113); and the swing mechanism (130) is rotatably connected to the distal end of the transmission member (122).

9. The transmission chain for surgical instruments according to claim 8, characterized in that: A first protrusion (1212) is formed on the third elastic member (1211), and a through groove (1132) and an arc-shaped groove (1133) are formed on the second follower member (113), the through groove (1132) and the arc-shaped groove (1133) are spaced apart, and the first protrusion (1212) is accommodated in the through groove (1132) or the arc-shaped groove (1133).

10. The transmission chain for surgical instruments according to claim 8, characterized in that: The transmission member (122) comprises a transmission slider (1221), a transmission rack (1222) and a transmission gear (1223); the transmission slider (1221) is slidably connected to the second follower member (113) and is used to drive the transmission rack (1222) to move axially; the transmission gear (1223) cooperates with the transmission rack (1222) and the swing mechanism (130) at the same time.

11. The transmission chain for surgical instruments according to claim 10, characterized in that: The swing mechanism (130) comprises a steering rod (131) and a steering gear (132); the steering gear (132) is arranged at the end of the steering rod (131); and the steering gear (132) cooperates with the transmission gear (1223).

12. A surgical instrument, characterized in that: The invention comprises a main housing (200), an end effector (400) and a transmission chain for a surgical instrument as claimed in any one of claims 1 to 11, wherein the screwing mechanism (110) and the extending mechanism (120) are both arranged on the main housing (200), and the end effector (400) is connected to the main housing (200) and the swinging mechanism (130).

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