Universal motion driving mechanism and surgical instrument

Abstract

The invention discloses a universal movement driving mechanism and a surgical instrument, and relates to the field of medical instruments. The universal motion driving mechanism comprises a joint group, a base, a control piece and a driving wire; an inner ball is arranged on the side, adjacent to the control piece, of the base, an outer ball sleeve is arranged on the control piece, a coupling cavity is formed in the outer ball sleeve, and the inner ball is movably arranged in the coupling cavity in a limited mode. The outer ball sleeve rotates relative to the inner ball body, so that the control piece pulls all the driving lines to drive the joint set, the bending angle of deflection of the joint set in the direction of the extending axis of the joint set is adjusted, the movement position of a front-end instrument connected to the joint set is flexibly adjusted, and the application requirement in the complex operation environment is met. The structural design of the control end is optimized, universal movement of a front-end instrument is effectively controlled, the adjusting capacity of the driving mechanism is improved, and the control precision and effect of medical staff on operation in the operation process are improved.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a universal motion drive mechanism and a surgical instrument. Background Art

[0002] Minimally invasive surgery is a type of surgery performed through a small incision or natural orifice. Compared with traditional open surgery, it has the advantages of less trauma, faster recovery, and shorter hospital stay. With the development of medical technology, minimally invasive surgical instruments are also constantly being updated and improved. Among them, universal rotating minimally invasive surgical instruments are an important tool that can achieve precise operation of the surgical site and reduce surgical risks.

[0003] Most of the current universal motion minimally invasive surgical instruments achieve universal motion through joint manipulation with superimposed strokes in two directions. Although this structure can achieve universal rotation in some areas, its flexibility is actually limited and it is impossible to fully achieve universal motion. The unreasonable design of the control end structure cannot effectively control the universal motion of the front end structure, which affects the control accuracy and effect of the medical staff during the operation. Therefore, in actual applications, the existing universal motion minimally invasive surgical instruments are difficult to meet the application requirements in complex surgical environments. Summary of the invention

[0004] In order to solve the technical problems raised by the above background technology, the present invention provides a universal motion driving mechanism, comprising:

[0005] A joint assembly, suitable for fixed connection with a front-end instrument;

[0006] A base, fixedly connected to the joint assembly;

[0007] A control member movably connected to the base;

[0008] and at least three driving wires, one end of any of the driving wires being fixedly connected to the joint assembly, the other end of the driving wire being fixedly connected to the control member, and the driving wires being slidably disposed on the base;

[0009] The universal motion drive mechanism has an initial straight state and an adjustment state; when the universal motion drive mechanism is in the initial straight state, all the drive lines are arranged in a ring array;

[0010] Among them, an inner sphere is provided on one side of the base adjacent to the operating member, and an outer ball sleeve is arranged on the operating member, a coupling cavity is provided in the outer ball sleeve, and the inner sphere is limited and movablely arranged in the coupling cavity; when the universal motion drive mechanism is in an adjustment state, by controlling the outer ball sleeve to rotate relative to the inner sphere, the operating member can pull all the driving lines so that all the driving lines drive the joint group to adjust the bending angle of the joint group to be deflected along the direction of its extension axis.

[0011] As a preferred technical solution, a recessed portion is provided on the base, and the recessed portion is arranged on the outer wall surface of the inner sphere; a raised portion is provided on the operating member, and the raised portion is arranged on the inner wall surface of the coupling cavity; the recessed portion and the raised portion are slidably configured, and at least one raised portion is provided.

[0012] As a preferred technical solution, two protrusions are provided, the two protrusions are extended and arranged on the inner wall surface of the coupling cavity facing each other, and the two protrusions and the recessed portion are slidably arranged.

[0013] As a preferred technical solution, the base includes a fixedly connected shaft neck and a connecting seat body, the shaft neck and the inner sphere are fixedly connected, the connecting seat body and the joint group are relatively fixedly arranged, and the shaft neck is extended along its axial direction so that the connecting seat body and the outer ball sleeve movably connected to the inner sphere are avoided.

[0014] As a preferred technical solution, the connecting seat body is provided with an outward expansion portion, and in the direction from the connecting seat body toward the inner sphere, the outward expansion portion is gradually radially expanded.

[0015] As a preferred technical solution, the connecting seat body is provided with a wire hole and a wire groove, the outer expansion part is provided with a wiring hole, the wire groove is connected and arranged between the wire hole and the wiring hole, and the wire hole, wire groove and wiring hole are used together for limited sliding with the driving wire.

[0016] As a preferred technical solution, the outer ball sleeve is provided with a wiring groove and a fixed column, the wiring groove and the driving line are slidably arranged, the fixed column and the proximal end of the driving line are fixedly connected, the wiring groove and the fixed column are correspondingly arranged, and the fixed column and the driving line are correspondingly arranged.

[0017] As a preferred technical solution, the joint group includes a top cover, a joint monomer and a joint seat which are connected in series and arranged for mutual transmission. There are at least three joint monomers, and all of the joint monomers are arranged in series between the top cover and the joint seat in sequence. The driving line is fixedly connected to the top cover, the driving line is slidably connected to the joint monomer, and the driving line is slidably connected to the joint seat.

[0018] As a preferred technical solution, a wire passing hole is provided on the joint monomer, and the driving wire is slidably passed through the wire passing hole, and the wire passing hole is arranged corresponding to the driving wire; a connecting cavity is provided on one side of the joint monomer, a connecting part is provided in the connecting cavity, and a transmission part is provided on the side of the joint monomer away from the connecting cavity, and the two adjacent joint monomers are connected and arranged for transmission via the connecting cavity, the connecting part and the transmission part.

[0019] As a preferred technical solution, the two adjacent joint monomers are arranged through a spherical hinge, the transmission part is configured as two transmission protrusions arranged in pairs and spaced apart, any one of the transmission protrusions is provided with an outer spherical surface, and an inner spherical surface is constructed on the wall surface of the connecting cavity, the outer spherical surface and the inner spherical surface are matched by spherical friction, and the end surfaces facing each other of the transmission protrusions arranged in pairs are provided with inner limit surfaces, and the connecting part is configured as two connecting protrusions arranged in pairs and spaced apart, any one of the connecting protrusions is provided with a cylindrical surface, and the inner limit surface and the cylindrical surface are matched by sliding friction.

[0020] As a preferred technical solution, a fixing hole is provided on the top cover, and the distal end of the driving wire is installed in the fixing hole, and the fixing hole is arranged corresponding to the driving wire; a connecting cavity is provided on the side of the top cover facing the joint monomer, and a connecting part is provided in the connecting cavity, and the top cover and the adjacent joint monomer are connected for transmission via the connecting cavity, the connecting part and the transmission part.

[0021] As a preferred technical solution, a threading hole is provided on the joint seat, and the driving line is slidably passed through the threading hole, and the threading hole is arranged corresponding to the driving line; a force transmission part is provided on the side of the joint seat adjacent to the joint monomer, and the joint seat and the adjacent joint monomer are connected to each other through the force transmission part, the connecting cavity and the connecting part.

[0022] As a preferred technical solution, the universal motion drive mechanism also includes a connecting member, one end of which is fixedly connected to the joint group, and the other end of which is fixedly connected to the base. A through cavity is provided in the connecting member, and all the drive lines are passed through the through cavity.

[0023] As a preferred technical solution, the connecting member is configured as a rigid sleeve member or a part of the middle section is configured as a flexible sleeve member.

[0024] As a preferred technical solution, the connecting component includes a flexible tube, a first connecting tube and a second connecting tube, the flexible tube is fixedly connected between the first connecting tube and the second connecting tube, the first connecting tube is fixedly connected to the joint group, and the second connecting tube is fixedly connected to the base.

[0025] As a preferred technical solution, a protective tube is disposed on the outer sleeve of any driving wire, and the protective tube and the driving wire are correspondingly configured for sliding.

[0026] As a preferred technical solution, a limiting sleeve is installed in the through cavity, and a limiting groove is provided on the limiting sleeve to limit sliding with the driving line. There are multiple limiting grooves, and the multiple limiting grooves are arranged in a ring array.

[0027] As a preferred technical solution, the universal motion drive mechanism is provided with an intervention channel, and an intra-articular channel is provided in the joint group; a connecting channel is provided on the base, and the connecting channel passes through the inner sphere, the shaft neck and the connecting seat body; a through hole is provided on the control member, and the through hole passes through the outer ball sleeve, the connecting channel and the through hole are connected, and the intra-articular channel, the through cavity, the connecting channel and the through hole are combined to constitute the intervention channel.

[0028] The present invention also provides a surgical instrument, comprising the above-mentioned universal motion driving mechanism.

[0029] The technical solution provided by the present invention has the following advantages:

[0030] The universal motion drive mechanism provided by the present invention comprises a joint group, a base, a control member and a drive line; the joint group is suitable for being fixedly connected to a front-end instrument, the base is fixedly connected to the joint group, and the control member is movably connected to the base; at least three drive lines are provided, one end of any drive line is fixedly connected to the joint group, and the other end of the drive line is fixedly connected to the control member, and the drive line is slidably passed through the base; the universal motion drive mechanism has an initial straight line state and an adjustment state; when the universal motion drive mechanism is in the initial straight line state, all the drive lines are arranged in a ring array; an inner sphere is provided on one side of the base adjacent to the control member, an outer ball sleeve is arranged on the control member, a coupling cavity is provided in the outer ball sleeve, and the inner sphere limiter is movably arranged in the coupling cavity; when the universal motion drive mechanism is in the adjustment state, by controlling the outer ball sleeve to rotate relative to the inner sphere, the control member can pull all the drive lines so that all the drive lines drive the joint group to adjust the bending angle of the joint group to be deflected along the direction of its extension axis.

[0031] The universal motion drive mechanism of this structure is caused by the rotation of the outer ball sleeve on the control member relative to the inner ball on the base, so that the control member pulls all the drive lines to drive the joint group to adjust the bending angle of the joint group to be deflected along the extension axis direction, so that the control member can flexibly adjust the movement position of the front-end instrument connected to the joint group to meet the application requirements in complex surgical environments in practical applications. The present invention optimizes the structural design on the control end, effectively controls the universal motion of the front-end instrument, avoids the limitation of its motion range, improves the adjustment ability of the drive mechanism, and achieves the purpose of being able to flexibly drive the front-end instrument to perform universal motion. The universal motion drive mechanism provided by the present invention can improve the control accuracy and effect of medical personnel on the operation of the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] Figure 1 A schematic diagram of the structure of the universal motion drive mechanism provided by the present invention;

[0034] Figure 2 A schematic diagram of the structure of a joint group in a universal motion drive mechanism provided by the present invention;

[0035] Figure 3 A schematic diagram of the connection of the joint group in the universal motion drive mechanism provided by the present invention;

[0036] Figure 4 A schematic structural diagram of a connecting member in a universal motion drive mechanism provided by the present invention;

[0037] Figure 5 A cross-sectional schematic diagram of a connecting member in the universal motion drive mechanism provided by the present invention;

[0038] Figure 6 A schematic diagram of the connection between the driving wire and the limiting sleeve in the universal motion driving mechanism provided by the present invention;

[0039] Figure 7 A three-dimensional schematic diagram of a base in the universal motion drive mechanism provided by the present invention;

[0040] Figure 8 A schematic diagram of the structure of a base in the universal motion drive mechanism provided by the present invention;

[0041] Fig. 9A schematic diagram of the connection between the base and the control member in the universal motion drive mechanism provided by the present invention;

[0042] Fig.10 A three-dimensional schematic diagram of a control member in a universal motion drive mechanism provided by the present invention;

[0043] Fig.11 A schematic structural diagram of an external perspective of a control member in a universal motion drive mechanism provided by the present invention;

[0044] Fig.12 A schematic diagram of the structure of a joint unit in the universal motion drive mechanism provided by the present invention;

[0045] Fig.13 A three-dimensional schematic diagram of a joint monomer in the universal motion drive mechanism provided by the present invention;

[0046] Description of reference numerals:

[0047] 1-joint assembly; 11-top cover; 111-fixing hole; 112-connection cavity; 113-connection part; 12-joint monomer; 121-thread hole; 122-connection cavity; 1221-inner spherical surface; 123-connection part; 1231-cylindrical surface; 124-transmission part; 1241-outer spherical surface; 1242-inner limit surface; 13-joint seat; 131-threading hole; 132-force transmission part;

[0048] 2-connecting member; 21-limiting sleeve; 22-flexible tube; 23-first connecting tube; 24-second connecting tube; 25-first fixing member; 26-second fixing member;

[0049] 3-base; 31-inner sphere; 32-recessed portion; 33-shaft neck; 34-connecting seat body; 341-outward expansion portion; 342-wire hole; 343-wire groove; 344-wire hole; 35-connecting channel;

[0050] 4-control part; 41-outer ball sleeve; 411-wiring slot; 412-fixing column; 42-protrusion; 43-through hole;

[0051] 5-Protective tube. DETAILED DESCRIPTION

[0052] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0053] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] 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.

[0056] Example

[0057] This embodiment provides a universal motion drive mechanism. Figures 1 to 11 , which includes a joint group 1, a base 3, a control member 4 and a driving line (not shown in the figure); the joint group 1 is suitable for being fixedly connected to the front-end instrument, the base 3 is fixedly connected to the joint group 1, and the control member 4 is movably connected to the base 3; three or more driving lines are provided, one end of any driving line is fixedly connected to the joint group 1, and the other end of the driving line is fixedly connected to the control member 4, and the driving line is slidably passed through the base 3.

[0058] In this embodiment, see Figure 1 , Figure 7 and Fig. 9, the universal motion drive mechanism has an initial straight state and an adjustment state; when the universal motion drive mechanism is in the initial straight state, all the drive lines are arranged in a circular array; an inner sphere 31 is provided on one side of the base 3 adjacent to the operating member 4, and an outer sphere sleeve 41 is arranged on the operating member 4, and a coupling cavity is arranged in the outer sphere sleeve 41, and the inner sphere 31 is limited and movable in the coupling cavity; when the universal motion drive mechanism is in the adjustment state, by controlling the outer sphere sleeve 41 to rotate relative to the inner sphere 31, the operating member 4 can pull all the drive lines so that all the drive lines drive the joint group 1 to adjust the bending angle of the joint group 1 along the extension axis direction. The relative rotation between the outer sphere sleeve 41 and the inner sphere 31 drives the drive line to change in displacement, and the overall length of each drive line is fixed. The operating member 4 is used to pull one end of the drive line so that the joint group 1 connected to the other end of the drive line is deflected and bent, thereby achieving the purpose of adjusting the movement position of the front-end instrument configured on the joint group 1.

[0059] As a specific implementation, see Figure 2 The joint assembly 1 includes a top cover 11, a joint monomer 12 and a joint seat 13 which are connected in series and arranged to drive each other. All joint monomers 12 are arranged in series between the top cover 11 and the joint seat 13 in sequence. The driving line is fixedly connected to the top cover 11, the driving line is slidably connected to the joint monomer 12, and the driving line is slidably connected to the joint seat 13. The front end instrument is connected by the top cover 11, the joint monomer 12 is used as a movable part adapted to the linkage top cover 11, and the joint seat 13 is used to connect the proximal end of the joint monomer 12. When the universal motion drive mechanism is in the initial straight line state, the top cover 11, the joint monomer 12 and the joint seat 13 are arranged coaxially.

[0060] In an exemplary embodiment, see Figure 2 , three joint monomers 12 are provided, and the joint group 1 deflects by pulling the top cover 11 through the displacement of the driving line. The joint monomer 12 is configured with two degrees of freedom, and the deflection angle of any joint monomer 12 is set to 30°. Of course, more than three joint monomers 12 can be provided, and the joint deflection angle is not limited to 30°. When the control member 4 pulls all the driving lines, only the movement of the joint group 1 in two degrees of freedom is adjusted; when it is necessary to adjust the joint group 1 and the front end instrument connected thereto to perform self-rotation, the base 3 can be rotated so that the base 3 drives the joint group 1 and the front end instrument connected thereto to perform self-rotation adjustment.

[0061] In a specific embodiment, see Figure 3A connecting cavity 122 is provided on one side of the joint monomer 12, a connecting portion 123 is provided in the connecting cavity 122, a transmission portion 124 is provided on the side of the joint monomer 12 facing away from the connecting cavity 122, and two adjacent joint monomers 12 are connected to each other through the connecting cavity 122, the connecting portion 123 and the transmission portion 124. A connecting cavity 112 is provided on the side of the top cover 11 facing the joint monomer 12, a connecting portion 113 is provided in the connecting cavity 112, and the top cover 11 and the adjacent joint monomer 12 are connected to each other through the connecting cavity 112, the connecting portion 113 and the transmission portion 124. A force transmission portion 132 is provided on the side of the joint seat 13 adjacent to the joint monomer 12, and the joint seat 13 and the adjacent joint monomer 12 are connected to each other through the force transmission portion 132, the connecting cavity 122 and the connecting portion 123.

[0062] In some embodiments, see Figure 3 A wire hole 121 is provided on the joint monomer 12, and the driving wire slides through the wire hole 121, and the wire hole 121 is arranged corresponding to the driving wire; four wire holes 121 can be provided, and the wire holes 121 are dispersed at 90° on the joint monomer 12; of course, the number of wire holes 121 is not limited to four, and the dispersion angle is not limited to 90°.

[0063] In some embodiments, see Figure 3 A fixing hole 111 is provided on the top cover 11, and the distal end of the driving wire is installed in the fixing hole 111 and can be fixed by welding or clamping. The fixing hole 111 is arranged corresponding to the driving wire; four fixing holes 111 can be arranged, and the fixing holes 111 are dispersed at 90° on the joint monomer 12; of course, the number of fixing holes 111 is not limited to four, and the dispersion angle is not limited to 90°.

[0064] In some embodiments, see Figure 3 A threading hole 131 is provided on the joint seat 13, and the driving line is slidably passed through the threading hole 131, and the threading hole 131 is correspondingly arranged with the driving line; four threading holes 131 can be arranged, and the threading holes 131 are dispersed at 90° on the joint monomer 12; of course, the number of threading holes 131 is not limited to four, and the dispersion angle is not limited to 90°.

[0065] As an exemplary embodiment, two adjacent joint monomers 12 are arranged through spherical hinges to achieve smooth and flexible adjustment of the bending posture of the joint assembly 1 to transmit and adjust the movement position of the front-end instrument.

[0066] In a specific embodiment, see Figure 3 , Fig.12 and Fig.13The transmission part 124 is configured as two transmission protrusions arranged in pairs and at intervals, and an outer spherical surface 1241 is provided on any transmission protrusion. An inner spherical surface 1221 is constructed on the wall of the connecting cavity 122. The outer spherical surface 1241 and the inner spherical surface 1221 are matched by spherical friction. The end surfaces facing each other of the transmission protrusions arranged in pairs are provided with inner limit surfaces 1242. The connecting part 123 is configured as two connecting protrusions arranged in pairs and at intervals, and a cylindrical surface 1231 is provided on any connecting protrusion. The inner limit surface 1242 and the cylindrical surface 1231 are matched by sliding friction. When the driving line is pulled along with the control end, the two adjacent joint monomers 12 abutted by the driving line are deflected and bent, and the two paired transmission protrusions are spherically matched with the inner spherical surface 1221 through the spherical friction fit between the outer spherical surface 1241 thereon, so that the two transmission protrusions can move smoothly inside the connecting cavity 122; at the same time, the cylindrical surface 1231 on the connecting protrusion and the inner limit surface 1242 on the transmission protrusion are limited and slidably matched, and the sliding fit between the cylindrical surface 1231 and the inner limit surface 1242 can play a role in constraining the movement of the transmission part 124, and correspondingly promote the movement of the transmission part 124 in the connecting cavity. This arrangement can make the transmission part 124 on one joint monomer 12 deflect around the connecting part 123 on another joint monomer 12, and move through spherical hinge in the connecting cavity 122 of the other joint monomer 12, which is beneficial to enhance the movement accuracy and stability of the bending and deflection between the joint monomers 12.

[0067] In a specific implementation, the transmission protrusion is configured as a hemispherical structure, and the connecting protrusion is configured as a cylindrical structure; the gap between the two transmission protrusions forms a notch space, and the connecting protrusion is assembled by limiting the notch space.

[0068] Furthermore, the top cover 11 and the joint seat 13 are also configured with the same connection transmission structure, so that the top cover 11 and the joint monomer 12 are spherically hinged, and the joint seat 13 is also spherically hinged with the joint monomer 12, so as to improve the bending flexibility of the joint group 1 and strengthen the compact design of the overall universal motion drive mechanism structure.

[0069] Specifically, the connecting cavity 112 provided on the top cover 11 adjacent to the joint monomer 12 is set to the same structure as the connecting cavity 122 on the joint monomer 12, the connecting portion 113 provided on the top cover 11 adjacent to the joint monomer 12 is set to the same structure as the connecting portion 123 on the joint monomer 12, the connecting cavity 112 on the top cover 11 is spherically frictionally matched with the force transmission portion 132 on the joint monomer 12 adjacent to the top cover 11, and the connecting portion 113 on the top cover 11 is slidingly frictionally matched with the force transmission portion 132 on the joint monomer 12 adjacent to the top cover 11, so that the top cover 11 and the joint monomer 12 adjacent to it are flexibly spherically hingedly configured. The force transmission part 132 arranged on the joint seat 13 adjacent to the joint monomer 12 is set to the same structure as the transmission part 124 on the joint monomer 12. The force transmission part 132 on the joint seat 13 is spherically frictionally matched with the connecting cavity 122 on the joint monomer 12 adjacent to the joint seat 13. The force transmission part 132 on the joint seat 13 is spherically frictionally matched with the connecting part 123 on the joint monomer 12 adjacent to the joint seat 13, so that the joint seat 13 and the joint monomer 12 adjacent to it are flexibly hinged in the spherical surface.

[0070] As an exemplary embodiment, see Figure 2 The universal motion drive mechanism also includes a connecting member 2, one end of which is fixedly connected to the joint group 1, and the other end of which is fixedly connected to the base 3. A through cavity is provided in the connecting member 2, and all driving lines are passed through the through cavity. The joint group 1 and the base 3 are connected by the connecting member 2 to establish a connection between the front-end instrument and the control end, so that the front-end instrument can be inserted into the surgical area, the control end is far away from the human body, and the control end and the execution end are separated, thereby providing convenience for user control.

[0071] In a specific embodiment, see Figure 1 The connecting member 2 is configured as a rigid sleeve member, which can ensure the relative axial accuracy between the joint assembly 1 and the control end.

[0072] In another embodiment, the connecting member 2 is configured as a flexible sleeve with a portion of the middle section configured. Through the flexible configuration, the control end and the joint assembly 1 can be axially misaligned and adjusted to adjust the position and posture of the joint assembly 1 and the front-end instrument connected thereto, thereby improving the flexibility of operation.

[0073] As a further embodiment, see Figure 4 and Figure 5 The connecting member 2 includes a flexible tube 22, a first connecting tube 23 and a second connecting tube 24. The flexible tube 22 is fixedly connected between the first connecting tube 23 and the second connecting tube 24. The first connecting tube 23 is fixedly connected to the joint assembly 1, and the second connecting tube 24 is fixedly connected to the base 3. The user can axially displace the control end and the joint assembly 1 by operating the first connecting tube 23 and the second connecting tube 24, and the adjustment operation is convenient.

[0074] As a preferred embodiment, the flexible tube 22 can be configured as a snake-bone portion, which can prevent the relative change of the driving line from being affected by the bending of the flexible tube 22 , thereby ensuring that the driving line moves stably and reliably under the pulling action of the operating member 4 .

[0075] In some embodiments, see Figure 4 and Figure 5 The connecting member 2 further comprises a first fixing member 25 and a second fixing member 26. The first fixing member 25 is used to fix the flexible tube 22 and the first connecting tube 23. The second fixing member 26 is used to fix the flexible tube 22 and the second connecting tube 24. Any fixing member can be set as a sleeve fixing member.

[0076] As a preferred embodiment, see Figure 6 A limiting sleeve 21 is installed in the through cavity, and a limiting groove is provided on the limiting sleeve 21 to limit the sliding arrangement with the driving wire. The number of the limiting grooves is not limited to four, and the number corresponds to the number of driving wires, and the plurality of limiting grooves are arranged in a ring array. The limiting sleeve 21 constrains and guides the sliding of the driving wire, thereby enhancing the movement stability of the driving wire, which is conducive to improving the movement accuracy of the operating member 4 pulling the driving wire.

[0077] As a preferred embodiment, a protective tube 5 is disposed on the outer sleeve of any driving wire, and the protective tube 5 and the driving wire are configured to slide correspondingly. This arrangement can prevent the driving wires from interfering with each other in the connecting member 2, and the movement of each driving wire is limited by the protective tube 5, which is conducive to ensuring the reliability of the wire drive movement. Specifically, the two ends of the protective tube 5 can be connected to the joint seat 13 and the limiting sleeve 21 respectively.

[0078] In this embodiment, see Figures 7 to 10 A recessed portion 32 is provided on the base 3, and the recessed portion 32 is arranged on the outer wall surface of the inner sphere 31. A protrusion 42 is provided on the operating member 4, and the protrusion 42 is arranged on the inner wall surface of the coupling cavity. The recessed portion 32 and the protrusion 42 are slidably configured, and one or more protrusions 42 are provided.

[0079] In a specific embodiment, the recessed portion 32 is configured as a semi-annular groove body, and the protruding portion 42 is configured as a cylindrical protrusion. When the outer ball sleeve 41 and the inner ball body 31 rotate relative to each other, the cylindrical protrusion slides in the semi-annular groove body.

[0080] As a preferred embodiment, two protrusions 42 are provided, and the two protrusions 42 extend and face each other on the inner wall surface of the coupling cavity, and the two protrusions 42 and the recessed portion 32 are slidably arranged. For the inner sphere 31 on the base 3 and the outer ball sleeve 41 on the control member 4, the two limit the freedom of movement through spherical contact, and the relative movement position of the two is adjusted by the cooperation between the two protrusions 42 and the one recessed portion 32, so as to provide two degrees of freedom of rotation around the X-axis and the Y-axis.

[0081] In a basic embodiment, three driving lines are provided, one recessed portion 32 is provided, and one raised portion 42 is provided; preferably, two raised portions 42 are provided.

[0082] In an exemplary embodiment, four driving wires are provided, one concave portion 32 is provided, and two convex portions 42 are provided.

[0083] As a preferred embodiment, see Figures 7 to 9 The base 3 includes a journal 33 and a connecting seat 34 which are fixedly connected. The journal 33 and the inner sphere 31 are fixedly connected. The connecting seat 34 and the joint assembly 1 are relatively fixedly arranged. The journal 33 is extended along its axial direction so that the connecting seat 34 and the outer ball sleeve 41 which is movably connected to the inner sphere 31 are arranged to avoid each other. The journal 33 provides a space for the outer edge of the outer ball sleeve 41 to move close to the connecting seat 34, so as to avoid constraining the relative rotation of the outer ball sleeve 41 and the inner sphere 31.

[0084] In some embodiments, the joint seat 13 can be fixedly connected to the distal end of the connecting member 2, and the connection method can be connected by fasteners, gap clamping of the set, welding, etc. The connecting seat body 34 can be fixedly connected to the proximal end of the connecting member 2, and the connection method can also be connected by fasteners, gap clamping of the set, welding, etc.

[0085] As a preferred embodiment, see Figure 7 The connecting seat 34 is provided with an expansion portion 341, which is gradually radially expanded in the direction from the connecting seat 34 to the inner sphere 31. The movement path of the driving wire is adjusted by radially expanding the expansion portion 341, so that the driving wire can be gradually adjusted outward to adapt to the size of the control member 4, so that the control member 4 can effectively pull the driving wire to implement the bending adjustment. In a specific embodiment, the outer wall surface of the expansion portion 341 is set as a curved surface transition, so that the movement and adjustment of the driving wire are smooth.

[0086] The universal motion drive mechanism provided in this embodiment expands the motion path of the drive line outwardly through the external expansion portion 341, which satisfies the motion range of the inner sphere 31 and the outer ball sleeve 41 and is easy to adjust the front end; it is also beneficial to reduce the adjustment sensitivity of the wire drive motion and improve the accuracy of the front end instrument operation stage.

[0087] As a preferred embodiment, see Figure 8 The connecting seat 34 is provided with a wire hole 342 and a wire groove 343, the outer expansion portion 341 is provided with a wire fixing hole 344, the wire groove 343 is connected and arranged between the wire hole 342 and the wire fixing hole 344, and the wire hole 342, the wire groove 343 and the wire fixing hole 344 are used together for limited sliding with the driving wire. The driving wire on the base 3 is positioned by the wire hole 342 and the wire fixing hole 344, and the wire groove 343 guides the movement of the driving wire to improve the movement accuracy of the driving wire.

[0088] As a preferred embodiment, see Fig.10 and Fig.11 The outer ball sleeve 41 is provided with a wiring groove 411 and a fixed column 412. The wiring groove 411 and the driving wire are slidably arranged. The fixed column 412 and the proximal end of the driving wire are fixedly connected. The wiring groove 411 and the fixed column 412 are arranged correspondingly. The fixed column 412 and the driving wire are arranged correspondingly. The proximal end of the driving wire is fixed by the fixed column 412, and the wiring groove 411 limits the driving wire. When the outer ball sleeve 41 and the inner sphere 31 rotate relative to each other, the fixed column 412 provides the wire pulling and feeding force, and the wiring groove 411 guides the displacement of the driving wire.

[0089] In a specific embodiment, the fixing post 412 is configured as a clamping post, and the proximal end of the driving line is clamped on the clamping post. Of course, in other embodiments, the proximal end of the driving line can be welded to the fixing post 412.

[0090] In a specific implementation, the wiring slot 411 is a semi-closed curved slot, so that it can flexibly adapt to the adjustment of the displacement of the driving wire during the wire pulling and wire feeding stages of the fixed column 412 .

[0091] As an exemplary embodiment, four drive lines are provided, and four wire holes 342, wire grooves 343, wiring holes 344, wiring grooves 411 and fixed columns 412 are provided respectively. The universal motion drive mechanism provided in this embodiment, through the rotation of the outer ball sleeve 41 on the control member 4 relative to the inner sphere 31 on the base 3, pulls all the drive lines through the control member 4 to drive the joint group 1, so as to adjust the bending angle of the joint group 1 to implement deflection along the extension axis direction thereof, so that the control member 4 can flexibly adjust the movement position of the front-end instrument connected to the joint group 1, so as to meet the application requirements in a complex surgical environment in practical applications. The present invention optimizes the structural design on the control end, effectively controls the universal motion of the front-end instrument, avoids the limitation of its range of motion, improves the adjustment ability of the drive mechanism, and achieves the purpose of being able to flexibly drive the front-end instrument to perform universal motion. The universal motion drive mechanism provided by the present invention can improve the control accuracy and effect of medical personnel on the operation of the surgical process.

[0092] As a preferred embodiment, the universal motion drive mechanism is provided with an intervention channel, see Figures 7 to 10 An intra-articular channel is provided in the joint group 1; a connecting channel 35 is provided on the base 3, and the connecting channel 35 penetrates the inner sphere 31, the shaft neck 33 and the connecting seat body 34; a through hole 43 is provided on the control member 4, and the through hole 43 penetrates the outer ball sleeve 41, and the connecting channel 35 and the through hole 43 are connected to each other, and the intra-articular channel, the through cavity, the connecting channel 35 and the through hole 43 are combined to form an intervention channel.

[0093] In the above description, the driving wire is configured as an elastic wire, such as a nickel titanium wire.

[0094] The present invention also provides a surgical instrument, comprising the above-mentioned universal motion driving mechanism.

[0095] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A universal motion drive mechanism, characterized in that: include: A joint assembly (1), adapted to be fixedly connected to a front-end instrument; A base (3) fixedly connected to the joint assembly (1); A control member (4) movably connected to the base (3); and at least three driving wires, one end of any of the driving wires being fixedly connected to the joint assembly (1), the other end of the driving wire being fixedly connected to the control member (4), and the driving wire being slidably disposed on the base (3); The universal motion drive mechanism has an initial straight state and an adjustment state; when the universal motion drive mechanism is in the initial straight state, all the drive lines are arranged in a ring array; The base (3) is provided with an inner sphere (31) on one side adjacent to the operating member (4), the operating member (4) is provided with an outer sphere sleeve (41), a coupling cavity is provided in the outer sphere sleeve (41), and the inner sphere (31) is limitably arranged in the coupling cavity; when the universal motion drive mechanism is in an adjustment state, by controlling the outer sphere sleeve (41) to rotate relative to the inner sphere (31), the operating member (4) can pull all the drive lines so that all the drive lines drive the joint group (1) to adjust the bending angle of the joint group (1) to be deflected along the extension axis direction thereof.

2. The universal motion drive mechanism according to claim 1, characterized in that: The base (3) is provided with a recessed portion (32), and the recessed portion (32) is structurally arranged on the outer wall surface of the inner sphere (31). The operating member (4) is provided with a raised portion (42), and the raised portion (42) is structurally arranged on the inner wall surface of the coupling cavity. The recessed portion (32) and the raised portion (42) are slidably arranged, and at least one raised portion (42) is provided.

3. The universal motion drive mechanism according to claim 2, characterized in that: Two protrusions (42) are provided, and the two protrusions (42) are extended and arranged on the inner wall surface of the coupling cavity facing each other, and the two protrusions (42) and the recessed portion (32) are slidably arranged.

4. The universal motion drive mechanism according to claim 1, characterized in that: The base (3) comprises a shaft neck (33) and a connecting seat body (34) which are fixedly connected to each other. The shaft neck (33) and the inner sphere (31) are fixedly connected to each other. The connecting seat body (34) and the joint assembly (1) are relatively fixedly arranged. The shaft neck (33) is extended along its axial direction so that the connecting seat body (34) and the outer ball sleeve (41) which is movably connected to the inner sphere (31) are arranged to avoid each other.

5. The universal motion driving mechanism according to claim 4, characterized in that: The connecting seat body (34) is provided with an outward expansion portion (341), and in the direction from the connecting seat body (34) toward the inner sphere (31), the outward expansion portion (341) is gradually radially expanded.

6. The universal motion drive mechanism according to claim 5, characterized in that: The connecting seat (34) is provided with a wire hole (342) and a wire groove (343); the outer expansion portion (341) is provided with a wire fixing hole (344); the wire groove (343) is connected and arranged between the wire hole (342) and the wire fixing hole (344); the wire hole (342), the wire groove (343) and the wire fixing hole (344) are used together for limited sliding with the driving wire.

7. The universal motion drive mechanism according to claim 1, characterized in that: The outer ball sleeve (41) is provided with a wiring groove (411) and a fixing column (412); the wiring groove (411) and the driving line are slidably arranged; the fixing column (412) and the proximal end of the driving line are fixedly connected; the wiring groove (411) and the fixing column (412) are correspondingly arranged; and the fixing column (412) and the driving line are correspondingly arranged.

8. The universal motion driving mechanism according to claim 1, characterized in that: The joint assembly (1) comprises a top cover (11), a joint monomer (12) and a joint seat (13) which are connected in series and arranged to transmit each other, at least three joint monomers (12) are provided, and all the joint monomers (12) are arranged in series in sequence between the top cover (11) and the joint seat (13), the drive line and the top cover (11) are fixedly connected, the drive line and the joint monomer (12) are slidably connected, and the drive line and the joint seat (13) are slidably connected.

9. The universal motion driving mechanism according to claim 8, characterized in that: The joint monomer (12) is provided with a wire hole (121), the driving wire is slidably inserted into the wire hole (121), and the wire hole (121) is arranged corresponding to the driving wire; a connecting cavity (122) is provided on one side of the joint monomer (12), a connecting portion (123) is provided in the connecting cavity (122), a transmission portion (124) is provided on the side of the joint monomer (12) away from the connecting cavity (122), and two adjacent joint monomers (12) are connected to each other through the connecting cavity (122), the connecting portion (123) and the transmission portion (124).

10. The universal motion driving mechanism according to claim 9, characterized in that: The two adjacent joint monomers (12) are spherically hinged, the transmission part (124) is configured as two transmission protrusions arranged in pairs and spaced apart, any one of the transmission protrusions is provided with an outer spherical surface (1241), the wall surface of the connecting cavity (122) is constructed with an inner spherical surface (1221), the outer spherical surface (1241) and the inner spherical surface (1221) are matched by spherical friction, the end surfaces facing each other of the transmission protrusions arranged in pairs are provided with inner limit surfaces (1242), the connecting part (123) is configured as two connection protrusions arranged in pairs and spaced apart, any one of the connection protrusions is provided with a cylindrical surface (1231), and the inner limit surface (1242) and the cylindrical surface (1231) are matched by sliding friction.

11. The universal motion driving mechanism according to claim 10, characterized in that: The top cover (11) is provided with a fixing hole (111), the distal end of the driving line is installed in the fixing hole (111), and the fixing hole (111) is arranged corresponding to the driving line; the top cover (11) is provided with a connecting cavity (112) on the side facing the joint monomer (12), a connecting portion (113) is arranged in the connecting cavity (112), and the top cover (11) and the adjacent joint monomer (12) are connected to each other in a transmission manner through the connecting cavity (112), the connecting portion (113) and the transmission portion (124).

12. The universal motion driving mechanism according to claim 10, characterized in that: The joint seat (13) is provided with a threading hole (131), and the driving line is slidably inserted into the threading hole (131), and the threading hole (131) is arranged corresponding to the driving line; a force transmission part (132) is provided on a side of the joint seat (13) adjacent to the joint monomer (12), and the joint seat (13) and the joint monomer (12) adjacent to it are connected to each other through the force transmission part (132), the connecting cavity (122) and the connecting part (123).

13. The universal motion drive mechanism according to any one of claims 1 to 12, characterized in that: It also comprises a connecting member (2), one end of the connecting member (2) is fixedly connected to the joint assembly (1), and the other end of the connecting member (2) is fixedly connected to the base (3), a through cavity is provided in the connecting member (2), and all the driving lines are passed through the through cavity.

14. The universal motion drive mechanism according to claim 13, characterized in that: The connecting member (2) is configured as a rigid sleeve member or a portion of the middle section is configured as a flexible sleeve member.

15. The universal motion drive mechanism according to claim 14, characterized in that: The connecting member (2) comprises a flexible tube (22), a first connecting tube (23) and a second connecting tube (24); the flexible tube (22) is fixedly connected between the first connecting tube (23) and the second connecting tube (24); the first connecting tube (23) is fixedly connected to the joint assembly (1); and the second connecting tube (24) is fixedly connected to the base (3).

16. The universal motion drive mechanism according to claim 14, characterized in that: A protective tube (5) is provided on the outer sleeve of any driving wire, and the protective tube (5) and the driving wire are correspondingly configured for sliding.

17. The universal motion drive mechanism according to claim 13, characterized in that: A limiting sleeve (21) is installed in the through cavity, and a limiting groove is provided on the limiting sleeve (21) to be slidingly arranged with the driving line in a limiting manner. A plurality of limiting grooves are provided, and the plurality of limiting grooves are arranged in a ring array.

18. The universal motion driving mechanism according to claim 13, characterized in that: The universal motion drive mechanism is provided with an intervention channel, and the joint group (1) is provided with an intra-articular channel; the base (3) is provided with a connecting channel (35), and the connecting channel (35) is penetrated by the inner sphere (31), the shaft neck (33) and the connecting seat body (34); the control member (4) is provided with a through hole (43), and the through hole (43) is penetrated by the outer ball sleeve (41), and the connecting channel (35) and the through hole (43) are connected and arranged, and the intra-articular channel, the through cavity, the connecting channel (35) and the through hole (43) are combined to form the intervention channel.

19. A surgical instrument, characterized in that: It comprises the universal motion drive mechanism as described in any one of claims 1-18.

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