Bent pipe assembly, bent core assembly and surgical instrument applying bent pipe assembly and bent core assembly

Abstract

An elbow pipe assembly includes a pipe chuck, a straight pipe, and an elbow pipe extending therebetween. The pipe chuck comprises a pipe head shell and a pipe head inner hole, and the pipe head shell is divided into a first half shell and a second half shell by a first clamping groove and a second clamping groove; the first clamping groove comprises a first cylindrical surface, and the second clamping groove comprises a second cylindrical surface. The bent pipe comprises a bent pipe head, a bent pipe tail and an arc-shaped pipe body extending between the bent pipe head and the bent pipe tail, and the arc-shaped inner hole penetrates through the bent pipe. The straight pipe comprises a straight pipe head, a straight pipe tail and a straight pipe body extending between the straight pipe head and the straight pipe tail, and further comprises a through straight pipe inner hole. A bent core assembly comprises a bent pipe assembly and a bent rod assembly matched with the bent pipe assembly. The bent rod assembly comprises a first clamp piece, a second clamp piece, a base and a bent pull rod. A surgical instrument includes a handle and a bent core assembly.

Description

Technical Field

[0001] The invention relates to a minimally invasive surgical instrument, in particular to a single-hole laparoscope surgical instrument. Background Art

[0002] Laparoscopic single-port surgery is a surgical procedure that is performed through a single incision in the patient's body wall, with the laparoscope and multiple instruments entering and exiting. Usually, a single-port multi-channel access device is installed in the single incision as a channel for instruments to enter and exit the human body. So far, there are two difficulties in laparoscopic single-port surgery: first, the operability at any extreme angle in the hemispherical space; second, the problem of interference between multiple instruments in a very small space (referred to as the chopstick effect). So far, there is no reliable solution. Summary of the invention

[0003] Therefore, in order to solve the problems of the prior art, various solutions have been proposed.

[0004] In one aspect of the present invention, a pipe bending assembly is provided, comprising a pipe clamp, a straight pipe and a pipe extending therebetween to form a bent pipe.

[0005] The tube clamp comprises a tube head shell and a tube head inner hole, and the tube head inner hole comprises the tube head axis; the first clamping groove and the second clamping groove divide the tube head shell into a first half shell and a second half shell; the first clamping groove comprises a first cylindrical surface, and the second clamping groove comprises a second cylindrical surface; the axes of the first cylindrical surface and the second cylindrical surface coincide with each other. The bent tube comprises a bent tube head, a bent tube tail and a curved tube body extending therebetween, and the curved tube body comprises an arc centerline; the curved inner hole extends along the arc centerline through the bent tube head, the curved tube body and the bent tube tail. The straight tube comprises a straight tube head, a straight tube tail and a straight tube body extending therebetween, and the straight tube body comprises a straight tube inner hole and a straight tube axis, and the straight tube inner hole passes through the straight tube head, the straight tube body and the straight tube tail; the outer side of the straight tube head comprises a torque transmitting adapter, and the outer side of the straight tube tail comprises a limiting ring groove. The inner hole of the tube head is seamlessly connected to the curved inner hole, and the inner hole of the straight tube is seamlessly connected to the curved inner hole.

[0006] In one solution, a curved pipe assembly is proposed, wherein the tangent of the arc centerline at the intersection of the inner hole of the pipe head and the arc inner hole and the axis of the pipe head form a pipe head bevel angle A1, wherein A1≤5°. The axis of the pipe head and the axis of the straight pipe form a pipe tail bevel angle A2, wherein 20°≤A2≤55° in a preferred solution. In a preferred solution, the arc-shaped pipe body includes an arc centerline with a radius of R2, wherein 350≤R2≤800 (in millimeters).

[0007] In another scheme, a bending pipe assembly is proposed, wherein the first clamping slot includes a first distal guide port, a first cylindrical surface and a first cutting groove, the maximum opening width of the first guide port is H11, the diameter of the first cylindrical surface is D11, the first guide port and the first cylindrical surface intersect to form a first bite with an opening width of H12, wherein H11≥D11>H12; the second clamping slot includes a second distal guide port, a second cylindrical surface and a second cutting groove, the maximum opening width of the second guide port is H21, the diameter of the second cylindrical surface is D21, the second guide port and the second cylindrical surface intersect to form a second bite with an opening width of H22, wherein H21≥D21>H22.

[0008] In another solution, a pipe bending assembly is proposed, wherein the pipe clamp further comprises a U-shaped groove, wherein the groove transversely cuts the first half shell to form a first elastic arm and a second elastic arm, and the groove transversely cuts the second half shell to form a third elastic arm and a fourth elastic arm.

[0009] In another aspect of the present invention, a bending core assembly is proposed, and the bending core assembly also includes a matching bending rod assembly, and the bending rod assembly includes a first pliers blade, a second pliers blade, a base and a bending rod. The base includes a first arm and a second arm extending from the base shoulder to the distal end to form a U-shaped fork; the first pliers blade includes a first pliers tail, a first pliers claw and a pliers handle connected thereto, and the second pliers blade includes a second pliers tail, a second pliers claw and a pliers handle connected thereto; the first pliers tail and the second pliers tail are stacked on each other and installed between the first arm and the second arm; the bending rod includes a driving head and a driving mechanism connected thereto, and the driving mechanism is connected to the first pliers tail and the second pliers tail respectively, and the bending rod is moved to push and pull the driving head, and the driving head drives the driving mechanism, and the driving mechanism forces the first pliers tail and the second pliers tail to rotate together or rotate open, thereby forcing the first pliers claw and the second pliers claw to rotate together or rotate open. The base shown also includes a base hollow tube extending from the base shoulder to the proximal end, and the outer surface of the hollow tube is provided with a first transverse axis and a second transverse axis; the bending rod assembly is inserted into the bending tube assembly, and the base hollow tube is inserted into the inner hole of the tube head, the first transverse axis is inserted into the first slot to form a first bite pair with the first cylindrical surface, and the second transverse axis is inserted into the second slot to form a second bite pair with the second cylindrical surface.

[0010] In another embodiment, a bending core assembly is provided, wherein the first clamp tail has a first clamp tail minimum circumscribed cylindrical surface, and the cylindrical surface includes the first clamp tail axis; the first clamp jaw has a first clamp jaw minimum circumscribed cylindrical surface, and the circumscribed cylindrical surface includes the first clamp jaw axis; the first clamp tail axis and the first clamp jaw axis form an angle A11, wherein 15°≤A11≤75°. The second clamp tail has a second clamp tail minimum circumscribed cylindrical surface, and the cylindrical surface includes the second clamp tail axis; the second clamp jaw has a second clamp jaw minimum circumscribed cylindrical surface, and the circumscribed cylindrical surface includes the second clamp jaw axis; the second clamp tail axis and the second clamp jaw axis form an angle A22, wherein 15°≤A22≤75°.

[0011] In another embodiment, a bending core assembly is provided, and the bending core assembly also includes a matching bending rod assembly. The bending rod includes a first pull rod and a second pull rod, and the first pull rod includes a driving head and a first connecting head and an arc rod extending therebetween, and the arc center line of the arc rod matches the arc neutral line of the arc tube body. The first connecting head includes a first half rod head; the second pull rod includes a pull rod tail and a second connecting head and an extension rod therebetween, and the second connecting head includes a second half rod head; the first half rod head and the second half rod head are riveted and fixed to form a rotatable coupling, so that the second pull rod can rotate around the coupling. In another embodiment, a bending core assembly is provided, and the length of the first pull rod is L1, and the length of the second pull rod is L2, wherein 0.01≤L2 / L1≤0.1.

[0012] In another scheme, a bending core assembly is proposed, and the bending core assembly also includes a bending rod assembly matched therewith. The bending rod assembly includes a first pliers blade, a second pliers blade, a bending pull rod, a first connecting rod, a second connecting rod, a kingpin and a retaining ring; the kingpin includes a first kingpin head, a second kingpin head and a kingpin flange arranged therebetween, and the diameter of the kingpin flange is larger than the first and second kingpin heads. The first pliers blade includes a first pliers tail, a first pliers jaw and a pliers handle connected thereto, and the first pliers tail also includes a first base hole penetrating therethrough; the second pliers blade includes a second pliers tail, a second pliers jaw and a pliers handle connected thereto, and the second pliers tail also includes a second base hole penetrating therethrough laterally; the first connecting rod includes a first connecting rod head and a first connecting rod tail and a first connecting rod body extending therebetween; the second connecting rod includes a second connecting rod head and a second connecting rod tail and a second connecting rod body extending therebetween. The first pliers tail and the second pliers tail are stacked on each other, the second kingpin head passes through the first base hole and the second base hole, and the retaining ring is fixed in the adjacent area of ​​the end of the second kingpin head, fixing the first and second pliers tails together to form a main rotating pair that can rotate around the kingpin; the first connecting rod head and the first pliers tail are fixed together to form a rotatable first driven pair; the second connecting rod head and the second pliers tail are fixed together to form a rotatable second driven pair; the first connecting rod tail and the driving head of the bending pull rod are fixed together to form a rotatable first driving pair; the second connecting rod tail and the driving head of the bending pull rod are fixed together to form a rotatable second driving pair; by pulling the bending pull rod, the first and second driving pairs, the first and second driven pairs and the main rotating pair can rotate simultaneously. The bending rod assembly is inserted into the bending tube assembly, wherein the arc rod matches the arc tube body; the first main pin head is inserted into the first slot between the first elastic arm and the third elastic arm to form a first bite pair with the first cylindrical surface; at the same time, the second main pin head is inserted into the second slot between the second elastic arm and the fourth elastic arm to form a second bite pair with the second cylindrical surface; the bending pull rod is pulled, the first and second bite pairs fix the main pin, the first and second driving pairs, the first and second driven pairs and the main rotating pairs rotate at the same time, driving the first and second clamp tails and the first and second connecting rods to move and rotate in the U-shaped groove.

[0013] In another solution, a bending core assembly is proposed, which includes three states: a working state, a critical state and a separation state. The corresponding driving head includes a working displacement Lw1 and a critical displacement Le1, wherein Lw1>Le1.

[0014] Working state: when the drive head is at the working displacement Lw1, the first horizontal axis keeps in contact with the first cylindrical surface, that is, the first occlusal pair is in the occlusal state; the second horizontal axis keeps in contact with the second cylindrical surface, that is, the second occlusal pair is in the occlusal state. Working state: operating the first handle and the second handle can drive the first and second jaws to close or open within the angle range of 0~Ang1, where Ang1 is usually designed to be 65~85°.

[0015] In the critical state: when the driving head is in the critical displacement Le1, continue to operate the first handle and the second handle to move away from each other, so that the driving head moves in the direction of reducing the distance between the axis of the first driving shaft and the axis of the kingpin. At this time, the opening angle of the first and second jaws reaches the maximum limit angle Ang1, and Le1 no longer decreases; continue to operate the first handle and the second handle to move away from each other. At this time, the driving head pushes the first and second jaws to move toward the distal end, thereby pushing the first and second horizontal axes to move toward the distal end and pushing the first and second bites to open.

[0016] In the separation state: in the critical state, continue to operate the first handle and the second handle to move away from each other; push the first and second transverse axes to move toward the distal end; fully expand the first and second bites and slide into the first and second guide openings; that is, the first and second bite pairs are in a failed separation state; thereby achieving the separation of the bending rod assembly and the bending tube assembly.

[0017] In another aspect of the present invention, a surgical instrument for minimally invasive surgery is provided. The instrument includes any of the aforementioned bending core assemblies, and also includes a handle assembly matched therewith; the handle assembly includes a rotating wheel assembly, a button assembly, a handle shaft, and a first handle and a second handle rotating around the handle; the bending tube assembly of the bending core assembly matches the rotating wheel assembly and the button assembly; the bending pull rod is connected to the second handle, and the first handle and the second handle rotate around the handle shaft, thereby pulling the bending pull rod to move, and then pushing its driving head to move, thereby forcing the first clamp tail and the second clamp tail to rotate together or rotate open, thereby forcing the first clamp claw and the second clamp claw to rotate together or rotate open. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more fully understand the essence of the present invention, a detailed description will be given below in conjunction with the accompanying drawings, in which: Figure 1 is a schematic side projection diagram of the device 1; Figure 2 yes Figure 1 2-2 sectional view; Figure 3 is a 3D schematic diagram of the clamp 10 (the clamp 20); Figure 4 is a 3D schematic diagram of the connecting rod 40 (connecting rod 50); Figure 5 is a 3D schematic diagram of the base 60; Figure 6 is a schematic side projection diagram of the bent tie rod 30; Figure 7 is a three-dimensional partial broken schematic diagram of the first tie rod 31; Figure 8 is a 3D schematic diagram of the second tie rod 32; Fig. 9 yes Figure 69-9 enlarged view; Fig.10 is a partial 3D schematic diagram of the head of the bending rod assembly 4 (hiding the base 60); Fig.11 is a partial 3D schematic diagram of the head of the bending rod assembly 4; Fig.12 is a three-dimensional partial broken schematic diagram of the elbow assembly 5; Fig.13 is a cross-sectional view of the elbow assembly 5; Fig.14 is a side projection schematic diagram of the bending core assembly 3; Fig.15 yes Fig.14 15-15 magnified view; Fig.16 yes Figure 2 16-16 enlarged view; Fig.17 is a 3D schematic diagram of the clamp blade 10a; Fig.18 is a 3D schematic diagram of the clamp blade 20a; Fig.19 is a schematic diagram of the projection of the forceps blade 10a toward the first inner side surface; Fig. 20 is a side projection view of the forceps blade 10a; Fig.21 A schematic diagram of the projection of the forceps blade 20a toward the first inner side surface; Fig. 22 is a side projection view of the forceps blade 20a; Fig.23 is a 3D schematic diagram of the base 60a; Fig.24 is a 3D schematic diagram of the drive head 311a of the bent tie rod 30a; Fig.25 It is a partial 3D schematic diagram of the head of the bending core component 3a; Fig.26 yes Fig.25 A partial 3D schematic diagram of the head of the bending core component 3a from a reverse perspective; Fig. 27 is a partial fragmentary view of a side projection view of the elbow assembly 5c; Fig.28 Is the elbow assembly 5c relative to Fig. 27 A partial fragmentary view of another side projection view; Fig.29 is a 3D schematic diagram of a tube clamp 70c of a tube bending assembly 5c; Fig.30 3D schematic diagram of clamp blade 10c (clamp blade 20c); Fig.31is a projection view of a local area (head) at the distal end of the bending rod assembly 4c; Fig.32 yes Fig.31 32-32 sectional view; Fig.33 yes Fig.31 33-33 sectional view; Fig.34 is a projection view of the distal local area (head) of the bending core assembly 3c; Fig.35 yes Fig.34 35-35 sectional view; Fig.36 is a 3D schematic diagram of a fully flexible single-hole multi-channel access device 8; Fig.37 It is a simulation schematic diagram of the instrument 1 and the instrument 1a in the clinical application scenario of single-port laparoscopic surgery; Throughout the several views, the same reference numerals designate identical parts or components. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are disclosed herein, however, it should be understood that the disclosed embodiments are only examples of the present invention, and the present invention can be implemented in different ways. Therefore, the contents disclosed herein are not to be interpreted as limiting, but only as the basis for the claims, and as the basis for teaching those skilled in the art how to use the present invention.

[0020] refer to Figure 1 For the convenience of description, the side close to the operator is defined as the proximal end, and the side far from the operator is defined as the distal end. During laparoscopic surgery, a puncture cannula assembly is usually used to establish a surgical channel in the patient's body wall for instruments to enter and exit the patient's body. Various minimally invasive instruments, such as instrument 1, can be inserted into the body cavity through the channel formed by the cannula assembly.

[0021] Figure 1-2 A typical laparoscopic handheld instrument 1 is depicted, comprising a handle assembly 2 and a bending core assembly 3. The bending core assembly 3 comprises a bending rod assembly 4 and a bending tube assembly 5. Figure 2 As shown, the bending rod assembly 4 includes a first pliers piece 10 , a second pliers piece 20 , a bending pull rod 30 , a first connecting rod 40 , a second connecting rod 50 and a base 60 .

[0022] like Figure 3As shown, the first pliers 10 comprises a first pliers tail 11, a first pliers jaw 13 and a pliers handle 12 connected thereto. The first pliers tail 11 also comprises a first base hole 14 and a first tail hole 15 penetrating therethrough. The second pliers 20 comprises a second pliers tail 21, a second pliers jaw 23 and a pliers handle 22 connected thereto. The second pliers tail 21 also comprises a second base hole 24 and a second tail hole 25 penetrating therethrough laterally. Those skilled in the art will appreciate that the shapes and structures of the first and second pliers may be substantially the same or different. Figure 3 It means that the first forceps blade and the second forceps blade are substantially identical.

[0023] like Figure 4 As shown, the first connecting rod 40 includes a first connecting rod head 41 and a first connecting rod tail 43 and a first connecting rod body 42 extending therebetween; the first connecting rod head 41 includes a first connecting rod shaft 44 extending laterally outward, and the first connecting rod tail 43 includes a first connecting rod hole 45 extending laterally therethrough. The second connecting rod 50 includes a second connecting rod head 51 and a second connecting rod tail 53 and a second connecting rod body 52 extending therebetween; the second connecting rod head 51 includes a second connecting rod shaft 54 ​​extending laterally outward, and the second connecting rod tail 53 includes a second connecting rod hole 55 extending laterally therethrough.

[0024] like Figure 5 As shown, the base 60 includes a base shoulder 61. A first arm 62 and a second arm 63 extend from the base shoulder 61 to the distal end to form a fork-shaped U-shaped groove. A first transverse hole 64 transversely penetrates the first arm 62, and a second transverse hole 65 transversely penetrates the second arm 63. The base 60 shown also includes a base hollow tube 66 extending from the base shoulder to the proximal end, and an inner hole 67 of the hollow tube 66 penetrates the base shoulder 61 and is connected to the U-shaped groove. The outer surface of the hollow tube 66 is provided with a first transverse axis 68 and a second transverse axis 69.

[0025] like Figure 6-9As shown, the bent pull rod 30 includes a first pull rod 31 and a second pull rod 32. The first pull rod 31 includes a drive head 311 and a first connecting head 319 and an arc rod 315 extending therebetween. In one design scheme, the arc rod 315 includes an arc center line 316 with a radius R1. The drive head 311 includes a drive block 312 and a first drive shaft 313 and a second drive shaft 314 connected thereto and extending to both sides. The first connecting head 319 includes a first half rod head 318 and a first connecting hole 317 penetrating therethrough. The second pull rod 32 includes a pull rod tail 321 and a second connecting head 329 and an extension rod 325 therebetween. The pull rod tail 321 includes a curved rod head 323 and an annular groove 322. The second connecting head 329 includes a second half rod head 328 and a connecting shaft 327 connected thereto and extending laterally. The connecting shaft 327 is inserted into the first connecting hole 317 and riveted to form a rotatable coupling, that is, the second pull rod 32 can rotate around the coupling formed by the connecting hole 317 and the connecting shaft 327.

[0026] like Figure 10-11 The structural composition and assembly relationship of the bending rod assembly 4 are described. The first clamp tail 11 and the second clamp tail 21 are stacked on each other and clamped between the first arm 62 and the second arm 63 of the base 60; the main pin 9 passes through the first base hole 14 and the second base hole 24, fixes the first and second clamp tails together and forms a main rotation pair that can rotate around the main pin. The first connecting rod shaft 44 penetrates the first tail hole 15, connects the first connecting rod head 41 and the first clamp tail 11 together to form a first linkage pair that can rotate around the first connecting rod shaft. The second connecting rod shaft 54 ​​penetrates the second tail hole 25, fixes the second connecting rod head 51 and the second clamp tail 21 together to form a second linkage pair that can rotate around the second connecting rod shaft. The first drive shaft 313 penetrates the first connecting rod hole 45, fixes the first connecting rod tail 43 and the drive head 311 together to form a first drive pair that can rotate around the first drive shaft. The second drive shaft 314 penetrates the second connecting rod hole 55, fixes the second connecting rod tail 53 and the drive head 311 together to form a second drive pair that can rotate around the second drive shaft. When the driving rod 30 is pulled, the first and second driving pairs, the first and second linkage pairs, and the main rotation pair can rotate simultaneously. When the driving head 311 is moved, the first and second connecting rods are driven to move and rotate, and the first and second clamp tails are driven to rotate, thereby realizing the closing or opening of the first and second clamp jaws.

[0027] like Figure 12-13As shown, the elbow assembly 5 includes a tube clamp 70, an elbow 80 and a straight tube 90. The tube clamp 70 includes a tube head shell 71 and a tube head inner hole 72, and the tube head inner hole 72 includes a tube head axis 77. The first clamping groove 73 and the second clamping groove 74 divide the tube head shell into a first half shell 75 and a second half shell 76. The first clamping groove 73 includes a distal first guide port 731, a first cylindrical surface 732 and a first cutting groove 733. The maximum opening width of the first guide port is H11, the diameter of the first cylindrical surface is D11, and the first guide port and the first cylindrical surface intersect to form a first bite 734 with an opening width of H12. In a preferred embodiment, H11≥D11>H12. Similarly, the second clamping groove 74 includes a distal second guide port 741, a second cylindrical surface 742 and a second cutting groove 743. The maximum opening width of the second guide opening is H21, the diameter of the second cylindrical surface is D21, and the second guide opening and the second cylindrical surface intersect to form a second bite 744 with an opening width of H22. In a preferred solution, H21≥D21>H22. The axes of the first cylindrical surface 732 and the second cylindrical surface 742 are substantially coincident.

[0028] The curved pipe 80 includes a curved pipe head 81, a curved pipe tail 89 and a curved pipe body 85 extending therebetween. The curved pipe body 85 includes a circular arc centerline 86 with a radius of R2. The arc inner hole 82 extends along the circular arc centerline 86 and passes through the curved pipe head 81, the curved pipe body 85 and the curved pipe tail 89. The straight pipe 90 includes a straight pipe head 91, a straight pipe tail 99 and a straight pipe body 95 extending therebetween, and the straight pipe body 95 includes a straight pipe inner hole 92 and a straight pipe axis 97. The straight pipe inner hole 92 passes through the straight pipe head 91, the straight pipe body 95 and the straight pipe tail 99. The outer side of the straight pipe head 91 includes a torque transmitting adapter 93. The outer side of the straight pipe tail 99 includes a limiting ring groove 98.

[0029] The tube clamp 70, the elbow 80 and the straight tube 90 are connected as a whole, the tube head inner hole 72 is seamlessly connected to the arc-shaped inner hole 82, and the straight tube inner hole 92 is seamlessly connected to the arc-shaped inner hole 82. In a preferred embodiment, the tangent of the arc center line 86 at the intersection of the tube head inner hole and the arc-shaped inner hole and the tube head axis 77 form a tube head bevel angle A1, and in a preferred embodiment, A1≤5°. In another preferred embodiment, the tube head axis 77 and the straight tube axis 97 form a tube tail bevel angle A2, and 20°≤A2≤55°. In a specific design scheme, 350≤R2≤800 (unit: millimeter). Those skilled in the art should understand that the elbow 80 can be formed by processing a single metal material, or it can be welded from multiple metal parts.

[0030] like Figure 14-15The figure depicts the assembly relationship of the bending core assembly 3. The bending rod assembly 4 is inserted into the bending tube assembly 5, wherein the arc rod 315 matches the shape and size of the arc tube body 85; the bending pull rod 30 passes through the tube head inner hole 72, the arc inner hole 82 and the straight tube inner hole 92 from the distal end to the proximal end in sequence; the base hollow tube 66 is inserted into the tube head inner hole 72, the first transverse axis 68 is inserted into the first slot 73 to form a first occlusal pair with the first cylindrical surface 732, and similarly, the second transverse axis 69 is inserted into the second slot 74 to form a second occlusal pair with the second cylindrical surface 742.

[0031] Figure 1 , Figure 2 and Fig.16 The assembly relationship between the handle assembly 2 and the bending core assembly 3 is depicted. The handle assembly 2 comprises a first handle 1002 and a second handle 1003 connected by a handle shaft 1001, and the first handle and the second handle can rotate around the handle shaft. The rotating wheel assembly 1100 comprises a rotating wheel 1101, an outer sleeve 1103 and an inner sleeve 1105, the outer sleeve 1103 is integrally connected with the rotating wheel 1101, the inner sleeve 1105 is integrally connected with the first handle 1002, and the outer sleeve 1103 and the inner sleeve 1105 constitute a rotating mechanism so that the rotating wheel 1101 can rotate relative to the first handle 1002. The button assembly 1200 is installed in the button installation compartment 1008 of the first handle 1002. The button assembly 1200 includes a lock 1202, one end of which is connected to the elastic element 1201 and the other end of which is connected to the button 1204. The fastener 1203 restricts the lock 1202 in the installation bin 1008, and the elastic element 1201 drives the lock 1202 to move laterally to a locked position in the installation bin 1008. The handheld instrument 1 includes a handle assembly 2 and a bending core assembly 3. The pull rod tail 321 matches the second handle 1003, the elastic element 1201 drives the lock 1202 to move laterally to a locked position in the installation bin 1008 and matches the limiting ring groove 98, and the adapter 93 matches the rotating wheel 1101 and transmits the rotation torque to the bending core assembly from the rotating wheel. The first handle and the second handle rotate around the handle shaft, thereby pushing the pull rod tail 321 to move axially, and then pushing the drive head 311 to move axially, and then driving the first and second connecting rods to move and rotate, driving the first and second clamp tails to rotate, and realizing the closing or opening of the first and second clamp jaws. Pressing the button 1204 compresses the elastic element 1201 to cause the locking member 1202 to move laterally away from the locking position, so that the limiting ring groove 98 is disengaged from the locking member 1202, thereby separating the bending core assembly 3 and the handle assembly 2.

[0032] Combination Figure 1-2 , Fig.11 and Figure 15-16It is understood that in a preferred design scheme, the bending core assembly 3 includes three states: working state, critical state and separation state, and the corresponding drive head 311 includes a working displacement Lw1, a critical displacement Le1 (Lw1, Le1 is measured: the shortest distance between the axis of the first drive shaft and the axis of the main pin), where Lw1>Le1.

[0033] Working state: When the drive head is in working displacement Lw1, the first horizontal axis 68 keeps in contact with the first cylindrical surface, that is, the first occlusal pair is in occlusal state; the second horizontal axis 69 keeps in contact with the second cylindrical surface, that is, the second occlusal pair is in occlusal state. In the working state, the first handle and the second handle can be operated to drive the first and second jaws to close or open within the angle range of 0~Ang1. Usually Ang1 is designed to be 65~85°.

[0034] Critical state: when the driving head is in the critical displacement Le1, continue to operate the first handle and the second handle to move away from each other, so that the driving head moves in the direction of reducing the distance between the axis of the first driving shaft and the axis of the kingpin. At this time, the opening angle of the first and second jaws reaches the maximum limit angle Ang1, and Le1 no longer decreases; continue to operate the first handle and the second handle to move away from each other. At this time, the driving head pushes the first and second jaws to move toward the distal end, and then pushes the first and second horizontal axes to move toward the distal end and pushes the first and second bites to open.

[0035] Separation state: In the critical state, continue to operate the first handle and the second handle to move away from each other; push the first and second transverse axes to move toward the distal end; fully expand the first and second bites and slide into the first and second guide openings; that is, the first and second bite pairs are in a failed separation state; thereby achieving the separation of the bending rod assembly and the bending tube assembly.

[0036] Those skilled in the art should be able to imagine that, according to the actual needs of the surgical instrument, the size and shape of the first and second connecting rods, the first and second clamp tails and the driving head can be adjusted to adjust the specific value of Le1. An additional limiting mechanism can be added so that the displacement of the driving head is limited to the working displacement Lw1>Le1 during use of the instrument 1 to prevent it from falling out during use.

[0037] In another solution, the bending core assembly 3 has no obvious critical state, that is, the operating force causes the first handle and the second handle to move away from each other, and cannot push the first and second pin heads to fully expand and form the first and second bites. Those skilled in the art should be able to understand that auxiliary tools can be used to push or pull the bending rod assembly and the bending tube assembly to separate from each other, thereby pushing the first and second transverse axes to move toward the distal end; fully expand and form the first and second bites and slide into the first and second guide openings; that is, the first and second bite pairs are in a failed separation state; thereby achieving the separation of the bending rod assembly and the bending tube assembly.

[0038] The reassembly of the bending rod assembly and the bending tube assembly is the reverse operation of the disassembly action: operate the first handle and the second handle to close each other, pull the first and second transverse axes to move toward the proximal end through the first and second guide openings; fully expand the first and second bites and insert them into the first and second cylindrical surfaces; that is, the first transverse axis keeps in contact with the first cylindrical surface, that is, the first bite pair is in a bite state; the second transverse axis keeps in contact with the second cylindrical surface, that is, the second bite pair is in a bite state; thereby realizing the reassembly of the bending rod assembly and the bending tube assembly. Similarly, auxiliary tools can also be used for reassembly.

[0039] Fig.17 , Fig.19 and Fig. 20 Another first pliers blade 10a is depicted. The first pliers blade 10a includes a first pliers tail 13a defined by a first inner side surface 11a and a first outer side surface 12a. A first pliers elbow 14a is integrally connected to the first pliers tail 13a and extends obliquely relative to the first pliers tail to form a first pliers claw 15a. The first pliers tail 13a also includes a first base column 16a extending laterally outward from the first outer side surface 12a, and a first shaped settling platform 17a that is recessed downward from the first inner side surface 11a, and a first tail column 18a extending laterally outward from the settling platform 17a. The first pliers tail 13a also includes a first avoidance groove 19a running through it. The first pliers tail 13a has a first pliers tail minimum circumscribed cylindrical surface 101a (not shown in the figure), and the cylindrical surface 101a includes a first pliers tail axis 102a. The first jaw 15a has a first jaw minimum circumscribed cylindrical surface 103a (not shown in the figure), and the circumscribed cylindrical surface 103a includes a first jaw axis 104a. The first jaw tail axis 102a and the first jaw axis 104a are not coaxial, forming an angle A11. In a preferred embodiment, 15°≤A11≤75°.

[0040] Fig.18 , Fig.21 and Fig. 22Another second pliers piece 20a is depicted. The second pliers piece 20a includes a second pliers tail 23a defined by a second inner side surface 21a and a second outer side surface 22a. A second pliers elbow 24a is integrally connected to the second pliers tail 23a and extends obliquely relative to the second pliers tail to form a second pliers jaw 25a. The second pliers tail 23a also includes a second base column 26a extending laterally outward from the second outer side surface 22a, and a second shaped settling platform 27a recessed downward from the second inner side surface 21a, and a second tail column 28a extending laterally outward from the settling platform 27a. The second pliers tail 23a also includes a second avoidance groove 29a extending therethrough. The second pliers tail 23a has a second pliers tail minimum circumscribed cylindrical surface 201a, and the cylindrical surface 201a includes a second pliers tail axis 202a. The second pliers jaw 25a has a second pliers jaw minimum circumscribed cylindrical surface 203a, and the circumscribed cylindrical surface 203a includes a second pliers jaw axis 204a. The second clamp tail axis 202a and the second clamp jaw axis 204a are not coaxial, forming an angle A22. In a preferred embodiment, 15°≤A22≤75°.

[0041] Fig.23 Another base 60a is depicted to include a base shoulder 61a. A first arm 62a and a second arm 63a extend from the base shoulder 61a to the distal end to form a fork-shaped U-shaped groove. A first transverse hole 64a extends transversely through the first arm 62a, and a second transverse hole 65a extends transversely through the second arm 63a. The base 60a shown also includes a base hollow tube 66a extending from the base shoulder to the proximal end, and an inner hole 67a of the hollow tube 66a extends through the base shoulder 61a and connects to the U-shaped groove. The outer surface of the hollow tube 66a is provided with a first transverse axis 68a and a second transverse axis 69a. The first arm 62a includes a first side hole 621a, and the second arm 63a includes a second side hole 631a.

[0042] Fig.24Another bent pull rod 30a is depicted. The bent pull rod 30a includes a first pull rod 31a and a second pull rod 32. The first pull rod 31a includes a drive head 311a and a first connector 319 and an arc rod 315 extending therebetween. In one design, the arc rod 315 includes an arc center line 316 with a radius of R1. The drive head 311a includes a drive block 323a defined by a first drive surface 321a and a second drive surface 322a. The drive block 323a includes a distal first protrusion 324a, a second protrusion 325a and a avoidance notch 326a therebetween that is recessed from the distal end to the proximal end. The drive head 311a also includes a first drive inclined groove 327a that is recessed from the first drive surface 321a into the drive block 323a, and a second drive inclined groove 328a that is recessed from the second drive surface 322a into the drive block 323a. The inclined groove 327a and the inclined groove 328a are arranged in an X-shaped cross. The inclined groove 327a and the inclined groove 328a may include one or more arc curves, but from the overall perspective, they are arranged in an X-shaped inclined cross. Since the arc rod 315, the center line 316, the first connector 319, the second pull rod 32, etc. are equivalent to the bent pull rod 30, Fig.24 The corresponding parts are not marked in Figure 6 , Figure 7 , Figure 8 and Fig. 9 understand.

[0043] Fig.25 and Fig.26 The composition and assembly relationship of the bending core assembly 3a are depicted. The bending core assembly 3 includes a bending rod assembly 4a and a bending tube assembly 5. Figure 2 As shown, the bending rod assembly 4a includes a first pliers blade 10a, a second pliers blade 20a, a bending pull rod 30a and a base 60a. The first pliers tail 13a and the second pliers tail 23a are stacked on each other and clamped between the first arm 103a and the second arm 104a of the base; the first base column 16a and the first side hole 621a constitute a first rotation pair; the second base column 26a and the second side hole 631a constitute a second rotation pair. The driving block 323a is clamped between the first settling platform 17a of the first pliers tail and the second settling platform 27a of the second pliers tail; wherein the first tail column 18a and the first driving inclined groove 327a constitute the first driving pair, and the second tail column 28a and the second driving inclined groove 328a constitute the second driving pair. When the driving head 311a is moved, the driving block 323a moves to make the first and second driving pairs rotate and slide at the same time, thereby driving the first pliers tail to rotate around the first rotation pair (while the second pliers tail rotates around the second rotation pair), thereby realizing the closing or opening of the first and second pliers bodies.

[0044] In an optional solution, the inner core assembly 3a further includes a main pin 9. The main pin 9 passes through the first transverse hole 64a, the first avoidance groove 19a, the second avoidance groove 29a and the second transverse hole 65a, connecting the first arm 103a and the second arm 104a together to enhance their deformation rigidity. When the first and second clamp tails rotate, the main pin slides in the first and second avoidance grooves.

[0045] Continue to refer Figure 25-26 , the matching mode of the bending rod assembly 4a and the bending pipe assembly 5 is basically the same as the matching mode of the bending rod assembly 4 and the bending pipe assembly 5. Briefly, the bending rod assembly 4a is inserted into the bending pipe assembly 5, wherein the arc rod 315 matches the shape and size of the arc tube body 85; the bending pull rod 30a passes through the inner hole 72 of the tube head, the arc inner hole 82 and the straight tube inner hole 92 from the distal end to the proximal end in sequence; the base hollow tube 66a is inserted into the inner hole 72 of the tube head, the first transverse axis 68a is inserted into the first clamping groove 73 to form a first occlusal pair with the first cylindrical surface 732, and similarly, the second transverse axis 69a is inserted into the second clamping groove 74 to form a second occlusal pair with the second cylindrical surface 742.

[0046] The bending core assembly 3a is matched with the handle assembly 2 to form the handheld instrument 1a (not shown in the figure). The matching relationship between the bending core assembly 3a and the handle assembly 2 is the same as the matching relationship between the bending core assembly 3 and the handle assembly 2. The disassembly process of the bending core assembly 3a is the same as that of the bending core assembly 3. Those skilled in the art can easily understand it by referring to the above text, and no further description is given.

[0047] Those skilled in the art should be able to imagine that the first pliers 10a and the second gun-type pliers 20a can also be designed with the same or similar size relationship as the first pliers 10 and the second pliers 20. Multiple features of the pliers 10a and 10, and the pliers 20a and 20 can be interchangeable. For example, the first base column 16a replaces the first base hole 14 of the pliers 10, the second base column 26a replaces the second base hole 24 of the pliers 20, and the base 60a replaces the base 60, thereby forming a new bending rod assembly; for example, the first tail column 18a replaces the first tail hole 15, the second tail column 28a replaces the second tail hole 25, the first pliers tail 11 and the second pliers tail 21 are adaptively modified, and the bending rod 30a replaces the bending rod 30, thereby forming a new bending rod assembly. The first tail post 18a and the first driving slant slot 327a constitute a first driving pair, and the second tail post 28a and the second driving slant slot 328a constitute a second driving pair, wherein the posts and slant slots are interchangeable, i.e., the tail of the clamp includes the slant slot and the driving mechanism includes the driving post or shaft. More replacements and adaptive modifications are also conceivable.

[0048] Those skilled in the art should be able to understand that, although there are differences in the structures and compositions of the bending rod assembly 4 and the bending rod assembly 4a, their functions are basically equivalent and are equivalent: in general, a bending rod assembly includes a first pliers blade, a second pliers blade, a base and a bending pull rod; the base includes a first arm and a second arm extending from the base shoulder to the distal end to form a U-shaped fork; the first pliers blade includes a first pliers tail, a first jaw and a pliers handle connected thereto; the second pliers blade includes a second pliers tail, a second jaw and a pliers handle connected thereto; the first pliers tail and the second pliers tail are stacked on each other and installed between the first arm and the second arm; the pull rod includes a driving head and a driving mechanism connected thereto, and the driving mechanism is respectively connected to the first pliers tail and the second pliers tail; the bending pull rod is moved to push and pull the driving head, and the driving head drives the driving mechanism, and the driving mechanism forces the first pliers tail and the second pliers tail to rotate together or rotate open, thereby forcing the first jaw and the second jaw to rotate together or rotate open.

[0049] Figure 27-29 The structural composition of another elbow assembly 5c is depicted. The elbow assembly 5c includes a tube clamp 70c, an elbow 80 and a straight tube 90. The tube clamp 70c includes a tube head shell 71c and a tube head inner hole 72, and the tube head inner hole 72 includes a tube head axis 77. The first clamping groove 73 and the second clamping groove 74 divide the tube head shell into a first half shell 75c and a second half shell 76c. The first clamping groove 73 includes a distal first guide opening 731, a first cylindrical surface 732 and a first cutting groove 733. The first guide opening and the first cylindrical surface intersect to form a first bite 734. The second clamping groove 74 includes a distal second guide opening 741, a second cylindrical surface 742 and a second cutting groove 743. The maximum opening width of the second guide opening is H21, and the second guide opening and the second cylindrical surface intersect to form a second bite 744. The axes of the first cylindrical surface 732 and the second cylindrical surface 742 are substantially coincident. The tube clamp 70c also includes a U-shaped groove 78c; the groove 78c transversely cuts the first half shell 75c to form a first elastic arm 751c and a second elastic arm 752c; the groove 78c transversely cuts the second half shell 76c to form a third elastic arm 761c and a fourth elastic arm 762c. The tube clamp 70c, the curved tube 80 and the straight tube 90 are connected as a whole. Compared with the curved tube assembly 5, the main difference of the curved tube assembly 5c is the tube clamp, and the curved tube and the straight tube are basically the same. According to the above and combined with Figure 12-13 and Figure 27-29 It is easy to understand, so the structures of the curved pipe 80 and the straight pipe 90 are not described in detail.

[0050] Fig.30The structure and composition of the first pliers 10c and the second pliers 20c are depicted. The first pliers 10c includes a first pliers tail 11c, a first pliers jaw 13 and a pliers handle 12 connected thereto. The first pliers tail 11c also includes a first base hole 14c and a first tail hole 15 penetrating therethrough. The first pliers tail 11c includes a first inner side surface 16c and a first outer side surface 17c, and a first countersunk hole 18c is aligned with the first base hole 14c and is recessed from the first outer side surface 17c into the first pliers tail 111c.

[0051] The second pliers 20c includes a second pliers tail 21c, a second pliers jaw 23 and a pliers handle 22 connected thereto. The second pliers tail 21c also includes a second base hole 24c and a second tail hole 25 that penetrates transversely therethrough. The second pliers tail 21c includes a second inner side surface 26c and a second outer side surface 27c, and a second counterbore 28c is aligned with the second base hole 24c and is recessed from the second outer side surface 27c into the second pliers tail 21c. Those skilled in the art will appreciate that the shapes and structures of the first and second pliers may be substantially the same or different. Fig.30 It means that the first forceps blade and the second forceps blade are substantially identical.

[0052] Figure 31-33 The structure and assembly relationship of another bending rod assembly 4c are described. The bending rod assembly 4c includes a first clamp 10c, a second clamp 20c, a bending rod 30, a first connecting rod 40, a second connecting rod 50, a main pin 9c and a retaining ring 8c. Fig.32 As shown, the kingpin 9c comprises a first kingpin head 91c, a second kingpin head 95c and a kingpin flange 93c disposed therebetween, wherein the diameter of the kingpin flange 93c is larger than the first and second kingpin heads. The retaining ring 8c comprises a retaining ring hole defined by an annular sheet.

[0053] Combination Fig.31 , Fig.32 and Fig.33, the first clamp tail 11c and the second clamp tail 21c are stacked on each other; the second main pin head 95c passes through the first base hole 14c and the second base hole 24c; the retaining ring 8c is fixed to the adjacent area of ​​the end of the second main pin head 95c, fixing the first and second clamp tails together and forming a main rotating pair that can rotate around the main pin 9c. The first connecting rod shaft 44 penetrates the first tail hole 15, fixing the first connecting rod head 41 and the first clamp tail 11c together and forming a first driven pair that can rotate around the first connecting rod shaft 44. The second connecting rod shaft 54 ​​penetrates the second tail hole 25, fixing the second connecting rod head 51 and the second clamp tail 21c together and forming a second driven pair that can rotate around the second connecting rod shaft 54. The first drive shaft 313 penetrates the first connecting rod hole 45, fixing the first connecting rod tail 43 and the drive head 311 together and forming a first drive pair that can rotate around the first drive shaft 313. The second driving shaft 314 penetrates the second connecting rod hole 55, fixes the second connecting rod tail 53 and the driving head 311 together and forms a second driving pair that can rotate around the second driving shaft 314. Pulling the bending pull rod 30, the first and second driving pairs, the first and second driven pairs and the main rotating pair can rotate simultaneously.

[0054] Figure 34-35 The structural composition and assembly relationship of another bending core assembly 3c are depicted. The bending core assembly 3c shown includes a bending rod assembly 4c and a bending tube assembly 5c. The matching mode of the bending rod assembly 4c and the bending tube assembly 5c is similar to the matching mode of the bending rod assembly 4 and the bending tube assembly 5. Briefly, the bending rod assembly 4c is inserted into the bending tube assembly 5c, wherein the arc rod 315 matches the shape and size of the arc tube body 85; the bending pull rod 30 passes through the tube head inner hole 72, the arc inner hole 82 and the straight tube inner hole 92 from the distal end to the proximal end in sequence; the first main pin head 91c is inserted into the first slot 73 between the first elastic arm 751c and the third elastic arm 761c, and forms a first bite pair with the first cylindrical surface 732; at the same time, the second main pin head 95c is inserted into the second slot 74 between the second elastic arm 752c and the fourth elastic arm 762c, and forms a second bite pair with the second cylindrical surface 742. Pull the bending pull rod 30, the first and second engaging pairs fix the main pin, the first and second driving pairs, the first and second driven pairs and the main rotating pair rotate simultaneously, driving the first and second clamp tails and the first and second connecting rods to move and rotate in the U-shaped groove 78c.

[0055] The bending core assembly 3c is matched with the handle assembly 2 to form a handheld instrument 1c (not shown in the figure). The matching relationship between the bending core assembly 3c and the handle assembly 2 is the same as the matching relationship between the bending core assembly 3 and the handle assembly 2. The disassembly process of the bending core assembly 3c is the same as that of the bending core assembly 3. Those skilled in the art can easily understand it by referring to the above text, and no further description is given.

[0056] Those skilled in the art should be able to understand that there are two difficulties in laparoscopic single-port surgery: first, the operability of any extreme angle in the hemispherical space; second, the problem of mutual interference between multiple instruments in a very small space (referred to as the chopstick effect). Studies have shown that the use of bendable instruments can effectively solve the above problems. However, the bendable instruments currently disclosed are usually snake-bone structures or approximate snake-bone mechanisms, and the bending of the clamp rod is controlled by an operating mechanism. This mechanism is basically a fully flexible structure, which results in the tactile feedback not being solid or real enough, which seriously interferes with the doctor's judgment. In addition, this type of bendable forceps has a complex structure and cannot be reused, resulting in high application costs. The reusable pre-bent forceps currently disclosed usually include multiple special bends, which are used in conjunction with special single-port multi-channel access devices to complete specific surgeries, and are difficult to meet the needs of different single-port surgical procedures; and these specific multi-angle pre-bent forceps cannot be disassembled, resulting in the inability to clean the bent forceps core, and the risk of cross-infection during clinical use is relatively high. Therefore, so far, the clinical application of reusable pre-bent forceps is relatively small.

[0057] In 2007, the medical community completed the first transumbilical single-incision laparoscopic cholecystectomy. Since then, the technical solutions for single-incision laparoscopic surgery have derived multiple development directions. Published in the Journal of Minimal Access Surgery, the document is named Single-incision laparoscopic surgery - current status and controversies, hereinafter referred to as document 1. Document 1 details the improvement process of the clinical application of the single-incision multi-channel access device. Briefly, initially three conventional puncture cannulas were inserted into a single incision to form a single-hole multi-channel access device (referred to as the Mickey Mouse scheme), which caused serious air leakage during surgery. This was later improved to insert an incision sleeve into a single incision, connect a soft gel platform to the outside of the incision sleeve, and puncture the soft gel platform with multiple conventional puncture cannulas to form a single-hole multi-channel access device (referred to as the R-Port scheme). This scheme had a larger access platform and was also prone to air leakage during surgery. The soft gel platform was later improved to connect a simplified conventional puncture cannula to the soft gel tank body to form a single-hole multi-channel access device (referred to as the Triport scheme), which effectively solved the problem of air leakage during surgery. The Triport scheme is currently one of the most widely used single-hole multi-channel access devices in clinical practice. The US invention application US20090036745A1, the Chinese invention application 201710862325.4, 201810860145.7, 201910581071.8, 202010783249.X, 202011018690.5, 202210118378.6, 202011530420.2, 202310111515.8, 2410415133.9 and other documents disclose a variety of technical solutions based on the Triport invention concept. Studies have shown that these solutions have been widely used in clinical practice and have achieved good results. However, the Triport concept is limited by the fixed pattern of the evolution history of the single-hole access device. No matter how the single-hole access platform changes, its channel follows the technical fixed pattern of the conventional cannula. Its technical solution mainly optimizes the size and adapts the appearance of the traditional puncture device to form a single-hole multi-channel access device. The access device based on this concept cannot or is extremely difficult to use pre-bent tube instruments due to structural and size limitations.

[0058] Fig.36 A fully flexible single-hole multi-channel access device 8 is depicted, comprising a flexible housing 8a, and flexible sleeves 8b, 8c, 8d and 8e extending proximally from the flexible housing. The flexible sleeves 8b, 8c, 8d and 8e can form a seal for instruments with a diameter of 3 to 12 mm inserted therein, and can be deformed at any angle to facilitate the passage of the aforementioned pre-bent curved tube instruments. Fig.36The deformation principle of the flexible sleeve should be understood, and the technical solution of the fully flexible single-hole multi-channel access device 8 will not be described in detail here.

[0059] Fig.37 The schematic diagram of the simulation of instruments 1 and 1a in the clinical application scenario of single-port laparoscopic surgery is depicted. The pre-bent elbow assembly allows instruments 1 and 1a to be cross-operated, and the intersection area of ​​the cross-operation is moved outside the patient's body. More importantly, there is no interference between the handles, and there is a large operating space. Studies have shown that the tangent of the arc centerline 86 at the intersection of the inner hole of the tube head and the arc inner hole and the tube head axis 77 form a tube head bevel angle A1, taking A1≤5°; the tube head axis 77 and the straight tube axis 97 form a tube tail bevel angle A2, taking 20°≤A2≤55°. This setting is conducive to moving the intersection point of the two mutually cooperating instruments under the single-port laparoscope to a reasonable point, and at the same time, it is conducive to avoiding mutual interference between the handles, and is conducive to real-time monitoring and visual feedback of the clamp head at the distal end of the instrument.

[0060] Combination Figure 1 , Figure 2 , Figure 6 , Fig.16 and Fig.37 It is understood that the first pull rod 31 and the second pull rod 32 of the bending pull rod are riveted and fixed to form a rotatable coupling, that is, the second pull rod can rotate relative to the coupling. This mechanism has an adaptive function and is crucial for the rotation and disassembly functions of the core bending device. Figure 6 As shown, in a preferred solution, the length of the first pull rod is L1, the length of the second pull rod is L2, wherein 0.01≤L2 / L1≤0.1. This ratio is conducive to ensuring the strength of the device and improving the convenience of disassembly.

[0061] In the example shown, the tube head inner hole 72 is seamlessly connected to the arc-shaped inner hole 82, and the straight tube inner hole 92 is seamlessly connected to the arc-shaped inner hole 82. The inner diameters of the holes are substantially equal, but they may also be unequal. For example, the inner diameter of the straight tube inner hole 92 is larger than the inner diameter of the arc-shaped inner hole 82; for example, the inner diameter of the tube head inner hole 72 is larger than the inner diameter of the arc-shaped inner hole 82. Many evolution schemes have been shown, and more schemes are conceivable, which are not exhaustive here. Those skilled in the art should understand that the first, second, etc. are not in a strict order, and are only for the sake of simplicity and accuracy of the description and for ease of understanding.

Claims

1. A pipe bending assembly, comprising a pipe clamp, a straight pipe and a pipe extending therebetween, characterized in that: 1) The tube chuck comprises a tube head shell and a tube head inner hole, wherein the tube head inner hole comprises the tube head axis; the first clamping groove and the second clamping groove divide the tube head shell into a first half shell and a second half shell; the first clamping groove comprises a first cylindrical surface, and the second clamping groove comprises a second cylindrical surface; the axes of the first cylindrical surface and the second cylindrical surface coincide with each other; 2) The elbow comprises an elbow head, an elbow tail and an arc-shaped tube body extending therebetween, wherein the arc-shaped tube body comprises an arc center line; the arc-shaped inner hole extends along the arc center line and penetrates the elbow head, the arc-shaped tube body and the elbow tail; 3) The straight tube comprises a straight tube head, a straight tube tail and a straight tube body extending therebetween, the straight tube body comprises a straight tube inner hole and a straight tube axis, the straight tube inner hole passes through the straight tube head, the straight tube body and the straight tube tail; the outer side of the straight tube head comprises a torque transmitting adapter, and the outer side of the straight tube tail comprises a limiting ring groove; 4) The inner hole of the pipe head is seamlessly connected to the arc-shaped inner hole, and the inner hole of the straight pipe is seamlessly connected to the arc-shaped inner hole.

2. The elbow assembly according to claim 1, characterized in that: The tangent of the arc centerline at the intersection of the tube head inner hole and the arc inner hole and the tube head axis form a tube head bevel angle A1, where A1≤5°; the tube head axis and the straight tube axis form a tube tail bevel angle A2, where 20°≤A2≤55°.

3. The elbow assembly according to claim 1, characterized in that: The first card slot includes a first distal guide port, a first cylindrical surface and a first cutting groove, the maximum opening width of the first guide port is H11, the diameter of the first cylindrical surface is D11, the first guide port and the first cylindrical surface intersect to form a first bite with an opening width of H12, wherein H11≥D11>H12; the second card slot includes a second distal guide port, a second cylindrical surface and a second cutting groove, the maximum opening width of the second guide port is H21, the diameter of the second cylindrical surface is D21, the second guide port and the second cylindrical surface intersect to form a second bite with an opening width of H22, wherein H21≥D21>H22.

4. The elbow assembly according to claim 1, characterized in that: The tube clamp also includes a U-shaped groove, which transversely cuts through the first half shell to form a first elastic arm and a second elastic arm, and the groove transversely cuts through the second half shell to form a third elastic arm and a fourth elastic arm.

5. A bending core assembly, comprising the bending pipe assembly according to claim 1, and also comprising a bending rod assembly matched therewith, characterized in that: 1) The bending rod assembly comprises a first clamp, a second clamp, a base and a bending rod; 2) The base includes a first arm and a second arm extending from the base shoulder to the distal end to form a U-shaped fork; the first pliers include a first pliers tail, a first pliers claw and a pliers handle connected thereto, and the second pliers include a second pliers tail, a second pliers claw and a pliers handle connected thereto; the first pliers tail and the second pliers tail are stacked on each other and installed between the first arm and the second arm; the bending pull rod includes a driving head and a driving mechanism connected thereto, and the driving mechanism is connected to the first pliers tail and the second pliers tail respectively, and the bending pull rod is moved to push and pull the driving head, and the driving head drives the driving mechanism, and the driving mechanism forces the first pliers tail and the second pliers tail to rotate together or rotate apart, thereby forcing the first pliers claw and the second pliers claw to rotate together or rotate apart; 3) The base shown also includes a base hollow tube extending from the base shoulder to the proximal end, and the outer surface of the hollow tube is provided with a first transverse axis and a second transverse axis; the bending rod assembly is inserted into the bending tube assembly, and the base hollow tube is inserted into the inner hole of the tube head, the first transverse axis is inserted into the first slot to form a first bite pair with the first cylindrical surface, and the second transverse axis is inserted into the second slot to form a second bite pair with the second cylindrical surface.

6. The bending core assembly according to claim 5, characterized in that: 1) The first clamp tail has a first clamp tail minimum circumscribed cylindrical surface, and the cylindrical surface includes the first clamp tail axis; the first clamp jaw has a first clamp jaw minimum circumscribed cylindrical surface, and the circumscribed cylindrical surface includes the first clamp jaw axis, and the first clamp tail axis and the first clamp jaw axis form an angle A11, wherein 15°≤A11≤75°; 2) The second clamp tail has a second clamp tail minimum circumscribed cylindrical surface, and the cylindrical surface includes the second clamp tail axis; the second clamp jaw has a second clamp jaw minimum circumscribed cylindrical surface, and the circumscribed cylindrical surface includes the second clamp jaw axis; the second clamp tail axis and the second clamp jaw axis form an angle A22, wherein 15°≤A22≤75°.

7. The bending core assembly according to claim 5, characterized in that: 1) The bent pull rod comprises a first pull rod and a second pull rod, the first pull rod comprises a driving head and a first connecting head and an arc rod extending therebetween, and the arc center line of the arc rod matches the arc neutral line of the arc tube body; 2) The first connecting head includes a first half rod head; the second pull rod includes a pull rod tail and a second connecting head and an extension rod therebetween, and the second connecting head includes a second half rod head; the first half rod head and the second half rod head are riveted and fixed to form a rotatable coupling, so that the second pull rod can rotate around the coupling.

8. The bending core assembly according to claim 7, characterized in that: The first tie rod has a length L1 and the second tie rod has a length L2, wherein 0.01≤L2 / L1≤0.

1.

9. A bending core assembly, comprising the bending pipe assembly according to claim 4, and also comprising a bending rod assembly matched therewith, characterized in that: 1) The bending rod assembly comprises a first clamp, a second clamp, a bending pull rod, a first connecting rod, a second connecting rod, a kingpin and a retaining ring; the kingpin comprises a first kingpin head, a second kingpin head and a kingpin flange arranged therebetween, and the diameter of the kingpin flange is larger than that of the first and second kingpin heads; 2) The first pliers blade comprises a first pliers tail, a first pliers jaw and a pliers handle connected thereto, and the first pliers tail further comprises a first base hole penetrating therethrough; the second pliers blade comprises a second pliers tail, a second pliers jaw and a pliers handle connected thereto, and the second pliers tail further comprises a second base hole penetrating therethrough laterally; the first connecting rod comprises a first connecting rod head and a first connecting rod tail and a first connecting rod body extending therebetween; the second connecting rod comprises a second connecting rod head and a second connecting rod tail and a second connecting rod body extending therebetween; 3) The first clamp tail and the second clamp tail are stacked on each other, the second kingpin head passes through the first base hole and the second base hole, and the retaining ring is fixed to the adjacent area of ​​the end of the second kingpin head, so that the first and second clamp tails are fixed together to form a main rotating pair that can rotate around the kingpin; the first connecting rod head and the first clamp tail are fixed together to form a rotatable first driven pair; the second connecting rod head and the second clamp tail are fixed together to form a rotatable second driven pair; the first connecting rod tail and the driving head of the bending rod are fixed together to form a rotatable first driving pair; the second connecting rod tail and the driving head of the bending rod are fixed together to form a rotatable second driving pair; By pulling the bent pull rod, the first and second driving pairs, the first and second driven pairs and the main rotating pair can rotate simultaneously; 4) The bending rod assembly is inserted into the bending tube assembly, wherein the arc rod matches the arc tube body; the first main pin head is inserted into the first slot between the first elastic arm and the third elastic arm to form a first bite pair with the first cylindrical surface; at the same time, the second main pin head is inserted into the second slot between the second elastic arm and the fourth elastic arm to form a second bite pair with the second cylindrical surface; the bending rod is pulled, the first and second bite pairs fix the main pin, and the first and second driving pairs, the first and second driven pairs and the main rotating pairs rotate at the same time, driving the first and second clamp tails and the first and second connecting rods to move and rotate in the U-shaped groove.

10. A surgical instrument for minimally invasive surgery, the instrument comprising a bending core assembly as described in any one of claims 5-9, and also comprising a handle assembly matching therewith; the handle assembly comprises a rotating wheel assembly, a button assembly, a handle shaft and a first handle and a second handle rotating around it; the bending tube assembly of the bending core assembly matches the rotating wheel assembly and the button assembly; the bending pull rod is connected to the second handle, and the first handle and the second handle rotate around the handle shaft, thereby pulling the bending pull rod to move, and then pushing its driving head to move, thereby forcing the first clamp tail and the second clamp tail to rotate together or rotate apart, thereby forcing the first clamp jaw and the second clamp jaw to rotate together or rotate apart.

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