Actuating mechanism and surgical instrument

Abstract

The invention discloses an actuating mechanism and a surgical instrument, and relates to the field of medical instruments. The actuating mechanism comprises a transmission assembly, and the transmission assembly comprises an actuating piece, a dowel bar, a locking arm, an unlocking piece and a locking elastic piece. During specific operation, a user drives the dowel bar to move by adjusting the rotation stroke of the actuating piece, so that the dowel bar can pull an external dowel wire to execute expected operation, and the actuating piece is automatically locked by the locking arm; a user acts on the locking arm to move away from the actuating piece through the abutting action of the unlocking piece so as to unlock the actuating piece, the locking elastic piece is compressed, then the rotating stroke of the actuating piece is adjusted, and therefore the dowel bar is driven to move. According to the actuating mechanism provided by the invention, the transmission assembly is at least partially arranged on the far-end area in the assembly cavity, so that the occupation of excessive space of an interventional instrument can be avoided, the flexibility of operating the instrument can be improved, and a user can be promoted to adapt to surgical operation at an extreme angle.

Description

Technical Field

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

[0002] In minimally invasive surgery, surgical forceps are medical instruments that medical personnel often use to clamp and process internal tissues of the human body. In the related art, surgical forceps mainly include a shell, a handle, a connecting rod and a forceps head. The shell and the handle are rotatably configured. Medical personnel rotate the operating handle to drive the connecting rod, so that the connecting rod drives the forceps head to clamp the human tissue in the desired area and perform the desired processing operation; to lock the forceps head, a locking structure can be configured to lock the connecting rod, but usually the combination area of ​​the locking structure and the connecting rod actually occupies too much space for interventional instruments, limiting the flexibility of the operating instrument and making it inconvenient for doctors to adapt to surgical operations at extreme angles. Summary of the invention

[0003] In order to solve the technical problems raised by the above background technology, the present invention provides an actuating mechanism, which is arranged in an assembly cavity of a housing, and the actuating mechanism includes a transmission assembly, and the transmission assembly is at least partially arranged on a distal region in the assembly cavity;

[0004] The transmission assembly comprises an actuating member, a force transmission rod, a locking arm, an unlocking member and a locking elastic member, wherein the actuating member is rotatably disposed in the assembly cavity, the proximal end of the force transmission rod is slidably connected to the actuating member, the distal end of the force transmission rod is adapted to be fixedly connected to an external force transmission line, the locking arm is rotatably disposed in the assembly cavity, the unlocking member and the actuating member are slidably arranged, one end of the locking elastic member is fixedly disposed in the assembly cavity, and the other end of the locking elastic member is slidably abutted against the locking arm;

[0005] In a normal state, the actuating member can rotate to drive the force transmission rod to move, and the locking elastic member is suitable for acting on the locking arm to move toward the actuating member to abut and lock the actuating member, so that the actuating member is in a locked state;

[0006] The unlocking member can be inserted into the assembly cavity to abut against the locking arm to move away from the actuating member, thereby unlocking the actuating member and the locking arm.

[0007] As a preferred technical solution, the actuator is provided with a first locking portion, which is arranged on the area where the actuator is adjacent to the locking arm, and the locking arm is provided with a second locking portion, which is arranged on the area where the locking arm is adjacent to the actuator, and the first locking portion and the second locking portion are wedged.

[0008] As a preferred technical solution, the first locking portion has at least two locking positions, and on the rotation path of the actuator and the rotation path of the locking arm, the second locking portion can switch the wedging setting at any of the locking positions.

[0009] As a preferred technical solution, the first locking portion is configured as a plurality of raised wedge teeth, and the plurality of raised wedge teeth are arranged in sequence along the arc direction of the rotation axis of the actuator, and the locking position is formed between two adjacent raised wedge teeth; the locking arm is configured as an arched plate structure, and the second locking portion is constructed on the inner end face of the arched plate structure, and the second locking portion is configured as a locking wedge tooth, and the locking wedge tooth and the locking position are correspondingly wedged.

[0010] As a preferred technical solution, the force transmission rod comprises a ball head and a rod body, the proximal end of the rod body and the ball head are fixedly connected, and the distal end of the rod body is suitable for being fixedly connected to an external force transmission line;

[0011] The ball head is slidably disposed in the actuating member; a sliding groove is provided on the actuating member for the ball head to slide;

[0012] The rod body is passed through the actuating member to be connected with the ball head; the actuating member is provided with a clearance groove for the rod body to pass through, and the clearance groove is communicated with the sliding groove.

[0013] As a preferred technical solution, the actuating mechanism further includes a guide fixing sleeve, which is detachably mounted in the assembly cavity, a guide cavity is provided in the guide fixing sleeve, and the rod body is slidably connected in the guide cavity.

[0014] As a preferred technical solution, the force transmission rod also includes at least one limiting protrusion, which is protruding on the outer wall of the rod body and extending in a direction parallel to the axis of the rod body; a limiting groove is provided in the guide fixing sleeve, and the limiting groove is recessed on the inner wall surface of the guide cavity, and the limiting protrusion and the limiting groove are conformally slidably configured.

[0015] As a preferred technical solution, the force transmission rod also includes a reinforcement portion, which is arranged in a ring on the outside of the rod body, and extends along the axial direction of the rod body. The reinforcement portion and the inner wall of the guide cavity are slidably arranged, and the limiting protrusion is protrudingly arranged on the outer wall surface of the reinforcement portion.

[0016] As a preferred technical solution, the actuating mechanism also includes a holding piece, the holding piece and the actuating piece are fixedly connected, the extension direction of the holding piece and the extension direction of the shell are arranged at an angle, so that the holding piece and the shell together construct a horizontal holding structure; the unlocking piece and the holding piece are movably arranged.

[0017] As a preferred technical solution, one end of the unlocking member away from the actuating member is spliced ​​and assembled at the end of the holding member away from the shell, and the unlocking member is suitable for being inserted through the holding member; an unlocking channel is provided in the actuating member, and the unlocking channel and the unlocking member are slidably configured, and a trigger area is provided on the locking arm for the unlocking member to abut against, and the trigger area can cover the extending direction of the unlocking channel as the actuating member rotates, and the straight-line distance from the trigger area to the rotation axis of the locking arm is greater than the straight-line distance from the second locking portion of the locking arm used to lock the actuating member to the rotation axis of the locking arm; and / or

[0018] The actuating member is provided with at least one fixing position, and the fixing position is used to be fixedly connected with the holding member; and / or

[0019] The transmission assembly further comprises an actuating elastic member, a first coupling groove is provided on an outer wall surface of the shell facing the gripping member, a second coupling groove is provided on an outer wall surface of the gripping member facing the shell, one end of the actuating elastic member is connected to the first coupling groove, and the other end of the actuating elastic member is connected to the second coupling groove; and / or

[0020] The transmission assembly also includes an unlocking elastic member, which is installed in the holding member, one end of the unlocking elastic member is connected to the unlocking member, and the other end of the unlocking elastic member is connected to the holding member.

[0021] As a preferred technical solution, the locking arm is provided with a guide hole, and the guide hole is suitable for connecting a guide rod; the housing is provided with an arc groove, the center of the arc groove and the rotation axis of the locking arm are overlapped, and on the radial cross section of the rotation of the locking arm, the first projection of the arc groove and the second projection of the path of the guide hole along the rotation of the locking arm are overlapped; and / or

[0022] The rotation axis of the actuating member and the rotation axis of the locking arm are arranged at intervals, the actuating member is provided with a first rotation position, a first assembly hole is configured on the inner wall of the assembly cavity, and the first assembly hole and the first rotation position are correspondingly arranged along the rotation axis of the actuating member; the locking arm is provided with a second rotation position, a second assembly hole is configured on the inner wall of the assembly cavity, and the second assembly hole and the second rotation position are correspondingly arranged along the rotation axis of the locking arm; and / or

[0023] An assembly groove is provided on the inner wall of the assembly cavity, and the assembly groove is used to clamp the fixed end of the locking elastic member; an installation groove is provided on the end surface of the locking arm away from the actuator, and the installation groove is used to clamp the sliding end of the locking elastic member.

[0024] The present invention further provides a surgical instrument, comprising a shell and the above-mentioned actuating mechanism, wherein the actuating mechanism is arranged in an assembly cavity of the shell.

[0025] As a preferred technical solution, the surgical instrument further includes a universal structure, which is at least partially arranged in the proximal region of the assembly cavity; an intervention cavity is arranged in the universal structure, and the universal structure includes:

[0026] The ball joint assembly comprises an inner ball sleeve and an outer ball sleeve, wherein the inner ball sleeve is fixedly connected to the housing, and the outer ball sleeve is rotatably arranged on the outer peripheral side of the inner ball sleeve;

[0027] The movable component includes a joint group and a connecting sleeve. The proximal end of the joint group is fixed to the shell, and the connecting sleeve is fixedly connected to the distal end of the joint group. The joint group is configured as a flexible joint structure formed by a combination of multiple joint monomers, and the outer ball sleeve is slidably sleeved on the outside of the connecting sleeve.

[0028] The technical solution provided by the present invention has the following advantages:

[0029] The actuating mechanism provided by the present invention comprises a transmission assembly, which is at least partially arranged on a distal area in an assembly cavity; the transmission assembly comprises an actuating member, a force transmission rod, a locking arm, an unlocking member and a locking elastic member, the actuating member is rotatably arranged in the assembly cavity, the proximal end of the force transmission rod is slidably connected to the actuating member, the distal end of the force transmission rod is suitable for being fixedly connected to an external force transmission line, the locking arm is rotatably arranged in the assembly cavity, the unlocking member and the actuating member are slidably arranged, one end of the locking elastic member is fixedly arranged in the assembly cavity, and the other end of the locking elastic member is slidably abutted against the locking arm; in a normal state, the actuating member can rotate to drive the force transmission rod to move, and the locking elastic member is suitable for acting on the locking arm to move toward the actuating member to abut and lock the actuating member, so that the actuating member is in a locked state; the unlocking member can be inserted into the assembly cavity to abut and act on the locking arm to move away from the actuating member, so that the actuating member and the locking arm are unlocked.

[0030] The actuating mechanism of this structure has a shell as the installation base of the actuating mechanism, and the actuating member and the locking arm are respectively rotatably connected in the assembly cavity of the shell; in the normal state, the actuating member and the locking arm move relative to each other, and the rotation of the actuating member drives the force transmission rod to be displaced, and the force transmission rod can pull the force transmission line of the external device to perform the desired operation; the locking arm and the actuating member are locked together through the elastic action of the locking elastic member, so that the actuating member is in a locked state; when unlocking is required, the user moves the locking arm away from the actuating member through the abutment of the unlocking member to unlock the actuating member, and the locking elastic member is in compression, and then the rotation stroke of the actuating member can be adjusted to drive the force transmission rod to be displaced, so that the force transmission rod can pull the force transmission line of the external device to perform the desired operation, for example, the far end of the force transmission line can be connected to the pliers head to implement the opening and closing of the pliers head. The actuating mechanism provided by the present invention is easy for users to adjust and operate, and locking is automatically implemented; the transmission component is at least partially arranged in the distal area within the assembly cavity, which can avoid occupying too much space for interventional instruments, is conducive to improving the flexibility of operating instruments, and enables users to adapt to surgical operations at extreme angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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.

[0032] Figure 1 A schematic diagram of the structure of the surgical instrument provided by the present invention;

[0033] Figure 2 A three-dimensional schematic diagram of the local structure of the surgical instrument provided by the present invention;

[0034] Figure 3 A front view of a local structure of a surgical instrument provided by the present invention;

[0035] Figure 4 An exploded schematic diagram of the surgical instrument provided by the present invention;

[0036] Figure 5 A schematic diagram of the connection of the actuating mechanism in the surgical instrument provided by the present invention;

[0037] Figure 6 A schematic diagram of the separation of the housing and the actuating mechanism in the surgical instrument provided by the present invention;

[0038] Figure 7 A schematic diagram of a partial structure of the actuating mechanism provided by the present invention;

[0039] Figure 8A schematic structural diagram of an actuating member and a locking arm in the actuating mechanism provided by the present invention;

[0040] Fig. 9 A schematic structural diagram of an actuating member in the actuating mechanism provided by the present invention;

[0041] Fig.10 A three-dimensional schematic diagram of an actuating member in the actuating mechanism provided by the present invention;

[0042] Fig.11 A schematic structural diagram of a guide fixing sleeve and a force transmission rod in the actuating mechanism provided by the present invention;

[0043] Fig.12 A schematic structural diagram of a locking arm in the actuating mechanism provided by the present invention;

[0044] Fig.13 A three-dimensional schematic diagram of a locking arm in the actuating mechanism provided by the present invention;

[0045] Fig.14 A schematic diagram of the connection between the housing and the gripping member in the actuating mechanism provided by the present invention;

[0046] Description of reference numerals:

[0047] 1-housing; 11-first assembly hole; 12-second assembly hole; 13-arc groove; 14-assembly groove; 15-first connection groove; 16-first spare groove;

[0048] 2-holding member; 21-second connecting groove;

[0049] 3-transmission assembly; 31-actuator; 311-first rotation position; 312-first locking part; 313-slideway; 314-giving slot; 315-unlocking channel; 316-fixed position; 32-force transmission rod; 321-ball head; 322-rod body; 323-limiting protrusion; 324-reinforcement part; 33-locking arm; 331-second rotation position; 332-second locking part; 333-trigger area; 334-guide hole; 335-installation slot; 336-spare rotation position; 337-second spare slot; 34-unlocking member;

[0050] 4-guide fixing sleeve; 41-guide cavity; 42-limiting groove; 43-limiting slot;

[0051] 5-universal structure; 51-ball joint assembly; 511-inner ball sleeve; 512-outer ball sleeve; 52-movable assembly; 521-joint group; 522-connecting sleeve. 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 1

[0057] See also Figures 1 to 12 The present embodiment provides an actuating mechanism, which is arranged in the assembly cavity of the shell 1. The actuating mechanism includes a transmission assembly 3. The shell 1 serves as the installation base of the actuating mechanism. The transmission assembly 3 is at least partially arranged on the distal area in the assembly cavity. The transmission assembly 3 includes an actuating member 31, a force transmission rod 32, a locking arm 33, an unlocking member 34 and a locking elastic member (not shown in the figure).

[0058] See also Figures 2 to 7The actuator 31 is rotatably arranged in the assembly cavity, the proximal end of the force transmission rod 32 is slidably connected with the actuator 31, the distal end of the force transmission rod 32 is suitable for being fixedly connected with an external force transmission line, the locking arm 33 is rotatably arranged in the assembly cavity, the unlocking member 34 and the actuator 31 are slidably arranged, one end of the locking elastic member is fixedly arranged in the assembly cavity, and the other end of the locking elastic member is slidably abutted against the locking arm 33. The actuator 31 and the locking arm 33 are rotatably connected in the assembly cavity of the housing 1 respectively, the locking elastic member elastically limits the rotation stroke of the locking arm 33, and the locking cooperation between the locking arm 33 and the actuator 31 is used to limit the actuator 31.

[0059] In this embodiment, in the normal state, the actuator 31 can rotate to drive the force transmission rod 32 to move, and the locking elastic member is suitable for causing the locking arm 33 to move toward the actuator 31 to abut against the locked actuator 31, so that the actuator 31 is in a locked state; the unlocking member 34 can be penetrated into the assembly cavity to abut against the locking arm 33 to move away from the actuator 31, so that the actuator 31 and the locking arm 33 are unlocked.

[0060] The actuating mechanism provided in this embodiment is such that, in a normal state, the actuating member 31 and the locking arm 33 move relative to each other, and the rotation of the actuating member 31 drives the force transmission rod 32 to move, and the force transmission rod 32 can pull the force transmission line of the external device to perform the desired operation; the locking arm 33 and the actuating member 31 are locked together through the elastic action of the locking elastic member, so that the actuating member 31 is in a locked state; when unlocking is required, the user moves the locking arm 33 away from the actuating member 31 through the abutment of the unlocking member 34 to unlock the actuating member 31, and the locking elastic member is in compression, and then the rotation stroke of the actuating member 31 can be adjusted to drive the force transmission rod 32 to move, so that the force transmission rod 32 can pull the force transmission line of the external device to perform the desired operation, for example, the distal end of the force transmission line can be connected to the pliers head to implement the opening and closing of the pliers head.

[0061] The actuating mechanism provided in this embodiment is convenient for users to adjust and operate, and the locking is automatically implemented; the transmission component 3 is at least partially arranged in the distal area within the assembly cavity, which can avoid occupying too much space for interventional instruments, is conducive to improving the flexibility of operating instruments, and enables users to adapt to surgical operations at extreme angles.

[0062] As a preferred embodiment, the rotation axis of the actuator 31 and the rotation axis of the locking arm 33 are arranged at intervals. The spacing of the rotation axes of the two can enable the locking arm 33 to obtain a larger range of motion, which is beneficial to improving the motion accuracy of the adjustment operation and locking fixation; for the specific structural assembly, the actuator 31 is provided with a first rotation position 311, and the inner wall of the assembly cavity is configured with a first assembly hole 11. The first assembly hole 11 and the first rotation position 311 are correspondingly arranged along the rotation axis of the actuator 31. The first rotation position 311 can be set as a hole structure to install the rotating shaft together with the first assembly hole 11; the locking arm 33 is provided with a second rotation position 331, and the inner wall of the assembly cavity is configured with a second assembly hole 12. The second assembly hole 12 and the second rotation position 331 are correspondingly arranged along the rotation axis of the locking arm 33. The second rotation position 331 can also be set as a hole structure to install another rotating shaft together with the second assembly hole 12. Of course, in other embodiments, the rotation axis of the actuator 31 and the rotation axis of the locking arm 33 may be coaxially arranged, and the two rotate independently of each other.

[0063] In some structural embodiments, see Figure 6 and Fig.12 The locking arm 33 is provided with a guide hole 334, which is suitable for connecting a guide rod (not shown in the figure); the housing 1 is provided with an arc groove 13, the center of the arc groove 13 and the rotation axis of the locking arm 33 are overlapped, and on the radial section of the rotation of the locking arm 33, the first projection of the arc groove 13 and the second projection of the path of the guide hole 334 along the rotation of the locking arm 33 are overlapped. In this arrangement, the guide rod is assembled by the guide hole 334, and the arc groove 13 limits the movement of the guide rod along with the locking arm 33, thereby limiting the movement of the locking arm 33, and further configuring two extreme positions of the movement of the locking arm 33, one extreme position corresponds to the position where the locking arm 33 locks and contacts the actuator 31, so that the locking arm 33 can apply a constant locking force to the actuator 31, effectively ensuring the stability of the actuation locking, and the other extreme position corresponds to the position where the locking arm 33 is triggered by the unlocking member 34 to compress the locking elastic member, which can avoid excessive compression of the locking elastic member, which is conducive to improving the service life of the mechanism.

[0064] In some structural embodiments, see Figure 6 and Figure 7 An assembly groove 14 is provided on the inner wall of the assembly cavity, and the assembly groove 14 is used to clamp the fixed end of the locking elastic member; an installation groove 335 is provided on the end surface of the locking arm 33 away from the actuator 31, and the installation groove 335 is used to clamp the sliding end of the locking elastic member.

[0065] As a variation, see Fig.13 and Fig.14The locking arm 33 is provided with a spare rotation position 336, a spare elastic member (not shown in the figure) is provided between the locking arm 33 and the housing 1, the spare rotation position 336 is provided on the locking arm 33 and is located in the middle section between the second rotation position 331 and the guide hole 334, the first rotation position 311 is provided at one end of the locking arm 33, the spare elastic member is connected to the other end of the locking arm 33, a first spare groove 16 is provided in the housing 1, a second spare groove 337 is provided on the locking arm 33, and both ends of the spare elastic member are respectively connected The first spare groove 16 and the second spare groove 337; when the locking arm 33 rotates with the second rotation position as the center, when the elastic restoring force of the actuating elastic member and the external force interfere with the distance between the expansion shell 1 and the holding member 2, there is a risk of locking failure of the locking arm 33 on the actuating member 31. By adjusting the rotation center of the locking arm 33 to the spare rotation position 336, the elastic action is adjusted to the end position of the locking arm 33 to optimize the force application condition of the locking arm 33 on the actuating member 31 to enhance the stability of the locking stage.

[0066] In an exemplary embodiment, see Figures 8 to 10 , Fig.12 The actuator 31 is provided with a first locking portion 312, which is disposed on a region where the actuator 31 is adjacent to the locking arm 33. The locking arm 33 is provided with a second locking portion 332, which is disposed on a region where the locking arm 33 is adjacent to the actuator 31. The first locking portion 312 and the second locking portion 332 are wedged. The second locking portion 332 of the locking arm 33 is disposed on a path where the first locking portion 312 rotates with the actuator 31, so as to abut against the first locking portion 312 for limiting position.

[0067] As a preferred embodiment, the first locking portion 312 and the second locking portion 332 are respectively disposed on the end surfaces of the actuator 31 and the locking arm 33 facing each other.

[0068] In some structural embodiments, the first locking portion 312 has two or more locking positions, and the second locking portion 332 can switch the wedging setting at any locking position on the rotation path of the actuator 31 and the rotation path of the locking arm 33. In this setting, multiple locking positions are set on the first locking portion 312, and the second locking portion 332 switches the wedging at different locking positions, which can position the fixed posture of the distal end actuator instrument, which is conducive to improving the operation control accuracy of the surgical instrument.

[0069] In some structural embodiments, the first locking portion 312 is configured as a plurality of raised wedge teeth, and the plurality of raised wedge teeth are sequentially arranged along the arc direction of the rotation axis of the actuator 31, and a locking position is formed between two adjacent raised wedge teeth. The locking arm 33 is configured as an arched plate structure, and the second locking portion 332 is configured on the inner end surface of the arched plate structure. The second locking portion 332 is configured as a locking wedge tooth, and the locking wedge tooth and the locking position are correspondingly wedged. The locking wedge tooth is limited and clamped between two adjacent raised wedge teeth, so that the locking arm 33 implements locking of the actuator 31 to relatively fix the force transmission rod 32. The locking arm 33 is configured as an arched plate structure, which can be partially surrounded by the outer peripheral side of the actuator 31, which is conducive to the close contact and limitation between the second locking portion 332 and the first locking portion 312, and enhances the compactness of the structure.

[0070] In some structural embodiments, a transition curved surface is provided on the actuator 31, and the transition curved surface is arranged adjacent to the locking position; in the normal state, when the second locking portion 332 has not entered the locking position, the user drives the actuator 31 to rotate through the grip 2, and the second locking portion 332 of the locking arm 33 slides on the transition curved surface under the action of the locking elastic member; as the actuator 31 rotates, the second locking portion 332 slides on the transition curved surface and enters the locking position, so that the actuator 31 is locked by the locking arm 33.

[0071] The actuating mechanism provided in this embodiment can, during a specific assembly process, allow the force transmission rod 32 to slide back and forth along the extension direction of the assembly cavity, for example, along the intervention direction of the surgical instrument. To prevent the force transmission rod 32 from deviating from its working position, the actuating mechanism can be provided with a fixed structure for circumferentially and radially limiting the force transmission rod 32, so as to ensure that the force transmission rod 32 only slides back and forth along the intervention direction, and the proximal end of the force transmission rod 32 is slidably arranged with the actuating member 31, so that the force transmission rod 32 is in its desired working position.

[0072] As a preferred embodiment, see Fig.11 The force transmission rod 32 includes a ball head 321 and a rod body 322. The proximal end of the rod body 322 is fixedly connected to the ball head 321, and the distal end of the rod body 322 is suitable for being fixedly connected to an external force transmission line; the ball head 321 is slidably disposed in the actuator 31; see Fig. 9 and Fig.10 The actuator 31 is provided with a slide groove 313 for the ball head 321 to slide; the rod body 322 is arranged through the actuator 31 to connect with the ball head 321; the actuator 31 is provided with a clearance groove 314 for the rod body 322 to pass through, and the clearance groove 314 and the slide groove 313 are connected. The ball head 321 is slidably connected with the slide groove 313 on the actuator 31, which is conducive to reducing the sliding resistance and promoting the smooth sliding reciprocating stroke; the rod body 322 can be slidably arranged with the clearance groove 314 to increase the contact area between the force transmission rod 32 and the actuator 31, which is conducive to enhancing the transmission accuracy and transmission stability.

[0073] As a further implementation, see Figure 2 , Figure 3 , Figure 6 as well as Fig.11 The actuating mechanism further includes a guide fixing sleeve 4, which serves as a fixing structure for limiting the circumferential and radial positions of the force transmission rod 32; the guide fixing sleeve 4 is detachably installed in the assembly cavity, and a guide cavity 41 is provided in the guide fixing sleeve 4, and the rod body 322 is slidably connected in the guide cavity 41. The rod body 322 of the force transmission rod 32 is specifically slidably guided by the inner wall of the guide cavity 41, so that the force transmission rod 32 is in the working position of the desired intervention direction.

[0074] As a further implementation, see Fig.11 The force transmission rod 32 also includes a limiting protrusion 323, which is protrudingly arranged on the outer wall of the rod body 322, and the limiting protrusion 323 is extended in a direction parallel to the axis of the rod body 322; a limiting groove 42 is arranged in the guide fixing sleeve 4, and the limiting groove 42 is recessed on the inner wall surface of the guide cavity 41, and the limiting protrusion 323 and the limiting groove 42 are configured to slide conformally. At least one limiting protrusion 323 is provided, and as an exemplary embodiment, two limiting protrusions 323 are symmetrically provided. Through the limiting docking of the limiting protrusion 323 and the limiting groove 42, the motion accuracy of the force transmission rod 32 and the guide fixing sleeve 4 in the axial direction or the intervention direction is enhanced.

[0075] In some structural embodiments, at least one limiting groove 43 is provided on the outer wall of the guide fixing sleeve 4, and the limiting groove 43 is used for limiting assembly with the shell 1; the shell 1 is configured as a detachable and separable structure to facilitate the assembly of its internal structure.

[0076] As a preferred embodiment, see Fig.11 The force transmission rod 32 also includes a reinforcement part 324, which is arranged around the outside of the rod body 322 and extends along the axis direction of the rod body 322. The reinforcement part 324 and the inner wall of the guide cavity 41 are slidably arranged, and the limiting protrusion 323 is protrudingly arranged on the outer wall of the reinforcement part 324. This arrangement expands the contact area between the force transmission rod 32 and the inner wall of the guide cavity 41 through the reinforcement part 324, promotes the stability of the guide; and is conducive to improving the structural strength of the force transmission rod 32 itself. When the proximal end of the force transmission rod 32 and the actuator 31 slide, it can reduce the risk of bending when the force transmission rod 32 contacts the inner wall of the guide cavity 41.

[0077] In this example, see Figures 1 to 3The actuating mechanism further includes a gripping member 2, which is fixedly connected to the actuating member 31, and the extending direction of the gripping member 2 is set at an angle to the extending direction of the housing 1, so that the gripping member 2 and the housing 1 together form a horizontal gripping structure; the unlocking member 34 and the gripping member 2 are movably arranged. To facilitate the operation of medical personnel, the gripping is designed to be horizontal, which is more in line with the ergonomic operation logic, more convenient for doctors to operate with their wrists, and suitable for laparoscopic surgery at extreme angles.

[0078] As a further embodiment, the transmission assembly 3 further includes an actuating elastic member (not shown in the figure), see Fig.14 The outer wall of the housing 1 facing the gripping member 2 is provided with a first connection groove 15, and the outer wall of the gripping member 2 facing the housing is provided with a second connection groove 21. One end of the actuating elastic member is connected to the first connection groove 15, and the other end of the actuating elastic member is connected to the second connection groove 21. The actuating elastic member is sandwiched between the housing 1 and the gripping member 2 to Fig.14 For example, when the holding member 2 drives the actuator 31 to rotate clockwise, the shell 1 and the holding member 2 jointly clamp the actuating elastic member to compress, and when the locking arm 33 locks the actuator 31 in the locking position, the elastic force of the locking elastic member acting on the locking arm 33 to lock the actuator 31 is balanced with the restoring force of the actuating elastic member acting on the actuator 31, thereby maintaining the relative position of the actuator 31 and the force transmitting rod 32; after the unlocking member 34 unlocks the locking arm 33 from locking the actuator 31, the rebound force provided by the actuating elastic member causes the actuator 31 to return counterclockwise, thereby improving the convenience of operation, which is beneficial to releasing the user's hand operation and reducing the user's fatigue during the use stage; and the actuating elastic member can provide grip damping for the user's operation, which can facilitate the user's grip pressure feedback and improve the accuracy of control during the surgical stage.

[0079] As a further embodiment, the transmission assembly 3 further includes an unlocking elastic member (not shown in the figure), which is installed in the gripping member 2, one end of which is connected to the unlocking member 34, and the other end of which is connected to the gripping member 2. After the actuating member 31 is locked by the locking arm 33, the user applies force to the unlocking member 34 to abut against the locking arm 33 to move away from the actuating member 31, thereby unlocking the actuating member 31, and the unlocking elastic member is in elastic stretching; after the user releases the unlocking member 34, the unlocking elastic member elastically pulls the unlocking member 34 to automatically reset, so that the locking arm 33 abuts against the actuating member 31 again under the action of the locking elastic member. With this arrangement, the unlocking elastic member can automatically reset the unlocking member 34, thereby improving the automatic degree of the mechanism.

[0080] As a preferred embodiment, the unlocking member 34 is spliced ​​and assembled at one end away from the actuator 31 at the end of the holding member 2 away from the shell 1, and the unlocking member 34 is suitable for being arranged through the holding member 2; when the user applies force, the holding member 2 is pressed horizontally, and the hand directly acts on the unlocking member 34 to slide relative to the holding member 2, so as to contact the locking arm 33 to exit the locking of the actuator 31.

[0081] The actuating mechanism provided in this embodiment allows the user to adjust the rotation of the actuating member 31 by single-handed operation to drive the force transmission rod 32 to achieve the purpose of force transmission, unlock with single-handed operation, and automatically reset and lock. It has good operability and can effectively conform to the ergonomic operation logic when in use, making it more convenient for the doctor's wrist operation.

[0082] As a preferred embodiment, see Fig. 9 and Fig.12 The actuator 31 is provided with an unlocking channel 315, the unlocking channel 315 and the unlocking member 34 are slidably arranged, and the locking arm 33 is provided with a trigger area 333 for the unlocking member 34 to abut against. The trigger area 333 can cover the extending direction of the unlocking channel 315 rotating with the actuator 31, and the straight-line distance from the trigger area 333 to the rotation axis of the locking arm 33 is greater than the straight-line distance from the second locking portion 332 to the rotation axis of the locking arm 33. This arrangement can make the unlocking member 34 have a larger movement stroke, which is conducive to improving the movement accuracy of operation adjustment and locking positioning.

[0083] In some structural embodiments, see Figures 8 to 10 The actuator 31 is provided with one or more fixing positions 316, and the fixing positions 316 are used to be fixedly connected with the gripping member 2. The fixing positions 316 can be set as fixing holes, and the gripping member 2 is provided with fixing protrusions, and the actuator 31 and the gripping member 2 are relatively fixedly connected through the insertion, interference fit or clamping of the fixing holes and the fixing protrusions.

[0084] In the above description, the force transmission line connected to the distal end of the force transmission rod 32 can be replaced by other transmission structures, not limited to the force transmission line; the execution end instrument connected to the force transmission line or the transmission structure can be set to other surgical instruments, not limited to the forceps head.

[0085] Example 2

[0086] This embodiment provides a surgical instrument, including a housing 1 and the actuating mechanism of Embodiment 1, wherein the actuating mechanism is disposed in an assembly cavity of the housing 1.

[0087] In this example, see Figures 1 to 6The surgical instrument further comprises a universal structure 5, which is at least partially arranged in the proximal region of the assembly cavity; an intervention cavity is arranged in the universal structure 5, and the universal structure 5 comprises a ball joint assembly 51 and a movable assembly 52, wherein the ball joint assembly 51 comprises an inner ball sleeve 511 and an outer ball sleeve 512, wherein the inner ball sleeve 511 is fixedly connected to the housing 1, and the outer ball sleeve 512 is rotatably arranged on the outer peripheral side of the inner ball sleeve 511; the movable assembly 52 comprises a joint assembly 521 and a connecting sleeve 522, wherein the proximal end of the joint assembly 521 is fixedly arranged to the housing 1, and the connecting sleeve 522 is fixedly connected to the distal end of the joint assembly 521, and the joint assembly 521 is arranged as a flexible joint structure formed by a combination of multiple joint monomers, and the outer ball sleeve 512 is slidably sleeved on the outer side of the connecting sleeve 522. The locking of the ball joint assembly 51 is performed by the user tightening and crimping the outer ball sleeve 512 with his fingers, so that the outer ball sleeve 512 is relatively crimped and positioned to the inner ball sleeve 511.

[0088] Among them, an execution end joint mechanism can be set at the distal end of the surgical instrument, and the joint group 521 and the execution end joint mechanism are linked by a control line. By operating the position change of the joint group 521, the position of the execution end joint mechanism is linked to change.

[0089] During the specific operation process, the user operates the outer ball sleeve 512, and through the relative rotation of the outer ball sleeve 512 and the inner ball sleeve 511, the outer ball sleeve 512 adjusts the position of the connecting sleeve 522, and the connecting sleeve 522 drives the joint group 521 to bend, so that the joint group 521 links the execution end joint mechanism to change the position. The forceps head can be fixed on the execution end joint mechanism to change the position of the forceps head to approach the surgical lesion location, and the distal end of the force transmission rod 32 can pull the forceps head through the force transmission line to implement the opening and closing action.

[0090] The surgical instrument provided in this embodiment has the actuator mechanism rear-mounted on the housing to avoid occupying too much space of the interventional instrument. The universal structure 5 is used to flexibly adjust the movement of the actuator end, which is beneficial to improving the flexibility of the operating instrument and enabling the user to perform surgical operations at extreme angles.

[0091] The surgical instrument provided in this embodiment is specifically configured to be held horizontally, which is more in line with ergonomic operation logic, is easier for medical personnel to operate, is more convenient for doctors' wrist operations, and is well adapted to extreme-angle laparoscopic surgical operations.

[0092] 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. An actuating mechanism, arranged in an assembly cavity of a housing (1), characterized in that: The actuating mechanism comprises a transmission assembly (3), wherein the transmission assembly (3) is at least partially arranged on a distal region within the assembly cavity; The transmission assembly (3) comprises an actuating member (31), a force transmission rod (32), a locking arm (33), an unlocking member (34) and a locking elastic member, wherein the actuating member (31) is rotatably arranged in the assembly cavity, the proximal end of the force transmission rod (32) is slidably connected to the actuating member (31), the distal end of the force transmission rod (32) is suitable for being fixedly connected to an external force transmission line, the locking arm (33) is rotatably arranged in the assembly cavity, the unlocking member (34) and the actuating member (31) are slidably arranged, one end of the locking elastic member is fixedly arranged in the assembly cavity, and the other end of the locking elastic member is slidably abutted against the locking arm (33); In a normal state, the actuating member (31) can rotate to drive the force transmission rod (32) to move, and the locking elastic member is suitable for acting on the locking arm (33) to move toward the actuating member (31) so as to abut and lock the actuating member (31), so that the actuating member (31) is in a locked state; The unlocking member (34) can be inserted into the assembly cavity to abut against the locking arm (33) to move away from the actuating member (31), thereby unlocking the actuating member (31) and the locking arm (33).

2. The actuating mechanism according to claim 1, characterized in that: The actuating member (31) is provided with a first locking portion (312), and the first locking portion (312) is arranged on a region where the actuating member (31) is adjacent to the locking arm (33); the locking arm (33) is provided with a second locking portion (332), and the second locking portion (332) is arranged on a region where the locking arm (33) is adjacent to the actuating member (31); the first locking portion (312) and the second locking portion (332) are wedged together.

3. The actuating mechanism according to claim 2, characterized in that: The first locking portion (312) has at least two locking positions, and the second locking portion (332) can switch the wedging setting at any of the locking positions on the rotation path of the actuator (31) and the rotation path of the locking arm (33).

4. The actuating mechanism according to claim 3, characterized in that: The first locking portion (312) is configured as a plurality of raised wedge teeth, and the plurality of raised wedge teeth are arranged in sequence along the arc direction of the rotation axis of the actuator (31), and the locking position is formed between two adjacent raised wedge teeth; the locking arm (33) is configured as an arched plate structure, and the second locking portion (332) is configured on the inner end surface of the arched plate structure, and the second locking portion (332) is configured as a locking wedge tooth, and the locking wedge tooth and the locking position are correspondingly wedged.

5. The actuating mechanism according to claim 1, characterized in that: The force transmission rod (32) comprises a ball head (321) and a rod body (322), the proximal end of the rod body (322) and the ball head (321) are fixedly connected, and the distal end of the rod body (322) is suitable for being fixedly connected to an external force transmission line; The ball head (321) is slidably disposed in the actuating member (31); a sliding groove (313) is provided on the actuating member (31) for the ball head (321) to slide; The rod body (322) is arranged to pass through the actuating member (31) so as to be connected with the ball head (321); a clearance groove (314) is provided on the actuating member (31) so as to allow the rod body (322) to pass through, and the clearance groove (314) and the sliding groove (313) are arranged to be in communication.

6. The actuating mechanism according to claim 5, characterized in that: The actuating mechanism further comprises a guide fixing sleeve (4), the guide fixing sleeve (4) being detachably mounted in the assembly cavity, a guide cavity (41) being arranged in the guide fixing sleeve (4), and the rod body (322) being slidably connected in the guide cavity (41).

7. The actuating mechanism according to claim 6, characterized in that: The force transmission rod (32) further comprises at least one limiting protrusion (323), wherein the limiting protrusion (323) is protrudingly arranged on the outer wall of the rod body (322), and the limiting protrusion (323) is extended in a direction parallel to the axis of the rod body (322); a limiting groove (42) is arranged in the guide fixing sleeve (4), and the limiting groove (42) is recessed on the inner wall surface of the guide cavity (41), and the limiting protrusion (323) and the limiting groove (42) are configured to slide conformably.

8. The actuating mechanism according to claim 7, characterized in that: The force transmission rod (32) further comprises a reinforcing portion (324), wherein the reinforcing portion (324) is arranged around the outer side of the rod body (322), the reinforcing portion (324) is extended along the axial direction of the rod body (322), the reinforcing portion (324) and the inner wall of the guide cavity (41) are slidably arranged, and the limiting protrusion (323) is protrudingly arranged on the outer wall surface of the reinforcing portion (324).

9. The actuating mechanism according to any one of claims 1 to 8, characterized in that: The actuating mechanism further comprises a holding member (2), wherein the holding member (2) and the actuating member (31) are fixedly connected, and the extension direction of the holding member (2) and the extension direction of the shell (1) are arranged to form an angle, so that the holding member (2) and the shell (1) together form a horizontal holding structure; the unlocking member (34) and the holding member (2) are movably arranged.

10. The actuating mechanism according to claim 9, characterized in that: The end of the unlocking member (34) away from the actuating member (31) is spliced ​​and assembled to be arranged at the end of the holding member (2) away from the housing (1), and the unlocking member (34) is suitable for being arranged to pass through the holding member (2); an unlocking channel (315) is arranged in the actuating member (31), and the unlocking channel (315) and the unlocking member (34) are slidably arranged, and a trigger area (333) is arranged on the locking arm (33) for the unlocking member (34) to abut against, and the trigger area (333) can cover the extending direction of the unlocking channel (315) when the actuating member (31) rotates, and the straight-line distance from the trigger area (333) to the rotation axis of the locking arm (33) is greater than the straight-line distance from the second locking portion (332) of the locking arm (33) used to lock the actuating member (31) to the rotation axis of the locking arm (33); and / or The actuating member (31) is provided with at least one fixing position (316), and the fixing position (316) is used to be fixedly connected to the holding member (2); and / or The transmission assembly (3) further comprises an actuating elastic member, a first coupling groove (15) is provided on the outer wall surface of the shell facing the holding member (2), a second coupling groove (21) is provided on the outer wall surface of the holding member (2) facing the shell, one end of the actuating elastic member is connected to the first coupling groove (15), and the other end of the actuating elastic member is connected to the second coupling groove (21); and / or The transmission assembly (3) also includes an unlocking elastic member, which is installed in the holding member (2), one end of the unlocking elastic member is connected to the unlocking member (34), and the other end of the unlocking elastic member is connected to the holding member (2).

11. The actuating mechanism according to any one of claims 1 to 8, characterized in that: The locking arm (33) is provided with a guide hole (334), and the guide hole (334) is suitable for connecting a guide rod; the housing (1) is provided with an arc groove (13), the center of the arc groove (13) and the rotation axis of the locking arm (33) are arranged overlapping, and on a radial cross section of the rotation of the locking arm (33), a first projection of the arc groove (13) and a second projection of the guide hole (334) along the path of the rotation of the locking arm (33) are arranged overlapping; and / or The rotation axis of the actuating member (31) and the rotation axis of the locking arm (33) are arranged at intervals, the actuating member (31) is provided with a first rotation position (311), the inner wall of the assembly cavity is provided with a first assembly hole (11), the first assembly hole (11) and the first rotation position (311) are arranged correspondingly along the rotation axis of the actuating member (31); the locking arm (33) is provided with a second rotation position (331), the inner wall of the assembly cavity is provided with a second assembly hole (12), the second assembly hole (12) and the second rotation position (331) are arranged correspondingly along the rotation axis of the locking arm (33); and / or An assembly groove (14) is provided on the inner wall of the assembly cavity, and the assembly groove (14) is used to clamp the fixed end of the locking elastic member; an installation groove (335) is provided on the end surface of the locking arm (33) away from the actuating member (31), and the installation groove (335) is used to clamp the sliding end of the locking elastic member.

12. A surgical instrument, characterized in that: It comprises a housing (1) and an actuating mechanism according to any one of claims 1 to 11, wherein the actuating mechanism is arranged in an assembly cavity of the housing (1).

13. The surgical instrument according to claim 12, characterized in that: The surgical instrument further comprises a universal structure (5), wherein the universal structure (5) is at least partially arranged in the proximal region of the assembly cavity; an intervention cavity is arranged in the universal structure (5), and the universal structure (5) comprises: The ball joint assembly (51) comprises an inner ball sleeve (511) and an outer ball sleeve (512), wherein the inner ball sleeve (511) and the housing (1) are fixedly connected to each other, and the outer ball sleeve (512) is rotatably arranged on the outer peripheral side of the inner ball sleeve (511) via a ball joint; The movable component (52) comprises a joint group (521) and a connecting sleeve (522), wherein the proximal end of the joint group (521) is fixedly arranged with the housing (1), and the connecting sleeve (522) is fixedly connected to the distal end of the joint group (521), and the joint group (521) is configured as a flexible joint structure formed by combining a plurality of joint monomers, and the outer ball sleeve (512) is slidably sleeved on the outside of the connecting sleeve (522).

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