Universal movement mechanism and surgical instrument

Abstract

The invention discloses a universal movement mechanism and a surgical instrument, and relates to the field of medical instruments. The universal movement mechanism comprises a spherical pair assembly, a support and a locking assembly. The inner ball sleeve can rotate relative to the support through the first pivot, the outer ball sleeve can rotate relative to the support through the second pivot, and universal rotation between the inner ball sleeve and the outer ball sleeve is converted into rotation movement around the first pivot and the second pivot. When the motion posture of the spherical pair assembly needs to be fixed, a user can lock the rotation angle of the first pivot by operating the second locking piece to limit and lock the first locking piece, and can lock the rotation angle of the second pivot by operating the third locking piece to limit and lock the fourth locking piece; the ball pair assembly can be adjusted and locked by controlling the first pivot and the second pivot. The universal movement mechanism provided by the invention is good in structural locking strength and high in structural installation, adjustment and locking precision, and the surgical instrument adopting the universal movement mechanism has good locking precision and adjustment effect.

Description

Technical Field

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

[0002] Since the head of traditional instruments cannot bend, they cannot reach the lesion smoothly and conveniently at certain specific angles, which also makes the doctor's operating posture uncomfortable. Therefore, a universal motion structure is added to the surgical instrument to enable the execution end of the surgical instrument to reach some tricky angles more conveniently, free the doctor's wrist, and improve the convenience of operation.

[0003] In the related art, the structure of universal motion is mostly implemented through a ball pair structure, and the locking method of the ball pair structure generally relies on the contact friction force of the external area, which is applicable to occasions with ordinary low precision; but for occasions with high structural installation accuracy and operation accuracy, such as locking and fixing of surgical instruments in a fixed posture, if the locking relies on the contact friction force of the external area, the actual locking strength is unstable, and there is a defect of reducing the locking accuracy and adjustment effect of the surgical instrument. Summary of the invention

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

[0005] A ball pair assembly comprises an inner ball sleeve and an outer ball sleeve which are arranged concentrically, wherein the outer ball sleeve can be universally rotatably sleeved on the outer side of the inner ball sleeve, a first pivot is fixedly provided on the inner ball sleeve, and a second pivot is fixedly provided on the outer ball sleeve, and an extension axis of the first pivot and an extension axis of the second pivot intersect at the center of the ball pair assembly;

[0006] A bracket is installed outside the outer ball sleeve, the first pivot is rotatably arranged with the bracket, the second pivot is rotatably arranged with the bracket, and the first pivot is slidably arranged with the outer ball sleeve;

[0007] A locking assembly, comprising a first locking member, a second locking member, a third locking member and a fourth locking member, wherein the first locking member and the third locking member are arranged at intervals on the outside of the outer ball sleeve, the first locking member and the first pivot are fixedly connected, the third locking member and the second pivot are fixedly connected, and the second locking member and the fourth locking member are suitable for being slidably arranged on the bracket;

[0008] The second locking member is configured to be able to lock the first locking member close to a limit position to lock the rotation angle of the first pivot, or to be able to move away from releasing the lock of the first locking member so that a user can adjust the rotation angle of the first pivot; the fourth locking member is configured to be able to lock the third locking member close to a limit position to lock the rotation angle of the second pivot, or to be able to move away from releasing the lock of the third locking member so that a user can adjust the rotation angle of the second pivot.

[0009] As a preferred technical solution, the first pivot includes a first shaft portion and a second shaft portion coaxially arranged on the outer wall of the inner ball sleeve, the first shaft portion and the second shaft portion are arranged at an interval, the first shaft portion extends in a direction away from the outer wall of the inner ball sleeve, and the second shaft portion extends in a direction away from the outer wall of the inner ball sleeve;

[0010] The outer wall of the outer ball sleeve is provided with a coaxially arranged third shaft portion and a fourth shaft portion, the third shaft portion and the fourth shaft portion are arranged at an interval, the third shaft portion extends in a direction away from the outer wall of the outer ball sleeve, and the fourth shaft portion extends in a direction away from the outer wall of the outer ball sleeve.

[0011] As a preferred technical solution, the first shaft portion and / or the second shaft portion is sleeved with the first locking piece, the first locking piece is arranged at intervals on the outside of the outer ball sleeve, and the first shaft portion and / or the second shaft portion are sleeved with a first bearing on the end away from the inner ball sleeve, and the outer peripheral side of the first bearing is fixedly connected to the bracket;

[0012] The third locking piece is sleeved and installed on the third shaft portion and / or the fourth shaft portion, and the third locking piece is spaced apart on the outside of the outer ball sleeve. A second bearing is sleeved and installed on the end of the third shaft portion and / or the fourth shaft portion away from the outer ball sleeve, and the outer peripheral side of the second bearing is fixedly connected to the bracket.

[0013] As a preferred technical solution, the inner ball sleeve and the outer ball sleeve are arranged as a semi-spherical sleeve structure, and an assembly cavity is arranged inside the inner ball sleeve; a passing position is arranged through the inner ball sleeve, and the passing position is suitable for slidingly configuring with the sleeve assembly, and the passing position is connected to the assembly cavity; a passing position is arranged through the outer ball sleeve, and the passing position is suitable for slidingly configuring with the sleeve assembly, and the passing position is connected to the passing position.

[0014] As a preferred technical solution, the through position is configured as an arc groove structure, and the extension directions of the two ends of the through position are respectively arranged toward the first shaft portion and the second shaft portion; the passing position is configured as an arc groove structure, and the extension directions of the two ends of the passing position are respectively arranged toward the third shaft portion and the fourth shaft portion; and / or

[0015] A support portion is disposed on the area of ​​the outer ball sleeve adjacent to the passing position, and two support portions are provided. The two support portions extend in the same direction away from the outer wall of the outer ball sleeve and perpendicular to the second pivot axis.

[0016] As a preferred technical solution, the recessed structure on the outer ball sleeve has two sliding positions, the two sliding positions are symmetrically arranged on the outer ball sleeve, and the two sliding positions are respectively configured to slide correspondingly to the first shaft portion and the second shaft portion.

[0017] As a preferred technical solution, the universal motion mechanism also includes an operating link assembly, and the locking assembly also includes a fifth locking member and a sixth locking member. The fifth locking member is fixedly connected to the second pivot, and the sixth locking member is connected to the operating end of the operating link assembly. The operating link assembly is suitable for controlling the sixth locking member to approach the limit lock of the fifth locking member to lock the rotation angle of the second pivot, or to move away from the release of the fifth locking member to enable the user to adjust the rotation angle of the second pivot.

[0018] As a preferred technical solution, the operating link assembly includes a handle rod, a mounting seat, a pulling rod, a force transmission rod and a movable frame, the handle rod being suitable for being slidably configured with the shell, the mounting seat being fixed in the shell, one end of the pulling rod being rotationally connected to the handle rod, the other end of the pulling rod being slidably connected to the force transmission rod, and one end of the force transmission rod away from the pulling rod being fixedly connected to the movable frame; the sixth locking member is slidably connected to the movable frame, and the handle rod is suitable for transmitting the movement of the movable frame to cause the sixth locking member to approach the limit lock or move away from the unlocking of the fifth locking member.

[0019] As a preferred technical solution, the movable frame is provided with a raised column portion, the sixth locking member includes a rotation position, a guide groove portion and a ratchet portion, the guide groove portion is arranged between the rotation position and the ratchet portion, the raised column portion and the guide groove portion are slidably connected, and the ratchet portion is arranged on the end surface of the sixth locking member facing the fifth locking member; the fifth locking member is arranged as a gear structure, and the ratchet portion can be conformally engaged with the fifth locking member;

[0020] The universal motion mechanism further comprises a fixing seat, the fixing seat being adapted to be detachably connected to the housing; the rotating position and the fixing seat are rotatably arranged;

[0021] The operating link assembly can cause the ratchet portion to rotate around the rotation position to approach or move away from the fifth locking member through relative sliding abutment between the protruding column portion and the guide groove portion.

[0022] As a preferred technical solution, the first locking member is configured as a gear structure, the second locking member is configured as a latching tooth structure, and the first locking member can be conformably engaged with the second locking member to lock the first pivot; the third locking member is configured as a gear structure, the fourth locking member is configured as a latching tooth structure, and the third locking member can be conformably engaged with the fourth locking member to lock the second pivot; or

[0023] The first locking member is configured as a gear structure, the second locking member is configured as a latching tooth structure, and the first locking member can be conformably latched with the second locking member to lock the first pivot; the third locking member is configured as a gear structure, the fourth locking member is configured as a ratchet structure, and the third locking member can be conformably latched with the fourth locking member to lock the second pivot; or

[0024] The first locking member is configured as a gear structure, and the second locking member is configured as a ratchet structure, and the first locking member can be conformably engaged with the second locking member to lock the first pivot; the third locking member is configured as a gear structure, and the fourth locking member is configured as a latching structure, and the third locking member can be conformably engaged with the fourth locking member to lock the second pivot; or the first locking member is configured as a gear structure, and the second locking member is configured as a ratchet structure, and the first locking member can be conformably engaged with the second locking member to lock the first pivot; the third locking member is configured as a gear structure, and the fourth locking member is configured as a ratchet structure, and the third locking member can be conformably engaged with the fourth locking member to lock the second pivot.

[0025] The present invention also provides a surgical instrument, comprising the universal motion mechanism mentioned above.

[0026] The technical solution provided by the present invention has the following advantages:

[0027] The universal motion mechanism provided by the present invention comprises a ball-joint assembly, a bracket and a locking assembly; the ball-joint assembly comprises an inner ball sleeve and an outer ball sleeve which are arranged concentrically, the outer ball sleeve can be universally rotatably sleeved on the outer side of the inner ball sleeve, a first pivot is fixedly provided on the inner ball sleeve, a second pivot is fixedly provided on the outer ball sleeve, an extension axis of the first pivot and an extension axis of the second pivot intersect at the center of the ball-joint assembly; the bracket is installed on the outer side of the outer ball sleeve, the first pivot is rotatably arranged with the bracket, the second pivot is rotatably arranged with the bracket, and the first pivot is slidably arranged with the outer ball sleeve; the locking assembly comprises a first locking member, a second locking member, a third locking member and a fourth locking member, the first locking member and The third locking piece is arranged at intervals on the outside of the outer ball sleeve, the first locking piece and the first pivot are fixedly connected, the third locking piece and the second pivot are fixedly connected, and the second locking piece and the fourth locking piece are suitable for being slidably configured on the bracket; wherein the second locking piece is configured to be able to approach the limit locking first locking piece to lock the rotation angle of the first pivot, or to be away from releasing the lock of the first locking piece so that the user can adjust the rotation angle of the first pivot; the fourth locking piece is configured to be able to approach the limit locking third locking piece to lock the rotation angle of the second pivot, or to be away from releasing the lock of the third locking piece so that the user can adjust the rotation angle of the second pivot.

[0028] In the universal motion mechanism of this structure, in the ball-joint assembly, the inner ball sleeve can rotate relative to the bracket through the first pivot, and the outer ball sleeve can rotate relative to the bracket through the second pivot, so as to convert the universal rotation between the inner ball sleeve and the outer ball sleeve into rotational motion around the first pivot and the second pivot respectively; when the motion posture of the ball-joint assembly needs to be fixed, the user can operate the second locking member to approach the limit locking first locking member to lock the rotation angle of the first pivot, and operate the third locking member to approach the limit locking fourth locking member to lock the rotation angle of the second pivot, so as to achieve this; when the motion posture of the ball-joint assembly needs to be adjusted, the user can operate the second locking member to move away from the first locking member, and the fourth locking member to move away from the third locking member to release the lock on the first pivot and the second pivot, so as to achieve this. By controlling the first pivot and the second pivot, the ball-joint assembly can be adjusted and locked. The universal motion mechanism provided by the present invention has good structural locking strength, high structural installation, adjustment and locking precision, and the surgical instrument using it has good locking precision and adjustment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1A schematic diagram of the structure of the universal motion mechanism provided by the present invention;

[0031] Figure 2 A schematic diagram of the structure of the universal motion mechanism and the sleeve assembly provided by the present invention;

[0032] Figure 3 A schematic diagram of the connection of the inner ball sleeve in the universal motion mechanism provided by the present invention;

[0033] Figure 4 It is a schematic diagram of assembling the inner ball sleeve in the universal motion mechanism provided by the present invention;

[0034] Figure 5 A schematic diagram of the connection between the inner and outer ball sleeves of the universal motion mechanism provided by the present invention;

[0035] Figure 6 It is a schematic diagram of assembling the outer ball sleeve of the universal motion mechanism provided by the present invention;

[0036] Figure 7 A schematic diagram of the structure of the surgical instrument provided by the present invention;

[0037] Figure 8 A schematic diagram of a partial structure of the surgical instrument provided by the present invention;

[0038] Fig. 9 A schematic diagram of the connection of the operating connecting rod assembly in the universal motion mechanism provided by the present invention;

[0039] Fig.10 A partial schematic diagram of an operating connecting rod assembly in the universal motion mechanism provided by the present invention;

[0040] Fig.11 An exploded schematic diagram of an operating connecting rod assembly in the universal motion mechanism provided by the present invention;

[0041] Description of reference numerals:

[0042] 1-ball pair assembly; 11-inner ball sleeve; 111-first shaft portion; 112-second shaft portion; 113-through position; 114-first bearing; 12-outer ball sleeve; 121-third shaft portion; 122-fourth shaft portion; 123-through position; 124-support portion; 125-sliding position; 126-second bearing;

[0043] 2-bracket; 3-locking assembly; 31-first locking member; 32-second locking member; 33-third locking member; 34-fourth locking member; 35-fifth locking member; 36-sixth locking member; 361-rotation position; 362-guide groove portion; 363-ratchet portion;

[0044] 4-operating connecting rod assembly; 41-handle rod; 42-mounting seat; 43-pulling rod; 44-force transmission rod; 45-moving frame; 451-convex column part;

[0045] 5-housing; 6-casing assembly. DETAILED DESCRIPTION

[0046] 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.

[0047] 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.

[0048] 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.

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

[0050] Example 1

[0051] This embodiment provides a universal motion mechanism. Figures 1 to 6 The universal motion mechanism comprises a ball joint assembly 1, a bracket 2 and a locking assembly 3. The ball joint assembly 1 comprises an inner ball sleeve 11 and an outer ball sleeve 12 which are arranged concentrically. The outer ball sleeve 12 can be universally rotated and sleeved on the outer side of the inner ball sleeve 11. The bracket 2 is installed on the outer side of the outer ball sleeve 12. A spherical cavity is arranged in the bracket 2, and the outer ball sleeve 12 and the spherical cavity are in a ball joint configuration.

[0052] In this embodiment, a first pivot is fixedly provided on the inner ball sleeve 11, and a second pivot is fixedly provided on the outer ball sleeve 12. The extension axis of the first pivot and the extension axis of the second pivot intersect at the center of the ball assembly 1; the first pivot is rotatably configured with the bracket 2, the second pivot is rotatably configured with the bracket 2, and the first pivot is slidably configured with the outer ball sleeve 12.

[0053] See also Figure 3 and Figure 6 The locking assembly 3 includes a first locking piece 31, a second locking piece 32, a third locking piece 33 and a fourth locking piece 34. The first locking piece 31 and the third locking piece 33 are arranged at intervals on the outside of the outer ball sleeve 12. The first locking piece 31 is fixedly connected to the first pivot, the third locking piece 33 is fixedly connected to the second pivot, and the second locking piece 32 and the fourth locking piece 34 are suitable for being slidably configured on the bracket 2; wherein the second locking piece 32 is configured to be able to approach the limit locking first locking piece 31 to lock the rotation angle of the first pivot, or to be away from releasing the lock of the first locking piece 31 so that the user can adjust the rotation angle of the first pivot; the fourth locking piece 34 is configured to approach the limit locking third locking piece 33 to lock the rotation angle of the second pivot, or to be away from releasing the lock of the third locking piece 33 so that the user can adjust the rotation angle of the second pivot.

[0054] The universal motion mechanism provided in this embodiment, in the ball assembly 1, the inner ball sleeve 11 can rotate relative to the bracket 2 through the first pivot, and the outer ball sleeve 12 can rotate relative to the bracket 2 through the second pivot, so that the universal rotation between the inner ball sleeve 11 and the outer ball sleeve 12 is converted into rotational motion around the first pivot and the second pivot respectively; when the motion posture of the ball assembly 1 needs to be fixed, the user can operate the second locking member 32 to approach the limit locking first locking member 31 to lock the rotation angle of the first pivot, and operate the third locking member 33 to approach the limit locking fourth locking member 34 to lock the rotation angle of the second pivot, and this can be achieved; when the motion posture of the ball assembly 1 needs to be adjusted, the user can operate the second locking member 32 away from the first locking member 31, and the fourth locking member 34 away from the third locking member 33 to release the lock on the first pivot and the second pivot, and this can be achieved. By controlling the first pivot and the second pivot, the ball assembly 1 can be adjusted and locked.

[0055] The universal motion mechanism provided by the present invention has good structural locking strength and high structural installation, adjustment and locking precision. The surgical instrument using the universal motion mechanism has good locking precision and adjustment effect.

[0056] Regarding the adjustment of the universal motion of the ball joint assembly 1, in a specific operation process, the universal motion of the ball joint assembly 1 can be adapted by controlling the rotation angles of the first pivot and the second pivot.

[0057] As an exemplary embodiment, the locking assembly 3 is configured as a combination of a double gear structure and a double latch structure; specifically, the first locking member 31 is configured as a gear structure, the second locking member 32 is configured as a latch structure, and the first locking member 31 can be conformally engaged with the second locking member 32 to lock the first pivot; the third locking member 33 is configured as a gear structure, and the fourth locking member 34 is configured as a latch structure, and the third locking member 33 can be conformally engaged with the fourth locking member 34 to lock the second pivot. The pivot is locked by the butt-jointed limit locking of the gear structure and the latch structure, and the structure has good locking strength, and the structure has high installation, adjustment, and locking precision.

[0058] As a variation, the locking assembly 3 is configured as a combination of a double gear structure, a latching tooth structure, and a ratchet structure; specifically, the first locking member 31 is configured as a gear structure, the second locking member 32 is configured as a latching tooth structure, and the first locking member 31 can be conformably engaged with the second locking member 32 to lock the first pivot; the third locking member 33 is configured as a gear structure, the fourth locking member 34 is configured as a ratchet structure, and the third locking member 33 can be conformably engaged with the fourth locking member 34 to lock the second pivot. Of course, in other embodiments, the first locking member 31 is configured as a gear structure, the second locking member 32 is configured as a ratchet structure, and the first locking member 31 can be conformably engaged with the second locking member 32 to lock the first pivot; the third locking member 33 is configured as a gear structure, the fourth locking member 34 is configured as a latching tooth structure, and the third locking member 33 can be conformably engaged with the fourth locking member 34 to lock the second pivot.

[0059] As another exemplary embodiment, the locking assembly 3 is configured as a combination of a double gear structure and a double ratchet structure; the first locking member 31 is set as a gear structure, and the second locking member 32 is set as a ratchet structure, and the first locking member 31 can be conformably engaged with the second locking member 32 to lock the first pivot; the third locking member 33 is set as a gear structure, and the fourth locking member 34 is set as a ratchet structure, and the third locking member 33 can be conformably engaged with the fourth locking member 34 to lock the second pivot.

[0060] The universal motion mechanism provided in this embodiment, the locking form between the first locking member 31 and the second locking member 32, and the locking form between the third locking member 33 and the fourth locking member 34 are not limited to the combination of the gear structure and the latch structure, and the combination of the gear structure and the ratchet structure. Other structures that can lock the first pivot and the second pivot correspondingly can be used, such as a combination of a locking protrusion and a locking groove, a latching combination of a limiting cantilever and a limiting hook groove, etc.

[0061] The universal motion mechanism provided in this embodiment can, in a specific operation process, drive the first locking member 31 and the third locking member 33 to rotate through an external driving component to actively adjust the universal motion of the ball joint assembly 1. Then, the second locking member 32 is driven to approach the first locking member 31 and the third locking member 33 is driven to approach the fourth locking member 34 through an external driving component to implement docking locking.

[0062] In some embodiments, a slide groove structure is provided on the bracket 2 to allow the second locking member 32 to move toward the first locking member 31 and the third locking member 33 to move toward the fourth locking member 34, thereby locking the first pivot and the second pivot.

[0063] As an exemplary embodiment, see Figures 3 to 6 The first pivot includes a first shaft portion 111 and a second shaft portion 112 coaxially arranged on the outer wall of the inner ball sleeve 11, the first shaft portion 111 and the second shaft portion 112 are arranged at an interval, the first shaft portion 111 extends in a direction away from the outer wall of the inner ball sleeve 11, and the second shaft portion 112 extends in a direction away from the outer wall of the inner ball sleeve 11. A third shaft portion 121 and a fourth shaft portion 122 coaxially arranged are arranged on the outer wall of the outer ball sleeve 12, the third shaft portion 121 and the fourth shaft portion 122 are arranged at an interval, the third shaft portion 121 extends in a direction away from the outer wall of the outer ball sleeve 12, and the fourth shaft portion 122 extends in a direction away from the outer wall of the outer ball sleeve 12.

[0064] In a specific implementation, the first shaft portion 111 and the second shaft portion 112 are configured as a columnar structure, and the columnar structure is fixed to or integrally formed with the inner ball sleeve 11 .

[0065] In an exemplary embodiment, a first locking member 31 is sleeved and installed on the first shaft portion 111 and the second shaft portion 112, and the first locking member 31 is spaced apart on the outside of the outer ball sleeve 12. A first bearing 114 is sleeved and installed on the ends of the first shaft portion 111 and the second shaft portion 112 away from the inner ball sleeve 11, and the outer peripheral side of the first bearing 114 is fixedly connected to the bracket 2. In this arrangement, the first locking member 31 and the first bearing 114 are respectively arranged on the first shaft portion 111 and the second shaft portion 112, and two second locking members 32 are correspondingly arranged on the two first locking members 31 to lock the two ends of the first pivot, which is beneficial to improve the stability of the first pivot locking stage and improve the locking control accuracy of the inner ball sleeve 11 and the outer ball sleeve 12. The two first bearings 114 respectively guide and limit the rotation of the first shaft portion 111 and the second shaft portion 112 to ensure the coaxiality of the first shaft portion 111 and the second shaft portion 112 and enhance the stability of the first pivot rotating around the axis.

[0066] Of course, in other embodiments, the first locking member 31 may be installed on the first shaft portion 111 , and the first bearing 114 may be installed on the second shaft portion 112 ; or the first locking member 31 may be installed on the second shaft portion 112 , and the first bearing 114 may be installed on the first shaft portion 111 .

[0067] In an exemplary embodiment, a third locking piece 33 is sleeved and installed on the third shaft portion 121 and the fourth shaft portion 122, and the third locking piece 33 is spaced apart on the outside of the outer ball sleeve 12. A second bearing 126 is sleeved and installed on the ends of the third shaft portion 121 and the fourth shaft portion 122 away from the outer ball sleeve 12, and the outer peripheral side of the second bearing 126 is fixedly connected to the bracket 2. In this arrangement, the third locking piece 33 and the second bearing 126 are respectively arranged on the third shaft portion 121 and the fourth shaft portion 122, and two fourth locking pieces 34 are correspondingly arranged on the two third locking pieces 33 to lock the two ends of the second pivot, which is beneficial to improve the stability of the second pivot locking stage and improve the locking control accuracy of the inner ball sleeve 11 and the outer ball sleeve 12. The two second bearings 126 respectively guide and limit the rotation of the third shaft portion 121 and the fourth shaft portion 122 to ensure the coaxiality of the third shaft portion 121 and the fourth shaft portion 122 and enhance the stability of the second pivot rotating around the axis.

[0068] Of course, in other embodiments, the third locking member 33 may be installed on the third shaft portion 121 , and the second bearing 126 may be installed on the fourth shaft portion 122 ; or the first locking member 31 may be installed on the fourth shaft portion 122 , and the second bearing 126 may be installed on the third shaft portion 121 .

[0069] In a specific embodiment, see Figure 3 and Figure 4 The first locking piece 31 is fixedly sleeved on the end of the first shaft portion 111 away from the inner ball sleeve 11, and the first bearing 114 is sleeved and installed on the end of the second shaft portion 112 away from the inner ball sleeve 11, and the outer peripheral side of the first bearing 114 is fixedly connected to the bracket 2; for the first pivot, the first shaft portion 111 at one end is connected to the first locking piece 31, and the second shaft portion 112 at the other end is rotatably configured with the bracket 2 through the first bearing 114.

[0070] In a specific embodiment, see Figure 5 and Figure 6 The third locking piece 33 is fixedly sleeved on the end of the third shaft portion 121 away from the outer ball sleeve 12, and the second bearing 126 is sleeved and installed on the end of the fourth shaft portion 122 away from the outer ball sleeve 12, and the outer peripheral side of the second bearing 126 is fixedly connected to the bracket 2; for the second pivot, the third shaft portion 121 at one end is connected to the third locking piece 33, and the fourth shaft portion 122 at the other end is rotatably configured with the bracket 2 through the second bearing 126.

[0071] As a preferred embodiment, see Figures 4 to 6The inner ball sleeve 11 and the outer ball sleeve 12 are arranged as a semi-spherical sleeve structure, and an assembly cavity is arranged inside the inner ball sleeve 11; a through position 113 is arranged through the inner ball sleeve 11, and the through position 113 is suitable for slidingly configuring with the sleeve assembly 6, and the through position 113 and the assembly cavity are connected; a through position 123 is arranged through the outer ball sleeve 12, and the through position 123 is suitable for slidingly configuring with the sleeve assembly 6, and the through position 123 and the through position 113 are connected.

[0072] In this embodiment, a hollow hemispherical sleeve structure is used to accommodate the sleeve assembly 6. When adjusting the operating direction of the sleeve assembly 6, the ball assembly 1 performs universal motion with the sleeve assembly 6, so that the first pivot and the second pivot rotate, and the first locking member 31 on the first shaft portion 111 and the third locking member 33 on the third shaft portion 121 rotate synchronously. The through position 113 and the through position 123 allow the sleeve assembly 6 to slide, so that the sleeve assembly 6 can flexibly change its operating direction; when it is necessary to lock the ball assembly 1 and the sleeve assembly 6, the user can operate the second locking member 32 to approach the first locking member 31 and the fourth locking member 34 to approach the third locking member 33.

[0073] In an exemplary structural embodiment, the through position 113 is configured as an arc groove structure, and the extension directions of the two ends of the through position 113 are respectively arranged toward the first shaft portion 111 and the second shaft portion 112; the through position 123 is configured as an arc groove structure, and the extension directions of the two ends of the through position 123 are respectively arranged toward the third shaft portion 121 and the fourth shaft portion 122. With this configuration, when the sleeve assembly 6 changes the operating direction, the sleeve assembly 6 slides with the through position 113 and the through position 123, so that the ball joint assembly 1 can passively implement universal motion.

[0074] In an exemplary structural embodiment, see Figure 5 The outer ball sleeve 12 has a support portion 124 in the area adjacent to the through position 123. Two support portions 124 are provided. The two support portions 124 extend in the same direction away from the outer wall of the outer ball sleeve 12 and perpendicular to the second pivot axis. The two support portions 124 contact the sleeve assembly 6, so that the sleeve assembly 6 can transmit force to the outer ball sleeve 12 when changing the movement direction, so that the outer ball sleeve 12 can rotate around the second pivot axis, so that the ball assembly 1 can perform universal motion.

[0075] In an exemplary structural embodiment, see Figure 5 and Figure 6The outer ball sleeve 12 has two sliding positions 125 in the recessed structure. The two sliding positions 125 are symmetrically arranged on the outer ball sleeve 12. The two sliding positions 125 are respectively configured to slide corresponding to the first shaft portion 111 and the second shaft portion 112. This arrangement, on the one hand, guides the rotation of the outer ball sleeve 12 around the second pivot through the first shaft portion 111 and the second shaft portion 112. On the other hand, the two sliding positions 125 are also conducive to strengthening the rotation of the inner ball sleeve 11 around the first pivot. It is conducive to improving the structural installation accuracy and the motion adjustment accuracy.

[0076] As a further embodiment, see Figure 8 and Fig. 9 The universal motion mechanism also includes an operating link assembly 4, and the locking assembly 3 also includes a fifth locking piece 35 and a sixth locking piece 36. The fifth locking piece 35 is fixedly connected to the second pivot, and the sixth locking piece 36 is connected to the operating end of the operating link assembly 4. The operating link assembly 4 is suitable for controlling the sixth locking piece 36 to approach the limit locking fifth locking piece 35 to lock the rotation angle of the second pivot, or to move away from and release the lock of the fifth locking piece 35, so that the user can adjust the rotation angle of the second pivot.

[0077] In the specific structure and operation process, the second pivot can be locked or unlocked by the third locking member 33 and the fourth locking member 34, the fifth locking member 35 and the sixth locking member 36; of course, only the fifth locking member 35 and the sixth locking member 36 can be provided to lock or unlock the second pivot.

[0078] In a specific embodiment, see Figures 9 to 11 The operating link assembly 4 includes a handle bar 41, a mounting seat 42, a pulling rod 43, a force transmission rod 44 and a moving frame 45. The handle bar 41 is suitable for sliding configuration with the housing 5, the mounting seat 42 is fixed in the housing 5, one end of the pulling rod 43 is rotatably connected to the handle bar 41, the other end of the pulling rod 43 is slidably connected to the force transmission rod 44, and one end of the force transmission rod 44 away from the pulling rod 43 is fixedly connected to the moving frame 45; the sixth locking member 36 is slidably connected to the moving frame 45, and the handle bar 41 is suitable for driving the moving frame 45 to move the sixth locking member 36 close to the limit lock or away from the unlocking fifth locking member 35. Through the arrangement of the handle bar 41, the mounting seat 42, the pulling rod 43, the force transmission rod 44 and the moving frame 45, on the one hand, it is used to change the transmission direction to adapt to the space in the housing 5 and enhance the compactness of the structure; on the other hand, it can effectively ensure the convenience and operation accuracy of the operation locking and unlocking process.

[0079] See also Fig.11, a raised column portion 451 is provided on the movable frame 45, the sixth locking member 36 includes a rotating position 361, a guide groove portion 362 and a ratchet portion 363, the guide groove portion 362 is arranged between the rotating position 361 and the ratchet portion 363, the raised column portion 451 and the guide groove portion 362 are slidably connected, and the ratchet portion 363 is arranged on the end surface of the sixth locking member 36 facing the fifth locking member 35; the fifth locking member 35 is arranged as a gear structure, and the ratchet portion 363 can be conformally engaged with the fifth locking member 35; the universal motion mechanism also includes a fixed seat 7, which is suitable for detachable connection with the housing 5; the rotating position 361 and the fixed seat 7 are rotatably configured; the operating link assembly 4 can rotate the ratchet portion 363 around the rotating position 361 to approach or move away from the fifth locking member 35 through the relative sliding abutment between the raised column portion 451 and the guide groove portion 362. In the specific operation process, the movable frame 45 at the end of the handle rod 41 is displaced, so that the protruding column part 451 acts on the ratchet part 363 on the sixth locking member 36 to rotate close to the limiting fifth locking member 35, thereby locking the second pivot.

[0080] In other embodiments, the universal motion mechanism may be configured with only the first locking member 31, the second locking member 32, the fifth locking member 35, and the sixth locking member 36; the first pivot is locked by the first locking member 31 and the second locking member 32, the first locking member 31 is configured as a gear structure, and the second locking member 32 is configured as a latch structure; the second pivot is locked by the fifth locking member 35 and the sixth locking member 36, the fifth locking member 35 is configured as a gear structure, and the sixth locking member 36 is configured as a ratchet structure, and specifically, the sixth locking member 36 is driven to approach the fifth locking member 35 by operating the connecting rod assembly 4 to lock the second pivot, thereby fixing the motion posture of the ball assembly.

[0081] As a variation, two operating link assemblies 4 may be configured, one operating link assembly 4 being used for locking between the first locking piece 31 and the second locking piece 32 to lock the first pivot; specifically, the operating link assembly 4 drives the second locking piece 32 to approach the first locking piece 31; the other operating link assembly 4 locks the fifth locking piece 35 and the sixth locking piece 36, and the operating link assembly 4 drives the second locking piece 32 to approach the fifth locking piece 35 to lock the second pivot; and thus, the first pivot and the second pivot can be locked and unlocked respectively by the two operating link assemblies 4. In this configuration, the user can directly fix or unlock the movement posture of the ball assembly by operating the handle rods 41 of the two operating link assemblies 4.

[0082] Example 2

[0083] This embodiment provides a surgical instrument. Figure 7 and Figure 8 , including the universal motion mechanism of Example 1.

[0084] As a preferred embodiment, the surgical instrument further comprises a housing 5 and a sleeve assembly 6, the mounting end of the universal motion mechanism is fixedly configured with the housing 5, and the sleeve assembly 6 is passed through the universal motion mechanism. Specifically, the sleeve assembly 6 is passed through the ball pair assembly 1 of the universal motion mechanism.

[0085] In some embodiments, the surgical instrument is configured with a locking assembly 3 including a first locking member 31, a second locking member 32, a third locking member 33, and a fourth locking member 34; in a further embodiment, the surgical instrument is configured with a locking assembly 3 also including a fifth locking member 35 and a sixth locking member 36.

[0086] In an exemplary embodiment, see Figure 2 The sleeve assembly 6 includes a first tube body 61, a joint group 62 and a second tube body 63. The two ends of the joint group 62 in the extension direction are fixedly connected to the first tube body 61 and the second tube body 63 respectively. A connecting cavity is provided inside the joint group 62. The inner cavity of the first tube body 61, the connecting cavity of the joint group 62 and the inner cavity of the second tube body 63 together constitute an operating space suitable for the passage of instruments.

[0087] As a preferred embodiment, the joint group 62 is configured as a flexible snake-bone joint structure, and the movement angle of the joint group 62 is flexibly configured through the flexible snake-bone joint structure, so that the first tube body 61 and the second tube body 63 at both ends of the joint group 62 can be staggered, thereby meeting the technical requirements of the sleeve assembly 6 to change the operating direction, which is conducive to improving the operational flexibility of the surgical instrument.

[0088] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A universal motion mechanism, characterized in that: include: A ball-joint assembly (1) comprises an inner ball sleeve (11) and an outer ball sleeve (12) which are arranged concentrically, wherein the outer ball sleeve (12) is universally rotatably sleeved on the outer side of the inner ball sleeve (11), a first pivot is fixedly provided on the inner ball sleeve (11), and a second pivot is fixedly provided on the outer ball sleeve (12), and an extension axis of the first pivot and an extension axis of the second pivot intersect at the center of the ball-joint assembly (1); The bracket (2) is mounted on the outside of the outer ball sleeve (12), the first pivot is rotatably arranged with the bracket (2), the second pivot is rotatably arranged with the bracket (2), and the first pivot is slidably arranged with the outer ball sleeve (12); A locking assembly (3), comprising a first locking member (31), a second locking member (32), a third locking member (33) and a fourth locking member (34), wherein the first locking member (31) and the third locking member (33) are arranged at intervals on the outside of the outer ball sleeve (12), the first locking member (31) and the first pivot are fixedly connected, the third locking member (33) and the second pivot are fixedly connected, and the second locking member (32) and the fourth locking member (34) are suitable for being slidably arranged on the bracket (2); The second locking member (32) is configured to be able to approach the limit lock of the first locking member (31) to lock the rotation angle of the first pivot, or to move away from the first locking member (31) to unlock the first locking member (31) so that a user can adjust the rotation angle of the first pivot; The fourth locking member (34) is configured to be able to approach the limit locking member (33) to lock the rotation angle of the second pivot, or to move away from the third locking member (33) to unlock the third locking member (33) so that the user can adjust the rotation angle of the second pivot.

2. The universal motion mechanism according to claim 1, characterized in that: The first pivot comprises a first shaft portion (111) and a second shaft portion (112) coaxially arranged on the outer wall of the inner ball sleeve (11), the first shaft portion (111) and the second shaft portion (112) being arranged at intervals, the first shaft portion (111) extending in a direction away from the outer wall of the inner ball sleeve (11), and the second shaft portion (112) extending in a direction away from the outer wall of the inner ball sleeve (11); The outer wall of the outer ball sleeve (12) is provided with a coaxially arranged third shaft portion (121) and a fourth shaft portion (122), the third shaft portion (121) and the fourth shaft portion (122) are arranged at an interval, the third shaft portion (121) extends in a direction away from the outer wall of the outer ball sleeve (12), and the fourth shaft portion (122) extends in a direction away from the outer wall of the outer ball sleeve (12).

3. The universal motion mechanism according to claim 2, characterized in that: The first locking member (31) is sleeved and installed on the first shaft portion (111) and / or the second shaft portion (112), and the first locking member (31) is arranged at intervals on the outside of the outer ball sleeve (12). A first bearing (114) is sleeved and installed on the end of the first shaft portion (111) and / or the second shaft portion (112) away from the inner ball sleeve (11), and the outer peripheral side of the first bearing (114) is fixedly connected to the bracket (2); The third locking member (33) is sleeved and installed on the third shaft portion (121) and / or the fourth shaft portion (122), and the third locking member (33) is arranged at intervals on the outside of the outer ball sleeve (12). A second bearing (126) is sleeved and installed on the end of the third shaft portion (121) and / or the fourth shaft portion (122) away from the outer ball sleeve (12), and the outer peripheral side of the second bearing (126) is fixedly connected to the bracket (2).

4. The universal motion mechanism according to claim 3, characterized in that: The inner ball sleeve (11) and the outer ball sleeve (12) are arranged as a semi-spherical sleeve structure, and an assembly cavity is arranged inside the inner ball sleeve (11); a through position (113) is arranged through the inner ball sleeve (11), and the through position (113) is suitable for slidingly configuring with the sleeve assembly (6), and the through position (113) and the assembly cavity are arranged in communication; a through position (123) is arranged through the outer ball sleeve (12), and the through position (123) is suitable for slidingly configuring with the sleeve assembly (6), and the through position (123) and the through position (113) are arranged in communication.

5. The universal motion mechanism according to claim 4, characterized in that: The passing position (113) is configured as an arc-shaped slot structure, and the extending directions of the two ends of the passing position (113) are respectively arranged toward the first shaft portion (111) and the second shaft portion (112); the passing position (123) is configured as an arc-shaped slot structure, and the extending directions of the two ends of the passing position (123) are respectively arranged toward the third shaft portion (121) and the fourth shaft portion (122); and / or A support portion (124) is provided on the outer ball sleeve (12) in an area adjacent to the passing position (123), and two support portions (124) are provided. The two support portions (124) extend in the same direction away from the outer wall of the outer ball sleeve (12) and perpendicular to the second pivot axis.

6. The universal motion mechanism according to claim 2, characterized in that: The outer ball sleeve (12) is provided with a recessed structure with two sliding positions (125), the two sliding positions (125) are symmetrically arranged on the outer ball sleeve (12), and the two sliding positions (125) are respectively configured to slide correspondingly to the first shaft portion (111) and the second shaft portion (112).

7. The universal motion mechanism according to any one of claims 1 to 6, characterized in that: The universal motion mechanism also includes an operating link assembly (4), and the locking assembly (3) also includes a fifth locking member (35) and a sixth locking member (36), wherein the fifth locking member (35) is fixedly connected to the second pivot, and the sixth locking member (36) is connected to the operating end of the operating link assembly (4), and the operating link assembly (4) is suitable for controlling the sixth locking member (36) to approach the limit locking member (35) to lock the rotation angle of the second pivot, or to move away from the limit locking member (35) to release the lock of the fifth locking member (35) so that the user can adjust the rotation angle of the second pivot.

8. The universal motion mechanism according to claim 7, characterized in that: The operating link assembly (4) comprises a handle bar (41), a mounting seat (42), a pulling rod (43), a force transmission rod (44) and a movable frame (45); the handle bar (41) is suitable for being slidably arranged with the housing (5); the mounting seat (42) is fixed in the housing (5); one end of the pulling rod (43) is rotationally connected to the handle bar (41); the other end of the pulling rod (43) is slidably connected to the force transmission rod (44); one end of the force transmission rod (44) away from the pulling rod (43) is fixedly connected to the movable frame (45); the sixth locking member (36) is slidably connected to the movable frame (45); the handle bar (41) is suitable for transmitting the movement of the movable frame (45) to cause the sixth locking member (36) to approach the limit lock or move away from the unlocking of the fifth locking member (35).

9. The universal motion mechanism according to claim 8, characterized in that: The movable frame (45) is provided with a protruding column portion (451), the sixth locking member (36) comprises a rotation position (361), a guide groove portion (362) and a ratchet portion (363), the guide groove portion (362) is arranged between the rotation position (361) and the ratchet portion (363), the protruding column portion (451) and the guide groove portion (362) are slidably connected, and the ratchet portion (363) is arranged on the end surface of the sixth locking member (36) facing the fifth locking member (35); the fifth locking member (35) is arranged as a gear structure, and the ratchet portion (363) can be conformably engaged with the fifth locking member (35); The universal motion mechanism further comprises a fixed seat (7), wherein the fixed seat (7) is adapted to be detachably connected to the housing (5); the rotating position (361) and the fixed seat (7) are rotatably arranged; The operating link assembly (4) can cause the ratchet portion (363) to rotate around the rotation position (361) to move closer to or away from the fifth locking member (35) through relative sliding abutment between the protruding column portion (451) and the guide groove portion (362).

10. The universal motion mechanism according to any one of claims 1 to 6, characterized in that: The first locking member (31) is configured as a gear structure, the second locking member (32) is configured as a latching tooth structure, and the first locking member (31) can be latched with the second locking member (32) to lock the first pivot; the third locking member (33) is configured as a gear structure, the fourth locking member (34) is configured as a latching tooth structure, and the third locking member (33) can be latched with the fourth locking member (34) to lock the second pivot; or The first locking member (31) is configured as a gear structure, the second locking member (32) is configured as a latching structure, and the first locking member (31) can be latched with the second locking member (32) to lock the first pivot; the third locking member (33) is configured as a gear structure, the fourth locking member (34) is configured as a ratchet structure, and the third locking member (33) can be latched with the fourth locking member (34) to lock the second pivot; or The first locking member (31) is configured as a gear structure, the second locking member (32) is configured as a ratchet structure, and the first locking member (31) can be conformably engaged with the second locking member (32) to lock the first pivot; the third locking member (33) is configured as a gear structure, the fourth locking member (34) is configured as a ratchet structure, and the third locking member (33) can be conformably engaged with the fourth locking member (34) to lock the second pivot; or The first locking member (31) is configured as a gear structure, and the second locking member (32) is configured as a ratchet structure, and the first locking member (31) can be conformably engaged with the second locking member (32) to lock the first pivot; the third locking member (33) is configured as a gear structure, and the fourth locking member (34) is configured as a ratchet structure, and the third locking member (33) can be conformably engaged with the fourth locking member (34) to lock the second pivot.

11. A surgical instrument, characterized in that: It comprises the universal motion mechanism as described in any one of claims 1-10.

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