Handheld minimally invasive surgical instruments

Abstract

The present invention relates to the technical field of minimally invasive surgical instruments, and provides a handheld minimally invasive surgical instrument, comprising: a handle, a control unit, a bendable instrument rod and an actuator, wherein the handle is connected to the control unit, the control unit is connected to the bendable instrument rod, and the actuator is connected to the bendable instrument rod; the bendable instrument rod comprises: a sleeve assembly and a flexible rod, the flexible rod is sleeved in the sleeve assembly, the two ends of the flexible rod are respectively connected to the actuator and the control unit, and the control unit is used to drive the flexible rod to move linearly; the actuator is slidably connected to the first end of the sleeve assembly, and the second end of the sleeve assembly is connected to the control unit, and the control unit is used to drive a part of the tube body in the sleeve assembly to move linearly, so as to drive the flexible end to swing. In the above-mentioned handheld minimally invasive surgical instrument, the control unit is used to drive the flexible rod and the sleeve assembly to move linearly, so as to drive the actuator to realize opening and closing movement and swinging, thereby improving the flexibility of the handheld minimally invasive surgical instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive surgical instruments, and in particular to a handheld minimally invasive surgical instrument. Background Art

[0002] Minimally invasive surgical instruments are divided into two types: robotic minimally invasive instruments and handheld minimally invasive instruments. Robotic minimally invasive surgical instruments can only be controlled by dedicated robots, are bulky, and have high operating costs. Handheld minimally invasive instruments are mainly rigid surgical instruments, which connect the end effector and the control handle through a slender rigid rod. Usually, the end of the rigid rod can only realize the opening and closing action of the actuator, and does not have the flexible swing like the wrist. Based on this, providing a new handheld minimally invasive surgical instrument has become an urgent problem to be solved in the industry. Summary of the invention

[0003] The present invention provides a handheld minimally invasive surgical instrument, which is used to solve the defect of poor flexibility of the handheld minimally invasive surgical instrument in the prior art.

[0004] The present invention provides a handheld minimally invasive surgical instrument, comprising: a handle, a control unit, a bendable instrument rod and an actuator, wherein the handle is connected to the control unit, the control unit is connected to the bendable instrument rod, and the actuator is connected to the bendable instrument rod; the bendable instrument rod comprises: a sleeve assembly and a flexible rod, wherein the flexible rod is sleeved in the sleeve assembly, and the two ends of the flexible rod are respectively connected to the actuator and the control unit, and the control unit is used to drive the flexible rod to move linearly to drive the actuator to open and close; the actuator is slidably connected to the first end of the sleeve assembly, and the second end of the sleeve assembly is connected to the control unit, the first end of the sleeve assembly is a flexible end, and the control unit is used to drive a part of the tube body in the sleeve assembly to move linearly to drive the flexible end to swing.

[0005] According to a handheld minimally invasive surgical instrument provided by the present invention, the control unit includes: a first shell, a first driver, a second driver and a third driver, the first driver, the second driver and the third driver are all arranged in the first shell, and the first shell is connected to the handle; the first driver is connected to the flexible rod, and the second driver and the third driver are connected to the sleeve assembly.

[0006] According to a handheld minimally invasive surgical instrument provided by the present invention, the sleeve assembly includes: an outer tube, a middle tube and an inner tube which are sequentially sleeved, and the first end of the outer tube, the first end of the middle tube and the first end of the inner tube are connected and slidably connected to the actuator; the second end of the outer tube is connected to the first shell, the second end of the middle tube is connected to the second driver, and the second end of the inner tube is connected to the third driver.

[0007] According to a handheld minimally invasive surgical instrument provided by the present invention, the control unit also includes a main control board and a joystick, the main control board is arranged in the first shell; the joystick is arranged in the first shell, and the main control board is used to control the action of the second driver and the third driver according to the input signal of the joystick.

[0008] According to a handheld minimally invasive surgical instrument provided by the present invention, an opening and closing control module is provided in the handle, and the main control board is used to control the action of the first driver according to an input signal of the opening and closing control module.

[0009] According to a handheld minimally invasive surgical instrument provided by the present invention, the opening and closing control module includes: an opening and closing button and a linear Hall element, the linear Hall element is arranged in the handle, the first end of the opening and closing button is connected to the linear Hall element, and the second end of the opening and closing button passes through the handle and extends outside the handle; the linear Hall element is electrically connected to the main control board.

[0010] According to a handheld minimally invasive surgical instrument provided by the present invention, the control unit also includes a speed control wheel, the speed control wheel is arranged on the first shell, and the main control board is used to control the rotation speed of the second driver and the third driver according to the input signal of the speed control wheel.

[0011] According to a handheld minimally invasive surgical instrument provided by the present invention, the first shell is also provided with a reset button and a lock button, the reset button is used to trigger the sleeve assembly to return to an initial state, and the lock button is used to block the input signal of the joystick.

[0012] According to a handheld minimally invasive surgical instrument provided by the present invention, a guide rail and a pair of sliders are further provided in the control unit, the pair of sliders are slidably connected to the guide rail, and the pair of sliders are respectively connected to the second driver and the third driver.

[0013] According to a handheld minimally invasive surgical instrument provided by the present invention, a rechargeable battery and a charging module are also provided in the handle, the rechargeable battery is electrically connected to the charging module, and the rechargeable battery is used to power the first driver, the second driver and the third driver.

[0014] The handheld minimally invasive surgical instrument provided by the present invention is provided with a sleeve assembly, a flexible rod and a control unit. The control unit is used to drive the flexible rod and the sleeve assembly to move linearly, so as to drive the actuator to realize opening and closing movement and swinging, thereby improving the flexibility of the handheld minimally invasive surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the handheld minimally invasive surgical instrument provided by the present invention.

[0017] Figure 2 yes Figure 1 One of the structural schematic diagrams of the control unit shown in FIG.

[0018] Figure 3 yes Figure 1 Schematic diagram of the structure of the bendable instrument rod shown in.

[0019] Figure 4 yes Figure 1 FIG. 2 is a schematic diagram of the structure of the control unit shown in FIG.

[0020] Figure 5 yes Figure 1 A schematic diagram of the structure of the handle shown in FIG.

[0021] Figure 6 yes Figure 1 The third structural schematic diagram of the control unit shown in FIG.

[0022] Figure 7 yes Figure 3 Schematic diagram of the structure of the flexible end shown in FIG.

[0023] Reference numerals: 1. Handle; 2. Control unit; 3. Bendable instrument rod; 4. Actuator; 11. Second housing; 12. Opening and closing button; 13. Linear Hall element; 14. Rechargeable battery; 15. Charging module; 21. Bottom plate; 22. First driver; 23. Second driver; 24. Third driver; 25. Rocker; 26. Speed ​​dial; 27. Reset button; 28. Lock button; 29. ​​Guide rail; 31. Outer tube; 32. Middle tube; 33. Inner tube; 201, first shell; 291, slider; 301, flexible end; 311, groove. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0025] Combine the following Figure 1-Figure 7 The handheld minimally invasive surgical instrument of the present invention is described.

[0026] like Figure 1 As shown, in an embodiment of the present invention, a handheld minimally invasive surgical instrument includes: a handle 1, a control unit 2, a bendable instrument rod 3 and an actuator 4, wherein the handle 1 is connected to the control unit 2, the control unit 2 is connected to the bendable instrument rod, and the actuator 4 is connected to the bendable instrument rod 3. The bendable instrument rod 3 includes: a sleeve assembly and a flexible rod, wherein the flexible rod is sleeved in the sleeve assembly, and the two ends of the flexible rod are respectively connected to the actuator 4 and the control unit 2, and the control unit 2 is used to drive the flexible rod to move linearly to drive the actuator 4 to open and close. The actuator 4 is slidably connected to the first end of the sleeve assembly, and the second end of the sleeve assembly is connected to the control unit 2, wherein the first end of the sleeve assembly is a flexible end 301, and the second end of the sleeve assembly is a rigid end. The control unit 2 is used to drive a part of the tube body in the sleeve assembly to move linearly to drive the flexible end 301 to swing.

[0027] Specifically, the handle 1 is held by the operator. In this embodiment, the actuator 4 can be a surgical forceps, surgical scissors, bipolar electrocoagulation, etc. commonly used in minimally invasive surgery. The actuator 4 mentioned above needs to perform opening and closing actions during the operation. Taking the surgical forceps as an example, the surgical forceps includes two clamping parts, the two clamping parts are hinged with the rotating shaft, the rotating shaft is slidably connected with the sleeve assembly, and the rotating shaft is also connected with the flexible rod. The flexible rod is sleeved in the sleeve assembly. When the control unit 2 drives the flexible rod to move along the inner cavity of the sleeve assembly toward the direction close to the handle 1, the flexible rod pulls the actuator 4 to move toward the direction close to the handle 1, and the two clamping parts abut against the sleeve assembly, prompting the two clamping parts to close. At this time, the actuator 4 is in a closed state; when the control unit 2 drives the flexible rod to move along the inner cavity of the sleeve assembly toward the direction away from the handle 1, the flexible rod pushes the actuator 4 to move in the direction away from the handle 1, and the two clamping parts are separated from the sleeve assembly, prompting the two clamping parts to separate. At this time, the actuator 4 is in an open state.

[0028] In this embodiment, the sleeve assembly is composed of multiple tube bodies, the outermost tube body is stationary, and the control unit 2 drives the internal tube body to move linearly. Due to the characteristics of the concentric sleeve of the multiple tube bodies, when one of the tube bodies slides relative to the other tube bodies, since the first ends of the multiple tube bodies are connected, the multiple tube bodies will generate coupled push-pull forces. Since the spatial bending rigidity of the multiple tube bodies is different, the multiple tube bodies can realize spatial swinging motion as a combination, thereby driving the actuator 4 to swing.

[0029] The handheld minimally invasive surgical instrument provided in an embodiment of the present invention is provided with a sleeve assembly, a flexible rod and a control unit. The control unit is used to drive the flexible rod and the sleeve assembly to move linearly, so as to drive the actuator to realize opening and closing movement and swinging, thereby improving the flexibility of the handheld minimally invasive surgical instrument.

[0030] like Figure 2 As shown, in the embodiment of the present invention, the control unit 2 includes: a first housing 201, a first driver 22, a second driver 23 and a third driver 24, the first driver 22, the second driver 23 and the third driver 24 are all arranged in the first housing 201, and the first housing 201 is connected to the handle 1. The first driver 22 is connected to the flexible rod, and the first driver 22 is used to drive the flexible rod to move linearly, thereby driving the actuator 4 to realize the opening and closing movement; the second driver 23 and the third driver 24 are respectively connected to a tube body in the sleeve assembly, and the second driver 23 and the third driver 24 respectively drive a tube body to move simultaneously, so that the sleeve assembly can realize the spatial swinging movement as a joint body.

[0031] like Figure 3 As shown, in the embodiment of the present invention, the sleeve assembly includes an outer tube 31, a middle tube 32 and an inner tube 33 which are sleeved in sequence, and the first end of the outer tube 31, the first end of the middle tube 32 and the first end of the inner tube 33 are connected and slidably connected to the actuator 4. The second end of the outer tube 31 is connected to the first housing 201, the second end of the middle tube 32 is connected to the second driver 23, and the second end of the inner tube 33 is connected to the third driver 24.

[0032] In this embodiment, the first shell 201 has a bottom plate 21, the second end of the outer tube 31 is connected to the bottom plate 21, and the outer tube 31 is stationary. The middle tube 32 moves simultaneously under the action of the second driver 23 and the inner tube 33 under the action of the third driver 24, driving the middle tube 32 and the inner tube 33 to move linearly at the same time. When the two slide relative to the outer tube 31, due to the connection of the first ends of the outer tube 31, the middle tube 32 and the inner tube 33, the three tubes will generate a coupled push-pull force. Due to the different spatial bending rigidity of the three tubes, the three tubes can realize spatial swinging motion as a union, thereby driving the actuator 4 to swing. In the embodiment of the present invention, when the positions of the second driver 23 and the third driver 24 are different, the middle tube 32 and the inner tube 33 work together to realize the swing of the flexible end 301 of the sleeve assembly in any direction, thereby improving the flexibility of the flexible end 301 of the sleeve assembly.

[0033] like Figure 7 As shown, in the embodiment of the present invention, the first end of each tube body of the outer tube 31, the middle tube 32 and the inner tube 33 is provided with a plurality of grooves 311 along its axial direction, so that the first end of each tube body has a certain flexibility. By controlling the width and length of the grooves 311, the rigidity of the flexible end 301 can be adjusted. In this embodiment, after the outer tube 31, the middle tube 32 and the inner tube 33 are sleeved, the grooves 311 of the plurality of tube bodies are distributed circumferentially at 120°.

[0034] like Figure 4 As shown, in an embodiment of the present invention, the control unit 2 also includes a main control board and a joystick 25. The main control board is arranged on the base plate 21, and the joystick 25 is arranged on the first shell 201. The main control board is used to control the action of the second driver 23 and the third driver 24 according to the input signal of the joystick 25.

[0035] Specifically, the rocker 25 is disposed at one end of the first housing 201 away from the actuator 4, and the rocker 25 can swing in any two degrees of freedom within the spatial range, such as left and right directions, up and down directions, etc. When the operator swings the rocker 25, its input signal is processed by the main control board, and the main control board controls the second driver 23 and the third driver 24 to rotate based on the input signal, so that the flexible end 301 of the sleeve assembly swings in the corresponding direction. In actual operation, the operator holds the handle 1 and pushes the rocker 25 to send the corresponding swinging action to the main control board, thereby causing the actuator 4 to swing accordingly.

[0036] like Figure 4 As shown, the control unit 2 further includes a speed dial 26, which is disposed in the first housing 201 and partially exposed outside the first housing 201. The main control board is used to control the speed of the second driver 23 and the third driver 24 according to the input signal of the speed dial 26.

[0037] Specifically, in actual operation, when the operator holds the handle 1 and turns the speed dial 26, the speed dial 26 sends a signal to the main control board, and the main control board controls the rotation speed of the second driver 23 and the third driver 24 based on the signal to adjust the swing speed of the flexible end 301 of the sleeve assembly.

[0038] like Figure 4 As shown, in an embodiment of the present invention, a reset button 27 and a locking button 28 are further provided at one end of the first housing 201 away from the actuator 4. The reset button 27 is used to trigger the sleeve assembly to return to the initial state. A position register for controlling the second driver 23 and the third driver 24 is provided in the main control board. When the operator presses the reset button 27, the flexible end 301 of the sleeve assembly returns to the initial state, that is, the entire sleeve assembly is in a straight state. When the operator presses the locking button 28 for the first time, the flexible end 301 of the sleeve assembly is locked at the current swing position, the input signal of the rocker 25 is blocked, and the swing angle of the flexible end 301 is locked at the current angle until the locking button 28 is pressed again and the locking function is released.

[0039] like Figure 5 As shown, in the embodiment of the present invention, the handle 1 includes a second housing 11, and the second housing 11 is connected to the first housing 201. An opening and closing control module is arranged in the second housing 11, and the main control board controls the first driver 22 to move according to the input signal of the opening and closing control module, so as to drive the flexible rod to move linearly, thereby realizing the opening and closing movement of the actuator 4.

[0040] Furthermore, the opening and closing control module includes: an opening and closing button 12 and a linear Hall element 13, wherein the linear Hall element 13 is disposed in the second housing 11, a first end of the opening and closing button 12 is connected to the linear Hall element 13, and a second end of the opening and closing button 12 passes through the second housing 11 and extends outside the second housing 11. The linear Hall element 13 is electrically connected to the main control board.

[0041] Specifically, during actual operation, the opening and closing button 12 is pressed, and the opening and closing button 12 moves in a direction close to the linear Hall element 13. The linear Hall element 13 sends a first signal to the main control board, and the main control board controls the first driver 22 to drive the flexible rod to move in a direction away from the first shell 201, and the actuator 4 is in an open state; accordingly, when the opening and closing button 12 moves in a direction away from the linear Hall element 13, the linear Hall element 13 sends a second signal to the main control board, and the main control board controls the first driver 22 to drive the flexible rod to move in a direction close to the first shell 201, and the actuator 4 is in a closed state.

[0042] It can be understood that when the linear Hall element 13 sends the first signal to the main control board, the first driver 22 can also drive the flexible rod to move toward the direction close to the first housing 201 to put the actuator 4 in a closed state, and vice versa.

[0043] In an embodiment of the present invention, the second shell 11 is an ergonomic handle shell. During operation, the opening and closing of the actuator 4 can be controlled by pressing the opening and closing button 12 with the thumb; the actuator 4 can be controlled to swing by toggling the rocker 25 with the index finger, which reduces the fatigue of the operator when using the handheld minimally invasive surgical instrument for a long time. Furthermore, the second shell 11 adopts an overall sealing design to meet the disinfection requirements and reuse requirements under medical conditions. An indicator light is also provided on the second shell 11, which is used to display the current status of the handheld minimally invasive surgical instrument, such as locking, resetting, opening and closing, etc.

[0044] like Figure 6 As shown, in an embodiment of the present invention, a guide rail 29 and a pair of sliders 291 are further provided in the first shell 201. The pair of sliders 291 are both sleeved with the guide rail 29, and the pair of sliders 291 are respectively connected to the output shaft of the second driver 23 and the output shaft of the third driver 24.

[0045] Specifically, when the second driver 23 and the third driver 24 move, they can drive a pair of sliders 291 to slide along the guide rail 29. In this embodiment, the output shaft of the second driver 23 and the output shaft of the third driver 24 are respectively connected to a slider 291. The slider 291 is used to prevent the output shaft from rotating to avoid the rotation of the middle tube 32 and the inner tube 33, so as to improve the transmission accuracy of the second driver 23 and the third driver 24.

[0046] Optionally, in the above-described embodiment, the first driver 22 , the second driver 23 and the third driver 24 may be linear motors.

[0047] like Figure 6 As shown, in the embodiment of the present invention, a rechargeable battery 14 and a charging module 15 are further provided in the second housing 11, and the rechargeable battery 14 is electrically connected to the charging module 15, and the rechargeable battery 14 is used to power the first driver 22, the second driver 23, and the third driver 24. The charging module 15 is connected to an external power source through a Type-C interface to charge the rechargeable battery 14.

[0048] The handheld minimally invasive surgical instrument provided by the embodiment of the present invention adopts a three-layer sleeve structure as a flexible and bendable joint. The overall structure is simple, and the manufacturing and assembly processes are more convenient than the wire transmission method. It is not only low-cost, but also more stable to operate, maintains high rigidity, and significantly improves the flexibility of the terminal. In addition, the handheld minimally invasive surgical instrument provided by the embodiment of the present invention adopts an ergonomic handle to avoid hand fatigue caused by long-term use, and adopts an electric control solution instead of pure mechanical transmission. It has an absolute position feedback function and can maintain a long-term high-precision working state. The rechargeable battery has a quick-release function, which not only facilitates the replacement of the rechargeable battery, but also allows the instrument body and the power supply to be independently disinfected, effectively improving the safety of active instruments.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A handheld minimally invasive surgical instrument, characterized in that: include: A handle, a control unit, a bendable instrument rod and an actuator, wherein the handle is connected to the control unit, the control unit is connected to the bendable instrument rod, and the actuator is connected to the bendable instrument rod; The bendable instrument rod comprises: a sleeve assembly and a flexible rod, wherein the flexible rod is sleeved in the sleeve assembly, and both ends of the flexible rod are respectively connected to the actuator and the control unit, and the control unit is used to drive the flexible rod to move linearly to drive the actuator to open and close; The actuator is slidably connected to the first end of the sleeve assembly, the second end of the sleeve assembly is connected to the control unit, the first end of the sleeve assembly is a flexible end, and the control unit is used to drive a part of the tube body in the sleeve assembly to move linearly to drive the flexible end to swing.

2. The handheld minimally invasive surgical instrument according to claim 1, characterized in that: The control unit comprises: a first housing, a first driver, a second driver and a third driver, wherein the first driver, the second driver and the third driver are all arranged in the first housing, and the first housing is connected to the handle; The first driver is connected to the flexible rod, and the second driver and the third driver are connected to the sleeve assembly.

3. The handheld minimally invasive surgical instrument according to claim 2, characterized in that: The sleeve assembly comprises: an outer tube, a middle tube and an inner tube which are sleeved in sequence, wherein the first end of the outer tube, the first end of the middle tube and the first end of the inner tube are connected and slidably connected to the actuator; The second end of the outer tube is connected to the first shell, the second end of the middle tube is connected to the second driver, and the second end of the inner tube is connected to the third driver.

4. The handheld minimally invasive surgical instrument according to claim 2, characterized in that: The control unit further includes a main control board and a rocker, wherein the main control board is disposed in the first housing; The joystick is arranged on the first housing, and the main control board is used for controlling the actions of the second driver and the third driver according to the input signal of the joystick.

5. The handheld minimally invasive surgical instrument according to claim 4, characterized in that: An opening and closing control module is arranged in the handle, and the main control board is used for controlling the action of the first driver according to an input signal of the opening and closing control module.

6. The handheld minimally invasive surgical instrument according to claim 5, characterized in that: The opening and closing control module comprises: an opening and closing button and a linear Hall element, wherein the linear Hall element is arranged in the handle, a first end of the opening and closing button is connected to the linear Hall element, and a second end of the opening and closing button passes through the handle and extends outside the handle; The linear Hall element is electrically connected to the main control board.

7. The handheld minimally invasive surgical instrument according to claim 4, characterized in that: The control unit further comprises a speed regulating dial, and the speed regulating dial is arranged on the first housing. The main control board is used for controlling the rotation speeds of the second driver and the third driver according to the input signal of the speed regulating dial.

8. The handheld minimally invasive surgical instrument according to claim 4, characterized in that: The first shell is also provided with a reset button and a lock button, the reset button is used to trigger the sleeve assembly to return to an initial state, and the lock button is used to block the input signal of the joystick.

9. The handheld minimally invasive surgical instrument according to claim 2, characterized in that: A guide rail and a pair of sliders are also provided in the control unit. The pair of sliders are slidably connected to the guide rail, and the pair of sliders are respectively connected to the second driver and the third driver.

10. The handheld minimally invasive surgical instrument according to claim 2, characterized in that: A rechargeable battery and a charging module are also provided in the handle. The rechargeable battery is electrically connected to the charging module. The rechargeable battery is used to supply power to the first driver, the second driver and the third driver.

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