Surgical tool controller and surgical tool controller assembly tool

Abstract

The invention relates to the field of medical instruments, in particular to a surgical tool controller and a surgical tool controller assembly tool. A first movable frame of the surgical tool controller is rotatably connected with the main body frame around a first preset direction, a second movable frame is rotatably connected with the first movable frame around a second preset direction, and the first preset direction is perpendicular to the second preset direction; the operating handle is connected with the second movable frame; the two first control lines drive the surgical tool to swing around a first preset direction relative to the main body frame; the two second control lines drive the surgical tool to swing around a second preset direction relative to the main body frame; the third control line drives the surgical tool to open and close; wherein a first wire passing wheel is arranged at the rotating connecting position of the first movable frame and the main body frame, and the second control wire and the third control wire are connected to the first wire passing wheel in a winding mode. According to the surgical tool controller, the control resistance in the operation process can be reduced, and the control flexibility and the control precision are improved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular, to a surgical tool controller and an assembly tooling for a surgical tool controller. Background Art

[0002] A surgical tool controller is used to control a surgical tool during a surgical operation. Taking the clamp head of the surgical tool as an example, the surgical tool controller can control the opening and closing of the clamp head and its swinging along at least two directions. Thus, the surgical tool controller can achieve the distance-controlled operation of the surgical tool; However, during the operation of the existing surgical tool controllers, when achieving the multi-degree-of-freedom operation of the surgical tool, there are problems such as large operation resistance, low operation flexibility and low operation accuracy. Summary of the Invention

[0003] The purpose of the present invention includes providing a surgical tool controller and an assembly tooling for a surgical tool controller, which can reduce the operation resistance during the operation process and improve the operation flexibility and operation accuracy.

[0004] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a surgical tool controller, which includes a main body frame, a first movable frame, a second movable frame, an operation handle, two first control wires, two second control wires and a third control wire; The first movable frame is rotatably connected to the main body frame around a first preset direction, the second movable frame is rotatably connected to the first movable frame around a second preset direction, and the first preset direction is perpendicular to the second preset direction; the operation handle is connected to the second movable frame; Both of the two first control wires are connected to the first movable frame, and are connected to a surgical tool connected to the main body frame after passing through the main body frame, so as to drive the surgical tool to swing relative to the main body frame around the first preset direction; both of the two second control wires are connected to the second movable frame, and are connected to the surgical tool after passing through the first movable frame and the main body frame, so as to drive the surgical tool to swing relative to the main body frame around the second preset direction; the third control wire is connected to the operation handle, and the third control wire is connected to the surgical tool for driving the surgical tool to open and close; Wherein, a first wire pulley is arranged at the rotation connection position between the first movable frame and the main body frame, and both the second control wire and the third control wire are wound around the first wire pulley.

[0005] In an optional embodiment, the main body frame includes a connecting member and two sub-frame bodies; Both of the two sub-frame bodies are connected to the connecting member, and are respectively connected to the opposite sides of the first movable frame. First wire pulleys are arranged at the connection positions between the two sub-frame bodies and the first movable frame; the surgical tool is connected to the connecting member; Among them, two first control wires are drivingly connected to the surgical tool via one of the sub-frame bodies and the connecting member; two second control wires are drivingly connected to the surgical tool via the other sub-frame body and the connecting member; the third control wire is drivingly connected to the surgical tool via one of the sub-frame bodies and then through the connecting member.

[0006] In an alternative embodiment, a wire passing block is arranged at one end of the sub-frame body connected to the first movable frame, and a wire guiding groove is formed at one end of the sub-frame body connected to the first movable frame; At least one first wire passing hole and at least one second wire passing hole are respectively arranged at the parts of the wire passing block distributed on the outer side and the inner side of the sub-frame body, and a third wire passing hole is further formed at the position of the sub-frame body adjacent to the wire passing block.

[0007] In an alternative embodiment, after one of the two first control wires passes through the first wire passing hole on the corresponding sub-frame body, it extends towards the surgical tool via the sub-frame body, and the other of the two first control wires passes through the second wire passing hole and the third wire passing hole on the corresponding sub-frame body and then extends towards the surgical tool via the sub-frame body; After the two second control wires pass through the first wire guiding wheels and the wire guiding grooves at the rotational connection position of the corresponding sub-frame body and the first movable frame, they extend towards the surgical tool via the sub-frame body; After the third control wire passes through the first wire guiding wheel and the wire guiding groove at the rotational connection position of one of the sub-frame bodies and the first movable frame, it extends towards the surgical tool via the sub-frame body.

[0008] In an alternative embodiment, the two first control wires and the third control wire extend towards the surgical tool via the same sub-frame body; A plurality of wire guiding grooves are formed on the outer side surface of each sub-frame body, and the wire guiding grooves extend from the position of the wire passing block to the connecting member; Each first control wire, each second control wire and the third control wire respectively pass through a wire guiding groove.

[0009] In an alternative embodiment, two first wire wheels are arranged at the position where the first movable frame is connected to at least one sub-frame body, the two first wire wheels are distributed on the inner and outer sides of the first movable frame, and the two first control wires are respectively connected to the two first wire wheels, and the winding directions of the two first control wires around the two first wire wheels are opposite.

[0010] In an alternative embodiment, second wire wheels are arranged at both ends where the second movable frame is connected to the first movable frame; the two second control wires are respectively connected to the two second wire wheels, and the winding directions of the two second control wires around the two second wire wheels are opposite.

[0011] In an alternative embodiment, the first movable frame and the second movable frame are respectively provided with a first wire channel and a second wire channel, and at least one second wire pulley for the third control wire to pass through is rotatably provided in each of the first wire channel and the second wire channel. The second wire pulley is disposed at the end or the middle of the first wire channel and the second wire channel. Among them, the first wire channel allows the second control wire and the third control wire to pass through, and the second wire channel allows the third control wire to pass through.

[0012] In a second aspect, the present invention provides an assembly tooling for a surgical tool controller. The assembly tooling for a surgical tool controller includes a workbench, a positioning base, and at least one control wire tensioner. The positioning base is connected to the workbench, and the positioning base is used to mount the above-mentioned surgical tool controller. The control wire tensioner is connected to the workbench, and the control wire tensioner is used to tension one or more of the first control wire, the second control wire, and the third control wire. Among them, when the surgical tool controller is mounted on the positioning base, the middle region of its second movable frame is directly opposite to the middle region of the main frame.

[0013] In an alternative embodiment, the positioning base includes a positioning seat, two first brackets, and two second brackets. The positioning seat is provided with a positioning groove for positioning and mounting the first movable frame. The two first brackets and the two second brackets are arranged around the positioning seat and are located within the area enclosed by the positioning groove. The two first brackets are opposite to each other, and the two second brackets are opposite to each other. Both of the two first brackets are used to connect to the main frame. Both of the two second brackets are used to connect to the second movable frame.

[0014] The beneficial effects of the surgical tool controller and the assembly tooling for a surgical tool controller provided by the embodiments of the present invention include: The surgical tool controller includes a main body frame, a first movable frame, a second movable frame, an operating handle, two first control wires, two second control wires, and a third control wire; the first movable frame is rotatably connected to the main body frame around a first preset direction, the second movable frame is rotatably connected to the first movable frame around a second preset direction, and the first preset direction is perpendicular to the second preset direction; the operating handle is connected to the second movable frame; both of the two first control wires are connected to the first movable frame, and are connected to a surgical tool connected to the main body frame after passing through the main body frame, so as to drive the surgical tool to swing relative to the main body frame around the first preset direction; both of the two second control wires are connected to the second movable frame, and are connected to the surgical tool after passing through the first movable frame and the main body frame, so as to drive the surgical tool to swing relative to the main body frame around the second preset direction; the third control wire is connected to the operating handle, and the third control wire is connected to the surgical tool for transmission, so as to drive the surgical tool to open and close; wherein, a first wire passing wheel is arranged at the rotational connection of the first movable frame and the main body frame, and both the second control wire and the third control wire are wound around the first wire passing wheel. The surgical tool controller can reduce the control resistance during the operation process and improve the control flexibility and control precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a schematic structural diagram of the surgical tool controller provided in this embodiment from the first perspective; Figure 2 is a schematic structural diagram of the surgical tool controller provided in this embodiment from the second perspective; Figure 3 is a schematic structural diagram of the surgical tool controller provided in this embodiment from the third perspective; Figure 4 is a schematic structural diagram of the main body frame, the first movable frame and the second movable frame provided in this embodiment; Figure 5 is Figure 2 a partial schematic diagram at C in Figure 6 is Figure 2 a partial schematic diagram at D in Figure 7 is Figure 2 a partial schematic diagram at E in Figure 8 is a schematic structural diagram of the main body frame provided in this embodiment; Figure 9 is Figure 8 a partial schematic view at position F in Figure 10 a schematic structural view of a surgical tool controller assembly tool equipped with a surgical tool controller according to this embodiment from a first perspective; Figure 11 a schematic structural view of a surgical tool controller assembly tool equipped with a surgical tool controller according to this embodiment from a second perspective; Figure 12 an assembly schematic view of a positioning base and a surgical tool controller according to this embodiment; Figure 13 a schematic structural view of the positioning base according to this embodiment.

[0017] Icons: 100 - surgical tool controller; 110 - main body frame; 120 - first movable frame; 130 - second movable frame; 140 - operating handle; 150 - first control wire; 160 - second control wire; 170 - third control wire; 180 - first wire passing wheel; 111 - connecting piece; 112 - sub-frame body; 113 - wire passing block; 114 - wire groove; 115 - first wire passing hole; 116 - second wire passing hole; 117 - wire passing groove; 118 - third wire passing hole; 121 - first wire wheel; 131 - second wire wheel; 122 - first wire channel; 132 - second wire channel; 10 - surgical tool; 190 - second wire passing wheel; 200 - surgical tool controller assembly tool; 210 - workbench; 220 - positioning base; 230 - control wire tensioner; 221 - positioning seat; 222 - first bracket; 223 - second bracket; 224 - positioning groove. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0020] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

[0021] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the product of the present invention is habitually placed during use. This is 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 thus should not be construed as a limitation to the present invention.

[0022] In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0023] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0024] This embodiment takes the manipulation of the jaw by the surgical tool controller 100 as an example for illustration. In other embodiments of the present invention, the surgical tool controller 100 can also be applied to the manipulation of other types of surgical tools 10. Since this embodiment manipulates the jaw, it is necessary to control the opening and closing of the jaw and the swinging in two directions through the surgical tool controller 100, so as to improve the flexibility of its operation and meet the usage requirements. Through research by the inventor, it is found that in the process of operation of the existing surgical tool controller, during the process of realizing the multi-degree-of-freedom manipulation of the surgical tool, there are problems such as large manipulation resistance, low manipulation flexibility and manipulation accuracy. The reason is that it uses a structure that wears on the wrist to realize the overall rotation of the instrument, the operation difficulty is relatively large, the operation smoothness is affected, and the structure strength of the part connecting the movement of the wrist through the cross beam is insufficient. The routing of the manipulation wire needs to turn many times, and the frictional resistance is large, thus affecting the flexibility of its operation.

[0025] For the above reasons, please refer to Figures 1 - 5 , in this embodiment, a surgical tool controller 100 includes a main body frame 110, a first movable frame 120, a second movable frame 130, an operation handle 140, two first manipulation wires 150, two second manipulation wires 160 and a third manipulation wire 170. The first movable frame 120 is rotatably connected to the main body frame 110 around a first preset direction (the direction indicated by arrow A in the figure), the second movable frame 130 is rotatably connected to the first movable frame 120 around a second preset direction (the direction indicated by arrow B in the figure), and the first preset direction is perpendicular to the second preset direction; the operating handle 140 is connected to the second movable frame 130; Both of the two first operating wires 150 are connected to the first movable frame 120, and are drivingly connected to the surgical tool 10 connected to the main body frame 110 after passing through the main body frame 110, so as to drive the surgical tool 10 to swing relative to the main body frame 110 around the first preset direction; both of the two second operating wires 160 are connected to the second movable frame 130, and are drivingly connected to the surgical tool 10 after passing through the first movable frame 120 and the main body frame 110, so as to drive the surgical tool 10 to swing relative to the main body frame 110 around the second preset direction; the third operating wire 170 is connected to the operating handle 140, and the third operating wire is drivingly connected to the surgical tool 10 to drive the surgical tool 10 to open and close; Wherein, a first wire passing wheel 180 is arranged at the rotational connection of the first movable frame 120 and the main body frame 110, and both the second operating wire 160 and the third operating wire 170 are wound around the first wire passing wheel 180.

[0026] Please refer to Figures 1 - 5 , the working principle of the surgical tool controller 100 is as follows: First of all, the surgical tool controller 100 includes a main body frame 110, a first movable frame 120, a second movable frame 130, an operating handle 140, two first operating wires 150, two second operating wires 160 and a third operating wire 170; the first movable frame 120 is rotatably connected to the main body frame 110 around a first preset direction, the second movable frame 130 is rotatably connected to the first movable frame 120 around a second preset direction, and the first preset direction is perpendicular to the second preset direction; the operating handle 140 is connected to the second movable frame 130; that is, through such a setting method, a movable frame structure is formed; On the basis of the above movable frame structure, both of the two first operating wires 150 are connected to the first movable frame 120, and are drivingly connected to the surgical tool 10 connected to the main body frame 110 after passing through the main body frame 110, so as to drive the surgical tool 10 to swing relative to the main body frame 110 around the first preset direction; both of the two second operating wires 160 are connected to the second movable frame 130, and are drivingly connected to the surgical tool 10 after passing through the first movable frame 120 and the main body frame 110, so as to drive the surgical tool 10 to swing relative to the main body frame 110 around the second preset direction; the third operating wire 170 is connected to the operating handle 140, and the third operating wire 170 is drivingly connected to the surgical tool 10 to drive the surgical tool 10 to open and close; Thus, by orderly connecting the two above-mentioned first control wires 150, two second control wires 160 and one third control wire 170 to the above-mentioned frame structure, an operator can drive the third control wire 170 to wind and unwind by using the operating handle 140, thereby driving the surgical tool 10 to open and close. In this embodiment, the surgical tool 10 is taken as an example of a clamp head. Therefore, the third control wire 170 completes the opening and closing action of the clamp head. When the surgical tool 10 is other types of instruments, the operation completed by the third control wire 170 can also be other actions; After that, when the user uses the operating handle 140, when the operating handle 140 drives the first movable frame 120 to swing around a first preset direction, one of the two first control wires 150 can be synchronously driven to tighten, and the other first control wire 150 can be driven to release. Thus, through the synchronous actions of the two first control wires 150, but with opposite winding and unwinding directions, the surgical tool 10 connected to the main body frame 110 can be driven to swing around the first preset direction; Similarly, when the user uses the operating handle 140, when the operating handle 140 drives the second movable frame 130 to swing around a second preset direction, one of the two second control wires 160 can be synchronously driven to tighten, and the other second control wire 160 can be driven to release. Thus, through the synchronous actions of the two second control wires 160, but with opposite winding and unwinding directions, the surgical tool 10 connected to the main body frame 110 can be driven to swing around the second preset direction; As can be seen from the above content, the surgical tool controller 100 adopts a method of configuring two first control wires 150, two second control wires 160 and one third control wire 170 on the movable frame structure during the forming activity. Thus, when one or more of the first movable frame and the second movable frame move, their movements can be transmitted to the surgical tool 10 through the winding and unwinding of the foregoing control wires, thereby playing a role in synchronously controlling the surgical tool 10; Such a control form can simplify its structure. Moreover, when configuring the above-mentioned main body frame 110, the first movable frame 120 and the second movable frame 130, they are all configured in an arc-shaped structure. The purpose is to make it more convenient to achieve multi-degree-of-freedom angle control in space during the movement process, so as to improve its flexibility while reducing movement dead angles or interference and expanding its movable range; and on the basis of its arc-shaped structure, the rotation during the control process can be synchronized with the swing of the surgical tool 10, thereby reducing the control difficulty; In addition, since the main frame 110, the first movable frame 120, and the second movable frame 130 are all configured in an arc-shaped structure, when installing the two first control wires 150, the two second control wires 160, and the third control wire 170, the wiring can be more convenient, that is, the installation difficulty of the control wires can be reduced, and at the same time, the turning angles of the foregoing multiple control wires can be reduced. With the setting of the first wire passing wheel 180, the resistance during the retraction and release of the control wires can be effectively reduced, thereby improving the smoothness and flexibility of the operation process; In summary, the surgical tool controller 100 can reduce the control resistance during the operation process and improve the control flexibility and control accuracy.

[0027] It should be noted that in this embodiment, the configured surgical tool 10 can adopt the structure in the prior art. For example, the structure of the clamp head can be the existing structure, which can achieve multi-angle rotation and opening and closing through multi-wire control. The specific structure setting method will not be elaborated here.

[0028] Moreover, when configuring the first wire passing wheel 180, it is connected to the rotating shafts of the first movable frame 120 and the main frame 110. The first wire passing wheel 180 can be rotatably connected to the rotating shaft, and a channel for one or both of the second control wire 160 and the third control wire 170 to pass through is provided on the first wire passing wheel 180. Arc transition surfaces are provided at the edges of the channel to reduce the frictional resistance when the control wire moves.

[0029] Furthermore, please refer to Figures 1 - 8 , in this embodiment, when configuring the main frame 110, the main frame 110 includes a connecting member 111 and two sub-frame bodies 112; and the two sub-frame bodies 112 in this embodiment are both arc-shaped rods; Both of the two sub-frame bodies 112 are connected to the connecting member 111, and the two sub-frame bodies 112 are respectively connected to the opposite sides of the first movable frame 120. First wire passing wheels 180 are arranged at the connection positions of the two sub-frame bodies 112 and the first movable frame 120; the surgical tool 10 is connected to the connecting member 111; Among them, the two first control wires 150 are connected to the surgical tool 10 through one of the sub-frame bodies 112 and the connecting member 111; the two second control wires 160 are connected to the surgical tool 10 through the other sub-frame body 112 and the connecting member 111; the third control wire 170 is connected to the surgical tool 10 through the connecting member 111 after passing through one of the sub-frame bodies 112.

[0030] That is, through the foregoing structural arrangement method, during the wiring process, the two first control wires 150 and the two second control wires 160 can be respectively arranged on a sub-frame 112, and the third control wire 170 can be configured on one of the sub-frames 112 as required. Such an arrangement method enables one of the two sub-frames 112 to be arranged with two control wires and the other to be arranged with three control wires. Thus, in this way, the distribution of the control wires can be made more reasonable, so as to avoid an excessive number of wire grooves and other structures on a single sub-frame 112 when forming structures such as wire grooves on the sub-frame 112, thereby preventing the structure of the sub-frame 112 from being too complex.

[0031] On this basis, in this embodiment, two identical sub-frames 112 are adopted. Specifically, taking the structural arrangement method of one of the sub-frames 112 as an example, please refer to Figures 1 - 9 , a wire passing block 113 is configured at one end of the sub-frame 112 connected to the first movable frame 120, and a wire groove 114 is formed at one end of the sub-frame 112 connected to the first movable frame 120; At least one first wire passing hole 115 and at least one second wire passing hole 116 are respectively arranged on the outer and inner parts of the wire passing block 113 distributed on the sub-frame 112, and a third wire passing hole 118 is also formed at a position of the sub-frame 112 adjacent to the wire passing block 113.

[0032] Therefore, through the above arrangement method of the sub-frame 112, wire passing blocks 113 and guiding grooves for guiding the control wires to pass through are configured at the ends of the sub-frame 112 connected to the first movable frame 120. In this way, when the control wires extend from the first movable frame 120 to the sub-frame 112, they can be guided to pass through by the wire passing blocks 113 and the guiding grooves, so as to avoid excessive resistance and poor sliding when they turn at the connection between the first movable frame 120 and the sub-frame 112, thereby improving the smoothness and flexibility of the operation process.

[0033] Specifically, please refer to Figures 1 - 9 , when arranging the two first control wires 150, one of the two first control wires 150 passes through the first wire passing hole 115 on the corresponding sub-frame 112 and then extends along the sub-frame 112 in the direction close to the surgical tool 10, and the other of the two first control wires 150 passes through the second wire passing hole 116 and the third wire passing hole 118 on the corresponding sub-frame 112 and then extends along the sub-frame 112 in the direction close to the surgical tool 10; When arranging the two second control wires 160, after the two second control wires 160 pass through the first wire passing wheels 180 and the wire guiding grooves 114 at the rotational connection between the corresponding sub-frame bodies 112 and the first movable frame 120, they extend towards the direction close to the surgical tool 10 via the sub-frame bodies 112; When arranging the two third control wires 170, after the third control wires 170 pass through the first wire passing wheels 180 and the wire guiding grooves 114 at the rotational connection between one of the sub-frame bodies 112 and the first movable frame 120, they extend towards the direction close to the surgical tool 10 via the sub-frame bodies 112.

[0034] Therefore, through the above structural setting method, the first control wire 150, the second control wires 160, and the third control wires 170 can be guided by the aforementioned wire passing blocks 113 and guiding grooves, and the sliding resistance during their use can be reduced, thereby improving their smoothness.

[0035] As can be seen from the above, the first control wire 150, the second control wires 160, and the third control wires 170 all need to extend towards the connecting member 111 via the sub-frame bodies 112. Therefore, in order to improve the smoothness of each control wire relative to the sub-frame body 112 during the control process, taking the example that the two first control wires 150 and the third control wire 170 extend towards the direction close to the surgical tool 10 via the same sub-frame body 112, a plurality of wire passing grooves 117 are formed on the outer side surface of each sub-frame body 112, and the wire passing grooves 117 extend from the wire passing blocks 113 to the position of the connecting member 111; each first control wire 150, each second control wire 160, and the third control wire 170 respectively pass through a wire passing groove 117.

[0036] That is, the two first control wires 150 and one third control wire 170 extend towards the connecting member 111 through three wire passing grooves 117 on the same sub-frame body 112, and the two second control wires 160 extend towards the connecting member 111 through two wire passing grooves 117 on another sub-frame body 112.

[0037] Further, please refer to Figures 1 - 9, in this embodiment, as can be seen from the above, when the surgical tool 10 is swung relative to the first preset direction by using the operating handle 140, it is through the rotation of the first movable frame 120 around the first preset direction that the two first control wires 150 with opposite winding directions connected to the first movable frame 120 are driven to move synchronously. However, the winding and unwinding directions are opposite during their synchronous movement. Based on this, in order to make the winding and unwinding amounts the same during synchronous winding and unwinding, thereby improving the control accuracy and stability of the surgical tool 10, therefore, two first wire wheels 121 are arranged at the positions where the first movable frame 120 is connected to at least one sub-frame body 112. The two first wire wheels 121 are distributed on the inner and outer sides of the first movable frame 120, and the two first control wires 150 are respectively connected to the two first wire wheels 121, and the two first control wires 150 are wound around the two first wire wheels 121 in opposite directions.

[0038] That is, in this way, when one of the two first control wires 150 is tightened and the other is released by the rotation of the first movable frame 120, since the two first control wires 150 are respectively connected to the two first wire wheels 121 and their diameters are the same, therefore, when their rotation angles are the same, the amount of one first control wire wound onto the first wire wheel 121 connected to it is the same as the amount of the other first control wire released from the wound first wire wheel 121. Thus, in this way, the swinging angle of the surgical tool 10 driven by it can be increased, and further, its control accuracy and stability can be improved.

[0039] Similarly to the configuration method of the above first wire wheel 121, when the surgical tool 10 is swung relative to the second preset direction by using the operating handle 140, it is through the rotation of the second movable frame 130 around the second preset direction that the two second control wires 160 with opposite winding directions connected to the second movable frame 130 are driven to move synchronously. However, the winding and unwinding directions are opposite during their synchronous movement. Based on this, in order to make the winding and unwinding amounts the same during synchronous winding and unwinding, thereby improving the control accuracy and stability of the surgical tool 10, therefore, second wire wheels 131 are provided at both ends where the second movable frame 130 is connected to the first movable frame 120; the two second control wires 160 are respectively connected to the two second wire wheels 131, and the two second control wires 160 are wound around the two second wire wheels 131 in opposite directions.

[0040] That is, in this way, when it rotates through the second movable frame 130 to tighten one of the two second control wires 160 and release the other, since the two second control wires 160 are respectively connected to two second wire wheels 131 and have the same diameter, when their rotation angles are the same, the amount of one second control wire stored on the second wire wheel 131 connected thereto is the same as the amount of the other second control wire released from the stored second wire wheel 131. Thus, in this way, the swing angle of the surgical tool 10 driven by it can be increased, and further, its control accuracy and stability can be improved.

[0041] Furthermore, in the above structure, since wire grooves 117 are provided on both of the two sub-frame bodies 112 to guide the movement of the first control wire 150, the second control wire 160 and the third control wire 170, thereby improving its control stability, control accuracy, control smoothness and control flexibility. Therefore, when the second control wire 160 and the third control wire 170 move relative to the first movable frame 120 and the second movable frame 130, their movement can be guided and the resistance of their movement can be reduced. Thus, the first movable frame 120 and the second movable frame 130 are respectively provided with a first wire channel 122 and a second wire channel 132, and at least one second wire passing wheel 190 for the third control wire 170 to pass through is rotatably provided in the first wire channel 122 and the second wire channel 132. The second wire passing wheel 190 is arranged at the end or the middle of the first wire channel 122 and the second wire channel 132; wherein, the first wire channel 122 allows the second control wire 160 and the third control wire 170 to pass through, and the second wire channel 132 allows the third control wire 170 to pass through.

[0042] Thus, by configuring the first wire channel 122 and the second wire channel 132, the second control wire 160 and the second control wire 160 can move, and by arranging the second wire passing wheels 190 at different positions in the two wire channels, their sliding can be converted into rolling, and the position of the second wire passing wheel 190 can be arranged at the end of the wire channel, that is, at the connection of the first movable frame 120 and the second movable frame 130. Furthermore, when the first control wire 150 and the second control wire 160 are turned from the second movable frame 130 to be connected to the first movable frame 120, the commutation resistance thereof can be reduced, and the transition at the corner commutation can be smooth, thereby improving the flexibility of its operation.

[0043] Furthermore, please refer to Figures 1 - 13 , this embodiment also provides a surgical tool controller assembly tooling 200. The surgical tool controller assembly tooling 200 includes a workbench 210, a positioning base 220 and at least one control wire tensioner 230; The positioning base 220 is connected to the workbench 210, and the positioning base 220 is used for installing the above-mentioned surgical tool controller 100; The control wire tensioner 230 is connected to the workbench 210, and the control wire tensioner 230 is used to tension one or more of the first control wire 150, the second control wire 160, and the third control wire 170; Wherein, when the surgical tool controller 100 is installed on the positioning base 220, the middle area of the second movable frame 130 thereof is directly opposite to the middle area of the main frame 110.

[0044] Please refer to Figures 1 - 13 , the assembly tooling 200 for the surgical tool controller is used to position and calibrate the above-mentioned surgical tool controller 100; specifically, after the surgical tool controller 100 is installed on the positioning base 220, through the connection between the positioning base 220 and the main frame 110, the first movable frame 120, and the second movable frame 130, the positioning of its frame can be achieved. At this time, the positioning and calibration of the structural position within its frame can be completed. Then, on this basis, the first control wire 150, the second control wire 160, and the third control wire 170 can be tightened or their tightness can be adjusted; It should be noted that after the surgical tool controller 100 is installed on the positioning base 220, the surgical tool controller 100 is in its initial position, and in this embodiment, the middle area of its second movable frame 130 is directly opposite to the middle area of the main frame 110; in addition, if reference point marks are configured on both the middle area of the second movable frame 130 and the middle area of the main frame 110, after the surgical tool controller 100 is installed on the positioning base 220, the two reference point marks can be aligned.

[0045] Based on the above structure, when configuring the positioning base 220, the positioning base 220 includes a positioning seat 221, two first brackets 222, and two second brackets 223; the positioning seat 221 is provided with a positioning groove 224 for positioning and installing the first movable frame 120; the two first brackets 222 and the two second brackets 223 are arranged around the positioning seat 221 and are located within the area enclosed by the positioning groove 224. The two first brackets 222 are opposite to each other, and the two second brackets 223 are opposite to each other; both of the two first brackets 222 are used to connect to the main frame 110; both of the two second brackets 223 are used to connect to the second movable frame 130.

[0046] Thus, through the above structural setting method, the main frame 110 can be positioned by the two first brackets 222, the second movable frame 130 can be positioned by the two second brackets 223, and the first movable frame 120 can be positioned by the positioning groove 224, so as to be able to position and calibrate the frame structure of the surgical tool controller 100.

[0047] It should also be noted that, in the present embodiment, when configuring and operating the wire tensioner 230, one or more control wire tensioners 230 can be provided according to the requirements of use; for example, when one control wire tensioner 230 is configured, its relative position relative to the workbench 210 can be adjusted, and then it can be moved to the position corresponding to the first control wire 150, the second control wire 160 and the third control wire 170, so as to adjust their tightness; it is also possible to configure multiple control wire tensioners 230, that is, each control wire tensioner 230 corresponds to one first control wire 150, the second control wire 160 and the third control wire 170, so that the progress of the first control wire 150, the second control wire 160 and the third control wire 170 can be adjusted independently.

[0048] Based on the above, please refer to Figures 1 - 13 The design of the surgical tool controller 100 aims to achieve flexible control of the surgical tool 10 through a multi-degree-of-freedom movable frame structure and a precise control line transmission system. The specific principles are as follows: Multi-degree-of-freedom movable frame: The main frame 110 serves as the basic structure of the entire controller, providing support and connection points; the first movable frame 120 is rotatably connected to the main frame 110 around a first preset direction (for example, a horizontal direction); the second movable frame 130 is rotatably connected to the first movable frame 120 around a second preset direction (for example, a vertical direction), and the first preset direction is perpendicular to the second preset direction; the operating handle 140 is connected to the second movable frame 130, for the operator to control the surgical tool 10.

[0049] Steering wire transmission system: the first steering wires 150 (two wires) are connected to the first movable frame 120, and are connected to the surgical tool 10 through the main frame 110, so as to drive the surgical tool 10 to swing around a first preset direction; the second steering wires 160 (two wires) are connected to the second movable frame 130, and are connected to the surgical tool 10 through the first movable frame 120 and the main frame 110, so as to drive the surgical tool 10 to swing around a second preset direction; the third steering wire 170 (one wire) is connected to the operating handle 140, so as to control the opening and closing movement of the surgical tool 10.

[0050] Design of the wire wheel and the line wheel: a wire wheel is arranged at the rotation connection between the first movable frame 120 and the main frame 110, and the second control line 160 and the third control line 170 are wound around the wire wheel to reduce the friction resistance of the control line; the first movable frame 120 and the second movable frame 130 are respectively provided with a first line wheel 121 and a second line wheel 131, and the control line is wound around the line wheel to ensure that the retraction and release amount of the control line is consistent, thereby improving the control accuracy.

[0051] Assembly tooling assistance: Provide an assembly tooling, including a workbench 210, a positioning base 220, and a control wire tensioner 230, which are used to position and calibrate the surgical tool controller 100 to ensure the assembly accuracy.

[0052] The working process of the surgical tool controller 100 is as follows: Swing control of the surgical tool 10: Swing around the first preset direction. The operating handle 140 drives the first movable frame 120 to rotate around the first preset direction through the second movable frame 130. One of the two first control wires 150 is tightened and the other is released, driving the surgical tool 10 to swing around the first preset direction; Swing around the second preset direction. The operating handle 140 directly drives the second movable frame 130 to rotate around the second preset direction. One of the two second control wires 160 is tightened and the other is released, driving the surgical tool 10 to swing around the second preset direction; Opening and closing control of the surgical tool 10. The operating handle 140 directly drives the opening and closing action of the surgical tool 10 through the third control wire 170.

[0053] Assembly and calibration: Install the surgical tool controller 100 on the positioning base 220 of the assembly tooling, and adjust the tightness of the control wires through the control wire tensioner 230 to ensure the smooth movement of each component.

[0054] It should be noted that the swing control of the above surgical tool 10 and the opening and closing control of the surgical tool 10 can be combined. That is, the surgical tool 10 can swing around the first preset direction, swing around the second preset direction, and engage, or two or three of the actions of swinging around the first preset direction, swinging around the second preset direction, and engaging can be implemented synchronously.

[0055] The surgical tool controller 100 has the following advantages: Reduce the control resistance. By optimizing the structure of the movable frame and the design of the wire passing wheels, reduce the frictional resistance of the control wires; Adopt wire wheels and wire passing wheels to convert sliding friction into rolling friction, further reducing the resistance.

[0056] Improve the control flexibility and accuracy. The multi-degree-of-freedom movable frame design enables the surgical tool 10 to swing flexibly in two directions; The reasonable wiring of the control wires and the wire wheel design ensure the synchronism and accuracy of the movement.

[0057] Simplify the structure. Adopt an arc-shaped structure and a reasonable wiring method to reduce the dead angles and interferences of the movement, and expand the movement range; The optimized wiring path reduces the installation difficulty of the control wires; High assembly accuracy. The design of the assembly tooling ensures the assembly accuracy of the surgical tool controller 100 and improves the overall performance.

[0058] In summary, through the multi-degree-of-freedom movable frame and the precise control wire drive system, the surgical tool controller 100 realizes flexible control of the surgical tool 10. The operation process of the operation handle 140 in different directions is clear, and the wiring paths of the control wires are reasonable, ensuring the flexibility and precision of the control.

[0059] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A surgical tool controller, characterized in that: The surgical tool controller includes a main frame, a first movable frame, a second movable frame, an operating handle, two first control wires, two second control wires and one third control wire; The first movable frame is rotatably connected to the main frame around a first preset direction, the second movable frame is rotatably connected to the first movable frame around a second preset direction, and the first preset direction is perpendicular to the second preset direction; the operating handle is connected to the second movable frame; The two first control wires are connected to the first movable frame, and are connected to the surgical tool connected to the main frame through the main frame, so as to drive the surgical tool to swing around the first preset direction relative to the main frame; the two second control wires are connected to the second movable frame, and are connected to the surgical tool through the first movable frame and the main frame, so as to drive the surgical tool to swing around the second preset direction relative to the main frame; the third control wire is connected to the operating handle, and the third control wire is connected to the surgical tool through the main frame, so as to drive the surgical tool to open and close; Wherein, a first wire-passing wheel is arranged at the rotation connection between the first movable frame and the main frame, and the second control wire and the third control wire are both wound around the first wire-passing wheel.

2. The surgical tool controller according to claim 1, characterized in that: The main frame includes a connecting piece and two sub-frames; The two sub-frames are connected to the connecting member, and the two sub-frames are respectively connected to two opposite sides of the first movable frame, and the first wire passing wheel is configured at the connection between the two sub-frames and the first movable frame; the surgical tool is connected to the connecting member; Among them, the two first control wires are connected to the surgical tool via one of the sub-frames and the connecting piece; the two second control wires are connected to the surgical tool via another sub-frame and the connecting piece; the third control wire passes through one of the sub-frames and is then connected to the surgical tool via the connecting piece.

3. The surgical tool controller according to claim 2, characterized in that: A wire passing block is disposed at one end of the sub-frame connected to the first movable frame, and a wire groove is provided at one end of the sub-frame connected to the first movable frame; Parts of the wire passing block distributed on the outer side and the inner side of the sub-frame are respectively provided with at least one first wire passing hole and at least one second wire passing hole, and a third wire passing hole is further provided at a position of the sub-frame adjacent to the wire passing block.

4. The surgical tool controller according to claim 3, characterized in that: One of the two first steering wires passes through the first wire hole on the corresponding sub-frame body and then extends through the sub-frame body toward the direction close to the surgical tool, and the other of the two first steering wires passes through the second wire hole and the third wire hole on the corresponding sub-frame body and then extends through the sub-frame body toward the direction close to the surgical tool; The two second control wires pass through the first wire passing wheel and the wire groove at the corresponding rotation connection between the sub-frame and the first movable frame, and then extend through the sub-frame toward the direction close to the surgical tool; After passing through the first wire passing wheel and the wire groove at the rotation connection between one of the sub-frames and the first movable frame, the third control wire extends through the sub-frame toward the direction approaching the surgical tool.

5. The surgical tool controller according to claim 4, characterized in that: The two first control wires and the third control wire extend toward the surgical tool through the same sub-frame; A plurality of wire-passing grooves are provided on the outer side of each sub-frame, and the wire-passing grooves extend from the wire-passing block to the position of the connecting piece; Each of the first steering wires, each of the second steering wires, and the third steering wire passes through a corresponding wire-passing slot.

6. The surgical tool controller according to claim 4, characterized in that: Two first wire wheels are configured at the position where the first movable frame is connected to at least one of the sub-frames, and the two first wire wheels are distributed on the inner and outer sides of the first movable frame, and two first control wires are respectively connected to the two first wire wheels, and the directions in which the two first control wires are wound around the two first wire wheels are opposite.

7. The surgical tool controller according to claim 4, characterized in that: Both ends of the second movable frame connected to the first movable frame are provided with second wire wheels; two second control wires are respectively connected to the two second wire wheels, and the directions in which the two second control wires are wound around the two second wire wheels are opposite.

8. The surgical tool controller according to claim 2, characterized in that: The first movable frame and the second movable frame are respectively provided with a first wire path and a second wire path, and at least one second wire passing wheel for the third control wire to pass through is rotatably provided in the first wire path and the second wire path, and the second wire passing wheel is arranged at the end or the middle of the first wire path and the second wire path; The first line is for the second control line and the third control line to pass through, and the second line is for the third control line to pass through.

9. A surgical tool controller assembly tool, characterized in that: The surgical tool controller assembly tool comprises a workbench, a positioning base and at least one control line tensioner; The positioning base is connected to the workbench, and the positioning base is used to install the surgical tool controller according to any one of claims 1 to 8; The control line tensioner is connected to the workbench, and the control line tensioner is used to tighten one or more of the first control line, the second control line and the third control line; Wherein, when the surgical tool controller is installed on the positioning base, the middle area of ​​the second movable frame thereof is opposite to the middle area of ​​the main frame.

10. The surgical tool controller assembly tool according to claim 9, characterized in that: The positioning base includes a positioning base, two first brackets and two second brackets; The positioning seat is provided with a positioning groove for positioning and installing the first movable frame; The two first brackets and the two second brackets are arranged around the positioning seat and are located in the area enclosed by the positioning groove. The two first brackets are opposite to each other, and the two second brackets are opposite to each other; the two first brackets are used to connect to the main frame; the two second brackets are used to connect to the second movable frame.

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