Driving module, operating handle and surgical instrument

Abstract

The invention discloses a driving module, an operating handle and a surgical instrument.The driving module comprises a columnar base, a rotating assembly, a moving part and a transmission part connecting the rotating assembly and the moving part, and the rotating assembly is connected to the outer wall of the base in a sleeving mode and can rotate relative to the base; the moving part is connected to the inner wall of the base in a sleeving mode and can axially move relative to the base, the driving module further comprises an axial limiting part fixedly connected with one end of the base and an axial limiting part arranged at the other end of the base, and the two axial ends of the rotating assembly abut against the axial limiting part and the axial limiting part in the axial direction respectively; a guide hole with the axial length is formed in the base, and the transmission piece penetrates through the guide hole and is fixedly connected with the moving piece. Under the condition that the rotating assembly rotates, the transmission piece is driven to move within the axial length of the guide hole, and the transmission piece drives the moving piece to move in the axial direction. The invention has the advantages of labor saving, good balance and smooth movement.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a driving module, an operating handle, and a surgical instrument. Background Art

[0002] In laparoscopic surgical operations, surgical clamping instruments are often used. The surgical clamping instruments enter the abdomen through a small-diameter tube or cannula inserted into a small incision in the skin.

[0003] During the operation, medical staff manipulate the surgical clamping instrument outside the patient's body to achieve the movement of the execution end inserted into the patient's body.

[0004] During the operation, medical staff control the posture and movement of the execution end of the surgical instrument by operating the driving mechanism on the surgical instrument. During a long operation time (some operations may last for 3 - 4 hours or even longer), this is a huge test for the mental and physical strength of medical staff. On the other hand, the performance of the surgical instrument directly affects the operation accuracy of medical staff. Its operation precision, operation convenience, operation comfort, etc. will all affect the quality of clinical operations. Especially in the later stage of a long operation, a surgical instrument that is easy to operate and has high operation precision can significantly reduce the operation deformation caused by operation fatigue, thereby maintaining the stability and controllability of the surgical operation.

[0005] The existing driving mechanisms on surgical instruments have problems such as inaccurate operation and laborious single-handed operation during operation, which are not conducive to the operation of medical staff. On the other hand, there are also operation differences and feel differences between different surgical instruments, resulting in a large difference in operation precision.

[0006] Therefore, how to design a driving mechanism and a surgical instrument that enable doctors to be more precise and labor-saving during the operation is a problem worthy of consideration in this field. Summary of the Invention

[0007] The present invention aims to solve one of the technical problems in the related technologies to a certain extent. For this purpose, the present invention provides an operating handle for a surgical instrument and a surgical instrument, which have the advantage of precise operation.

[0008] To achieve the above object, a first aspect of the present invention discloses a driving module. The driving module includes a columnar base, a rotating component, a moving member, and a transmission member connecting the rotating component and the moving member. The rotating component is sleeved on the outer wall of the base and can rotate relative to the base, and the moving member is sleeved on the inner wall of the base and can axially move relative to the base. The driving module further includes an axial limiting member fixedly connected to one end of the base, and an axial limiting portion provided at the other end of the base. Axial ends of the rotating assembly are axially abutted against the axial limiting portion and the axial limiting member respectively; a guiding hole with an axial length is formed in the base, and the transmission member passes through the guiding hole and is fixedly connected to the moving member; When the rotating assembly rotates, it drives the transmission member to move within the axial length of the guiding hole, and drives the axial movement of the moving member through the transmission member.

[0009] Further, at least one spiral groove is formed on the inner wall of the rotating assembly. The number of the transmission members and the guiding holes corresponds to the number of the spiral grooves. The transmission members extend into the corresponding spiral grooves and the corresponding guiding holes. The rotation of the rotating assembly can drive the corresponding transmission members to move within the axial length of the corresponding guiding holes through the spiral grooves.

[0010] Further, two spiral grooves are formed on the inner wall of the rotating assembly. The two spiral grooves are evenly distributed on the rotating assembly, and starting ends of the two spiral grooves are located on the same circumference of the rotating assembly; correspondingly, the number of the transmission members and the guiding holes are both two, and the two transmission members are symmetrically arranged on the moving member. The moving member is balanced in force during movement, which can avoid jamming caused by torsion and is more labor-saving.

[0011] Further, an outer wall surface of an end of the transmission member inserted into the spiral groove is set as a cylindrical surface. The cylindrical surface is respectively abutted against two opposite side walls of the spiral groove, and has a line contact with the side walls of the spiral groove; a spiral angle of the spiral groove is smaller than an equivalent friction angle between the transmission member and the spiral groove. A self-locking effect is achieved.

[0012] Further, the base has a radial limiting portion. The radial limiting portion is arranged between the axial limiting member and the axial limiting portion. The rotating assembly is sleeved on an outer wall of the radial limiting portion. The outer wall of the radial limiting portion includes a first outer ring wall and second outer ring walls located on two axial sides of the first outer ring wall. The second outer ring walls protrude radially outward from the first outer ring wall. The second outer ring walls are attached to an inner side wall of the rotating assembly, and an interval is formed between the first outer ring wall and the inner side wall of the rotating assembly.

[0013] Further, when the spiral groove is provided on the rotating assembly, the spiral groove is arranged opposite to the first outer ring wall; an axial length of the guiding hole is consistent with an axial length of the spiral groove.

[0014] Further, the outer wall of the moving member includes a plurality of first axial side walls and second axial side walls distributed circumferentially. The second axial side wall protrudes radially outward from the first axial side wall. The second axial side wall is in contact with the inner wall of the base, and a gap is formed between the first axial side wall and the inner side wall of the base. This reduces friction and makes the operation more labor-saving.

[0015] Further, the guiding hole is disposed opposite to the second axial side wall, and the transmission member is connected to the second axial side wall.

[0016] Further, the moving member includes a connecting cylinder, a mounting cylinder, and a fixing member that is limit-connected to the mounting cylinder. The mounting cylinder is used to sleeved with the jaw driving assembly of the surgical instrument. The fixing member is used to fixedly connect the jaw driving assembly to the mounting cylinder. The connecting cylinder is sleeved on the inner wall of the base.

[0017] Further, the axial moving positions of the mounting cylinder include a first position inside the base and a second position outside the base. The second position is used for installing with the jaw driving assembly.

[0018] Further, the driving module further includes an end cap. The end cap is sleeved on the inner wall of the base. A convex inner wall limiting portion is formed on the inner wall of the base. The two axial ends of the moving member are limited by the end cap and the inner wall limiting portion respectively.

[0019] Further, mounting ears extend from both the end cap and the axial limiting portion. The mounting ears are used for fixedly installing with the surgical instrument.

[0020] Further, a plurality of card slots distributed circumferentially around the axis of the rotating assembly are provided on the end face of the rotating assembly. Elastic protrusions opposite to the card slots are provided on the end face of the axial limiting member or the axial limiting portion. As the rotating assembly rotates, the elastic protrusions are sequentially snapped into the card slots at different positions and a prompting sound is emitted.

[0021] Further, pin holes opposite to the card slots are provided on the end face of the axial limiting member or the axial limiting portion. A slidable ball is provided in the pin hole. One end of the ball is placed in the pin hole and is connected to the pin hole through an elastic member. The other end of the ball extends out of the pin hole and can be snapped into the card slot. As the rotating assembly rotates, the ball is sequentially snapped into the card slots at different positions. An operation feedback sound is set to improve the user experience.

[0022] A second aspect of the present invention discloses an operating handle of a surgical instrument, including a handle housing, and further including the driving module described in the first aspect. The driving module is fixedly installed in the handle housing. An operation window is formed on the handle housing, and at least part of the rotating assembly is exposed from the handle housing through the operation window.

[0023] Further, an installation opening for inserting the jaw driving assembly of the surgical instrument is formed on the handle housing. The moving direction of the moving member is consistent with the axis of the installation opening, and the moving member is used to connect to the input end of the jaw driving assembly of the surgical instrument.

[0024] Further, a fixed handle is formed on the handle housing. An installation opening is formed at the front end of the handle housing. The installation hole communicates with the installation through hole along the axial direction. The operating handle further includes a second driving module. The second driving module includes a movable handle and a transmission assembly. The movable handle is opposite to the fixed handle. One end of the movable handle is hinged inside the handle housing, and the other end of the movable handle is located outside the handle housing. The movable handle is hinged to the first end of the transmission assembly inside the handle housing. The second end of the transmission assembly can linearly slide along the axis of the installation opening and is used to connect to the driving end of the surgical instrument.

[0025] Further, the second driving module further includes a locking mechanism provided on the handle housing. The second end of the transmission assembly includes a pushing-out position and an initial position. In the initial position, the second end of the transmission assembly forms the maximum distance from the installation opening. In the pushing-out position, the second end of the transmission assembly is located between the initial position and the installation opening. The locking mechanism includes a locking position and an unlocking position. In the locking position, the locking mechanism restricts the rotation of the movable handle driving the second end of the transmission assembly to slide from the pushing-out position to the initial position. In the unlocking position, the movable handle can be freely opened and closed.

[0026] Further, the operating handle further includes a third driving module. The third driving module includes a rotating cylinder and a blocking rod. The rotating cylinder is rotatably arranged at the installation opening of the handle housing. An installation channel axially communicating with the installation opening is formed on the rotating cylinder. The blocking rod is arranged on the rotating cylinder and is used to connect to the driving end of the surgical instrument in the installation channel. The rotation of the rotating cylinder around its own axis can drive the driving end of the surgical instrument to rotate through the blocking rod.

[0027] A third aspect of the present invention further discloses a surgical instrument, including a jaw assembly, a jaw driving assembly, and an operating handle. The output end of the jaw driving assembly is connected to the jaw assembly, the input end of the jaw driving assembly is connected to the operating handle, and the handle adopts the operating handle of the second aspect.

[0028] Further, the jaw driving assembly includes a yaw driving tube for driving the angular adjustment of the jaw assembly. The input end of the yaw driving tube extends into the handle housing and is connected to the moving member.

[0029] The driving module in this technical solution can be independently modularized and designed as a component with independent functions, converting the rotational motion of the rotating assembly into the linear motion of the moving member; during assembly, it can be pre-assembled independently of other modules of the surgical instrument, can be individually debugged, has stable performance, and meets the requirements of high operating precision scenarios of surgical instruments; and during the overall machine assembly, it is not affected by the installation of other external accessories, is easy to replace, is beneficial to precision maintenance and mass production.

[0030] Among them, in this application, the rotating assembly and the moving member are matched through the transmission member and the spiral groove. Compared with the mechanism of screw fit, the structures of the spiral groove and the transmission member are more convenient to process, and can reduce the contact area of the transmission part, reduce the friction force during driving, reduce the driving resistance, make the operation more labor-saving, can reduce the working intensity of doctors, and can also improve the driving stability. Moreover, the machining accuracy is easy to control, higher precision can be achieved, and the structure is more stable; In addition, the transmission members in this embodiment are symmetrically arranged. During use, when the rotating assembly rotates, the balance of the force on the moving member can be maintained, the possibility of torsion of the moving member during movement can be avoided, and thus the jamming phenomenon during rotation can be avoided, making the rotation smoother and more labor-saving.

[0031] When the surgical instrument of this application is in use, the assembly between components is more convenient. Through the design of its own structure, the balance and stability of the force of the surgical instrument can be ensured, the operating resistance is small, it is not easy to get stuck, it is suitable for single-finger operation, and thus can better assist doctors in operation and improve the surgical quality.

[0032] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and the accompanying drawings. The best embodiments or means of the present invention will be shown in detail in combination with the accompanying drawings, but it is not a limitation to the technical solution of the present invention. In addition, these features, elements, and components appear in multiple in each of the following texts and drawings, and are marked with different symbols or numbers for convenience of representation, but all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the accompanying drawings: Figure 1 It is a structural diagram of the interior of the handle housing of the operating handle of one embodiment of the present invention; Figure 2 It is a structural diagram of the first driving module of one embodiment of the present invention; Figure 3 Overall external view of the operating handle according to one embodiment of the present invention; Figure 4 Exploded view of the first driving module according to one embodiment of the present invention; Figure 5.1 Structural diagram of the transmission cylinder according to one embodiment of the present invention; Figure 5.2 Structural diagram of the transmission cylinder according to one embodiment of the present invention; Figure 6.1 Structural diagram of the moving part according to one embodiment of the present invention; Figure 6.2 Structural diagram of the moving part according to one embodiment of the present invention; Figure 7.1 Structural diagram of the radial limiting part and the axial limiting part according to one embodiment of the present invention; Figure 7.2 Cross-sectional view of the base according to one embodiment of the present invention; Figure 8 Side sectional view of the handle housing of the operating handle according to one embodiment of the present invention; Figure 9 is Figure 8 Enlarged view at A in Figure 10 Internal structural diagram of the handle housing of the operating handle according to one embodiment of the present invention; Figure 11 is Figure 11 Enlarged view at B in Figure 12 Structural diagram of the movable handle according to one embodiment of the present invention; Figure 13 Structural diagram of the movable handle according to one embodiment of the present invention; Figure 14 Assembly structural diagram of the surgical instrument and the operating handle according to one embodiment of the present invention; Figure 15 is Figure 14 Enlarged view at C in Figure 16 Assembly structural diagram of the surgical instrument and the operating handle according to one embodiment of the present invention (yaw state of the jaw assembly).

[0034] Among them, 100, handle housing; 101, mounting port; 102, fixed handle; 200, rotation assembly; 201, operating cylinder; 202, transmission cylinder; 2021, spiral groove; 2022, raised block; 2023, card slot; 210. Movable part; 211. First axial side wall; 212. Second axial side wall; 213. Transmission part; 214. Mounting hole; 215. Connecting cylinder; 216. Mounting cylinder; 217. Fixing part; 220. Base; 222. Mounting ear; 223. End cover; 224. Radial limiting part; 2241. Guide hole; 2242. First outer ring wall; 2243. Second outer ring wall; 225a. Axial limiting part; 225b. Axial limiting part; 2251. Ball; 2252. Elastic part; 226. Inner wall limiting part; 310. Movable handle; 3101. Guide driving part; 3102. Holding part; 3103. Limiting part; 3104. First tooth row; 311. Transmission connecting rod; 312. Power output part; 320. Locking part; 3201. Second tooth row; 3202. Force receiving part; 321. Locking knob; 3212. Cam transition surface; 322. First torsion spring; 410. Rotating cylinder; 411. Stop bar; 500. Plier head assembly; 510. Tube body; 520. Yaw driving tube; 530. Opening and closing driving rod. Detailed implementation mode

[0035] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the implementation mode, it is intended to explain the present invention and should not be construed as a limitation to the present invention.

[0036] As used in this specification, "one embodiment" or "example" or "instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the present invention. The appearances of the phrase "in one embodiment" in various positions in the specification do not necessarily refer to the same embodiment.

[0037] See attached Figure 2 . Figure 4 Referring to FIGS. 1 to 7, a first aspect of the present invention discloses a driving module, the driving module includes a columnar base 220, a rotating assembly 200, a movable part 210, and a transmission part 213 connecting the rotating assembly 200 and the movable part 210. The rotating assembly 200 is sleeved on the outer wall of the base 220 and can rotate relative to the base 220, and the movable part 210 is sleeved on the inner wall of the base 220 and can axially move relative to the base 220. The driving module further includes an axial stopper 225a fixedly connected to one end of the base 220, and an axial stopper 225b arranged at the other end of the base 220, and the axial ends of the rotating assembly 200 are axially abutted against the axial stopper 225b and the axial stopper 225a respectively; a guide hole 2241 with an axial length is formed on the base 220, and the transmission member 213 passes through the guide hole 2241 and is fixedly connected to the moving member 210; When the rotating assembly 200 rotates, the transmission member 213 is driven to move within the axial length of the guide hole 2241 , and the axial movement of the moving member 210 is driven by the transmission member 213 .

[0038] When the driving module in this embodiment is in use, the operator turns the rotating assembly 200 to rotate, realizes the linear movement of the moving part 210, and realizes the conversion of rotary motion into linear motion. When designing this embodiment, the driving module can be designed as an independent modular system and installed in different use environments as needed. The driving module of this embodiment can meet the installation requirements in a small space. When in use, it can be pre-assembled and fixed together in the environment where it needs to be used. For example, when applied to the operating handle of a surgical instrument, it can be installed independently of other components of the operating handle, reducing the mutual dependence between the components, facilitating the design, and thus simplifying the overall structure.

[0039] In the present application, the axial length of the guide hole 2241 limits the stroke of the transmission member 213, and also determines the axial position of the moving member 210 in the base 220. The inner wall of the base 220 determines the radial position of the moving member 210, so that the moving member 210 is slidably arranged in the inner cavity of the base 220. The axial limiting portion 225b and the axial limiting member 225a determine the axial position of the rotating assembly 200 on the base, and the outer wall of the base 220 determines the radial position of the rotating assembly 200, so that the present application becomes an independent driving module, which can be installed in a surgical instrument as an independent whole for use. The axial limiting member 225a and the base 220 can be fixed in a threaded connection, a clamping connection, or other fixing methods.

[0040] During minimally invasive surgery, the surgical instrument kit used by medical staff usually contains dozens of surgical instruments with different functions or specifications. Due to the independence of the drive module function, it can adapt to surgical instruments of different types and specifications, maintain the consistency and accuracy of the adjustment precision, and has a better feel for one-handed operation, which is also conducive to reducing the overall cost of the surgical instrument kit.

[0041] Specifically, the angle adjustment of the surgical instrument's clamp head is a very urgent function during surgery. The drive module of the present application can be used for the angle adjustment of the clamp head end of the surgical instrument, so as to form a certain angle between the clamp head of the instrument and the instrument rod to facilitate surgical operations. It can also be used in situations such as locking the opening and closing of the clamp head and locking the angle of the clamp head.

[0042] As one embodiment of the present invention, at least one spiral groove 2021 is formed on the inner wall of the rotating assembly 200. The number of the transmission members 213 and the guiding holes 2241 corresponds to the number of the spiral grooves 2021. The transmission members 213 extend into the corresponding spiral grooves 2021 and the corresponding guiding holes 2241. The rotation of the rotating assembly 200 can drive the corresponding transmission members 213 to move within the axial length of the corresponding guiding holes 2241 through the spiral grooves 2021.

[0043] In this embodiment, the transmission between the rotating assembly 200 and the moving member 210 is achieved through the cooperation structure of the spiral groove 2021 and the transmission member 213. Due to the structural characteristics of the spiral groove 2021, during the rotation of the rotating assembly 200, the spiral groove 2021 will push the transmission member 213 to move in the axial direction through its side wall, and the transmission member 213 is fixedly connected to the moving member 210, so as to drive the axial movement of the moving member 210. Refer to the attached Figure 2 、 4 , compared with the drive structure with thread cooperation in the prior art, the processing cost of the spiral groove 2021 and the transmission member 213 in this embodiment is lower.

[0044] In addition, for the cooperation between the transmission member 213 and the spiral groove 2021, during use, only the outer wall surface of the transmission member 213 contacts the side wall of the spiral groove 2021. Compared with the thread cooperation structure (such as trapezoidal thread) in the prior art, the contact area between the outer wall surface of the transmission member 213 and the side wall of the spiral groove 2021 in this embodiment is smaller, which can effectively reduce the friction during the driving process, thereby reducing the driving resistance and making the operation more labor-saving.

[0045] In this embodiment, the transmission member 213 can be arranged on the active member (such as the rotating assembly 200), or can be arranged on the passive member (such as the moving member 210). As long as the cooperation structure of the spiral groove 2021 and the transmission member 213 in this embodiment is adopted on the operating handle of the surgical instrument, it should be regarded as falling within the protection scope of the invention. During actual use, considering more labor-saving, generally, the spiral groove 2021 is arranged on the rotating assembly 200 (active member), and the transmission member 213 (passive member) is arranged on the moving member 210, so that it can be more labor-saving when operating the rotating assembly 200.

[0046] In this embodiment, the spiral groove unit is configured as a multi-segment spiral groove structure, which can increase the structural strength of the moving part (the area of the groove is reduced, and the corresponding solid area is increased, thereby increasing the strength). There are two spiral grooves 2021 in this embodiment, and the two spiral grooves 2021 are arranged on the same circumferential wall. When two spiral grooves are provided, as shown in Figure 4 Figures 5, a corresponding transmission member 213 is provided in each spiral groove 2021. During use, driving forces are respectively generated between the two spiral grooves 2021 and the two transmission members 213, which can reduce the force on a single transmission member 213, improve the service life of the transmission member 213, and can also avoid the problem that the operating handle cannot be used due to the damage of a certain transmission member 213.

[0047] As one embodiment of the present invention, two spiral grooves 2021 are formed on the inner wall of the rotating assembly 200. The two spiral grooves 2021 are evenly distributed on the rotating assembly 200, and the starting ends of the two spiral grooves 2021 are located on the same circumference of the rotating assembly 200; correspondingly, the number of the transmission members 213 and the guiding holes 2241 is two, and the two transmission members 213 are symmetrically arranged on the moving part 210.

[0048] When the spiral groove of the present invention is configured as two spiral grooves or two spiral grooves, the structures of the two spiral grooves 2021 need to be kept consistent (including lead, rotation direction, depth, width, etc.), and only the relative positional relationship between the two spiral grooves 2021 is defined, that is, the two spiral grooves 2021 are completely the same except for the starting point and the ending point. As shown in Figure 5.1 Figures 5.2 12, the phase difference between the starting ends of the two spiral grooves 2021 is 180°, and correspondingly, the phase difference between the ending ends is also 180°. In this way, during use, when the spiral groove 2021 and the transmission member 213 cooperate to drive, both sides of the moving part 210 are stressed, and the forces on both sides are balanced. This can reduce the torsion caused by unilateral stress, and thus can make the sliding of the moving part 210 smoother and more stable, and correspondingly, the operation can be more labor-saving.

[0049] It can be seen that the number of spiral grooves 2021 can be set as required (it can be two segments or more segments). The specific number is generally related to the radial dimension of the component. When the radial dimension of the component (moving part 210) is small, a two-segment spiral groove structure can be set. When the radial dimension of the component increases, a spiral groove with a larger number of segments can be set.

[0050] In this embodiment, by defining the specific structure in the driving module, the structure of screw-thread matching drive in the prior art is replaced with the structure of cooperation between the spiral groove 2021 and the transmission member 213. The structures of the spiral groove 2021 and the transmission member 213 are also designed. During use, the operation intensity of doctors can be reduced through its own structure, and the structure of this application has a self-balancing effect, which can avoid the problems of instrument torsion and unsmooth operation caused by the deformation of doctors' operations, and can better assist doctors in surgical operations.

[0051] The present invention does not specifically limit the specific structure of the rotating assembly 200, which can be set to be formed by assembling multiple components, or can be set to be a single component.

[0052] This embodiment does not specifically limit the number of driving structures provided. When the length of the component is relatively long, the driving structures can be arranged in multiple groups along the axial direction to achieve more stable movement.

[0053] As one embodiment of the present invention, see the attached Figure 4 , the outer wall surface of one end of the transmission member 213 inserted into the spiral groove 2021 is set as a cylindrical surface, and the cylindrical surface is respectively in contact with two opposite side walls of the spiral groove 2021 and is in line contact with the side walls of the spiral groove 2021. As mentioned above, the sources of the operating resistance of the present invention include the frictional force between the transmission member 213 and the spiral groove 2021. Therefore, through the line-contact structure between the transmission member 213 and the spiral groove 2021 in this embodiment, the contact area can be greatly reduced, and thus the operation can be more labor-saving.

[0054] As one embodiment of the present invention, the spiral angle of the spiral groove 2021 is smaller than the equivalent friction angle between the transmission member 213 and the spiral groove 2021. In this way, the sliding position of the moving member 210 can be axially self-locked through the spiral groove 2021 and the transmission member 213, improving stability and avoiding the passive yaw of the execution end during use.

[0055] As one embodiment of the present invention, the base 220 has a radial limiting portion 224, the radial limiting portion 224 is arranged between the axial limiting member 225a and the axial limiting portion 225b, the rotating assembly 200 is sleeved on the outer wall of the radial limiting portion 224, the outer wall of the radial limiting portion 224 includes a first outer ring wall 2242 and second outer ring walls 2243 on both axial sides of the first outer ring wall 2242, the second outer ring wall 2243 protrudes radially outward from the first outer ring wall 2242, the second outer ring wall 2243 is in contact with the inner side wall of the rotating assembly 200, and a gap is formed between the first outer ring wall 2242 and the inner side wall of the rotating assembly 200.

[0056] In this embodiment, the base 220 serves as the installation foundation for the moving member 210 and the rotating assembly 200. Among them, the base 220 includes a radial limiting portion 224, an axial limiting member 225a, and the axial limiting portion 225b. The rotating assembly 200 is rotatably sleeved outside the radial limiting portion 224. The axial limiting member 225a and the axial limiting portion 225b are arranged at both ends in the axial direction of the rotating assembly 200 to limit the axial position of the rotating assembly 200. In this embodiment, the outer wall of the radial limiting portion 224 cooperates with the installation through-hole of the rotating assembly 200 and can support the rotating assembly 200 radially. The axial limiting member 225a and the axial limiting portion 225b can limit the position of the rotating assembly 200 in the axial direction (the axial limiting member 225a and the axial limiting portion 225b can be set as a boss structure that abuts against both axial ends of the rotating assembly 200). In this way, the positions of the rotating assembly 200 in the radial and axial directions are both limited, enabling the rotating assembly 200 to only rotate circumferentially, thereby improving the assembly and rotation stability of the rotating assembly 200.

[0057] During the use of the instrument handle of the present invention (when the rotating assembly 200 drives the moving member 210), the resistance mainly comes from the frictional force between the mating surfaces, such as the frictional force between the transmission member 213 and the spiral groove 2021, the frictional force between the rotating assembly 200 and the outer surface of the radial limiting portion 224, and the frictional force between the moving member 210 and the inner wall of the central hole of the radial limiting portion 224, etc. To make the operation more labor-saving, in one embodiment of the present invention, the outer surface of the radial limiting portion 224 includes a first outer ring wall 2242 and a second outer ring wall 2243. The second outer ring wall 2243 protrudes radially outward from the first outer ring wall 2242. The second outer ring wall 2243 is in contact with the inner side wall of the installation through-hole, and a gap is formed between the first outer ring wall 2242 and the inner side wall of the installation through-hole.

[0058] As shown in the attached Figure 7.1 figure, such a setting can form a height difference on the outer wall surface of the radial limiting portion 224. During assembly, the outer surface of the second outer ring wall 2243 is in contact with the inner side wall of the installation through-hole on the rotating assembly 200. In this way, a gap will be formed between the outer surface of the first outer ring wall 2242 and the inner side wall of the installation through-hole, which can reduce the contact area between the rotating assembly 200 and the radial limiting portion 224 (due to the surface with a height difference formed by the setting of the second outer ring wall 2243), thereby reducing the frictional force when the rotating assembly 200 rotates and making the operation more labor-saving.

[0059] In this embodiment, no specific limitations are imposed on the specific position and the size of the distribution area of the second outer ring wall 2243. In one implementation during actual design, the second outer ring walls 2243 are respectively arranged at both ends of the first outer ring wall 2242. As shown in the attached Figure 7.1As shown, the second outer ring wall 2243 is provided at both ends of the radial limiting portion 224. Such a setting can support both ends of the rotating assembly 200 respectively, thereby improving the installation and rotation stability of the rotating assembly 200.

[0060] Of course, it is easy to think that in actual use, the above-mentioned surface structure with height difference can also be provided on the inner wall of the mounting through hole.

[0061] As one embodiment of the present invention, referring to the attached Figure 6.1 , Figure 6.2 , in this embodiment, the outer surface of the moving member 210 includes a first axial side wall 211 and a second axial side wall 212. The second axial side wall 212 protrudes radially outward from the first axial side wall 211. The second axial side wall 212 fits against the inner wall of the central hole of the radial limiting portion 224, and a gap is formed between the first axial side wall 211 and the inner side wall of the central hole of the radial limiting portion 224. This can reduce the contact area between the moving member 210 and the radial limiting portion 224, reduce the frictional force when the moving member 210 slides, and make the operation more labor-saving.

[0062] As one embodiment of the invention, the guiding hole 2241 faces the outer surface of the second axial side wall 212. The transmission member 213 is disposed on the moving member 210, and one end of the transmission member 213 protrudes from the outer surface of the second axial side wall 212.

[0063] During the use of the first driving module of the present invention (i.e., the driving module in the first aspect of the present application), the transmission member 213 is generally disposed on the moving member 210. Specifically, as shown in the attached Figure 6.1 , Figure 6.2 , an installation hole 214 can be provided on the side wall of the moving member 210. One end of the transmission member 213 is inserted into the installation hole 214. In order to ensure the installation stability of the transmission member 213, an interference fit can be formed between the outer surface of the transmission member 213 and the installation hole 214. Since one end of the transmission member 213 protrudes and inserts into the corresponding spiral groove 2021 during use, and the protruding end of the transmission member 213 is the force-bearing end during the working process, the transmission member 213 is equivalent to a cantilever structure. In this embodiment, the transmission member 213 is disposed on the second axial side wall 212. As shown in the attached Figure 2 , 4 , this will reduce the cantilever length of the transmission member 213, thereby improving the load capacity of the transmission member 213, increasing the service life of the operating handle, and reducing the maintenance cost.

[0064] Moreover, the fitting structure of the transmission member 213 and the moving member 210 being inserted also facilitates the repair and replacement after the transmission member 213 is worn (the transmission member 213 is the main stress-bearing component and has a greater degree of wear compared to other components. More wear-resistant materials, such as metal materials, can be selected during design).

[0065] In order to improve the installation stability of the moving member 210 and the radial limiting portion 224, the present invention is provided with a plurality of the second axial side walls 212 on the outer surface of the first axial side wall. See the appendix Figure 4 , and the plurality of the second axial side walls 212 are circumferentially spaced apart. The second axial side walls 212 in this embodiment are arranged along the axial direction of the moving member 210, which matches the structure of the moving member 210 sliding along the axial direction (it can avoid the resistance caused by the uneven outer circular wall of the second axial side wall 212 and the inner circular wall of the radial limiting portion 224 due to processing problems), and can make the movement of the moving member 210 more stable. Of course, it can be anticipated that the present invention is not limited to the above-mentioned setting method of the second axial side wall 212. As long as the scheme of reducing the contact area by setting a surface with a height difference and thus achieving a labor-saving effect should be regarded as falling within the protection scope of the present invention.

[0066] In one embodiment of the present invention, when the spiral groove 2021 is provided in the rotating assembly 200, the spiral groove 2021 is disposed opposite to the first outer ring wall 2242; the axial length of the guiding hole 2241 is the same as the axial length of the spiral groove 2021, so that the guiding hole 2241 can also play an effect of limiting the moving member 210.

[0067] As one embodiment of the present invention, see the appendix Figure 6.1 、 6.2 , the moving member 210 includes a connecting cylinder 215, a mounting cylinder 216, and a fixing member 217 that is limit-connected to the mounting cylinder 216. The mounting cylinder 216 is used for sleeving with the jaw driving assembly of the surgical instrument, and the fixing member 217 is used for fixedly connecting the jaw driving assembly and the mounting cylinder 216. The connecting cylinder 215 is sleeved on the inner wall of the base 220.

[0068] As shown in the appendix Figure 7.2 , in this embodiment, the moving member 210 is sleeved and fitted with the inner wall of the base 220 through the connecting cylinder 215, and is sleeved with the jaw driving assembly through the mounting cylinder 216 and the fixing member 217. In this way, the axial movement of the moving member 210 can drive the movement of the jaw driving assembly, and further drive the action of the jaw assembly.

[0069] As one embodiment of the present invention, the axial movement position of the mounting cylinder 216 includes a first position within the base 220 and a second position outside the base 220. At the second position, it is used for mounting with the jaw driving assembly.

[0070] In this embodiment, the mounting cylinder 216 can be moved outside the base 220, so that during assembly, the assembly connection between the jaw driving assembly and the moving member 210 can be facilitated.

[0071] See attached Figure 7.2 As shown in the figure, in order to better limit the axial movement position of the moving member, the driving module further includes an end cap 223. The end cap 223 is sleeved on the inner wall of the base 220. A convex inner wall limiting portion 226 is formed on the inner wall of the base. Axial ends of the moving member are respectively abutted against the end cap 223 and the inner wall limiting portion 226.

[0072] In this embodiment, through the arrangement of the end cap 223 and the inner wall limiting portion 226, the movement of the moving member in two circumferential directions can be limited respectively, avoiding the separation of the moving member from the base during the movement of the moving member, and improving the safety and stability of use.

[0073] In order to facilitate the application of the driving module of the present invention in specific equipment, mounting ears 222 extend from both the end cap 223 and the axial limiting member 225a in one embodiment of the present invention. The mounting ears 222 are used for fixedly mounting with the surgical instrument.

[0074] As shown in the attached Figure 4 、 7.2 figure, both ends of the driving module have mounting ears 222. When applied to specific equipment, mounting portions matching the mounting ears 222 can be provided on the housing or base of the equipment, and the driving module can be stably assembled with the equipment through connecting members such as screws or rivets.

[0075] In order to improve the human-computer interaction performance of the driving module of the present invention, a plurality of card slots 2023 circumferentially distributed around the axis of the rotating assembly 200 are provided on the end face of the rotating assembly 200 in one embodiment of the present invention. Elastic protrusions opposite to the card slots 2023 are provided on the end face of the axial limiting member 225a or the axial limiting portion 225b. As the rotating assembly 200 rotates, the elastic protrusions are sequentially engaged into the card slots 2023 at different positions and emit a prompt sound. The elastic protrusion can be a component with certain elastic deformation such as an elastic column.

[0076] In a specific embodiment, the elastic protrusion includes a ball 2251 and an elastic member 2252. As shown in the attached Figure 5.2 、 7.2As shown in the figure, on the end face of the rotating assembly 200 of one embodiment of the present invention, a plurality of card slots 2023 are provided which are circumferentially distributed around the axis of the rotating assembly 200. On the end face of the axial limiting member 225a or the axial limiting portion 225b, a pin hole opposite to the card slot 2023 is provided. A slidable ball 2251 is arranged in the pin hole. One end of the ball 2251 is placed in the pin hole and is connected to the pin hole through an elastic member 2252. The other end of the ball 2251 extends out of the pin hole and can be snapped into the card slot 2023. As the rotating assembly 200 rotates, the ball 2251 is successively snapped into the card slots 2023 at different positions.

[0077] In this embodiment, the ball 2251 extends out of the mounting hole 214 under the action of the elastic member 2252. When the ball 2251 is opposite to the card slot 2023, one end of the ball 2251 can be snapped into the card slot 2023. As the rotating assembly 200 rotates, the ball 2251 can be snapped into different card slots 2023. When the ball 2251 switches between different card slots 2023, it will collide with the end face of the rotating assembly 200 under the action of the elastic member 2252, and then a "click" sound will be emitted when the rotating assembly 200 rotates. This sound gives feedback to the user's operation and makes the operation more experiential. It is especially suitable for blind operation settings in the field of surgical operations and can give obvious operation prompts to doctors during surgery.

[0078] See the appendix Figure 1 and Figures 8 to 13 As shown in FIGS. and, a second aspect of the present invention discloses a surgical instrument operating handle, which includes a handle housing 100. The operating handle further includes the driving module of the first aspect. The driving module is fixedly installed in the handle housing 100. An operation window is formed on the handle housing 100, and at least a part of the rotating assembly 200 is exposed from the handle housing 100 through the operation window.

[0079] The operating handle in this embodiment is equipped with the driving module in the first aspect. During actual production, the assembly of each component in the operating handle can be carried out independently of the assembly of the driving module. After the driving module base is pre-modularly assembled, it can be integrally installed in the handle housing. For example, installation studs corresponding to the installation ears of the driving module can be provided in the handle housing, and the installation ears are connected to the installation studs through screws or bolts, etc., to realize the fixation of the driving module in the handle housing.

[0080] By providing an operation window on the handle housing, the user can directly operate the rotating component at the operation window. During design, the rotating component 200 may include an operation cylinder 201 and a transmission cylinder 202. The operation cylinder 201 is sleeved outside the transmission cylinder 202. An installation through hole is formed at the center of the transmission cylinder 202. The rotation of the operation cylinder 201 around its own axis can drive the transmission cylinder 202 to rotate. An operation window is formed on the handle housing 100 at a part opposite to the operation cylinder 201, and the operation cylinder 201 is exposed from the handle housing 100 through the operation window.

[0081] During design, the operation cylinder 201 in this embodiment is exposed from the handle housing 100 through the operation window on the handle housing 100 (the outer wall of the operation cylinder 201 generally protrudes from the handle housing 100), and is provided with a toothed structure that is easy to toggle, facilitating the operation of the operator.

[0082] The operation cylinder 201 in this embodiment can drive the transmission cylinder 202 to rotate. Structurally, the circumferential limit between the operation cylinder 201 and the transmission cylinder 202 can be achieved through the cooperation of a designer groove and a raised block 2022. As shown in the attached drawing, raised blocks 2022 are provided on the outer surface of the transmission cylinder 202, and the circumferential limit between the operation cylinder 201 and the transmission cylinder 202 can be achieved by providing key grooves in the inner hole of the operation cylinder 201 that cooperate with the raised blocks 2022.

[0083] To facilitate the assembly with the jaw drive assembly of the surgical instrument, an installation port 101 for inserting the jaw drive assembly of the surgical instrument is formed on the handle housing 100 in one embodiment of the present invention. The moving direction of the moving member 210 is consistent with the axis of the installation port 101, and the moving member 210 is used to connect to the input end of the jaw drive assembly of the surgical instrument.

[0084] When the operation handle of this embodiment is in use, an installation port 101 is formed at the front end of the operation handle. The installation port 101 communicates with the installation through hole on the rotating component 200. One end of the surgical instrument can pass through the installation port 101 and be connected to the moving member 210 in the first drive module inside the handle housing 100. Furthermore, by controlling the rotating component 200 of the first drive module, the surgical instrument can be driven. The sliding of the moving member 210 in this embodiment can drive the sliding of one end (generally the drive end) of the surgical instrument, and thus the movement (yaw or opening / closing) of the execution end of the surgical instrument can be controlled.

[0085] Taking the jaw assembly 500 as an example, the jaw assembly 500 generally includes two execution actions: yaw and opening / closing. This embodiment does not specifically limit whether the first drive module is used to control the opening / closing or yaw of the jaw assembly 500, that is, the first drive module can either control the yaw of the jaw assembly 500 or control the opening / closing of the jaw assembly 500, as long as a linear driving force can be provided.

[0086] In this embodiment, in order to improve the convenience of assembly, the handle housing 100 can be divided into two parts of the housing, and the two parts of the housing are assembled to form the handle housing 100 during use, which facilitates the installation of the components inside the handle housing 100.

[0087] As one embodiment of the operating handle of the present invention, the operating handle includes a handle housing 100 and a first driving module. The first driving module is disposed inside the handle housing 100. The first driving module is the driving module disclosed in the above first aspect. The base 220 is fixed inside the handle housing 100. The base 220 can be fixed inside the handle housing 100 through a connecting member (such as a screw, a rivet, etc.). The base 220 serves as the installation base for the moving member 210 and the rotating assembly 200. An installation port for inserting the driving end of the surgical instrument is formed on the handle housing 100. The moving member 210 is opposite to the installation port 101, and the moving direction of the moving member 210 is consistent with the axis of the installation port 101. The moving member 210 is used to connect with the driving end of the surgical instrument.

[0088] During the use of the surgical instrument, the surgical instrument needs to meet the requirements of multiple actions. Taking the clamp head assembly 500 as an example, it generally includes yawing, opening and closing, and overall rotation. These several adjustment methods cooperate with each other to meet the surgical operation requirements. Therefore, multiple driving modules also need to be provided on the operating handle to achieve the above several different actions. Since multiple driving modules need to be reasonably distributed on the operating handle, and at the same time, the requirement of convenient operation needs to be considered.

[0089] In view of this, as one embodiment of the present invention, a fixed handle 102 is formed on the handle housing 100. An installation port 101 is formed at the front end of the handle housing 100. The installation hole 214 communicates with the installation through hole along the axial direction. The operating handle further includes a second driving module. The second driving module includes a movable handle 310 and a transmission component. The transmission component in this embodiment includes a transmission link 311 and a power output member 312. The movable handle 310 is opposite to the fixed handle 102. One end of the movable handle 310 is hinged inside the handle housing 100, and the other end of the movable handle 310 is disposed outside the handle housing 100. The movable handle 310 is hinged and connected to the first end (one end of the transmission link 311) of the transmission component inside the handle housing 100. The second end (one end of the power output member 312) of the transmission component can linearly slide along the axis of the installation port 101 and is used to connect with the driving end of the surgical instrument.

[0090] From Figures 8 to 13As can be seen, in this embodiment, a part of the movable handle 310 is installed inside the handle housing 100, and a part is inside the handle housing 100. During use, the operator holds the fixed handle 102 and pinches the movable handle 310 with fingers, causing the movable handle 310 to rotate relative to the fixed handle 102, thereby driving the power output member 312 to slide inside the handle housing 100, that is, converting the rotational motion of the movable handle 310 into the linear motion of the power output member 312.

[0091] The power output member 312 in this embodiment is disposed opposite to the moving member 210 mentioned in the above embodiment. In actual design, the power output member 312 and the moving member 210 can be arranged on the same straight line. As shown in the accompanying drawings, the moving member 210 of the present invention is located on the front side of the power output member 312. A through-channel can be provided on the moving member 210, so that one end of the surgical instrument can pass through the through-channel on the moving member 210 and extend to the power output member 312 and be connected to the power output member 312. In this way, the power output member 312 and the moving member 210 can separately control the surgical instrument. For example, the moving member 210 can be connected to the yaw drive module of the jaw assembly 500 in the surgical clamping instrument, and the power output member 312 is connected to the opening and closing drive module of the jaw assembly 500. In this way, during use, the operator can control the yaw or opening and closing action of the jaw assembly 500 by operating the first drive module and the second drive module on the operating handle.

[0092] The movable handle 310 includes a guiding and driving member 3101 and a holding axial limiting member. The handle housing 100 is formed with a guiding window located in front of the fixed handle 102. One end of the guiding and driving member 3101 is hinged inside the handle housing 100, and the other end of the guiding and driving member 3101 passes through the guiding window and is connected to the holding axial limiting member. The two side edges of the holding axial limiting member protrude from the two sides of the guiding and driving member 3101.

[0093] The holding axial limiting member includes a holding portion 3102 and an axial limiting portion 225 opposite to the holding portion 3102. The end of the holding portion 3102 is connected to the end of the axial limiting portion 225. A holding space is formed between the holding portion 3102 and the axial limiting portion 225. One side of the holding portion 3102 is connected to the guiding and driving member 3101, and the surface of the holding portion 3102 facing away from the guiding and driving member 3101 forms a holding surface, and the holding surface forms a curved surface that is easy to hold.

[0094] When in use, the present invention holds the movable handle 310 through the holding part 3102. The holding part 3102 of the movable handle 310 in this embodiment has a certain width. In specific design, the width of the holding surface can be set to 2 - 5 cm, which can increase the contact area between the hand and the movable handle 310 and provide the stability of holding. In addition, a limiting part 3103 opposite to the holding surface is arranged on the movable handle 310. When holding, the hand is placed in the gap between the limiting part 3103 and the holding part 3102. In this way, the limiting part 3103 will form a certain limiting and supporting effect on the hand, making the holding more stable. The design of the movable handle 310 of this operating handle is more comfortable and conforms to the palm, and the stability of the execution end of the surgical instrument is stronger during use.

[0095] One embodiment of the present invention discloses a locking mechanism for locking the second driving module. Refer to the attached Figure 10 , 11 , since during the use of the surgical instrument, it is often necessary to adjust the size of the opening of the jaw assembly 500 to facilitate the surgical operation. As can be known from the above embodiment, the operator drives the opening and closing of the jaw assembly 500 by holding the movable handle 310 (for example). When adjusted to the appropriate opening size, at this time, it is necessary to fix the position of the movable handle 310. It is unrealistic to keep the position of the movable handle 310 by the holding force of the hand all the time by the operator. Therefore, a locking mechanism needs to be set. The locking mechanism of the present application can realize the locking of the movable handle 310 by the mutual engagement of the first tooth row 3104 and the second tooth row 3201. Refer to the attached drawing. When the first tooth row 3104 and the second tooth row 3201 are disengaged from each other, the movable handle 310 can move freely.

[0096] The locking mechanism of the present invention includes a locking knob 321 and a locking member 320. The locking member 320 is hinged in the handle housing 100. An installation groove is provided on the front side wall of the handle housing 100. The locking knob 321 includes a rotating seat and a cam transition surface 3212 provided on the rotating seat. The rotating seat is rotatably installed in the installation groove, and the outer wall of the rotating seat protrudes from the outer wall of the handle housing 100. The locking member 320 includes a force-receiving part 3202 opposite to the locking knob 321 and the second tooth row 3201. A torsion spring is arranged between the locking member 320 and the handle housing 100. Under the action of the torsion spring, one end of the force-receiving part 3202 of the locking member 320 abuts against the cam transition surface 3212. The rotation of the locking knob 321 makes the first tooth row 3104 and the second tooth row 3201 disengage or engage through the cooperation of the cam transition surface 3212 and the force-receiving part 3202.

[0097] During use, the operator controls the rotation of the locking knob 321 to control whether the locking mechanism and the movable handle 310 are locked. Since the cam transition surface 3212 is provided on the locking knob 321, during the rotation of the locking knob 321, different parts of the cam transition surface 3212 abut against the force-receiving part 3202, which will drive the force-receiving part 3202 of the locking member 320 to move, and then the entire locking member 320 rotates to disengage or engage the first tooth row 3104 and the second tooth row 3201. As shown in the appendix Figure 8 , 9 As shown, the locking knob 321 of the present invention is arranged on the front side of the handle housing 100, and a part of it protrudes from the handle housing 100 for convenient operation.

[0098] The locking mechanism of the present invention can limit the movement of the movable handle 310 from the extended position back to the initial position, and can keep the power output member 312 in the extended position, avoiding the need for the operator to always hold and maintain the extended state, and improving stability.

[0099] Specifically, the power output member 312 includes an extended position and an initial position. In the initial position, the output end of the power output member 312 forms the maximum distance from the mounting port 101. In the extended position, the output end of the power output member 312 is located between the initial position and the mounting port 101. The movable handle 310 includes a first tooth row 3104 arranged on the guiding and driving module. The locking mechanism includes a second tooth row 3201 corresponding to the first tooth row 3104. The locking mechanism includes a locking position and an unlocking position. In the locking position, the first tooth row 3104 meshes with the second tooth row 3201, and the locking mechanism restricts the movable handle 310 from driving the power output member 312 to slide from the extended position to the initial position. In the unlocking position, the first tooth row 3104 disengages from the second tooth row 3201.

[0100] As one embodiment of the present invention, the operating handle further includes a third driving module. The third driving module includes a rotating cylinder 410 and a retaining rod 411. The rotating cylinder 410 is rotatably arranged at the mounting port 101 of the handle housing 100. An installation channel axially penetrating the mounting port 101 is formed on the rotating cylinder 410. The retaining rod 411 is arranged on the rotating cylinder 410 and is used to connect with the driving end of the surgical instrument in the installation channel. The rotation of the rotating cylinder 410 around its own axis can drive the driving end of the surgical instrument to rotate through the retaining rod 411.

[0101] During use, the input end of the surgical instrument passes through the instrument perforation on the rotating cylinder 410 and enters the interior of the handle housing 100. In this way, the input end of the surgical instrument and the rotating cylinder 410 form a sleeved structure, as shown in the appendix Figure 14 ,15 As shown, the input end of the surgical instrument includes a yaw drive tube 520 and a clamping drive rod 530 which are sleeved inside and outside each other. Through holes corresponding in position and extending radially are formed in the side walls of the yaw drive tube 520 and the clamping drive rod 530. During installation, the stop rod 411 passes through the through holes in the rotating cylinder 410, the yaw drive tube 520 and the clamping drive rod 530 of the surgical instrument at the same time. In this way, when the rotating cylinder 410 rotates, it can drive the yaw drive tube 520 and the clamping drive rod 530 to rotate together through the stop rod 411 shown, thereby realizing the overall rotation of the surgical instrument. It should be noted that, in order to adapt to the axial sliding of the yaw drive tube 520 and the clamping drive rod 530, the through holes in the yaw drive tube 520 and the clamping drive rod 530 have a certain length in the axial direction, reserving space for the axial sliding of the yaw drive tube 520 and the clamping drive rod 530.

[0102] In summary, the operating handle of the present invention includes a first drive module, a second drive module and a third drive module. The first drive module can drive the linear motion of the yaw drive tube 520, thereby driving the yaw movement of the execution end of the surgical instrument. The second drive module can drive the linear motion of the clamping drive rod 530, thereby driving the opening and closing movement of the execution end of the surgical instrument. The third drive module can drive the yaw drive tube 520 and the clamping drive rod 530 to rotate together, thereby driving the overall rotation of the surgical instrument. Operating cylinders 201, movable handles 310, locking knobs 321 and rotating cylinders 410 corresponding to the first drive module, the second drive module and the third drive module are respectively arranged at appropriate positions of the operating handle, which is convenient for the operator to control.

[0103] See attached Figure 14 、 15 As shown in, the third aspect of the present invention discloses a surgical instrument, including a jaw assembly 500, a jaw drive assembly and an operating handle. The output end of the jaw drive assembly is connected to the jaw assembly 500, and the input end of the jaw drive assembly is connected to the operating handle, which is the operating handle of the second aspect.

[0104] The jaw drive assembly includes a yaw drive tube 520 for driving the angle adjustment of the jaw assembly 500. The input end of the yaw drive tube 520 extends into the handle housing 100 and is connected to the moving member 210.

[0105] The jaw drive assembly in this embodiment includes a yaw drive tube 520 and a clamping drive rod 530 which are sleeved with each other. The surgical instrument further includes a tube body 510 arranged outside the yaw drive tube 520 and the clamping drive rod 530, as shown in attached Figure 15As shown in the figure, from the outside to the inside in the radial direction are the tube body 510, the yaw drive tube 520, and the opening and closing drive rod 530. During specific installation, the tube body 510 cooperates with the rotating cylinder 410, the yaw drive tube 520 cooperates with the moving member 210 in the moving member 210, and the opening and closing drive rod 530 is connected to the power output member 312 in the second drive module. The cooperation relationship between the opening and closing drive rod 530 and the power output member 312 and the cooperation structure between the yaw drive tube 520 and the moving member 210 can be set to be the same. When in use, the first drive module is used to drive the axial sliding of the yaw drive tube 520, specifically by rotating the operating cylinder 201 to drive the axial sliding of the yaw drive tube 520; the second drive module is used to drive the axial sliding of the opening and closing drive rod 530, specifically by pressing and opening the movable handle 310 to drive the axial sliding of the opening and closing drive rod 530; the third drive module is used to drive the overall rotation of the surgical instrument, specifically by rotating the rotating cylinder 410 to drive the tube body 510, the yaw drive tube 520, and the opening and closing drive rod 530 to rotate together.

[0106] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A driving module for a surgical instrument, the driving module includes a columnar base (220), a rotating assembly (200), a moving member (210), and a transmission member (213) connecting the rotating assembly (200) and the moving member (210). The rotating assembly (200) is sleeved on the outer wall of the base (220) and can rotate relative to the base (220). The moving member (210) is sleeved on the inner wall of the base (220) and can axially move relative to the base (220). It is characterized in that the driving module further includes an axial limiting member (225a) fixedly connected to one end of the base (220), and an axial limiting portion (225b) provided at the other end of the base (220). Axial ends of the rotating assembly (200) axially abut against the axial limiting portion (225b) and the axial limiting member (225a) respectively. A guiding hole (2241) with an axial length is formed on the base (220). The transmission member (213) penetrates through the guiding hole (2241) and is fixedly connected to the moving member (210). When the rotating assembly (200) rotates, it drives the transmission member (213) to move within the axial length of the guiding hole (2241), and drives the axial movement of the moving member (210) through the transmission member (213).

2. The drive module according to claim 1, wherein At least one spiral groove (2021) is formed on the inner wall of the rotating assembly (200). The number of the transmission members (213) and the guiding holes (2241) corresponds to the number of the spiral grooves (2021). The transmission members (213) extend into the corresponding spiral grooves (2021) and the corresponding guiding holes (2241). Rotation of the rotating assembly (200) can drive the corresponding transmission members (213) to move within the axial length of the corresponding guiding holes (2241) through the spiral grooves (2021).

3. The drive module according to claim 2, characterized in that Two spiral grooves (2021) are formed on the inner wall of the rotating assembly (200). The two spiral grooves (2021) are evenly distributed on the rotating assembly (200), and starting ends of the two spiral grooves (2021) are located on the same circumference of the rotating assembly (200). Correspondingly, the number of the transmission members (213) and the guiding holes (2241) are both two, and the two transmission members (213) are symmetrically arranged on the moving member (210).

4. The drive module according to claim 2 or 3, characterized in that An outer wall surface of an end of the transmission member (213) inserted into the spiral groove (2021) is set as a cylindrical surface. The cylindrical surface respectively abuts against two opposite side walls of the spiral groove (2021) and has a line contact with the side walls of the spiral groove (2021). The spiral angle of the spiral groove (2021) is smaller than the equivalent friction angle between the transmission member (213) and the spiral groove (2021).

5. The drive module according to any one of claims 1 to 3, characterized in that The base (220) has a radial limiting portion (224), and the radial limiting portion (224) is disposed between the axial limiting member (225a) and the axial limiting portion (225b). The rotating assembly (200) is sleeved on the outer wall of the radial limiting portion (224). The outer wall of the radial limiting portion (224) includes a first outer ring wall (2242) and second outer ring walls (2243) located on both axial sides of the first outer ring wall (2242). The second outer ring wall (2243) protrudes radially outward from the first outer ring wall (2242), and the second outer ring wall (2243) is in contact with the inner side wall of the rotating assembly (200), and a gap is formed between the first outer ring wall (2242) and the inner side wall of the rotating assembly (210).

6. The drive module according to claim 5, characterized in that, When the spiral groove (2021) is provided in the rotating assembly (200), the spiral groove (2021) is disposed opposite to the first outer ring wall (2242); the axial length of the guiding hole (2241) is the same as the axial length of the spiral groove (2021).

7. The drive module according to any one of claims 1 to 3, characterized in that, The outer wall of the moving member (210) includes a plurality of first axial side walls (211) and second axial side walls (212) distributed circumferentially. The second axial side wall (212) protrudes radially outward from the first axial side wall (211), and the second axial side wall (212) is in contact with the inner wall of the base (220), and a gap is formed between the first axial side wall (211) and the inner side wall of the base (220).

8. The drive module according to claim 7, wherein, The guiding hole (2241) is disposed opposite to the second axial side wall (212), and the transmission member (213) is connected to the second axial side wall (212).

9. The drive module according to claim 1, wherein The moving member (210) includes a connecting cylinder (215), a mounting cylinder (216), and a fixing member (217) that is limit-connected to the mounting cylinder (216). The mounting cylinder (216) is used to be sleeved with the jaw driving assembly of the surgical instrument, and the fixing member (217) is used to fixedly connect the jaw driving assembly to the mounting cylinder (216), and the connecting cylinder (215) is sleeved on the inner wall of the base (220).

10. The drive module according to claim 9, wherein The axially moving position of the mounting cylinder (216) includes a first position inside the base (220) and a second position outside the base (220), and is used to mount the jaw driving assembly at the second position.

11. The drive module according to claim 1, wherein, The driving module further includes an end cover (223), and the end cover (223) is sleeved on the inner wall of the base (220). A convex inner wall limiting portion (226) is formed on the inner wall of the base. The two axial ends of the moving member (210) are limited by the end cover (223) and the inner wall limiting portion (226) respectively.

12. The drive module according to claim 11, wherein Mounting ears (222) extend from both the end cover (223) and the axial limiting portion (225b), and the mounting ears (222) are used for fixedly mounting with the surgical instrument.

13. The drive module according to claim 1, wherein, On the end face of the rotating assembly (200), a plurality of card slots (2023) are arranged circumferentially around the axis of the rotating assembly (200). On the end face of the axial limiting member (225a) or the axial limiting portion (225b), an elastic convex member opposite to the card slot (2023) is provided. As the rotating assembly (200) rotates, the elastic convex member is successively snapped into the card slots (2023) at different positions and emits a prompt sound.

14. The drive module according to claim 13, wherein, On the end face of the axial limiting member (225a) or the axial limiting portion (225b), a pin hole opposite to the card slot (2023) is provided. A slidable ball (2251) is arranged in the pin hole. One end of the ball (2251) is placed in the pin hole and is connected to the pin hole through an elastic member (2252). The other end of the ball (2251) extends out of the pin hole and can be snapped into the card slot (2023). As the rotating assembly (200) rotates, the ball (2251) is successively snapped into the card slots (2023) at different positions.

15. An operating handle of a surgical instrument, comprising a handle housing (100), characterized in that, It further includes the driving module according to any one of claims 1 to 14. The driving module is fixedly installed in the handle housing (100). An operation window is formed on the handle housing (100), and at least a part of the rotating assembly (200) is exposed from the handle housing (100) through the operation window.

16. The operating handle according to claim 15, characterized in that, An installation opening (101) for inserting the clamping head driving assembly of the surgical instrument is formed on the handle housing (100). The moving direction of the moving member (210) is consistent with the axis of the installation opening (101). The moving member (210) is used to connect to the input end of the clamping head driving assembly of the surgical instrument.

17. A surgical instrument, comprising a jaw assembly (500), a jaw driving assembly and an operating handle, wherein an output end of the jaw driving assembly is connected to the jaw assembly (500), and an input end of the jaw driving assembly is connected to the operating handle, characterized in that, The handle adopts the operation handle according to any one of claims 15 to 16.

18. The surgical instrument according to claim 17, wherein, The clamping head driving assembly includes a yaw driving tube (520) for driving the angle adjustment of the clamping head assembly (500). The input end of the yaw driving tube (520) extends into the handle housing (100) and is connected to the moving member (210).

Images