Drive modules, operating handles and surgical instruments

Abstract

The present invention discloses a driving module, an operating handle and a surgical instrument. The driving module includes a columnar base, a rotating assembly, a moving part and a transmission part connecting the rotating assembly and the moving part. The rotating assembly is sleeved on the outer wall of the base and can rotate relative to the base. The moving part is sleeved on the inner wall of the base and can move axially relative to the base. The driving module also includes an axial limiter fixedly connected to one end of the base and an axial limiter provided at the other end of the base. The axial ends of the rotating assembly are axially abutted against the axial limiter and the axial limiter respectively. A guide hole with an axial length is formed on the base. The transmission part passes through the guide hole and is fixedly connected to the moving part. When the rotating assembly rotates, the transmission part is driven to move within the axial length of the guide hole, and the axial movement of the moving part is driven by the transmission part. The present 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 in particular to a drive module, an operating handle and a surgical instrument. Background Art

[0002] During laparoscopic surgical procedures, surgical grippers are often used and are passed into the abdomen through a small diameter tube or cannula inserted through a small incision in the skin.

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

[0004] During surgery, medical personnel manipulate the actuators of surgical instruments to control their posture and movements. This long operation (some procedures can last 3-4 hours or even longer) places a significant strain on the medical staff's mental and physical strength. Furthermore, the performance of surgical instruments directly impacts the accuracy of the medical staff's operations. The precision, ease, and comfort of their operations all impact the quality of clinical surgery. Especially in the later stages of long surgeries, easy-to-use, high-precision surgical instruments can significantly reduce deformations caused by operator fatigue, thereby maintaining stability and controllability of the surgical procedure.

[0005] The existing driving mechanisms of surgical instruments have problems such as inaccurate operation and laborious single-handed operation, which are not conducive to medical personnel's operation. On the other hand, there are also differences in operation and feel between different surgical instruments, which cause greater problems in operation accuracy.

[0006] Therefore, how to design a driving mechanism and surgical instrument that allows doctors to be more precise and less labor-intensive during surgery is an issue worth considering in this field. Summary of the Invention

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

[0008] In order to achieve the above-mentioned object, the first aspect of the present invention discloses a driving module, which includes a cylindrical base, a rotating assembly, a moving member, and a transmission member connecting the rotating assembly and the moving member. The rotating assembly is sleeved on the outer wall of the base and can rotate relative to the base. The moving member is sleeved on the inner wall of the base and can move axially relative to the base.

[0009] The driving module further includes an axial stopper fixedly connected to one end of the base, and an axial stopper provided at the other end of the base, wherein the axial ends of the rotating assembly are axially abutted against the axial stopper and the axial stopper respectively; a guide hole with an axial length is formed on the base, and the transmission member passes through the guide hole and is fixedly connected to the moving member;

[0010] When the rotating assembly rotates, the transmission member is driven to move within the axial length of the guide hole, and the axial movement of the moving member is driven by the transmission member.

[0011] Furthermore, at least one spiral groove is formed on the inner wall of the rotating component, the number of the transmission members and the guide holes corresponds to the number of the spiral grooves, the transmission members extend into the corresponding spiral grooves and the corresponding guide holes, and the rotation of the rotating component can drive the corresponding transmission members to move within the axial length of the corresponding guide holes through the spiral grooves.

[0012] Furthermore, the inner wall of the rotating assembly is formed with two spiral grooves, which are evenly distributed on the rotating assembly and whose starting ends are located on the same circumference of the rotating assembly. Accordingly, there are two transmission members and two guide holes, each symmetrically arranged on the moving member. This ensures balanced force on the moving member during movement, avoiding jamming caused by torsion and saving effort.

[0013] Furthermore, the outer wall surface of one end of the transmission member inserted into the spiral groove is configured as a cylindrical surface, the cylindrical surface abutting against two opposite side walls of the spiral groove respectively and making linear contact with the side walls of the spiral groove; the helix angle of the spiral groove is smaller than the equivalent friction angle between the transmission member and the spiral groove, thereby achieving a self-locking effect.

[0014] Furthermore, the base has a radial limiting portion, which is arranged between the axial limiting piece and the axial limiting portion, and the rotating assembly is sleeved on the outer wall of the radial limiting portion. The outer wall of the radial limiting portion includes a first outer ring wall and a second outer ring wall located on both axial sides of the first outer ring wall, the second outer ring wall protrudes radially outward from the first outer ring wall, the second outer ring wall is in contact with the inner side wall of the rotating assembly, and the first outer ring wall forms a gap with the inner side wall of the rotating assembly.

[0015] Furthermore, in the case where the rotating assembly is provided with the spiral groove, the spiral groove is arranged opposite to the first outer ring wall; the axial length of the guide hole is consistent with the axial length of the spiral groove.

[0016] Furthermore, the outer wall of the movable member includes a plurality of first axial side walls and second axial side walls distributed along the circumferential direction, wherein the second axial side walls protrude radially outward from the first axial side walls, the second axial side walls abut against the inner wall of the base, and the first axial side walls are spaced apart from the inner wall of the base, thereby reducing friction and making operation more labor-saving.

[0017] Furthermore, the guide hole is arranged opposite to the second axial side wall, and the transmission member is connected to the second axial side wall.

[0018] Furthermore, the movable part includes a connecting tube, a mounting tube and a fixing part limitedly connected to the mounting tube, the mounting tube is used to be sleeved with the forceps drive assembly of the surgical instrument, the fixing part is used to fixedly connect the forceps drive assembly with the mounting tube, and the connecting tube is sleeved on the inner wall of the base.

[0019] Furthermore, the axially movable position of the mounting cylinder includes a first position inside the base and a second position outside the base, and the second position is used for mounting with the pliers drive assembly.

[0020] Furthermore, the driving module also includes an end cover, which is sleeved on the inner wall of the base. The inner wall of the base is formed with a protruding inner wall limiting portion, and the axial ends of the moving part are respectively limited by the end cover and the inner wall limiting portion.

[0021] Furthermore, mounting ears extend from both the end cover and the axial limiting portion, and the mounting ears are used for fixed installation with the surgical instrument.

[0022] Furthermore, a plurality of slots distributed circumferentially around the axis of the rotating component are provided on the end face of the rotating component, and an elastic protrusion opposite to the slot is provided on the end face of the axial limit member or the axial limit portion. As the rotating component rotates, the elastic protrusion is sequentially inserted into the slots at different positions and emits a prompt sound.

[0023] Furthermore, the end surface of the axial stopper or the axial stopper is provided with a pin hole opposite to the slot, and a slidable ball is disposed in the pin hole. One end of the ball is positioned in the pin hole and connected to the pin hole via an elastic member, while the other end of the ball extends out of the pin hole and can be engaged with the slot. As the rotating assembly rotates, the ball is sequentially engaged with slots at different positions. An operation feedback sound is provided to enhance the user experience.

[0024] The second aspect of the present invention discloses an operating handle of a surgical instrument, comprising a handle shell and the drive module described in the first aspect, wherein the drive module is fixedly installed in the handle shell, and an operating window is formed on the handle shell, through which at least part of the rotating assembly is exposed from the handle shell.

[0025] Furthermore, a mounting port for inserting a forceps drive assembly of a surgical instrument is formed on the handle housing, the moving direction of the movable member is consistent with the axis of the mounting port, and the movable member is used to be connected to the input end of the forceps drive assembly of the surgical instrument.

[0026] Furthermore, a fixed handle is formed on the handle shell, and a mounting port is formed at the front end of the handle shell. The mounting hole is connected to the mounting through hole along the axial direction. The operating handle also includes a second drive module, and the second drive module includes a movable handle and a transmission assembly. The movable handle is opposite to the fixed handle, and one end of the movable handle is hinged in the handle shell, and the other end of the movable handle is placed outside the handle shell. The movable handle is hingedly connected to the first end of the transmission assembly in the handle shell, and the second end of the transmission assembly can slide linearly along the axial direction of the mounting port and is used to be connected to the driving end of the surgical instrument.

[0027] Furthermore, the second drive module also includes a locking mechanism arranged on the handle housing, and the second end of the transmission assembly includes an ejection position and an initial position. In the initial position, the second end of the transmission assembly forms a maximum distance with the mounting port. In the ejection position, the second end of the transmission assembly is located between the initial position and the mounting port. The locking mechanism includes a locking position and an unlocking position. In the locking position, the locking mechanism limits the rotation of the movable handle to drive the second end of the transmission assembly to slide from the ejection position to the initial position. In the unlocking position, the movable handle can be opened and closed freely.

[0028] Furthermore, the operating handle also includes a third drive module, which includes a rotating cylinder and a baffle rod. The rotating cylinder is rotatably arranged at the mounting port of the handle housing. A mounting channel axially connected to the mounting port is formed on the rotating cylinder. The baffle rod is arranged on the rotating cylinder and is used to be connected to the driving end of the surgical instrument in the mounting channel. The rotation of the rotating cylinder around its own axis can drive the driving end of the surgical instrument to rotate through the baffle rod.

[0029] The third aspect of the present invention also discloses a surgical instrument, including a forceps head assembly, a forceps head drive assembly and an operating handle, the output end of the forceps head drive assembly is connected to the forceps head assembly, the input end of the forceps head drive assembly is connected to the operating handle, and the handle adopts the operating handle of the second aspect.

[0030] Furthermore, the pliers head drive assembly includes a yaw drive tube for driving the pliers head assembly to adjust its angle, and an input end of the yaw drive tube extends into the handle housing and is connected to the moving part.

[0031] The drive module in this technical solution can be designed as an independent modular component with independent functions, which converts the rotational motion of the rotating component into the linear motion of the moving part; during assembly, it can be pre-assembled independently of other modules of the surgical instrument and can be debugged separately, with stable performance, which is suitable for scenarios with high operating precision requirements of surgical instruments; and when the whole machine is assembled, it is not affected by the installation of other external accessories and is easy to replace, which is conducive to precision maintenance and mass production.

[0032] The rotating assembly and the moving part in the present application cooperate with the transmission part and the spiral groove. Compared with the mechanism of threaded cooperation, the structure of the spiral groove and the transmission part is more convenient to process, and can reduce the contact area of the transmission part, reduce the friction during the driving process, reduce the driving resistance, make the operation more labor-saving, reduce the workload of the doctor, and improve the stability of the drive. In addition, the processing accuracy is easy to control, which can achieve higher precision and make the structure more stable.

[0033] In addition, the transmission parts in this embodiment are symmetrically arranged. During use, when the rotating component rotates, the force on the moving parts can be kept balanced, avoiding the possibility of twisting when the moving parts move, and thus avoiding the phenomenon of jamming during rotation, making the rotation smoother and more labor-saving.

[0034] When the surgical instrument of the present application is in use, the assembly between the various components is more convenient, and the force balance and stability of the surgical instrument can be ensured through the design of its own structure. The operating resistance is small and it is not easy to get stuck. It is suitable for single finger operation, which can better assist the doctor's operation and improve the quality of surgery.

[0035] These features and advantages of the present invention will be further disclosed in the following detailed description and accompanying drawings. The preferred embodiments and means of the present invention will be fully illustrated in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, although multiple features, elements, and components may be present in each of the following text and accompanying drawings, they may be labeled with different symbols or numbers for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the accompanying drawings:

[0037] Figure 1 This is a diagram showing the internal structure of a handle housing of an operating handle according to one embodiment of the present invention;

[0038] Figure 2 This is a structural diagram of a first driving module according to one embodiment of the present invention;

[0039] Figure 3 This is an overall appearance diagram of an operating handle according to one embodiment of the present invention;

[0040] Figure 4 An exploded view of a first driving module according to one embodiment of the present invention;

[0041] Figure 5.1 This is a structural diagram of a transmission cylinder according to one embodiment of the present invention;

[0042] Figure 5.2 This is a structural diagram of a transmission cylinder according to one embodiment of the present invention;

[0043] Figure 6.1 A structural diagram of a moving part according to one embodiment of the present invention;

[0044] Figure 6.2 A structural diagram of a moving part according to one embodiment of the present invention;

[0045] Figure 7.1 This is a structural diagram of a radial limiting portion and an axial limiting portion of one embodiment of the present invention;

[0046] Figure 7.2 A cross-sectional view of a base according to one embodiment of the present invention;

[0047] Figure 8 A side cross-sectional view of a handle housing according to one embodiment of the present invention;

[0048] Figure 9 for Figure 8 Enlarged view of point A in the middle;

[0049] Figure 10 This is a diagram showing the internal structure of a handle housing of an operating handle according to one embodiment of the present invention;

[0050] Figure 11 for Figure 11 Enlarged view of point B in the middle;

[0051] Figure 12 This is a structural diagram of a movable handle according to one embodiment of the present invention;

[0052] Figure 13 This is a structural diagram of a movable handle according to one embodiment of the present invention;

[0053] Figure 14 This is a structural diagram of the surgical instrument and operating handle assembly according to one embodiment of the present invention;

[0054] Figure 15 for Figure 14Enlarged view of point C in the middle;

[0055] Figure 16 Assembly diagram of the surgical instrument and operating handle according to one embodiment of the present invention (with the forceps assembly in a deflected state).

[0056] in,

[0057] 100, handle housing; 101, mounting port; 102, fixed handle;

[0058] 200, rotating assembly; 201, operating cylinder; 202, transmission cylinder; 2021, spiral groove; 2022, protruding block; 2023, slot;

[0059] 210, moving member; 211, first axial side wall; 212, second axial side wall; 213, transmission member; 214, mounting hole; 215, connecting tube; 216, mounting tube; 217, fixing member;

[0060] 220, base; 222, mounting ear; 223, end cap; 224, radial limiting portion; 2241, guide hole; 2242, first outer ring wall; 2243, second outer ring wall; 225a, axial limiting member; 225b, axial limiting portion; 2251, ball bearing; 2252, elastic member; 226, inner wall limiting portion;

[0061] 310, movable handle; 3101, guide drive member; 3102, gripping portion; 3103, limiting portion; 3104, first gear row; 311, transmission connecting rod; 312, power output member;

[0062] 320, locking member; 3201, second tooth row; 3202, force-bearing portion; 321, locking knob; 3212, cam transition surface; 322, first torsion spring;

[0063] 410, rotating drum; 411, stop rod;

[0064] 500, clamp head assembly; 510, tube body; 520, yaw drive tube; 530, opening and closing drive rod. DETAILED DESCRIPTION

[0065] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0066] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0067] See attached Figure 2 、 Figure 4 7 , the first aspect of the present invention discloses a driving module, which includes a cylindrical 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 move axially relative to the base 220.

[0068] The driving module further includes an axial stopper 225a fixedly connected to one end of the base 220, and an axial stopper 225b provided at the other end of the base 220. 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 having an axial length is formed on the base 220. The transmission member 213 passes through the guide hole 2241 and is fixedly connected to the moving member 210.

[0069] 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 .

[0070] When the drive module of this embodiment is in use, the operator rotates the rotating assembly 200 to achieve linear movement of the moving member 210, thereby converting rotary motion into linear motion. During the design of this embodiment, the drive module can be designed as an independent modular system and installed in different usage environments as needed. The drive module of this embodiment can adapt to installation requirements in small spaces. When in use, it can be pre-assembled and fixed together in the environment where it is needed. For example, when used in 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 further simplifying the overall structure.

[0071] 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. The outer wall of the base 220 determines the radial position of the rotating assembly 200, making the present application an independent drive module that 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 by threaded connection, clamping or other fixing methods.

[0072] 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 independent function of the drive module, 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.

[0073] Specifically, adjusting the angle of the surgical instrument's forceps is a crucial function during surgery. The drive module of this application can be used to adjust the angle of the surgical instrument's forceps tip, creating a specific angle between the instrument's forceps tip and the instrument's rod to facilitate surgical operations. It can also be used to lock the forceps tip's opening and closing, or to lock the forceps tip's angle.

[0074] As one of the embodiments of the present invention, at least one spiral groove 2021 is formed on the inner wall of the rotating component 200, and the number of the transmission members 213 and the guide holes 2241 corresponds to the number of the spiral grooves 2021. The transmission member 213 extends into the corresponding spiral groove 2021 and the corresponding guide hole 2241. The rotation of the rotating component 200 can drive the corresponding transmission member 213 to move within the axial length of the corresponding guide hole 2241 through the spiral groove 2021.

[0075] In this embodiment, the transmission is realized between the rotating assembly 200 and the moving member 210 through the 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 own side wall, and the transmission member 213 is fixedly connected to the moving member 210, thereby driving the axial movement of the moving member 210. Figure 2 、 4 Compared with the driving structure through threaded engagement in the prior art, the processing cost of the spiral groove 2021 and the transmission member 213 in this embodiment is lower.

[0076] In addition, when the transmission member 213 and the spiral groove 2021 are in use, only the outer wall surface of the transmission member 213 is in contact with the side wall of the spiral groove 2021. Compared with the thread matching structure in the prior art (such as trapezoidal thread), 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.

[0077] In this embodiment, the transmission member 213 can be located on either the active member (e.g., the rotating assembly 200) or the passive member (e.g., the moving member 210). As long as the helical groove 2021 and the transmission member 213 of this embodiment are used in the surgical instrument operating handle, the arrangement should be considered to fall within the scope of protection of the present invention. In actual use, for greater labor savings, the helical groove 2021 is generally located on the rotating assembly 200 (active member) and the transmission member 213 (passive member) is located on the moving member 210. This reduces labor when operating the rotating assembly 200.

[0078] The spiral groove unit in this embodiment is configured as a multi-segment spiral groove structure, which can increase the structural strength of the moving part (reducing the area of the groove, the corresponding physical area is increased, and thus the strength can be increased). In this embodiment, there are two spiral grooves 2021, and the two spiral grooves 2021 are arranged on the same circumferential wall. When two spiral grooves are configured, as shown in the attached figure, Figure 4 As shown in Figures 5 and 6, a corresponding transmission member 213 is provided in each spiral groove 2021. When in use, driving forces are generated between the two spiral grooves 2021 and the two transmission members 213 respectively, which can reduce the force on a single transmission member 213, increase the service life of the transmission member 213, and avoid the problem of the operating handle being unusable due to damage to a certain transmission member 213.

[0079] As one of the embodiments of the present invention, two spiral grooves 2021 are formed on the inner wall of the rotating component 200, and the two spiral grooves 2021 are evenly distributed on the rotating component 200, and the starting ends of the two spiral grooves 2021 are located on the same circumference of the rotating component 200; correspondingly, the number of the transmission members 213 and the guide holes 2241 are both two, and the two transmission members 213 are symmetrically arranged on the moving member 210.

[0080] 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 consistent (including lead, rotation direction, depth, width, etc.), and only the relative position relationship of the two spiral grooves 2021 is limited. That is, the two spiral grooves 2021 are completely consistent except for the starting point and the ending point. Figure 5.1 、 5.2As shown, the phase difference between the starting ends of the two spiral grooves 2021 is 180°, and the corresponding phase difference between the ending ends is also 180°. In this way, during use, when the spiral grooves 2021 and the transmission member 213 are driven in conjunction, the two sides of the movable member 210 are subjected to force respectively, and the forces on both sides are balanced. This can reduce the torsion caused by unilateral force, and thus make the sliding of the movable member 210 smoother and smoother, and correspondingly make the operation more labor-saving.

[0081] It can be seen that the number of spiral grooves 2021 can be set as needed (it can be two or more segments). The specific number is generally related to the radial size of the component. When the radial size of the component (moving part 210) is small, it can be set to a two-segment spiral groove structure. When the radial size of the component increases, it can be set to a spiral groove with a greater number of segments.

[0082] This embodiment limits the specific structure in the drive module, replaces the structure of the threaded drive in the prior art with a structure that cooperates with the spiral groove 2021 and the transmission member 213, and also designs the structure of the spiral groove 2021 and the transmission member 213. When in use, the doctor's work intensity can be reduced through its own structure. Moreover, the structure of the present application has its own balancing effect, which can avoid the doctor's instrument torsion and poor operation caused by operational deformation, and can better assist the doctor's surgical work.

[0083] The present invention does not impose any specific limitation on the specific structure of the rotating assembly 200 , which may be formed by assembling multiple parts or as a single component.

[0084] This embodiment does not impose any specific limitation on the number of drive structures. When the component is long, the drive structures can be arranged in multiple groups along the axial direction to achieve more stable movement.

[0085] As one of the embodiments 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 configured as a cylindrical surface, and the cylindrical surface abuts against two opposing side walls of the spiral groove 2021, respectively, and is in line contact with the side walls of the spiral groove 2021. As mentioned above, the source of the operational resistance of the present invention includes the friction between the transmission member 213 and the spiral groove 2021. Therefore, the linear contact structure between the transmission member 213 and the spiral groove 2021 in this embodiment can greatly reduce the contact area, thereby making the operation more labor-saving.

[0086] As one embodiment of the present invention, the helix 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 self-locked in the axial direction through the spiral groove 2021 and the transmission member 213, thereby improving stability and preventing passive deflection of the actuator during use.

[0087] As one of the embodiments of the present invention, the base 220 has a radial limiting portion 224, which is arranged between the axial limiting member 225a and the axial limiting portion 225b, and the rotating component 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 a second outer ring wall 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 component 200. The first outer ring wall 2242 forms a gap with the inner side wall of the rotating component 200.

[0088] The base 220 in this embodiment serves as the installation basis for the moving part 210 and the rotating assembly 200, wherein the base 220 includes a radial limiting portion 224, an axial limiting member 225a and the axial limiting portion 225b, and the rotating assembly 200 is rotatably sleeved on the outer side of the radial limiting portion 224, and the axial limiting member 225a and the axial limiting portion 225b are arranged at both ends of the axial direction of the rotating assembly 200 to limit the axial position of the rotating assembly 200. The outer wall of the radial limiting portion 224 in this embodiment Cooperating with the mounting through hole of the rotating component 200, it can radially support the rotating component 200, and the axial limiter 225a and the axial limiter 225b can limit the position of the rotating component 200 in the axial direction (the axial limiter 225a and the axial limiter 225b can be set as a boss structure that offsets the two axial sections of the rotating component 200). In this way, the radial and axial positions of the rotating component 200 are limited, so that the rotating component 200 can only rotate in the circumferential direction, thereby improving the stability of the assembly and rotation of the rotating component 200.

[0089] The resistance of the instrument handle of the present invention during use (the rotating component 200 drives the moving part 210) mainly comes from the friction between the mating surfaces, such as the friction between the transmission part 213 and the spiral groove 2021, the friction between the rotating component 200 and the outer surface of the radial limiting part 224, and the friction between the moving part 210 and the inner wall of the center hole of the radial limiting part 224. In order to make the operation more labor-saving, the outer surface of the radial limiting part 224 of one embodiment of the present invention includes a first outer ring wall 2242 and a second outer ring wall 2243, and 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 wall of the mounting hole, and the first outer ring wall 2242 forms a gap with the inner wall of the mounting hole.

[0090] As attached Figure 7.1 As shown, 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 annular wall 2243 is fitted with the inner wall of the mounting hole on the rotating component 200. In this way, a gap is formed between the outer surface of the first outer annular wall 2242 and the inner wall of the mounting hole, which can reduce the contact area between the rotating component 200 and the radial limiting portion 224 (because the setting of the second outer annular wall 2243 forms a surface with a height difference), thereby reducing the friction force of the rotating component 200 during rotation, making the operation more labor-saving.

[0091] This embodiment does not specifically limit the specific position and distribution area of the second outer ring wall 2243. In one embodiment of the actual design, the second outer ring wall 2243 is provided at both ends of the first outer ring wall 2242. Figure 7.1 As shown, the second outer ring wall 2243 is arranged at both ends of the radial limiting portion 224. Such an arrangement can support both ends of the rotating assembly 200 respectively, thereby improving the installation and rotation stability of the rotating assembly 200.

[0092] Of course, it is easy to imagine that, in actual use, the surface structure with the height difference can also be provided on the inner wall of the mounting through hole.

[0093] As one of the embodiments of the present invention, see the attached Figure 6.1 、 Figure 6.2In this embodiment, the outer surface of the moving member 210 includes a first axial sidewall 211 and a second axial sidewall 212. The second axial sidewall 212 protrudes radially outward from the first axial sidewall 211. The second axial sidewall 212 is in contact with the inner wall of the central hole of the radial limiting portion 224, while a gap is formed between the first axial sidewall 211 and the inner wall of the central hole of the radial limiting portion 224. This reduces the contact area between the moving member 210 and the radial limiting portion 224, reduces friction when the moving member 210 slides, and makes operation more labor-saving.

[0094] As one embodiment of the invention, the guide hole 2241 is opposite to 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 .

[0095] During use of the first driving module of the present invention (ie, the driving module of the first aspect of the present application), the transmission member 213 is generally arranged on the moving member 210. Specifically, as shown in FIG. Figure 6.1 、 Figure 6.2 As shown, a mounting hole 214 can be provided on the side wall of the moving member 210, and one end of the transmission member 213 is inserted into the mounting hole 214. In order to ensure the stability of the installation of the transmission member 213, an interference fit can be formed between the outer surface of the transmission member 213 and the mounting hole 214. Since the transmission member 213 is extended at one end and inserted into the corresponding spiral groove 2021 when in use, the extended end of the transmission member 213 is the force-bearing end during operation, so the transmission member 213 is equivalent to a cantilever structure. In this embodiment, the transmission member 213 is provided on the second axial side wall 212, as shown in the attached figure. Figure 2 、 4 As shown, 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 maintenance costs.

[0096] Moreover, the mating structure of the transmission member 213 and the moving member 210 is also convenient for repairing and replacing the transmission member 213 after it is worn (the transmission member 213 is the main force-bearing component and the degree of wear is greater than that of other components. More wear-resistant materials, such as metal materials, can be selected during design).

[0097] 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 second axial side walls 212 on the outer surface of the first axial side wall. Figure 4, a plurality of the second axial side walls 212 are distributed at intervals in the circumferential direction. The second axial side walls 212 in the present embodiment are arranged along the axial direction of the moving part 210, which matches the structure of the moving part 210 sliding along the axial direction (it can avoid the resistance caused by the uneven outer wall of the second axial side wall 212 and the inner wall of the radial limiting portion 224 due to processing problems), and can make the movement of the moving part 210 more stable. Of course, it can be expected that what the present invention is to protect is not limited to the above-mentioned setting method of the second axial side wall 212. As long as the contact area is reduced by setting a surface with a height difference, the scheme of achieving the labor-saving effect should be regarded as falling within the protection scope of the present invention.

[0098] In one embodiment of the present invention, when the rotating assembly 200 is provided with the spiral groove 2021, the spiral groove 2021 is arranged opposite to the first outer ring wall 2242; the axial length of the guide hole 2241 is consistent with the axial length of the spiral groove 2021, so that the guide hole 2241 also has the effect of limiting the moving part 210.

[0099] As one of the embodiments of the present invention, see the attached Figure 6.1 、 6.2 The movable part 210 includes a connecting tube 215, a mounting tube 216 and a fixing part 217 that is limitedly connected to the mounting tube 216. The mounting tube 216 is used to be socketed with the forceps drive assembly of the surgical instrument. The fixing part 217 is used to fixedly connect the forceps drive assembly to the mounting tube 216. The connecting tube 215 is socketed on the inner wall of the base 220.

[0100] As attached Figure 7.2 As shown, the moving part 210 in this embodiment is sleeved with the inner wall of the base 220 through the connecting tube 215, and is sleeved with the clamp head drive assembly through the mounting tube 216 and the fixing part 217, so that the axial movement of the moving part 210 can drive the movement of the clamp head drive assembly, and then drive the action of the clamp head assembly.

[0101] As one of the embodiments of the present invention, the axially movable position of the mounting cylinder 216 includes a first position inside the base 220 and a second position outside the base 220 , and the second position is used for mounting with the pliers drive assembly.

[0102] The mounting tube 216 in this embodiment can be moved outside the base 220 , so that the assembly connection between the clamp head drive assembly and the moving member 210 can be facilitated during assembly.

[0103] See attached Figure 7.2In order to better limit the axial movement position of the moving part, the driving module also includes an end cover 223, which is sleeved on the inner wall of the base 220. The inner wall of the base is formed with a protruding inner wall limiting portion 226, and the axial ends of the moving part are respectively in contact with the end cover 223 and the inner wall limiting portion 226.

[0104] This embodiment can limit the movement of the moving part in two circumferential directions respectively through the provision of the end cover 223 and the inner wall limit portion 226, thereby preventing the moving part from separating from the base during movement, thereby improving safety and stability in use.

[0105] In order to facilitate the application of the drive module of the present invention in a specific device, mounting ears 222 are extended from the end cover 223 and the axial limit member 225a in one embodiment of the present invention, and the mounting ears 222 are used for fixed installation with the surgical instrument.

[0106] As attached Figure 4 、 7.2 As shown, both ends of the driving module have mounting ears 222. When applied to a specific device, a mounting portion matching the mounting ears 222 can be set on the housing or base of the device, and the driving module and the device can be stably assembled through connectors such as screws or rivets.

[0107] To improve the human-machine interaction performance of the drive module of the present invention, the end surface of the rotating assembly 200 of one embodiment of the present invention is provided with a plurality of slots 2023 distributed circumferentially around the axis of the rotating assembly 200. The end surface of the axial stopper 225a or the axial stopper portion 225b is provided with elastic protrusions opposite to the slots 2023. As the rotating assembly 200 rotates, the elastic protrusions sequentially engage with the slots 2023 at different positions and emit a prompt sound. The elastic protrusions can be components with a certain degree of elastic deformation, such as elastic columns.

[0108] In a specific embodiment, the elastic protrusion includes a ball 2251 and an elastic member 2252, as shown in the attached Figure 5.2 、 7.2 As shown, a plurality of slots 2023 distributed circumferentially around the axis of the rotating component 200 are provided on the end face of the rotating component 200 in one embodiment of the present invention, and a pin hole opposite to the slot 2023 is provided on the end face of the axial limiting member 225a or the axial limiting portion 225b, and a slidable ball 2251 is provided 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, and the other end of the ball 2251 extends out of the pin hole and can be stuck in the slot 2023. As the rotating component 200 rotates, the ball 2251 is sequentially stuck in the slots 2023 at different positions.

[0109] 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 slot 2023, one end of the ball 2251 can be snapped into the slot 2023. As the rotating assembly 200 rotates, the ball 2251 can be snapped into different slots 2023. When the ball 2251 switches between different slots 2023, it will collide with the end face of the rotating assembly 200 under the action of the elastic member 2252, and then emit a "clicking" sound when the rotating assembly 200 rotates. This sound provides feedback to the user's operation, making the operation more user-friendly. It is particularly suitable for blind operation settings in the field of surgical operations and can provide doctors with obvious operation prompts during surgery.

[0110] See attached Figure 1 ,as well as Figures 8 to 13 The second aspect of the present invention discloses a surgical instrument operating handle, including a handle housing 100. The operating handle also includes a drive module of the first aspect, and the drive module is fixedly installed in the handle housing 100. An operating window is formed on the handle housing 100, and at least part of the rotating assembly 200 is exposed from the handle housing 100 through the operating window.

[0111] The operating handle in this embodiment is equipped with the driving module in the first aspect. During actual production, the assembly between the various components in the operating handle can be carried out independently from the assembly of the driving module. After the driving module base is pre-modularized and assembled, the entire body can be installed in the handle housing. For example, mounting studs corresponding to the mounting ears of the driving module can be provided in the handle housing. The mounting ears are connected to the mounting studs by screws or bolts to fix the driving module in the handle housing.

[0112] By setting an operating window on the handle housing, the user can directly operate the rotating assembly at the operating window. During the design, the rotating assembly 200 may include an operating cylinder 201 and a transmission cylinder 202. The operating cylinder 201 is sleeved on the outside of the transmission cylinder 202, and the center of the transmission cylinder 202 forms the mounting through hole. The rotation of the operating cylinder 201 around its own axis can drive the transmission cylinder 202 to rotate. An operating window is formed on the portion of the handle housing 100 opposite to the operating cylinder 201, and the operating cylinder 201 is exposed from the handle housing 100 through the operating window.

[0113] The operating cylinder 201 in this embodiment is designed to expose the handle housing 100 through an operating window on the handle housing 100 (the outer wall of the operating cylinder 201 generally protrudes from the handle housing 100), and is provided with a toothed structure that is easy to move, facilitating operation by the operator.

[0114] The operating cylinder 201 in this embodiment can drive the transmission cylinder 202 to rotate. Structurally, the circumferential limitation of the operating cylinder 201 and the transmission cylinder 202 can be achieved by the cooperation of the designer's groove and the protrusion 2022. As shown in the accompanying drawings, a protrusion 2022 is provided on the outer surface of the transmission cylinder 202. By providing a keyway in the inner hole of the operating cylinder 201 that cooperates with the protrusion 2022, the circumferential limitation of the operating cylinder 201 and the transmission cylinder 202 can be achieved.

[0115] In order to facilitate assembly with the forceps drive assembly, a mounting port 101 for inserting the forceps drive assembly of a surgical instrument is formed on the handle housing 100 of one embodiment of the present invention. The moving direction of the movable part 210 is consistent with the axis of the mounting port 101, and the movable part 210 is used to be connected to the input end of the forceps drive assembly of the surgical instrument.

[0116] When the operating handle of this embodiment is in use, a mounting port 101 is formed at the front end of the operating handle. The mounting port 101 is communicated with the mounting through hole on the rotating assembly 200. One end of the surgical instrument can pass through the mounting port 101 and be connected to the moving part 210 in the first driving module in the handle housing 100, thereby controlling the rotating assembly 200 of the first driving module to drive the surgical instrument. The sliding of the moving part 210 in this embodiment can drive the sliding of one end of the surgical instrument (generally the driving end), thereby controlling the action (swing or opening and closing) of the executing end of the surgical instrument.

[0117] Taking the clamp head assembly 500 as an example, the clamp head assembly 500 generally includes two execution actions: yaw and opening and closing. This embodiment does not specifically limit whether the first drive module is used to control the opening and closing or yaw of the clamp head assembly 500. That is, the first drive module can control the yaw of the clamp head assembly 500, and can also be used to control the opening and closing of the clamp head assembly 500, as long as it can provide a linear driving force.

[0118] In order to improve the convenience of assembly in this embodiment, the handle housing 100 can be divided into two shell parts, which are assembled to form the handle housing 100 during use, thereby facilitating the installation of components within the handle housing 100.

[0119] As one of the embodiments of the operating handle of the present invention, the operating handle includes a handle housing 100 and a first drive module, the first drive module is arranged in the handle housing 100, and the first drive module is the drive module disclosed in the first aspect above, the base 220 is fixed in the handle housing 100, and the base 220 can be fixed in the handle housing 100 by connecting parts (such as screws, rivets, etc.), and the base 220 serves as the installation basis for the moving part 210 and the rotating assembly 200. A mounting port for inserting the driving end of the surgical instrument is formed on the handle housing 100, and the moving part 210 is opposite to the mounting port 101, and the moving direction of the moving part 210 is consistent with the axis of the mounting port 101, and the moving part 210 is used to be connected to the driving end of the surgical instrument.

[0120] Since surgical instruments need to meet the requirements of multiple actions during their use, taking the forceps head assembly 500 as an example, it generally includes yaw, opening and closing, and overall rotation. These adjustment methods cooperate with each other to meet the needs of surgical operations. Therefore, multiple drive modules need to be set on the operating handle to realize the above-mentioned different actions. Since multiple drive modules need to be reasonably distributed in the operating handle row, the need for convenient operation needs to be taken into account at the same time.

[0121] In view of this, as one of the embodiments of the present invention, a fixed handle 102 is formed on the handle housing 100, and a mounting port 101 is formed at the front end of the handle housing 100. The mounting hole 214 is connected to the mounting through hole along the axial direction. The operating handle also includes a second drive module, and the second drive module includes a movable handle 310 and a transmission assembly. The transmission assembly in this embodiment includes a transmission connecting rod 311 and a power output member 312. The movable handle 310 is opposite to the fixed handle 102, and one end of the movable handle 310 is hinged in the handle housing 100, and the other end of the movable handle 310 is placed outside the handle housing 100. The movable handle 310 is hingedly connected to the first end of the transmission assembly (one end of the transmission connecting rod 311) in the handle housing 100, and the second end of the transmission assembly (one end of the power output member 312) can slide linearly along the axial direction of the mounting port 101 and is used to be connected to the driving end of the surgical instrument.

[0122] from Figures 8 to 13 It can be seen that in this embodiment, part of the movable handle 310 is installed in the handle housing 100, and part is outside the handle housing 100. When in use, the operator holds the fixed handle 102 and squeezes the movable handle 310 with his fingers to rotate the movable handle 310 relative to the fixed handle 102, thereby driving the power output part 312 to slide in the handle housing 100, that is, converting the rotational motion of the movable handle 310 into the linear motion of the power output part 312.

[0123] The power output member 312 in this embodiment is arranged 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, and a through channel can be provided on the moving member 210, so that one end of the surgical instrument can extend through the through channel on the moving member 210 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 deflection drive module group of the forceps assembly 500 in the surgical clamping instrument, and the power output member 312 is connected to the opening and closing drive module group of the forceps assembly 500. In this way, when in use, the operator can control the deflection or opening and closing action of the forceps assembly 500 by manipulating the first drive module and the second drive module on the operating handle.

[0124] The movable handle 310 includes a guide drive 3101 and a gripping axial limiter. The handle housing 100 is formed with a guide window located on the front side of the fixed handle 102. One end of the guide drive 3101 is hinged in the handle housing 100, and the other end of the guide drive 3101 passes through the guide window and is connected to the gripping axial limiter. The two side edges of the gripping axial limiter protrude from both sides of the guide drive 3101.

[0125] The holding axial limiter includes a holding portion 3102 and an axial limiter 225 opposite to the holding portion 3102. The end of the holding portion 3102 is connected to the end of the axial limiter 225. A holding space is formed between the holding portion 3102 and the axial limiter 225. One side of the holding portion 3102 is connected to the guide drive member 3101, and the surface of the holding portion 3102 facing away from the guide drive member 3101 forms a holding surface, and the holding surface forms a curved surface that is easy to hold.

[0126] During use, the present invention uses the gripping portion 3102 to hold the movable handle 310. The gripping portion 3102 of the movable handle 310 in this embodiment has a certain width. In a specific design, the width of the gripping surface can be set to 2-5 cm. This increases the contact area between the hand and the movable handle 310 and provides greater grip stability. Furthermore, a limiting portion 3103 is provided on the movable handle 310, opposite the gripping surface. When holding the surgical instrument, the hand is placed in the gap between the limiting portion 3103 and the gripping portion 3102. The limiting portion 3103 provides a certain amount of positioning and support for the hand, making the grip more stable. The design of the movable handle 310 of this operating handle is more comfortable and fits the palm of the hand, providing greater stability for the operating end of the surgical instrument during use.

[0127] One embodiment of the present invention discloses a locking mechanism for locking the second drive module. Figure 10 、 11 Since the size of the opening and closing opening of the forceps head assembly 500 often needs to be adjusted during the use of surgical instruments to facilitate surgical operations, it can be seen from the above embodiments that the operator drives the opening and closing of the forceps head assembly 500 by holding the movable handle 310 (for example). When the opening size is adjusted to a suitable size, the position of the movable handle 310 needs to be fixed. It is unrealistic for the operator to always rely on the gripping force of the hand to maintain the position of the movable handle 310. Therefore, a locking mechanism needs to be provided. The locking mechanism of the present application can lock the movable handle 310 by the mutual engagement of the first tooth row 3104 and the second tooth row 3201. Referring to the accompanying drawings, when the first tooth row 3104 and the second tooth row 3201 are disengaged from each other, the movable handle 310 can move freely.

[0128] The locking mechanism of the present invention includes a locking knob 321 and a locking member 320, wherein the locking member 320 is hinged in the handle housing 100, and a mounting 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 mounting 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 cam transition surface 3212 provided on the rotating seat. The knob 321 is opposite to the force-bearing part 3202 and the second tooth row 3201, and a torsion spring is provided between the locking member 320 and the handle housing 100. Under the action of the torsion spring, the locking member 320 causes one end of the force-bearing part 3202 to abut against the cam transition surface 3212. The rotation of the locking knob 321 causes the first tooth row 3104 and the second tooth row 3201 to disengage or engage through the cooperation of the cam transition surface 3212 and the force-bearing part 3202.

[0129] During use, the operator controls whether the locking mechanism and the movable handle 310 are locked by rotating the locking knob 321. Since the locking knob 321 is provided with a cam transition surface 3212, during the rotation of the locking knob 321, different parts of the cam transition surface 3212 abut against the force-bearing portion 3202, which drives the force-bearing portion 3202 of the locking member 320 to move, and then the locking member 320 rotates as a whole to disengage or engage the first tooth row 3104 and the second tooth row 3201. 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 portion thereof protrudes from the handle housing 100 for easy operation.

[0130] The locking mechanism of the present invention can limit the movement of the movable handle 310 from returning to the initial position from the pushed-out position, and can keep the power output member 312 in the pushed-out position, thereby avoiding the need for the operator to hold the handle to maintain the pushed-out state, and can improve stability.

[0131] Specifically, the power output member 312 includes an ejection position and an initial position. In the initial position, the output end of the power output member 312 forms a maximum distance with the mounting port 101. In the ejection 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 guide drive 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 is engaged with the second tooth row 3201, and the locking mechanism limits the movable handle 310 from driving the power output member 312 to slide from the ejection position to the initial position. In the unlocking position, the first tooth row 3104 is disengaged from the second tooth row 3201.

[0132] As one of the embodiments of the present invention, the operating handle also includes a third drive module, which includes a rotating cylinder 410 and a blocking rod 411. The rotating cylinder 410 is rotatably arranged at the mounting port 101 of the handle housing 100. A mounting channel axially extending through the mounting port 101 is formed on the rotating cylinder 410. The blocking rod 411 is arranged on the rotating cylinder 410 and is used to be connected to the driving end of the surgical instrument in the mounting 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 blocking rod 411.

[0133] When in use, the input end of the surgical instrument passes through the instrument through-hole on the rotary drum 410 and enters the interior of the handle housing 100, so that the input end of the surgical instrument and the rotary drum 410 form a sleeve structure, as shown in the attached diagram. Figure 14 、 15As shown in the figure, the input end of the surgical instrument includes a yaw drive tube 520 and an opening and closing drive rod 530 that are connected inner and outer respectively, and the side walls of the yaw drive tube 520 and the opening and closing drive rod 530 have radial through holes corresponding to their positions. During installation, the blocking rod 411 simultaneously penetrates the rotating cylinder 410 and the through holes on the yaw drive tube 520 and the opening and closing drive rod 530 of the surgical instrument. In this way, when the rotating cylinder 410 rotates, it can drive the yaw drive tube 520 and the opening and closing drive rod 530 to rotate together through the blocking 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 opening and closing drive rod 530, the through holes on the yaw drive tube 520 and the opening and closing 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 opening and closing drive rod 530.

[0134] 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 is capable of driving the linear motion of the yaw drive tube 520, thereby driving the yaw motion of the surgical instrument's actuator end. The second drive module is capable of driving the linear motion of the opening and closing drive rod 530, thereby driving the opening and closing motion of the surgical instrument's actuator end. The third drive module is capable of driving the yaw drive tube 520 and the opening and closing drive rod 530 to rotate together, thereby driving the rotation of the surgical instrument as a whole. The operating handle is provided with an operating cylinder 201, a movable handle 310, a locking knob 321, and a rotating cylinder 410 corresponding to the first drive module, the second drive module, and the third drive module, respectively, at appropriate positions to facilitate operation by the operator.

[0135] See attached Figure 14 、 15 The third aspect of the present invention discloses a surgical instrument, including a forceps head assembly 500, a forceps head drive assembly and an operating handle, wherein the output end of the forceps head drive assembly is connected to the forceps head assembly 500, the input end of the forceps head drive assembly is connected to the operating handle, and the handle is the operating handle of the second aspect.

[0136] The pliers head driving assembly includes a yaw driving tube 520 for driving the pliers head assembly 500 to adjust its angle. An input end of the yaw driving tube 520 extends into the handle housing 100 and is connected to the moving member 210 .

[0137] The forceps drive assembly in this embodiment includes a yaw drive tube 520 and an opening and closing drive rod 530 that are sleeved together, wherein the surgical instrument further includes a tube body 510 disposed outside the yaw drive tube 520 and the opening and closing drive rod 530, as shown in the attached Figure 15As shown, in the radial direction from outside to inside are the tube body 510, the yaw drive tube 520 and the opening and closing drive rod 530. During the specific installation, the tube body 510 cooperates with the rotating drum 410, the yaw drive tube 520 cooperates with the moving part 210 in the moving part 210, and the opening and closing drive rod 530 is connected to the power output part 312 in the second drive module, wherein the cooperation relationship between the opening and closing drive rod 530 and the power output part 312 and the cooperation structure between the yaw drive tube 520 and the moving part 210 can be set to be consistent. 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 yaw drive tube 520 to slide axially; the second drive module is used to drive the axial sliding of the opening and closing drive rod 530, specifically by gripping and opening and closing the movable handle 310 to drive the opening and closing drive rod 530 to slide axially; 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.

[0138] The above are only specific embodiments of the present invention, but the scope of protection 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 contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A driving module for a surgical instrument, the driving module comprising 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), wherein the rotating assembly (200) is sleeved on the outer wall of the base (220) and can rotate relative to the base (220), and the moving member (210) is sleeved on the inner wall of the base (220) and can move axially relative to the base (220), characterized in that: The driving module further comprises 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), and the axial ends of the rotating assembly (200) are axially abutted against the axial limiting portion (225b) and the axial limiting member (225a) respectively; a guide hole (2241) having 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).

2. The driving module according to claim 1, characterized in that: At least one spiral groove (2021) is formed on the inner wall of the rotating assembly (200), and the number of the transmission members (213) and the guide 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 guide holes (2241). The rotation of the rotating assembly (200) can drive the corresponding transmission member (213) to move within the axial length of the corresponding guide hole (2241) through the spiral groove (2021).

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

4. The driving module according to claim 2 or 3, characterized in that: 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 abuts against two opposite side walls of the spiral groove (2021) respectively, and is in line contact with the side walls of the spiral groove (2021); The helix 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 driving module according to claim 1, characterized in that: The base (220) has a radial limiting portion (224), and the radial limiting portion (224) is arranged between the axial limiting member (225a) and the axial limiting portion (225b). The rotating component (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 a second outer ring wall (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). The second outer ring wall (2243) is in contact with the inner side wall of the rotating component (200), and the first outer ring wall (2242) forms a gap with the inner side wall of the rotating component (210).

6. The driving module according to claim 2 or 3, characterized in that: The base (220) has a radial limiting portion (224), and the radial limiting portion (224) is arranged between the axial limiting member (225a) and the axial limiting portion (225b). The rotating component (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 a second outer ring wall (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). The second outer ring wall (2243) is in contact with the inner side wall of the rotating component (200), and the first outer ring wall (2242) forms a gap with the inner side wall of the rotating component (210).

7. The driving module according to claim 6, characterized in that: When the rotating assembly (200) is provided with the spiral groove (2021), the spiral groove (2021) is arranged relative to the first outer ring wall (2242); the axial length of the guide hole (2241) is consistent with the axial length of the spiral groove (2021).

8. The driving module according to any one of claims 1 to 3, characterized in that: The outer wall of the movable member (210) includes a plurality of first axial side walls (211) and second axial side walls (212) distributed along the circumferential direction, wherein the second axial side walls (212) protrude radially outward from the first axial side walls (211), the second axial side walls (212) are in contact with the inner wall of the base (220), and the first axial side walls (211) and the inner wall of the base (220) form a gap.

9. The driving module according to claim 8, wherein: The guide hole (2241) is arranged opposite to the second axial side wall (212), and the transmission member (213) is connected to the second axial side wall (212).

10. The driving module according to claim 1, characterized in that: The movable member (210) comprises a connecting tube (215), a mounting tube (216), and a fixing member (217) which is positionally connected to the mounting tube (216); the mounting tube (216) is used for being sleeved with a forceps drive assembly of the surgical instrument; the fixing member (217) is used for fixedly connecting the forceps drive assembly to the mounting tube (216); and the connecting tube (215) is sleeved on the inner wall of the base (220).

11. The driving module according to claim 10, characterized in that: The axially movable positions of the mounting cylinder (216) include a first position inside the base (220) and a second position outside the base (220), and the second position is used for mounting with the pliers drive assembly.

12. The driving module according to claim 1, characterized in that: The driving module further comprises an end cover (223), wherein the end cover (223) is sleeved on the inner wall of the base (220), and the inner wall of the base is formed with a protruding inner wall limiting portion (226), and the axial ends of the moving member (210) are respectively limited by the end cover (223) and the inner wall limiting portion (226).

13. The driving module according to claim 12, characterized in that: Mounting ears (222) are extended from both the end cover (223) and the axial limiting portion (225b), and the mounting ears (222) are used for fixed installation with the surgical instrument.

14. The driving module according to claim 1, wherein: A plurality of slots (2023) distributed circumferentially around the axis of the rotating assembly (200) are provided on the end face of the rotating assembly (200), and an elastic protrusion opposite to the slots (2023) is 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 protrusion is sequentially engaged with the slots (2023) at different positions and emits a prompt sound.

15. The driving module according to claim 14, characterized in that: A pin hole opposite to the clamping groove (2023) is provided on the end face of the axial limiting member (225a) or the axial limiting portion (225b), and a slidable ball (2251) is provided 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 clamped into the clamping groove (2023). As the rotating component (200) rotates, the ball (2251) is sequentially clamped into the clamping groove (2023) at different positions.

16. An operating handle of a surgical instrument, comprising a handle housing (100), characterized in that: It also includes a drive module according to any one of claims 1 to 15, wherein the drive module is fixedly installed in the handle housing (100), an operating window is formed on the handle housing (100), and at least a portion of the rotating assembly (200) is exposed from the handle housing (100) through the operating window.

17. The operating handle according to claim 16, characterized in that: The handle housing (100) is formed with a mounting opening (101) for inserting a forceps drive assembly of a surgical instrument, the moving direction of the movable member (210) is consistent with the axis of the mounting opening (101), and the movable member (210) is used to be connected to the input end of the forceps drive assembly of the surgical instrument.

18. A surgical instrument comprising a forceps head assembly (500), a forceps head drive assembly, and an operating handle, wherein the output end of the forceps head drive assembly is connected to the forceps head assembly (500), and the input end of the forceps head drive assembly is connected to the operating handle, characterized in that: The handle is an operating handle as described in any one of claims 16 to 17.

19. The surgical instrument according to claim 18, wherein: The pliers head drive assembly comprises a yaw drive tube (520) for driving the pliers head assembly (500) to adjust its angle. The input end of the yaw drive tube (520) extends into the handle housing (100) and is connected to the moving part (210).

Images