Motion module and minimally invasive surgical instrument

Abstract

The invention relates to the field of medical instruments, and discloses a motion module and a minimally invasive surgical instrument. The motion module comprises a first adapter piece, a second adapter piece, a positioning piece, an elastic pipe protection piece and at least two control lines. A working channel is established through the passing cavity of the elastic pipe protection piece so that an instrument can pass through the working channel; the elastic protective pipe fitting is used as a motion decoupling part, so that the length change of a passing cavity in the elastic protective pipe fitting is not influenced when the first / second joint group is bent; when the elastic pipe protection piece is bent and deformed along with the overall movement module, the part, located in the first joint set, of the elastic pipe protection piece and the part, located in the second joint set, of the elastic pipe protection piece can mutually and elastically compensate, and therefore it is guaranteed that the size of the working channel is stable in different forms. Through the synergistic effect of the elastic pipe protecting piece and the control line, the stability of a working channel can be effectively maintained while multi-joint linkage bending is achieved, and the surgical operation and the surgical quality can be improved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a motion module and a minimally invasive surgical instrument. Background Art

[0002] The core goal of minimally invasive surgery is to enter the body through small incisions or natural cavities to reduce tissue damage, postoperative recovery time, and complications. However, traditional rigid instruments lack flexibility in complex anatomical structures (such as the intestines, blood vessels, and narrow cavities), making it difficult to achieve multi-degree-of-freedom operations. Therefore, the need for a flexible instrument working channel has emerged, which can operate multiple tools (such as endoscopes, forceps, lasers, etc.) simultaneously through a single entry. The working channel can be guided in a curved, narrow, or dynamically changing cavity environment. High-degree-of-freedom bending is achieved through the series connection of multiple modular joints, and a distal motor or magnetically controlled drive cable can be used to achieve the coordinated movement of multiple joints.

[0003] In related technologies, the working channel is usually arranged within a joint group instrument. The working channel can be composed of the central cavities within multiple joint groups to adapt to interventional therapy. In such a structure, when the joint group undergoes a bending movement, the front and rear joints will be misaligned, resulting in a large change in the actual size of the working channel available for the flexible instrument to pass through smoothly. For example, in the state of a small bending angle between the front and rear joints, the flexible instrument can pass through smoothly. In the state of a large bending angle between the front and rear joints, the passage of the flexible instrument will be hindered. Moreover, due to the flexible instrument itself having a certain structural rigidity, it will not be able to pass through smoothly when passing through a large bending angle. If the user continuously applies force to operate the flexible instrument to force it through, it will cause damage to human tissues, posing a risk to surgical operations and surgical quality. Summary of the Invention

[0004] In view of this, the present invention provides a motion module and a minimally invasive surgical instrument to solve the problems raised in the above background art.

[0005] In a first aspect, the present invention provides a motion module, comprising:

[0006] A first adapter and a second adapter arranged at intervals;

[0007] A positioning member, whose proximal end is connected to the first adapter through a first joint group, and whose distal end is connected to the second adapter through a second joint group. Any joint group includes a plurality of joint monomers mechanically coupled in series, and two adjacent joint monomers are configured to be movably connected to each other; at least one second through-hole is provided on the joint monomer, and the second through-hole is arranged in an outer edge area of the joint monomer deviating from its central axis; at least two wire passing holes arranged at intervals are also provided on the joint monomer, and the second through-hole and the wire passing hole are arranged at intervals to avoid each other;

[0008] An elastic tube protection member is slidably disposed in the second channel holes of all joint monomers, the elastic tube protection member is suitable for slidingly passing through the positioning member, and a through cavity is provided in the elastic tube protection member;

[0009] and at least two control lines, the two ends of which are fixedly connected to the first adapter and the second adapter respectively, the control lines are slidably passed through all joint monomers through the line holes, and the control lines and the positioning member are slidably arranged;

[0010] The motion module has a straight state in which the first adapter, the first joint group, the positioning member, the second joint group and the second adapter are coaxially arranged; and has a bending state in which, when an external force acts on the first adapter, all control lines are linked to act on the first joint group and the second joint group to bend synchronously, so as to map the first adapter to the second adapter in front and back.

[0011] In the straight state and the bent state, the length of the elastic protective tube member in the motion module is the same.

[0012] Beneficial effects: a working channel is established by the passage cavity of the elastic protective tube member for the passage of instruments, which provides a protective path for flexible instruments and reduces direct friction between instruments and joint monomers; the elastic protective tube member is slidably arranged with the joint monomers of the first joint group and the second joint group through the second channel hole, and the second channel hole is arranged in the outer edge area of the joint monomer deviating from its central axis to reduce the influence of the joint monomer on the size of the passage cavity when the joint monomer moves, so that the change of the size of the passage cavity is small, and the outer edge arrangement of the second channel hole can avoid interference with the central axis area of the joint monomer, thereby ensuring the freedom of movement of the joint monomer; the present application can relatively fix the positioning member and the peripheral connection base, and when switching between the straight state and the bent state, the movement of the first adapter is driven and controlled by the peripheral driving mechanism to link the first switch through all control lines. The first joint group and the second joint group are synchronously adjusted to bend, and the first adapter and the second adapter are mirrored in front and back motion; in the straight state and the bent state, the length of the elastic protective tube member in the motion module is set to be the same. This design uses the elastic protective tube member as a motion decoupling component, so that the first / second joint group does not affect the length change of the passage cavity in the elastic protective tube member during bending movement, that is, it does not affect the working channel; when the elastic protective tube member is bent and deformed with the overall motion module, the part located in the first joint group and the part located in the second joint group can elastically compensate each other, thereby ensuring that the working channel is dimensionally stable in different forms, allowing flexible instruments to pass smoothly, avoiding the traditional problem of large changes in the size of the working channel due to joint dislocation, which hinders the passage of instruments, and ensuring the continuity of surgical operations and the normal operation of instruments. The present application can effectively maintain the stability of the working channel while achieving multi-joint linkage bending through the synergistic effect of the elastic protective tube member and the control line, which is conducive to improving surgical operations and surgical quality.

[0013] In one embodiment, a plurality of the second channel holes are provided, and the plurality of the second channel holes are annularly distributed along the axial direction of the joint unit.

[0014] Advantageous effects: By providing a plurality of second channel holes annularly distributed along the axial direction of the joint unit, it provides multiple possible threading paths for the elastic protection tube member. Each second channel hole can thread the elastic protection tube member to maximize the establishment of a working channel and accommodate multiple instruments. Or some of the second channel holes can thread the elastic protection tube member to establish a partial working channel, enabling the elastic protection tube member to more flexibly adapt to the movement of the joint unit in different directions and angles, ensuring that it can stably maintain the channel function in various complex postures of the movement module, and allowing the user to flexibly select the path of the working channel according to the actual working conditions; it solves the problem in the related art that multiple instrument tools are concentrated in a central channel and the size is affected by the movement of the joint unit; distributing the plurality of second channel holes annularly along the axial direction of the joint unit forms a symmetric support structure, which can effectively disperse the acting force borne when the flexible instrument passes through, enhance the anti-torsion and anti-deformation capabilities of the channel during bending, and prevent local deformation or damage of the elastic protection tube member due to concentrated force, thereby improving the reliability and durability of the movement module in a curved, narrow or dynamically changing cavity, and reducing the surgical risk.

[0015] In one embodiment, the first joint group and the second joint group are symmetrically arranged on both sides of the positioning member.

[0016] Advantageous effects: The symmetrically arranged first joint group and second joint group enable the two joint groups to coordinate and move synchronously when the movement module is in a bent state, ensuring the balance and stability of the movement module; in addition, the symmetric arrangement helps to simplify the complexity of the control system, facilitates the operation and implementation of the user, and realizes the precise control of the joint group.

[0017] In one embodiment, at least one third channel hole is penetrated through the positioning member, the third channel hole is arranged in the outer edge area of the positioning member deviating from its central axis, and at least two spaced threading holes are also penetrated through the positioning member, and the third channel hole and the threading holes are arranged at intervals to avoid each other.

[0018] Beneficial effects: The third channel hole provides a reliable threading path for the elastic protective tube member, eliminating the bottleneck obstruction on the positioning member. The combination of the third channel hole and the second channel hole forms a continuous channel, optimizing the layout of the elastic protective tube member so that it can better adapt to the bending movement of the motion module. The threading hole and the third channel hole are arranged with a spacing to ensure the independence and non-interference of the control line and the elastic protective tube member during the movement process. This design is beneficial to improving the compactness and rationality of the internal structure of the motion module, avoiding jamming or damage caused by mutual interference of components, and enhancing the reliability and stability of the entire motion module. The third channel hole is offset at the outer edge, increasing the total cross-sectional area of the instrument channel and enabling multiple instruments to be operated simultaneously.

[0019] In one embodiment, at least one first channel hole is provided in any one of the adapters, and the first channel hole is arranged in the outer edge area of the adapter deviating from its central axis; in the straight state, the first channel hole, the second channel hole, and the third channel hole are coaxially arranged.

[0020] Any one of the adapters is provided with at least two connection holes, and the connection holes are adapted to be fixedly connected to the end of the control line; in the straight state, the connection holes, the wire passing hole, and the threading hole are coaxially arranged.

[0021] Beneficial effects: The elastic protective tube member is slidably assembled by the first channel hole, the second channel hole, and the third channel together. The coaxial arrangement of the three ensures the low-friction characteristic when the instrument passes straight, improving the passing performance; the design of the three holes of the connection hole, the wire passing hole, and the threading hole being coaxial is beneficial to reducing the bending loss of the control line, enabling the control line to play a role in stable connection and smooth transmission, and improving the accuracy and reliability of the control movement. The end of the control line is directly fixedly assembled through the connection hole, simplifying the cable assembly process. This setting is beneficial to improving the movement efficiency and flexibility of the motion module, enabling the surgical instrument to pass through the straight and curved paths more smoothly during the operation process.

[0022] In one embodiment, mounting holes are provided on the sides of the first adapter and the second adapter facing away from the joint unit, and fixing plugs are provided in the mounting holes. The fixing plugs are arranged to block the mounting holes to fix the ends of the control lines.

[0023] Beneficial effects: The fixing plugs block the mounting holes to fix the ends of the control lines, realizing the anchoring of the cable ends; and the modular assembly design facilitates later maintenance and replacement; this design of closing the mounting holes can prevent body fluids from seeping out and causing pollution.

[0024] In one embodiment, the joint unit includes a disc body and a sphere. A rotating cavity is recessed on one end face of the disc body, and the sphere is disposed on the other side face of the disc body. The disc bodies of two adjacent joint units are spaced apart, and the rotating cavity of one joint unit is movably connected to the sphere of the other adjacent joint unit.

[0025] Advantages: The rotating cavity on one side of the disc body is movably connected to the sphere. The movable design of the ball-and-socket joint realizes flexible movement with two degrees of freedom, has the ability of bending deflection and rotation, and meets the surgical operation requirements under complex anatomical structures. Moreover, the mechanical coupling design ensures the synchronicity of the movement of each joint, avoids local stress concentration, and enables smooth linkage bending.

[0026] In one embodiment, two adjacent joint units have a degree of movement in which two axial planes are in the same plane. A restraining groove is recessed in the rotating cavity, and two symmetrically arranged limiting protrusions are provided on the sphere. The limiting protrusions are configured as a rotary body structure, and the axial direction in which the limiting protrusions extend is perpendicular to the axial direction of the joint unit. The limiting protrusions are movably disposed in the restraining groove.

[0027] Advantages: The cooperation between the restraining groove and the limiting protrusions can limit the relative movement range between two adjacent joint units, form a controllable movement trajectory, prevent the joints from being overly twisted, resulting in dislocation or damage between the joint units, allow the joint units to move flexibly within the desired range, and ensure the stability and reliability of the movement module. Configuring the limiting protrusions as a rotary body structure is beneficial to reducing the friction coefficient of the contact surface and improving the action sensitivity. The degree of movement in which two axial planes are in the same plane further improves the movement flexibility and adaptability of the connection mode of multiple joint units. Among them, the axial direction in which the limiting protrusions extend is perpendicular to the axial direction of the joint unit, and the orthogonal limiting direction design conforms to the anatomical bending characteristics of the human body cavity.

[0028] In one embodiment, a transition body is provided on one end face of the disc body close to the sphere. The transition body is connected between the disc body and the sphere. The transition body is configured as a rotary body structure. In the direction of the disc body facing the sphere, the diameter of the transition body gradually decreases. A relief groove is provided at the connection of the transition body close to the sphere, and the relief groove is configured as an annular structure.

[0029] Advantages: The gradient design of the transition body, on the one hand, realizes stress gradient transfer, reduces the fatigue damage of the structure, and improves the structural strength and durability of the joint unit. On the other hand, it reduces the weight of the joint unit, optimizes the compact layout of the structure, facilitates the bending deflection movement of the movement module, and can provide more movement space for the elastic protective tube member. The relief groove design provides sufficient movement space for the movement between two adjacent joint units, making the module linkage bending smooth.

[0030] In one embodiment, a rotating cavity is provided on one end face of the first adapter towards the first joint group. A limiting groove is recessed in the rotating cavity. The rotating cavity is in movable connection with a sphere on a joint unit of the first joint group close to the first adapter, and the limiting groove is in movable connection with the limiting protrusion on the sphere.

[0031] Beneficial effects: The cooperation of the rotating cavity, the limiting groove, the sphere and the limiting protrusion provides stability and flexibility for the connection between the joint unit and the adapter, ensures the coordinated movement of each component during the bending and rotating processes of the motion module, strengthens the flexible linkage bending, and prevents dislocation or jamming. At the same time, it is also beneficial to shorten the axial length of the adapter and optimize the structural compactness.

[0032] In one embodiment, positioning bodies are symmetrically provided on both sides of the positioning member. The positioning bodies are configured to have the same structure as the side of the disk body on the joint unit facing the sphere.

[0033] Beneficial effects: The positioning bodies on both sides of the positioning member are symmetrically arranged to dock with the joint units of the first joint group and the second joint group. The positioning bodies are configured to have the same structure as the side of the disk body on the joint unit facing the sphere to form a unified motion coordination system, ensuring the integrity and consistency of the motion module. In addition, it is also beneficial to shorten the axial length of the positioning member, optimize the structural compactness, ensure flexible linkage bending, and improve the operation stability.

[0034] In one embodiment, the motion module further includes a third joint group, a fourth joint group, a first connecting member, and a second connecting member. The proximal end of the third joint group is in movable connection with the first connecting member, the distal end of the third joint group is in movable connection with the first adapter, the proximal end of the fourth joint group is in movable connection with the second adapter, and the distal end of the third joint group is in movable connection with the second connecting member. The third joint group and the fourth joint group each include a plurality of connecting monomers that are mechanically coupled in series. Two adjacent connecting monomers are configured to be movably connected to each other.

[0035] The motion module has a first bending adjustment state in which the motion module is bent by applying an external force to the first adapter, and a second bending adjustment state in which the motion module is bent by applying an external force to the first connecting member.

[0036] Beneficial effects: By introducing the third joint group, the fourth joint group, the first connecting piece, and the second connecting piece, a multi-module connection design is established, increasing the bending methods and degrees of freedom of the motion module. The linkage bending working space of the instrument is expanded through the third and fourth joint groups; enabling it to flexibly select the bending position and method according to different surgical requirements and operation scenarios, and better adapt to complex and variable anatomical structures. The motion module has a dual bending mode, which can adapt to the operation requirements of different surgical approaches. Using the two bending modes to control the large bending angle and the small bending angle makes the operation adjustment more flexible, ensuring the reliable size of the working channel established by the elastic protective tube member to ensure the passing ability of the tool instrument.

[0037] In one embodiment, a connecting body is respectively provided at one end of the first connecting piece facing the third joint group and one end of the second connecting piece facing the fourth joint group. The connecting body is used for movably connecting with the connecting monomer.

[0038] Beneficial effects: The connecting body provides connection stability and flexibility between the third joint group and the fourth joint group and the connecting piece, ensuring the movable connection and smooth movement between the components, reducing the assembly difficulty and failure risk, and being beneficial to improving the product quality of the motion module; in addition, it is beneficial to shorten the axial length, optimize the structural compactness, and ensure flexible linkage bending.

[0039] In one embodiment, the elastic protective tube member is provided as a spring protection tube or an elastic hose.

[0040] Beneficial effects: The spring protection tube can provide precise elastic reset ability; the elastic hose has good biocompatibility and anti-fatigue characteristics; it can effectively adapt to the bending movement of the motion module and play a protective role for the internal instruments.

[0041] In a second aspect, the present invention also provides a minimally invasive surgical instrument, including: the above-mentioned motion module.

[0042] Beneficial effects: The minimally invasive surgical instrument has excellent performances such as high degrees of freedom, flexible bending, and multiple channels, ensuring the effective working size of the working channel; it can meet the operation requirements of minimally invasive surgery under complex anatomical structures, and its operation is convenient, providing users with an efficient, reliable, and precisely controlled surgical tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0044] Figure 1 Schematic diagram of the linear state of the motion module in Embodiment 1;

[0045] Figure 2 Schematic diagram of the bent state of the motion module in Embodiment 1;

[0046] Figure 3 Schematic diagram of the first adapter and the first joint group in the motion module of Embodiment 1;

[0047] Figure 4 Schematic diagram of the distal side of the first adapter in the motion module of Embodiment 1;

[0048] Figure 5 Schematic diagram of the proximal side of the first adapter in the motion module of Embodiment 1;

[0049] Figure 6 Connection schematic diagram of the proximal side of the first adapter in the motion module of Embodiment 1;

[0050] Figure 7 Structural diagram of the joint monomer in the motion module of Embodiment 1;

[0051] Figure 8 Schematic diagram of the joint monomer in the motion module of Embodiment 1;

[0052] Figure 9 Schematic diagram of the positioning member in the motion module of Embodiment 1;

[0053] Figure 10 Structural diagram of the positioning member connecting the joint group in the motion module of Embodiment 1;

[0054] Figure 11 Connection schematic diagram of the positioning member in the motion module of Embodiment 1;

[0055] Figure 12 Stereogram of the second bending state of the motion module in Embodiment 2;

[0056] Figure 13 Schematic diagram of the second bending state of the motion module in Embodiment 2;

[0057] Figure 14 Connection schematic diagram of the first adapter and the coupling body in the motion module of Embodiment 2;

[0058] Explanation of reference numerals:

[0059] 101, first adapter; 1011, first through hole; 1012, connection hole; 1013, rotation cavity; 1014, limiting groove; 1015, mounting hole; 1016, fixed plug; 102, second adapter;

[0060] 201. First joint group; 202. Second joint group; 2011. Second channel hole; 2012. Wire passing hole; 2013. Disk body; 2014. Rotating cavity; 2015. Constraint groove; 2016. Sphere; 2017. Limit protrusion; 2018. Transition body; 2019. Relief groove; 203. Third joint group; 204. Fourth joint group;

[0061] 301. Positioning member; 3011. Third channel hole; 3012. Threading hole; 3013. Positioning body;

[0062] 401. Elastic protective pipe fitting;

[0063] 501. First connecting member; 502. Second connecting member; 503. Connecting body. Detailed implementation mode

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0065] The following is combined with Figures 1 to 14 , to describe the embodiments of the present invention.

[0066] According to an embodiment of the present invention, this embodiment provides a motion module. Refer to Figures 1 to 3 , the motion module includes a first adapter 101, a second adapter 102, a positioning member 301, an elastic protective pipe fitting 401, and more than two control lines (not shown in the figure). The first adapter 101 and the second adapter 102 are arranged at intervals. The proximal end of the positioning member 301 is connected to the first adapter 101 through the first joint group 201, and the distal end is connected to the second adapter 102 through the second joint group 202. Among them, the positioning member 301 is adapted to be connected to the peripheral connection base, and the peripheral connection base can be set as a socket ring; the first adapter 101 is adapted to be connected to the driving mechanism of the peripheral device to transmit the acting force of the driving mechanism, so that the motion module can perform a bending motion.

[0067] In this embodiment, any joint group includes a plurality of joint monomers that are mechanically coupled in series, and two adjacent joint monomers are configured to be movably connected to each other; refer to Figure 7At least one second channel hole 2011 is formed on the joint monomer, and the second channel hole 2011 is arranged in the outer edge area of the joint monomer deviating from its central axis; the joint monomer is also provided with more than two spaced-apart wire holes 2012, and the second channel hole 2011 and the wire holes 2012 are spaced-apart and avoided.

[0068] The two ends of the control line are fixedly connected to the first adapter 101 and the second adapter 102 respectively. The control line is slidably passed through all joint monomers through the wire hole 2012. The control line and the positioning member 301 are slidably arranged.

[0069] See also Figure 1 The motion module has a linear state in which the first adapter 101, the first joint group 201, the positioning member 301, the second joint group 202 and the second adapter 102 are coaxially arranged; see Figure 2 The motion module also has a function of causing all control lines to act in conjunction with the first joint group 201 and the second joint group 202 to bend synchronously when an external force acts on the first adapter 101, so as to map the bending state of the first adapter 101 and the second adapter 102 to each other front and back.

[0070] In this embodiment, the elastic protective tube member 401 is correspondingly configured to slide in the second channel hole 2011 of all joint monomers, and the elastic protective tube member 401 is suitable for sliding through the positioning member 301, and a through cavity is provided in the elastic protective tube member 401; the through cavity of the elastic protective tube member 401 establishes a working channel for the passage of instruments, which provides a protection path for the flexible instruments and reduces the direct friction between the instruments and the joint monomers. In the straight state and the bent state, the length of the elastic protective tube member 401 in the motion module is the same.

[0071] In the motion module provided in this embodiment, the elastic protection tube member 401 is slidably arranged with the joint monomers of the first joint group 201 and the second joint group 202 through the second channel hole 2011. The second channel hole 2011 is arranged in the outer edge area of the joint monomer deviating from its central axis to reduce the influence of the movement of the joint monomer on the size of the through cavity, so that the change in the size of the through cavity is small. Moreover, the arrangement of the outer edge of the second channel hole 2011 can avoid interference with the central axis area of the joint monomer and ensure the freedom of movement of the joint monomer. In this application, the positioning member 301 can be relatively fixed with the external connection base. When switching between the straight state and the bent state, the movement of the first adapter 101 is driven and controlled by the external driving mechanism, so as to synchronously adjust the bending of the first joint group 201 and the second joint group 202 through the linkage of all the control lines, and the first adapter 101 and the second adapter 102 move in a front-back mapping manner. In the straight state and the bent state, the length of the elastic protection tube member 401 in the motion module is set to be the same. With this design, taking the elastic protection tube member 401 as a motion decoupling component, it can make the first / second joint group not affect the change in the length of the through cavity in the elastic protection tube member 401 during the bending movement, that is, it does not affect the working channel. When the elastic protection tube member 401 bends and deforms along with the overall motion module, the part located in the first joint group 201 and the part located in the second joint group 202 can elastically compensate each other, thereby ensuring the stability of the size of the working channel in different forms, enabling the flexible instrument to pass smoothly, and avoiding the problem that the traditional working channel size changes greatly due to joint misalignment and hinders the passage of the instrument, and ensuring the coherence of the surgical operation and the normal operation of the instrument. Through the coordinated action of the elastic protection tube member 401 and the control lines, this application can effectively maintain the stability of the working channel while realizing the multi-joint linkage bending, which is beneficial to improving the surgical operation and the surgical quality.

[0072] In one embodiment, referring to Figure 1 , the first joint group 201 and the second joint group 202 are symmetrically arranged on both sides of the positioning member 301. The symmetrically arranged first joint group 201 and second joint group 202 can enable the two side joint groups to coordinate and move synchronously when the motion module is in the bent state, ensuring the balance and stability of the motion module. In addition, the symmetric arrangement helps to simplify the complexity of the control system, facilitate the operation implementation of the user, and achieve precise control of the joint group.

[0073] For the connection method of the end of the control line, in one embodiment, referring to Figure 5 and Figure 6, on the side of the first adapter 101 and the second adapter 102 facing away from the joint monomer, there is a mounting hole 1015. Inside the mounting hole 1015, there is a fixing plug 1016. The fixing plug 1016 is arranged to block the mounting hole 1015 to fix the end of the control line. By using the fixing plug 1016 to block the mounting hole 1015 to fix the end of the control line, the anchoring of the cable end is achieved; and the modular assembly design facilitates later maintenance and replacement; this design of closing the mounting hole 1015 can prevent body fluid from seeping out and causing pollution.

[0074] In one embodiment, refer to Figure 4 , at least one first channel hole 1011 is provided through any one of the adapters. The first channel holes 1011 on the first adapter 101 and the second adapter 102 are correspondingly arranged; the first channel hole 1011 is arranged in the outer edge area of the first adapter 101 and the second adapter 102 deviating from their central axes; in the straight state, the first channel hole 1011, the second channel hole 2011, and the third channel hole 3011 are coaxially arranged; at least two connection holes 1012 are provided on any one of the adapters. The connection holes 1012 are adapted to be fixedly connected to the end of the control line; in the straight state, the connection holes 1012, the wire passing holes 2012, and the wire threading holes 3012 are coaxially arranged. The elastic protective tube 401 is slidably assembled through the first channel hole 1011, the second channel hole 2011, and the third channel together. The coaxiality of the three ensures the low friction characteristics when the instrument passes through straightly, improving the passing performance; the design of the connection holes 1012, the wire passing holes 2012, and the wire threading holes 3012 being coaxial is beneficial to reducing the bending loss of the control line, enabling the control line to play a role in stable connection and smooth transmission, and improving the accuracy and reliability of the control movement. The end of the control line is directly fixedly assembled through the connection holes 1012, simplifying the cable assembly process. This setting is beneficial to improving the movement efficiency and flexibility of the movement module, enabling the surgical instrument to pass through straight and curved paths more smoothly during the operation.

[0075] In one embodiment, refer to Figure 9, at least one third channel hole 3011 is formed in the positioning member 301. The third channel hole 3011 is arranged in the outer edge area of the positioning member 301 deviating from its central axis. At least two wire passing holes 3012 are also formed in the positioning member 301 and are arranged at intervals. The third channel hole 3011 and the wire passing holes 3012 are arranged at intervals to avoid interference. The third channel hole 3011 provides a reliable passing path for the elastic protection pipe 401, eliminating the passing bottleneck obstacle on the positioning member 301. The third channel hole 3011 and the second channel hole 2011 are combined to form a continuous channel, optimizing the layout of the elastic protection pipe 401 so that it can better adapt to the bending movement of the motion module. The interval arrangement of the wire passing holes 3012 and the third channel hole 3011 enables the control line and the elastic protection pipe 401 to be independent and non-interfering during the movement process. This design is beneficial to improving the compactness and rationality of the internal structure of the motion module, avoiding jamming or damage caused by mutual interference of components, and enhancing the reliability and stability of the entire motion module. The third channel hole 3011 is arranged offset at the outer edge, increasing the total cross-sectional area of the instrument channel and enabling multiple instruments to be operated simultaneously.

[0076] In one embodiment, referring to Figure 7 , there are multiple second channel holes 2011, and the multiple second channel holes 2011 are annularly distributed along the axial direction of the joint unit. By providing multiple second channel holes 2011, multiple possible passing paths can be provided for the elastic protection pipe 401. Each second channel hole 2011 can pass through the elastic protection pipe 401 to maximize the establishment of the working channel and accommodate multiple instruments. Or some of the second channel holes 2011 can pass through the elastic protection pipe 401 to establish a partial working channel, enabling the elastic protection pipe 401 to more flexibly adapt to the movement of the joint unit in different directions and angles, ensuring that it can stably maintain the channel function in various complex postures of the motion module, and allowing the user to flexibly select the path of the working channel according to the actual working conditions; solving the problem in the related art that multiple instrument tools are concentrated in a central channel and the size is affected by the movement of the joint unit. The multiple second channel holes 2011 are annularly distributed along the axial direction of the joint unit. This design forms a symmetric support structure, which can effectively disperse the acting force borne when the flexible instrument passes through, enhancing the anti-torsion and anti-deformation capabilities of the channel during bending, and preventing local deformation or damage of the elastic protection pipe 401 caused by concentrated stress, thereby improving the reliability and durability of the motion module in a curved, narrow or dynamically changing cavity and reducing the surgical risk.

[0077] In a specific embodiment, the number of the first channel holes 1011 on the first adapter 101 is set to one, two, three or more; the number of the second channel holes 2011 on the joint unit is set to one, two, three or more; the number of the third channel holes 3011 on the positioning member 301 is set to one, two, three or more; preferably, the number of the three types of channel holes is set to be the same.

[0078] In an exemplary embodiment, the number of the second channel holes 2011 on the joint unit is set to be the same as the number of the wire passing holes 3012; preferably, the number is set to be an even number, such as four, six or eight; so as to enhance the overall stable balance performance of the motion module.

[0079] For the design embodiments of the structure of the joint unit:

[0080] In one embodiment, referring to Figure 7 and Figure 8 , the joint unit includes a disc body 2013 and a spherical body 2016. A rotating cavity 2014 is recessed on one end face of the disc body 2013, and the spherical body 2016 is arranged on the other side face of the disc body 2013; the disc bodies 2013 of two adjacent joint units are arranged at intervals, and the rotating cavity 2014 of one joint unit is movably connected to the spherical body 2016 of the other adjacent joint unit. The rotating cavity 2014 on one side of the disc body 2013 is movably connected to the spherical body 2016. The movable design of the ball-and-socket joint realizes flexible movement with two degrees of freedom, has the ability of bending deflection and rotation, and meets the surgical operation requirements under complex anatomical structures; and the mechanical coupling design ensures the synchronicity of the movements of each joint, avoids local stress concentration, and enables smooth linkage bending.

[0081] In one embodiment, referring to Figure 7 and Figure 8, two adjacent joint monomers have a degree of movement with two axial planes in the same plane. A constraint groove 2015 is recessed in the rotation cavity 2014. Two symmetrically arranged limit protrusions 2017 are provided on the sphere 2016. The limit protrusion 2017 is arranged in a rotary body structure. The axial direction in which the limit protrusion 2017 extends is perpendicular to the axial direction of the joint monomer. The limit protrusion 2017 is movably arranged in the constraint groove 2015. The cooperation between the constraint groove 2015 and the limit protrusion 2017 restricts the relative movement range between two adjacent joint monomers, forms a controllable movement trajectory, prevents the joints from being overly twisted, resulting in dislocation or damage between the joint monomers, allows the joint monomers to move flexibly within the desired range, and ensures the stability and reliability of the movement module. Setting the limit protrusion 2017 in a rotary body structure is beneficial to reducing the friction coefficient of the contact surface and improving the action sensitivity; the degree of movement with two axial planes in the same plane further improves the movement flexibility and adaptability of the connection method of multiple joint monomers. Among them, the axial direction in which the limit protrusion 2017 extends is perpendicular to the axial direction of the joint monomer, and the orthogonal limit direction design conforms to the anatomical bending characteristics of the human body cavity.

[0082] In one embodiment, refer to Figure 8 , on one end face of the disk body 2013 close to the sphere 2016, a transition body 2018 is provided. The transition body 2018 is connected between the disk body 2013 and the sphere 2016. The transition body 2018 is arranged in a rotary body structure. In the direction of the disk body 2013 facing the sphere 2016, the diameter of the transition body 2018 gradually decreases; a relief groove 2019 is provided at the connection of the transition body 2018 close to the sphere 2016. The relief groove 2019 is arranged in an annular structure. For the gradient design of the transition body 2018: on the one hand, it realizes stress gradient transfer, reduces the fatigue damage of the structure, and improves the structural strength and durability of the joint monomer; on the other hand, it can reduce the overall weight of the joint monomer, optimize the compact layout of the structure, facilitate the bending and deflection movement of the movement module, and thus provide more movement space for the elastic protective tube member 401; the design of the relief groove 2019 provides sufficient movement space for the movement between two adjacent joint monomers, making the module linkage bending smooth.

[0083] In one embodiment, refer to Figure 4, on one side end face of the first adapter 101 facing the first joint group 201, a rotating cavity 1013 is provided. A limiting groove 1014 is recessed in the rotating cavity 1013. The rotating cavity 1013 is movably connected to a sphere 2016 on a joint monomer of the first joint group 201 close to the first adapter 101, and the limiting groove 1014 is movably connected to a limiting protrusion 2017 on the sphere 2016. The cooperation of the rotating cavity 1013, the limiting groove 1014 with the sphere 2016 and the limiting protrusion 2017 provides stability and flexibility for the connection between the joint monomer and the adapter, ensures the coordinated movement between components during the bending and rotating processes of the motion module, strengthens the flexible linkage bending, and prevents dislocation or jamming. At the same time, it is also beneficial to shorten the axial length of the adapter and optimize the structural compactness.

[0084] In one embodiment, referring to Figure 9 , positioning bodies 3013 are symmetrically provided on both sides of the positioning member 301. The positioning bodies 3013 are set to have the same structure as the side of the disk body 2013 on the joint monomer facing the sphere 2016. The positioning bodies 3013 on both sides of the positioning member 301 are symmetrically arranged to dock the joint monomers of the first joint group 201 and the second joint group 202. The positioning bodies 3013 are set to have the same structure as the side of the disk body 2013 on the joint monomer facing the sphere 2016 to form a unified motion coordination system, ensuring the integrity and consistency of the motion module; in addition, it is also beneficial to shorten the axial length of the positioning member 301, optimize the structural compactness, ensure flexible linkage bending, and improve the operation stability.

[0085] In one embodiment, the elastic protective pipe member 401 is set as a spring protection pipe. The spring protection pipe can provide precise elastic reset ability. In addition, the spring protection pipe generates a reverse elastic force when bent, which is beneficial to offset the channel deformation caused by the control line tension, maintain the continuous form of the through cavity, and maintain the reliable size of the through cavity.

[0086] In one embodiment, the elastic protective pipe member 401 is set as an elastic hose. The elastic hose has good biocompatibility and anti-fatigue characteristics; it can effectively adapt to the bending movement of the motion module and protect the internal instruments.

[0087] In one embodiment, the threading hole 3012 is set as a straight channel, and the whole motion module can be bent in an S shape.

[0088] In one embodiment, the proximal penetrating part and the distal penetrating part of the threading hole 3012 are misaligned by 90 degrees, and the whole motion module can be bent in a skew S-shaped curve;

[0089] In one embodiment, the proximal penetrating part and the distal penetrating part of the threading hole 3012 are misaligned by 180 degrees, and the whole motion module can be bent in a C-shaped motion.

[0090] Example 2

[0091] On the basis of Example 1, the motion module further includes a third joint group 203, a fourth joint group 204, a first connecting member 501 and a second connecting member 502, the proximal end of the third joint group 203 is movably connected to the first connecting member 501, the distal end of the third joint group 203 is movably connected to the first adapter 101, the proximal end of the fourth joint group 204 is movably connected to the second adapter 102, and the distal end of the third joint group 203 is movably connected to the second connecting member 502; the third joint group 203 and the fourth joint group 204 respectively include a plurality of connecting monomers that are mechanically coupled and connected in series with each other, and two adjacent connecting monomers are configured to be movably connected to each other; see Figure 12 and Figure 13 The motion module has a first bending state in which the motion module is bent by an external force acting on the first adapter 101, and a second bending state in which the motion module is bent by an external force acting on the first connecting member 501.

[0092] The motion module provided in this embodiment establishes a multi-modular connection design by introducing the third joint group 203, the fourth joint group 204, the first connecting piece 501 and the second connecting piece 502, which increases the bending mode and degree of freedom of the motion module, and expands the working space of the linkage bending of the instrument through the third and fourth joint groups 204; it enables it to flexibly select the bending position and method according to different surgical needs and operation scenarios, and better adapt to the complex and changeable anatomical structure. The motion module has a dual bending mode, which can adapt to different surgical approach operation requirements. The two bending modes are used to control the large bending angle and the small bending angle, making the operation adjustment more flexible, ensuring the reliable size of the working channel established by the elastic protective tube 401, so as to ensure the passability of the tool and instrument.

[0093] The first joint group 201 and the second joint group 202 are controlled correspondingly to each other, and the third joint group 203 and the fourth joint group 204 are controlled correspondingly to each other. The movement of the first joint group 201 and the second joint group 202 does not affect the movement of the third joint group 203 and the fourth joint group 204.

[0094] In the specific operation process, take the motion module first performing the first bending adjustment state and then the second bending adjustment state as an example: first, the external driving mechanism acts on the first adapter 101 to move, so that a bending and deflection movement is generated between the first adapter 101 and the positioning member 301, and all the control lines are used to drive the first joint group 201 and the second joint group 202 to bend in conjunction, and the second adapter 102 moves in a mapping manner corresponding to the first adapter 101; then, another external driving mechanism acts on the first connecting member 501 to move, so that a bending and deflection movement is generated between the first connecting member 501 and the positioning member 301, and all the control lines are used to drive the first joint group 201 and the second joint group 202 to bend in conjunction, and the third joint group 203 and the fourth joint group 204 to bend in conjunction, so that the second connecting member 502 moves in a mapping manner corresponding to the first connecting member 501. In this way, the motion module can be bent at a large angle in the first bending state, and then bend at a small angle in the second bending state to adapt to the actual cavity environment and accurately adjust the position of the distal end of the second connecting member 502 to meet the needs of surgical operations.

[0095] During the above-mentioned operation and adjustment process, the first joint group 201, the second joint group 202, the third joint group 203, and the fourth joint group 204 do not affect the length change of the working channel in the elastic protective tube 401 in the motion module when bending. The elastic protective tube 401 uses its own structure to perform mutual elastic compensation between the front and rear parts, thereby ensuring that the working channel has stable dimensions in different forms, allowing flexible instruments to pass smoothly, and enhancing the passing accuracy of surgical operations.

[0096] In one embodiment, the connecting monomers, the first connecting member 501, and the second connecting member 502 in the third joint group 203 and the fourth joint group 204 are respectively provided with wire holes for the control wire to slide through, so as to link the third joint group 203 and the fourth joint group 204, the first connecting member 501, and the second connecting member 502 through the control wire. In the straight state, the wire hole on the connecting monomer is coaxially arranged with the wire hole 2012 on the joint monomer. In another embodiment, in the straight state, the wire hole on the connecting monomer is axially offset and spaced with the wire hole 2012 on the joint monomer. In terms of operation, the motion module can be configured with two sets of control wires to respectively operate the first bending adjustment state and the second bending adjustment state.

[0097] In one embodiment, a passage hole for the elastic tube protection member 401 to pass through is provided on the connection unit in the third joint assembly 203 and the fourth joint assembly 204, so that the elastic tube protection member 401 can slide through it.

[0098] In another embodiment, only a part of the first adapter 101 to the second adapter 102 on the middle side is penetrated by the elastic tube protection member 401. The instrument enters the motion module through the first adapter 101 and then exits the motion module through the second adapter 102. In the second bending state, the second connecting member 502 is adjusted to be close to and contact the cavity tissue, so that the second connecting member 502 and the fourth joint group 204 serve as the support basis for contacting the cavity tissue. This design is beneficial to enhancing the stability of the surgical operation and improving the surgical quality.

[0099] In one embodiment, referring to Figure 14 , connection bodies 503 are respectively provided at one end of the first connecting member 501 facing the third joint group 203 and one end of the second connecting member 502 facing the fourth joint group 204. The connection bodies 503 are used for movably connecting with the connecting monomers. The connection bodies 503 provide connection stability and flexibility for the connection between the third joint group 203 and the fourth joint group 204 and the connecting members, ensure the movable connection and smooth movement between the components, reduce the assembly difficulty and failure risk, and are beneficial to improving the product quality of the motion module. In addition, it is beneficial to shorten the axial length, optimize the structural compactness, and ensure flexible linkage bending.

[0100] In one embodiment, the connecting monomer is arranged to have the same structure as the joint monomer, and the connection body 503 is arranged to have the same structure as the side of the joint monomer on the first joint group 201 facing the first adapter 101. Of course, the connecting monomer and the connection body 503 can also be arranged to have other joint structures with two degrees of movement in the same plane of the axial plane.

[0101] Embodiment 3

[0102] This embodiment provides a minimally invasive surgical instrument, including the motion module of Embodiment 1 or Embodiment 2. The minimally invasive surgical instrument has excellent performances such as high degrees of freedom, flexible bending, and multiple channels, ensuring the effective working size of the working channel. It can meet the operation requirements of minimally invasive surgery under complex anatomical structures, and its operation is convenient, providing a highly efficient, reliable, and precisely controlled surgical tool for users.

[0103] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A motion module, characterized in that, include: A first adapter (101) and a second adapter (102) arranged at intervals; A positioning member (301), the proximal end of which is connected to the first adapter member (101) via a first joint group (201), and the distal end of which is connected to the second adapter member (102) via a second joint group (202), wherein any joint group comprises a plurality of joint monomers mechanically coupled and connected in series, and two adjacent joint monomers are configured to be movably connected to each other; at least one second channel hole (2011) is formed on the joint monomer, and the second channel hole (2011) is arranged at an outer edge area of the joint monomer deviating from its central axis; the joint monomer is also formed with at least two spaced-apart wire holes (2012), and the second channel hole (2011) and the wire hole (2012) are spaced-apart and arranged to avoid each other; An elastic tube protection member (401) is slidably disposed in the second channel holes (2011) of all joint monomers, the elastic tube protection member (401) is suitable for slidingly penetrating the positioning member (301), and a through cavity is provided in the elastic tube protection member (401); and at least two control lines, the two ends of the control lines being fixedly connected to the first adapter (101) and the second adapter (102) respectively, the control lines being slidably passed through all joint monomers through the line holes (2012), and the control lines and the positioning member (301) being slidably arranged; The motion module has a straight state in which the first adapter (101), the first joint group (201), the positioning member (301), the second joint group (202) and the second adapter (102) are coaxially arranged; and has a bending state in which, when an external force acts on the first adapter (101), all control lines act in conjunction with each other to cause the first joint group (201) and the second joint group (202) to bend synchronously, so as to map the first adapter (101) and the second adapter (102) in a front-to-back manner; In the straight state and the bent state, the length of the elastic protective tube (401) in the motion module is the same.

2. The motion module according to claim 1, characterized in that, A plurality of the second channel holes (2011) are provided, and the plurality of the second channel holes (2011) are distributed in an annular manner along the axial direction of the joint monomer; and / or, The first joint group (201) and the second joint group (202) are symmetrically arranged on both sides of the positioning member (301).

3. The motion module according to claim 1, wherein The positioning member (301) is provided with at least one third channel hole (3011), and the third channel hole (3011) is arranged at an outer edge area of the positioning member (301) deviating from the central axis thereof. The positioning member (301) is also provided with at least two threading holes (3012) arranged at intervals, and the third channel hole (3011) and the threading holes (3012) are arranged at intervals to avoid each other.

4. The motion module according to claim 3, characterized in that, At least one first channel hole (1011) is provided in any one of the adapters, and the first channel hole (1011) is arranged in the outer edge area of the adapter deviating from its central axis; in the straight state, the first channel hole (1011), the second channel hole (2011), and the third channel hole (3011) are coaxially arranged. At least two connection holes (1012) are provided in any one of the adapters, and the connection holes (1012) are adapted to be fixedly connected to the end of the control line; in the straight state, the connection holes (1012), the wire passing hole (2012), and the wire threading hole (3012) are coaxially arranged.

5. The motion module according to claim 4, wherein On the side of the first adapter (101) and the second adapter (102) facing away from the joint monomer, there is an installation hole (1015), and a fixed plug (1016) is arranged in the installation hole (1015), and the fixed plug (1016) is arranged to block the installation hole (1015) to fix the end of the control line.

6. The motion module according to claim 1, characterized in that, The joint monomer includes a disk body (2013) and a spherical body (2016). A rotation cavity (2014) is recessed on one end face of the disk body (2013), and the spherical body (2016) is arranged on the other side face of the disk body (2013); the disk bodies (2013) of two adjacent joint monomers are arranged at intervals, and the rotation cavity (2014) of one joint monomer is movably connected to the spherical body (2016) of the other adjacent joint monomer.

7. The exercise module according to claim 6, characterized in that, Two adjacent joint monomers have a degree of movement in which two axial planes are in the same plane. A constraint groove (2015) is recessed in the rotation cavity (2014), and two symmetrically arranged limit protrusions (2017) are provided on the spherical body (2016). The limit protrusions (2017) are arranged in a rotary body structure, and the axial direction in which the limit protrusions (2017) extend is perpendicular to the axial direction of the joint monomer, and the limit protrusions (2017) are movably arranged in the constraint groove (2015).

8. The motion module according to claim 7, wherein One end face of the disk body (2013) close to the spherical body (2016) is provided with a transition body (2018), and the transition body (2018) is connected between the disk body (2013) and the spherical body (2016). The transition body (2018) is arranged in a rotary body structure. In the direction of the disk body (2013) facing the spherical body (2016), the diameter of the transition body (2018) gradually decreases; a relief groove (2019) is provided at the connection of the transition body (2018) close to the spherical body (2016), and the relief groove (2019) is arranged in an annular structure; and / or One end face of the first adapter (101) facing the first joint group (201) is provided with a rotation cavity (1013), a limiting groove (1014) is arranged in a sunken manner in the rotation cavity (1013), the rotation cavity (1013) is movably connected with a sphere (2016) on a joint monomer of the first joint group (201) close to the first adapter (101), and the limiting groove (1014) is movably connected with a limiting protrusion (2017) on the sphere (2016); and / or, Positioning bodies (3013) are symmetrically arranged on both sides of the positioning member (301), and the positioning bodies (3013) are arranged to have the same structure as the side of a disk body (2013) on the joint monomer facing the sphere (2016).

9. The motion module according to any one of claims 1-8, characterized in that, The motion module further includes a third joint group (203), a fourth joint group (204), a first connecting member (501) and a second connecting member (502). The proximal end of the third joint group (203) is movably connected with the first connecting member (501), the distal end of the third joint group (203) is movably connected with the first adapter (101), the proximal end of the fourth joint group (204) is movably connected with the second adapter (102), and the distal end of the third joint group (203) is movably connected with the second connecting member (502); the third joint group (203) and the fourth joint group (204) each include a plurality of connecting monomers that are mechanically coupled in series, and two adjacent connecting monomers are configured to be movably connected to each other; The motion module has a first bending state in which the motion module is bent by applying an external force to the first adapter (101), and a second bending state in which the motion module is bent by applying an external force to the first connecting member (501).

10. The motion module according to claim 9, wherein One end of the first connecting member (501) facing the third joint group (203) and one end of the second connecting member (502) facing the fourth joint group (204) are respectively provided with connecting bodies (503), and the connecting bodies (503) are used for movably connecting with the connecting monomers.

11. The motion module according to any one of claims 1-8, characterized in that, The elastic protection pipe fitting (401) is arranged as a spring protection pipe or an elastic hose.

12. A minimally invasive surgical instrument, characterized in that, Including the motion module according to any one of claims 1-11.

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