Surgical instrument

Abstract

A surgical instrument comprises a handle, a driving mechanism, an end effector, a signal generator, an outer base body, an inner base body, a lasso piece and an adjusting piece. The signal generator captures relative movement of the handle and the driving mechanism and triggers the driving mechanism so that the driving mechanism can drive the end effector to move. The handle is connected with the outer base body, and the driving mechanism is connected with the inner base body. The outer base body is sleeved with the lasso piece, the lasso piece is provided with a first part and a second part which can move relatively, the adjusting piece is provided with a containing part, and the containing part is provided with a tightening section and a releasing section. In response to the movement of the adjusting piece, the first part and / or the second part are / is accommodated in the tightening section, and the lasso piece is contracted to restrain the outer base body on the surface of the inner base body, so that the relative movement of the handle and the driving mechanism is limited. And in response to the movement of the adjusting piece, the first part and / or the second part are / is accommodated in the release section, and the lasso piece releases the constraint on the outer base body, so that the relative movement of the handle and the driving mechanism is allowed. The angle of the end effector is locked in the mode that the lasso piece is contained in the adjusting piece, the high-strength and high-stability angle locking effect is provided, and external interference can be effectively resisted in the operation process.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a surgical instrument. Background Art

[0002] In minimally invasive surgery, doctors often need to use surgical instruments to assist in the operation. Because the incisions in minimally invasive surgery are tiny, the surgical field of view and operating space are extremely limited. Doctors need to precisely manipulate the surgical instruments through narrow channels into the abdominal cavity, which places extremely high demands on the flexibility and maneuverability of the instruments. During the operation, the surgical instruments are inserted into the abdominal cavity, and the end effector of the surgical instruments is used to process the target tissue or blood vessels. The end effector of the surgical instrument can move flexibly and stably in the abdominal cavity to facilitate the doctor's operation and adapt to the needs of the operation. Summary of the Invention

[0003] An embodiment of the present disclosure is directed to providing a surgical instrument.

[0004] The present disclosure is achieved through the following technical solutions: A surgical instrument comprising: handle; a driving mechanism disposed on the distal side of the handle; a motion joint, which is drivably connected to the drive mechanism; an end effector, which is drivably connected to the motion joint; a signal generator electrically connected to the drive mechanism, the signal generator being configured to capture the relative motion between the handle and the drive mechanism and convert the signal into an electrical signal for transmission to the drive mechanism, so that the drive mechanism drives the motion joint to move and thereby drives the end effector to move; The coupling mechanism comprises an inner base and an outer base movably sleeved on the inner base, the handle is connected to the outer base, and the driving mechanism is connected to the inner base; The locking mechanism includes a lasso member and an adjusting member, wherein the lasso member is sleeved on the outer base; the adjusting member has a receiving portion, wherein the receiving portion has a tightening section and a releasing section; the lasso member has a first portion and a second portion that are movable relative to each other, and when the adjusting member moves so that the first portion and / or the second portion is received in the tightening section or the releasing section, the distance between the first portion and the second portion changes; the locking mechanism has a locked state and a released state; In response to the movement of the adjusting member so that the first part and / or the second part are accommodated in the tightening section, the locking mechanism is in a locked state, the lasso member is contracted to constrain the outer base to the surface of the inner base, so that the handle and the driving mechanism are restricted from relative movement; In response to the movement of the adjusting member so that the first part and / or the second part are accommodated in the release section, the locking mechanism is in a released state, the lasso member is reset to release the constraint on the outer base, so that the handle and the driving mechanism are allowed to move relative to each other to drive the end effector to move.

[0005] For example, the tightening section is configured such that the tightening section pushes against the first portion and / or the second portion received in the tightening section to cause a first change in the distance between the first portion and the second portion, so that the lasso member is elastically deformed to be contracted; The release section is configured to, in response to the lasso member elastically resetting to cause the distance between the first portion and the second portion to undergo a second change opposite to the first change, the release section stopper being received in the first portion and / or the second portion of the release section.

[0006] For example, the size of the tightening section is smaller than the size of the releasing section.

[0007] For example, the lasso further includes an open annular portion, one end of the annular portion is connected to the first portion, and the other end of the annular portion is connected to the second portion; the annular portion is sleeved on the outer base; In response to the first portion and / or the second portion being received in the tightening section so that the distance between the first portion and the second portion changes first, the annular portion elastically deforms radially to be contracted, thereby constraining the outer base to the surface of the inner base, and the locking mechanism is in a locked state; In response to the first part and / or the second part being accommodated in the release section so that the annular portion elastically returns to its original position and the constraint on the outer base is released, the distance between the first part and the second part undergoes a second change opposite to the first change, so that the locking mechanism is in an unlocked state.

[0008] For example, the first change is that the distance between the first part and the second part becomes smaller; and the second change is that the distance between the first part and the second part becomes larger.

[0009] For example, a circumferentially extending receiving groove is provided on the surface of the outer base, and the annular portion is movably disposed in the receiving groove.

[0010] For example, the locking mechanism also includes a rolling structure; the first part and the receiving portion are movably abutted via the rolling structure, so that when the first part moves in the receiving portion, the rolling structure rolls relative to the receiving portion and the first part, and / or, the second part and the receiving portion are movably abutted via the rolling structure, so that when the second part moves in the receiving portion, the rolling structure rolls relative to the receiving portion and the second part.

[0011] For example, the locking mechanism also includes a rolling structure; the first part and the second part are both accommodated in the accommodating portion; the accommodating portion has two abutting walls, and the rolling structure includes a first rolling structure and a second rolling structure, the first rolling structure can be movably abutted between the first part and one of the abutting walls, and the second rolling structure can be movably abutted between the second part and the other abutting wall.

[0012] For example, each of the rolling structures includes at least one rolling element, and the outer surface of the rolling element is a smooth curved surface.

[0013] For example, the outer base is configured so that when the lasso is contracted, the outer base is squeezed and elastically deformed to be constrained to the surface of the inner base, so that the outer base and the inner base are restricted from relative movement; in response to the lasso being reset to release the squeezing of the outer base, the outer base elastically recovers.

[0014] For example, the outer substrate includes a plurality of adjustment plates arranged at intervals and connected along the circumferential direction, and there is a gap between two adjacent adjustment plates; in response to the outer substrate being squeezed, each adjustment plate approaches the surface of the inner substrate, so that the outer substrate is elastically deformed to be constrained to the surface of the inner substrate.

[0015] For example, the coupling mechanism also includes a pivot structure; the pivot structure includes a limit groove and a limit shaft; the limit groove is opened in one of the outer base and the inner base, and the limit shaft is arranged in the other of the outer base and the inner base; the limit shaft is movably arranged in the limit groove, so that the inner base and the outer base can be movably connected.

[0016] For example, both the inner base and the outer base have a spherical portion, the spherical portion of the outer base is sleeved on the spherical portion of the inner base, and the inner base also has a connecting portion connected to its spherical portion, the connecting portion extends from the outer base and is connected to the driving mechanism; the outer wall of the spherical portion of the outer base is connected to the handle.

[0017] For example, the signal generator includes a base, a moving element and a signal generating module; the signal generating module is arranged on the base; The base is connected to the inner base, one end of the moving element is movably connected to the base, and the other end extends from the inner base and the outer base and is connected to the handle; In response to the relative movement of the handle and the drive mechanism, the moving element moves relative to the base and is captured by the signal generating module, so that the signal generating module sends a signal to the drive mechanism to drive the end effector to move.

[0018] For example, the driving mechanism includes a housing and a control motor; the housing is connected to the inner base, the control motor is disposed in the housing, the control motor is electrically connected to the signal generator, and the control motor is drivably connected to the motion joint; In response to the relative movement between the handle and the driving mechanism, the signal generator triggers the control motor to operate, so that the control motor drives the motion joint to move so as to move the end effector.

[0019] For example, the driving mechanism further includes a retractable unit and at least one pair of transmission controls; each of the transmission controls is partially received in the retractable unit; the control motor is drivably connected to the retractable unit; The motion joint includes a plurality of snake bones arranged in sequence; each of the snake bones has a traction channel corresponding to the transmission control, and each of the transmission controls passes through each of the corresponding traction channels in sequence; In response to the control motor driving the retracting and extending unit to move, one of a pair of transmission controls is retracted and the other is released, so that the motion joint is driven to move to drive the end effector to move.

[0020] For example, the surgical instrument further includes a dial button and a switching structure; the adjusting member is movably connected to the handle; one portion of the dial button is rotatably connected to the handle, and the other portion of the dial button is connected to the adjusting member via the switching structure; When the locking mechanism is in the unlocked state, in response to the dial button rotating in the first rotation direction to the locked position, the switching structure moves to drive the adjusting member to move until the first portion and / or the second portion are accommodated in the tightening section, so that the locking mechanism switches to the locked state; When the locking mechanism is in the locked state, in response to the button rotating along the second rotation direction to the unlocked position, the switching structure moves to drive the adjusting member to move to the first part and / or the second part to be accommodated in the release section, so that the locking mechanism switches to the unlocked state.

[0021] For example, the adjusting member further comprises a hinge portion connected to the receiving portion; the switching structure comprises a waist-shaped groove and a switching shaft; the waist-shaped groove is opened in the hinge portion; The dial button is connected to the switching shaft, and the switching shaft is movably accommodated in the waist-shaped groove; In response to the dial button rotating to drive the switching shaft to rotate in the waist-shaped groove and move along the length direction of the waist-shaped groove, the adjusting member is driven to move.

[0022] For example, the adjusting member and the handle are movably connected via a motion structure; the motion structure includes a motion groove and a moving member movably arranged in the motion groove, the motion groove is arranged in one of the adjusting member and the handle, and the moving member is arranged in the other. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of a surgical instrument according to an embodiment of the present disclosure; Figure 2 is a schematic diagram of a partial structure of a surgical instrument according to an embodiment of the present disclosure; Figure 3 is a partial structural cross-sectional view of a surgical instrument according to an embodiment of the present disclosure; Figure 4 is a schematic diagram of the coupling mechanism and the lasso member according to an embodiment of the present disclosure; Figure 5 is a structural diagram of a coupling mechanism according to an embodiment of the present disclosure; Figure 6 is a schematic structural diagram of an outer matrix according to an embodiment of the present disclosure; Figure 7 is a schematic structural diagram of a lasso member according to an embodiment of the present disclosure; Figure 8 is a schematic structural diagram of an inner matrix according to an embodiment of the present disclosure; Figure 9 is a schematic diagram of the cooperation between the inner matrix and the signal generator according to an embodiment of the present disclosure; Figure 10 is a schematic diagram of the coordination between the coupling mechanism, the lasso member, and the adjusting member in an embodiment of the present disclosure; Figure 11 is a schematic structural diagram of an adjusting member according to an embodiment of the present disclosure; Figure 12 Schematic diagram of the coordination between the adjusting member and the movable slot according to an embodiment of the present disclosure; Figure 13 is a schematic structural diagram of a handle according to an embodiment of the present disclosure; Figure 14is a schematic diagram of the cooperation between the handle and the dial button when the locking mechanism of the embodiment of the present disclosure is in a locked state; Figure 15 is a schematic diagram of the cooperation between the adjusting member and the lasso member when the locking mechanism of the embodiment of the present disclosure is in a locked state; Figure 16 is a schematic diagram of the cooperation between the dial button and the adjusting member when the locking mechanism of the embodiment of the present disclosure is in a locked state; Figure 17 yes Figure 16 sectional view of Figure 18 is a schematic diagram of the cooperation between the handle and the dial button when the locking mechanism of the embodiment of the present disclosure is in the unlocked state; Figure 19 is a schematic diagram of the cooperation between the adjusting member and the lasso member when the locking mechanism of the embodiment of the present disclosure is in the unlocked state; Figure 20 is a schematic diagram of the cooperation between the dial button and the adjusting member when the locking mechanism of the embodiment of the present disclosure is in the unlocked state; Figure 21 yes Figure 20 sectional view of Figure 22 1 is a schematic structural diagram of the first shell of the handle of an embodiment of the present disclosure, mainly for illustrating the connection between the handle and the inner base; Figure 23 1 is a schematic structural diagram of the first housing of the handle of an embodiment of the present disclosure, mainly for illustrating the first engaging portion and the second engaging portion; Figure 24 1 is a schematic structural diagram of the first housing of the handle of an embodiment of the present disclosure, mainly for illustrating the connection between the handle and the signal generator; Figure 25 This is a structural diagram of a partial area of ​​a surgical instrument according to an embodiment of the present disclosure, mainly for illustrating the motion joint and the end effector.

[0024] Figure 26 is a schematic structural diagram of a portion of a surgical instrument according to an embodiment of the present disclosure, mainly for illustrating transmission controls and motion joints; Figures 27-28 is a schematic structural diagram of the middle snake bone of an embodiment of the present disclosure; Figure 29 Schematic diagram of the structure of the distal segment of the snake bone according to an embodiment of the present disclosure; Figure 30 Schematic diagram of the structure of the first snake bone in an embodiment of the present disclosure; Figure 31 Schematic diagram of the coordination between the first pitch control, the second pitch control, the pitch retractable member, and the pitch motor in an embodiment of the present disclosure; Figure 32 is a schematic structural diagram of an end effector according to an embodiment of the present disclosure; Figure 33 is a cross-sectional view of the end effector of an embodiment of the present disclosure when closed; Figure 34 This is a cross-sectional view of the end effector of the embodiment of the present disclosure when it is opened. Figures 35-36 This is a partial schematic diagram of the driving mechanism of the embodiment of the present disclosure, mainly to illustrate the cooperation between the various moving parts of the moving unit and between the moving unit and the housing. Figure 37 is a partial cross-sectional view of the driving mechanism of an embodiment of the present disclosure, mainly for illustrating the cooperation between the various moving parts of the moving unit and between the moving unit and the driving rod; Figure 38 is a schematic structural diagram of the second moving member of an embodiment of the present disclosure; Figure 39 This is a schematic structural diagram of a portion of the housing of the drive mechanism according to an embodiment of the present disclosure, mainly for illustrating the mounting portion; Figure 40 is a schematic diagram of the cooperation between the third moving member and the driving rod in an embodiment of the present disclosure; Figure 41 is a partial schematic diagram of a driving mechanism according to an embodiment of the present disclosure, mainly for illustrating the first motor and the second motor; Reference numerals in the above drawings: 100 - driving mechanism; 101 - mounting portion; 1011 - first slot; 102 - driving rod; 1021 - second slot; 1022 - driving slot; 103 - base; 1031 - slider; 104 - rotating seat; 1041 - base; 1042 - extension portion; 1043 - sliding slot; 105 - sleeve; 106 - housing; 200 - moving unit; 201 - first moving member; 203 - toothed portion; 204 - internal thread; 210 - second moving member; 212 - first plug-in portion; 214 - push portion; 215 - external thread; 230 - first motor; 232 - transmission gear; 240 - third moving member; 241 - second plug-in portion; 250 - second motor; 260 - first plane; 270 - second plane; 300 - handle; 310 - switch opening; 320 - movable slot; 330 - first housing; 331 - first engaging portion; 332 - first engaging slot; 333 - second engaging portion; 334 - second engaging slot; 400 - coupling mechanism; 410 - inner base; 411 - connecting portion; 412 - limiting shaft; 420 - outer base; 421 - protrusion; 422 - receiving groove; 423 - adjusting piece; 424 - spherical portion; 425 - limiting groove; 510 - lasso; 511 - retraction rod; 512 - annular portion; 520 - adjustment member; 521 - hinged portion; 5210 - waist-shaped groove; 522 - receiving portion; 5220 - tightening section; 5221 - release section; 5222 - supporting wall; 5223 - arc-shaped depression; 5224 - stopper; 5225 - base; 5226 - extension portion; 523 - moving member; 530 - first rolling structure; 531 - second rolling structure; 532 - rolling member; 600 - end effector; 610 - first clamp arm; 620 - second clamp arm; 631 - first shaft; 632 - second shaft; 633 - third shaft; 700 - dial button; 710 - first pressing portion; 720 - second pressing portion; 730 - arc structure; 7301 - first arc portion; 7302 - second arc portion; 740 - rotation axis; 750 - switching axis; 800 - motion joint; 801 - terminal snake bone; 802 - first snake bone; 810 - middle snake bone; 811 - first surface; 812 - second surface; 813 - protrusion; 814 - groove; 815 - positioning hole; 816 - center hole; 900-transmission control; 910-first pitch control; 911-second pitch control; 912-pitch retractable component; 913-pitch motor; 920-first yaw control; 921-second yaw control; 1000-Signal generator; 1001-Base; 1002-Moving element; 1003-Moving rod; 1004-Circular convex disc. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0026] It should be understood that the terms "proximal" and "distal" as used herein are relative to the clinician manipulating the handle 300 of the surgical instrument. The term "proximal" refers to the portion closer to the clinician, while the term "distal" refers to the portion farther from the clinician. That is, the handle 300 is the proximal end, and the end effector 600 is the distal end. For example, the proximal end of a component refers to the end relatively close to the handle 300, while the distal end refers to the end relatively close to the end effector 600.

[0027] In the present disclosure, unless otherwise clearly stipulated and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements or an interactive relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movably connected, etc. are not excluded.

[0028] During the use of surgical instruments, the doctor needs to adjust the angle of the end effector 600 at any time to meet the operation requirements. After the adjustment is completed, the end effector 600 needs to be maintained at a specific angle to facilitate the doctor's next operation. Therefore, after the angle of the end effector 600 is adjusted, the current angle of the end effector 600 needs to be locked to ensure that it remains stable at the current angle.

[0029] Based on this, some embodiments of the present disclosure provide a surgical instrument, including a handle 300, a driving mechanism 100, a motion joint 800, an end effector 600, a signal generator 1000, a coupling mechanism 400 and a locking mechanism.

[0030] refer to Figure 1-2 , the driving mechanism 100 is arranged at the distal end of the handle 300. The motion joint 800 is located at the distal end of the driving mechanism 100, and the motion joint 800 is drivably connected to the driving mechanism 100. The end effector 600 is located at the distal end of the motion joint 800, and the end effector 600 is drivably connected to the motion joint 800. The driving mechanism 100 is configured to drive the motion joint 800 to move to drive the end effector 600 to move, so that the angle of the end effector 600 changes, so as to expand the operating range of surgical instruments in complex abdominal environments, effectively avoid blind spots in the surgical field of view caused by limited movement of instruments, improve the comprehensiveness and accuracy of surgical operations, and adapt to the doctor's operating needs.

[0031] The signal generator 1000 is electrically connected to the drive mechanism 100 and is configured to trigger the drive mechanism 100 in response to the relative movement of the handle 300 and the drive mechanism 100, causing the drive mechanism 100 to drive the end effector 600. When the doctor needs to adjust the angle of the end effector 600, they simply control the relative movement of the handle 300 and the drive mechanism 100 to trigger the movement of the end effector 600 to adjust its angle. This operation method simplifies the doctor's control of the instrument and reduces unnecessary and complex manual manipulation.

[0032] refer to Figure 3-5 The coupling mechanism 400 includes an inner base 410 and an outer base 420 movably mounted on the inner base 410. Figure 2-3 The handle 300 is connected to the outer base 420, and the drive mechanism 100 is connected to the inner base 410. Since the inner base 410 and the outer base 420 are movably connected, the handle 300 and the drive mechanism 100 are movably connected via the coupling mechanism 400.

[0033] refer to Figure 3 The locking mechanism includes a lasso 510 and an adjusting member 520, wherein the lasso 510 is sleeved on the outer base 420. Figure 10 The adjusting member 520 has a receiving portion 522, and the receiving portion 522 is configured to receive a portion of the lasso member 510, referring to Figure 11 The receiving portion 522 has a tightening section 5220 and a releasing section 5221 .

[0034] The lasso 510 has a first portion and a second portion that are movable relative to each other. When the adjusting member 520 moves so that the first portion and / or the second portion are accommodated in the tightening section 5220 or the releasing section 5221, the distance between the first portion and the second portion changes. The change in the distance between the first portion and the second portion includes the following situations: The first part is received in the receiving portion and moves with the movement of the adjusting member 520. The second part is not received in the receiving portion and does not move. The movement of the first part causes the distance between the first part and the second part to change.

[0035] The second part is received in the receiving portion and moves with the movement of the adjusting member 520. The first part is not received in the receiving portion and does not move. The movement of the second part causes the distance between the first part and the second part to change.

[0036] The first portion and the second portion are both received in the receiving portion, and the first portion and the second portion can both move along with the movement of the adjusting member 520 , so that the distance between the first portion and the second portion changes.

[0037] The change in the distance between the first portion and the second portion includes the first portion and the second portion approaching each other, and also includes the first portion and the second portion moving away from each other.

[0038] The locking mechanism has a locked state and a released state.

[0039] refer to Figure 15 In response to the movement of the adjusting member 520 so that the first part and / or the second part are accommodated in the tightening section 5220, the locking mechanism is in a locked state, and the lasso member 510 is contracted to constrain the outer base 420 to the surface of the inner base 410, so that the handle 300 and the driving mechanism 100 are restricted from relative movement, thereby making it impossible to trigger the movement of the end effector 600, so that the angle of the end effector 600 is locked, making it convenient for the doctor to perform the next operation.

[0040] refer to Figure 19 In response to the movement of the adjusting member 520 so that the first part and / or the second part are accommodated in the release section 5221, the locking mechanism is in a released state, and the lasso member 510 is reset to release the constraint on the outer base 420, so that the handle 300 and the driving mechanism 100 are allowed to move relative to each other to drive the end effector 600 to move. At this time, the doctor can adjust the angle of the end effector 600.

[0041] The lasso piece 510 can include a variety of shapes, for example, circular, square, polygonal, irregular, etc., as long as the outer base 420 can be clamped and loosened through the relative movement of the first part and the second part. When the lasso piece 510 clamps the outer base 420, the outer base 420 will be constrained to the surface of the inner base 410. When the lasso piece 510 loosens the outer base 420, the constraint on the outer base 420 will be released.

[0042] The disclosed locking mechanism utilizes a wraparound design, with the lasso 510 encircling the outer base 420. This creates a uniform and stable pressure distribution on the coupling mechanism 400. Locking the lasso 510 within the adjusting member 520 effectively resists external interference during surgery, providing a strong, stable angular locking effect. Furthermore, simply controlling the movement of the adjusting member 520 allows for rapid switching between locked and released states, enabling efficient and precise surgical control.

[0043] The lasso 510 is made of an elastic material and is elastic. In response to the first portion and / or the second portion of the lasso 510 switching between the tightening section 5220 and the release section 5221, the lasso 510 elastically deforms to be contracted or reset. As the adjusting member 520 moves, the compressive force applied to the lasso 510 changes, causing it to deform due to its own elasticity. When the first portion and / or the second portion of the lasso 510 is accommodated in the tightening section 5220, the lasso 510 firmly constrains the outer base 420 to the inner base 410. Compared to rigid constraints, this elastic contraction method can produce a more uniform and stable pressure distribution and is less likely to cause damage to components. When the adjusting member 520 moves so that the first part and / or the second part are accommodated in the release section 5221, the pressure on the lasso member 510 is released, and the lasso member 510 quickly returns to its original position due to its own elasticity. This fast response feature enables the locking mechanism to quickly switch between the locked and unlocked states, significantly improving the flexibility and controllability of the surgical operation.

[0044] The tightening section 5220 is configured to push the first portion and / or the second portion received therein to cause a first change in the distance between the first portion and the second portion, thereby causing the lasso member 510 to elastically deform and contract.

[0045] The release section 5221 is configured to, in response to the lasso member 510 elastically resetting to cause the distance between the first portion and the second portion to undergo a second change opposite to the first change, stop the release section 5221 and / or the second portion accommodated in the release section 5221 .

[0046] As described above, the distance change between the first portion and the second portion includes the first portion and the second portion approaching each other, and also includes the first portion and the second portion moving away from each other. One of the first change and the second change refers to approaching each other, and the other refers to moving away from each other.

[0047] The tightening section 5220 is smaller than the release section 5221. When the first and / or second portions of the lasso 510 enter the tightening section 5220, the tightening section 5220 exerts a stronger squeezing force on the lasso, causing the lasso 510 to contract more tightly. When the first and / or second portions of the lasso 510 enter the release section 5221, the squeezing force of the tightening section 5220 on the lasso 510 weakens, allowing the lasso 510 to return to its original position due to its own elasticity. The contraction and return of the lasso 510 are achieved through simple dimensional changes in the tightening section 5220 and the release section 5221, simplifying the structural complexity of the locking mechanism and reducing the manufacturing cost of the surgical instrument.

[0048] refer to Figure 4 and Figure 7The lasso 510 further includes an open annular portion 512, one end of the annular portion 512 is connected to the first portion, and the other end of the annular portion 512 is connected to the second portion. Figure 4 and Figure 10 The annular portion 512 is sleeved on the outer base 420 .

[0049] In response to the first portion and / or the second portion being accommodated in the tightening section 5220 so that the distance between the first portion and the second portion changes first, the annular portion 512 elastically deforms radially to be contracted to constrain the outer base 420 to the inner base surface, and the locking mechanism is in a locked state.

[0050] In response to the first part and / or the second part being accommodated in the release section 5221 so that the annular portion 512 elastically returns to release the constraint on the outer base 420, the distance between the first part and the second part undergoes a second change opposite to the first change, so that the locking mechanism is in an unlocked state.

[0051] When the doctor manipulates the adjustment member 520 to move the first and / or second portions into the tightening section 5220 of the receiving portion 522, the tightening section 5220 applies a squeezing force to the first and / or second portions received therein, causing the annular portion 512 to undergo radial elastic deformation, bringing the two ends of the annular portion 512 closer together. This causes the annular portion 512 to shrink and wrap around the surface of the outer base 420, constraining the outer base 420 to the inner base 410, thereby locking the angle of the end effector 600. When the adjustment member 520 moves to move the first and / or second portions into the releasing section 5221 of the receiving portion 522, the annular portion 512 returns to its original position under its own elastic force, moving the two ends of the annular portion 512 away from each other, thereby releasing the constraint on the outer base 420. The outer base 420 can now move relative to the inner base 410, allowing the handle 300 and the drive mechanism 100 to move relative to each other, thereby driving the end effector 600.

[0052] In some embodiments, the first change is that the distance between the first portion and the second portion becomes smaller, and the second change is that the distance between the first portion and the second portion becomes larger.

[0053] refer to Figure 1-2The surgical instrument further includes a sleeve 105, which extends distally from the drive mechanism 100. The motion joint 800 is arranged at the distal end of the sleeve 105. The motion joint 800 is movably connected to the sleeve 105. The surgical instrument has an initial state. In the initial state, the handle 300 and the drive mechanism 100 do not move relative to each other, the motion joint 800 does not rotate, the extension direction of the motion joint 800 is parallel to the axial direction, and the longitudinal direction of the end effector 600 is parallel to the axial direction, which is the longitudinal axis direction of the sleeve 105. The motion joint 800 also has a rotation state. In the rotation state, the motion joint 800 rotates, the extension direction of the motion joint 800 is offset relative to the axial direction, and the longitudinal direction of the end effector 600 forms an angle with the axial direction.

[0054] refer to Figure 5-6 The outer substrate 420 is provided with a circumferentially extending receiving groove 422, combined with Figure 4 The annular portion 512 is movably disposed in the receiving groove 422. The deformation direction of the annular portion 512 is radial. The receiving groove 422 and the annular portion 512 form a mutually interlocking relationship, so that the lasso 510 and the outer base 420 can always maintain a stable fit. Figure 2 In the initial state, the central axis of the annular portion 512 is parallel to the longitudinal axis of the sleeve 105.

[0055] In some embodiments, the first portion and the second portion are both received in the receiving portion. Figure 4 and 7 The lasso comprises two gathering rods 511. One of the gathering rods 511 constitutes the first portion, and the other gathering rod 511 constitutes the second portion. The open ring portion 512 has two ends. One of the gathering rods 511 is connected to one end of the ring portion 512, and the other gathering rod 511 is connected to the other end of the ring portion 512. Figure 10 The two retracting rods 511 are retracted into the receiving portion 522. When the adjusting member 520 moves to accommodate the two retracting rods 511 in the tightening section 5220, the two retracting rods 511 are squeezed together and moved closer to each other, causing the annular portion 512 to contract. When the adjusting member 520 moves to accommodate the two retracting rods 511 in the releasing section 5221, the two retracting rods 511 are released, the annular portion 512 elastically returns to its original position, and the two retracting rods 511 move away from each other.

[0056] refer to Figure 11 The accommodating portion 522 has two supporting walls 5222 , wherein one of the retracting rods 511 is constrained by one of the supporting walls 5222 , and the other retracting rod 511 is constrained by the other supporting wall 5222 .

[0057] The locking mechanism also includes a rolling structure. The rolling structure is provided on the adjusting member 520 or the lasso member 510. The first portion and the receiving portion 522 are movably engaged via the rolling structure, so that when the first portion moves within the receiving portion 522, the rolling structure rolls relative to the receiving portion 522 and the first portion. Alternatively, the second portion and the receiving portion 522 are movably engaged via the rolling structure, so that when the second portion moves within the receiving portion 522, the rolling structure rolls relative to the receiving portion 522 and the second portion. The provision of the rolling structure effectively reduces friction during relative movement between the receiving portion 522 and the lasso member 510, lowering the operator's operating resistance and making the procedure more labor-saving and smoother. Furthermore, the low friction prevents the lasso member 510 from stalling due to excessive friction, ensuring that the lasso member 510 can instantly respond to the operator's movements and quickly switch between the tightening section 5220 and the releasing section 5221, significantly improving surgical efficiency.

[0058] refer to Figure 10 The receiving portion 522 has two opposing abutment walls 5222. The rolling structure includes a first rolling structure 530 and a second rolling structure 531. The first rolling structure 530 can be movably abutted between the first portion and one of the abutment walls 5222, while the second rolling structure 531 can be movably abutted between the second portion and the other abutment wall 5222. Each rolling structure includes at least one rolling element 532. The outer surface of the rolling element 532 is a smooth curved surface to further reduce friction. The shape of the rolling element 532 includes, but is not limited to, spherical or cylindrical. The rolling element 532 can be made of steel, ceramic, or other wear-resistant metals.

[0059] The embodiment of the present disclosure adopts a rolling structure that allows the receiving portion 522 and the lasso member 510 to be movably abutted against each other. Compared with the direct abutment between the receiving portion 522 and the lasso member 510, sliding friction is converted into rolling friction, and the surface contact is improved to point contact, which greatly reduces the friction force, makes the doctor's adjustment operation easy and smooth, and more labor-saving, and significantly improves the convenience and efficiency of surgical operations.

[0060] refer to Figure 10In an embodiment of the present disclosure, a first rolling structure 530 is rotatably mounted on one of the stowage rods 511, and a second rolling structure 531 is rotatably mounted on the other stowage rod 511. Each rolling structure may be comprised of one or more rolling elements 532. In some embodiments, each rolling structure comprises one rolling element 532. The rolling element 532 is movably mounted on the corresponding stowage rod 511. In some embodiments, each rolling structure comprises two or more rolling elements 532, each of which is movably mounted on the corresponding stowage rod 511. The rolling elements 532 of each rolling structure are arranged along the length of the stowage rod 511. When the lasso member 510 moves within the accommodating portion 522, the rolling element 532 of one stowage rod 511 engages with one of the abutting walls 5222, while the rolling element 532 of the other stowage rod 511 engages with the other abutting wall 5222, causing each rolling element 532 to roll around its corresponding stowage rod 511.

[0061] In some embodiments of the present disclosure, the first rolling structure 530 and the second rolling structure 531 are each composed of a plurality of rolling elements 532, for example, three to four rolling elements 532. The plurality of rolling elements 532 of the first rolling structure 530 are mounted on one of the abutting walls 5222 of the receiving portion 522, while the plurality of rolling elements 532 of the second rolling structure 531 are mounted on the other abutting wall 5222 of the receiving portion 522. Each abutting wall 5222 of the receiving portion 522 is provided with a rolling groove for accommodating the rolling element 532. The shape of the inner wall of the rolling groove matches the shape of the outer surface of the rolling element 532, and the rolling groove partially wraps around the rolling element 532 to prevent the rolling element 532 from escaping from the rolling groove. The rolling element 532 partially leaks out of the rolling groove to cooperate with the lasso 510. When the lasso 510 moves in the accommodating portion 522, one of the folding rods 511 cooperates with the rolling member 532 on one of the supporting walls 5222, and the other folding rod 511 cooperates with the rolling member 532 on the other supporting wall 5222, so that each rolling member 532 rolls in its rolling groove.

[0062] refer to Figure 11-12 The receiving portion 522 includes a base portion 5225 and two extension portions 5226 extending from both ends of the base portion 5225. The two retracting rods 511 are received between the two extension portions 5226 and are movably abutted against the two extension portions 5226. The inner walls of the two extension portions 5226 respectively constitute the two abutting walls 5222 of the receiving portion 522.

[0063] Each extension 5226 of the receiving portion 522 extends outward from the base 5225. The receiving portion 522 is open, and the two extensions 5226 of the receiving portion 522 relatively close to the base 5225 form a tightening section 5220, and the two extensions 5226 of the receiving portion 522 relatively far from the base 5225 form a releasing section 5221.

[0064] The distance between the two extensions 5226 of the adjusting member 520 gradually increases from the tightening section 5220 to the releasing section 5221 along the moving direction of the adjusting member 520. When the adjusting member 520 moves toward the tightening section 5220, as the distance between the two extensions 5226 gradually decreases, the squeezing force on the two retraction rods 511 gradually increases, allowing a smooth transition to the tightened state. When the adjusting member 520 moves toward the releasing section 5221, the distance between the two extensions 5226 increases, the squeezing force on the two retraction rods 511 gradually decreases, and the lasso member 510 slowly returns to its original position due to its own elasticity, thus ensuring a smooth unlocking process. Each supporting wall 5222 of the receiving portion 522 is provided with an arcuate recess 5223 on its tightening section 5220. Each arcuate recess 5223 is configured to accommodate a corresponding retraction rod 511. The arcuate recess 5223 provides resistance to the retraction rod 511, allowing the retraction rod 511 to be stably retained in the tightening section 5220, thereby maintaining the locking mechanism in a stable locked state. Furthermore, when the adjusting member 520 moves, the retraction rod 511 can pass over the arcuate recess 5223 and disengage from the tightening section 5220.

[0065] Each abutting wall 5222 of the receiving portion 522 is further provided with a stopper 5224 at its release section 5221. The stopper 5224 is configured to prevent the corresponding retracting rod 511 from escaping from the receiving portion 522.

[0066] refer to Figure 2-Figure 3 、 Figure 14 and Figure 18 The surgical instrument of the present disclosure further includes a dial button 700. The driving mechanism 100 of the surgical instrument is movably connected to the handle 300, and the motion joint 800 is drivably connected to the driving mechanism 100. The end effector 600 is drivably connected to the motion joint 800. The locking mechanism is connected to both the driving mechanism 100 and the handle 300, and the locking mechanism has a locked state and an unlocked state. In the locked state, the locking mechanism restricts the relative movement of the driving mechanism 100 and the handle 300. In the unlocked state, the locking mechanism releases the restriction on the relative movement of the driving mechanism 100 and the handle 300.

[0067] The dial button 700 is movably connected to the handle 300, and the dial button 700 is drivably connected to the locking mechanism. Figure 14 and Figure 18The dial button 700 has two pressing parts. No matter whether the locking mechanism is in a locked state or an unlocked state, one of the two pressing parts is in an operating state and the other is in a non-operating state.

[0068] When one of the pressing parts is in the operating state, the locking mechanism is in the locked state; when the other pressing part is in the operating state, the locking mechanism is in the unlocked state.

[0069] In response to pressing the pressing part in the operating state to switch it to the non-operating state and switching the other pressing part to the operating state, the button 700 moves to drive the locking mechanism to move, so that the locking mechanism switches from the state corresponding to the pressed pressing part 700 to the state corresponding to the other pressing part, thereby realizing the synchronous state switching of the locking mechanism and the state switching of the two pressing parts.

[0070] Therefore, the pressing part in the operating state corresponds to another state opposite to the current state of the locking mechanism (for example, if the locking mechanism is currently in the locked state, then the pressing part in the operating state must correspond to the unlocked state of the locking mechanism). The pressing part in the operating state must correspond to the state of the locking mechanism that the doctor wants to achieve. At any time, as long as the doctor wants to switch the state of the locking mechanism, he only needs to press the pressing part of the button.

[0071] There are two pressing parts: a first pressing part 710 and a second pressing part 720. Figure 14 and Figure 18 The dial button 700 is rotatably connected to the handle 300 via a rotation shaft 740. The dial button 700 has an unlocked position and a locked position. Figure 18 When the locking mechanism is in the unlocked state, the dial button 700 is in the unlocked position, the first pressing portion 710 is in the operated state, and in response to pressing the first pressing portion 710, the dial button 700 rotates along the first rotation direction to switch to the locked position, thereby driving the locking mechanism to move to the locked state. When the locking mechanism is in the locked state, the dial button 700 is in the locked position, the second pressing portion 720 is in the operated state, and in response to pressing the second pressing portion 720, the dial button 700 rotates along the second rotation direction to switch to the unlocked position, thereby driving the locking mechanism to move to the unlocked state.

[0072] refer to Figure 15 and Figure 19The dial button 700 is rotatably connected to the handle 300 via a rotating shaft 740. By pressing the first pressing portion 710 or the second pressing portion 720, the locking mechanism can be easily switched between the locked and unlocked states without complicated operation. This push-button operation greatly reduces the difficulty of operation and improves surgical efficiency compared to traditional complex mechanical structure control. At the same time, reasonable rotation operation can also reduce the doctor's fatigue after long-term operation, improving the comfort of surgical operation.

[0073] The surgical instrument further includes a motion structure. The motion structure includes a first mating member and a second mating member. One of the first mating member and the second mating member is disposed on the locking mechanism, and the other is disposed on the handle. The motion structure is configured as follows: In response to pressing the first pressing portion to drive the locking mechanism to move to the locked state, the first mating piece and the second mating piece abut against each other at a first point to switch the first pressing portion to the non-operating state, and the first mating piece and the second mating piece separate at a second point to switch the second pressing portion to the operating state.

[0074] In response to pressing the second pressing portion to drive the locking mechanism to move to the unlocked state, the first mating piece abuts against the second portion of the second mating piece to switch the second pressing portion to the non-operating state, and the first mating piece separates from the first portion of the second mating piece to switch the first pressing portion to the operating state.

[0075] Therefore, when the pressing portion is in the non-operating state, the doctor cannot press the pressing portion in the non-operating state due to the restriction between the first fitting member and the second fitting member, thereby preventing misoperation.

[0076] refer to Figure 13 , the handle 300 has a switching opening 310. Figure 16 and Figure 20 The dial button 700 also has an arc structure 730, and the arc structure 730 takes the rotation axis 740 as the center. The first pressing portion 710 and the second pressing portion 720 are respectively provided on the first arc portion 7301 and the second arc portion 7302 of the arc structure 730. Figure 18 and Figure 20 In the unlocked position, the first arc portion 7301 of the arc structure 730 is located outside the switching opening 310. Figure 14 and Figure 16 In the locked position, the second arc portion 7302 of the arc structure 730 is located outside the switch opening 310. In response to the toggle button 700 switching between the unlocked position and the locked position, the arc structure 730 rotates so that its first arc portion 7301 or the second arc portion 7302 extends from the handle 300 through the switch opening 310.

[0077] The setting of the arc structure 730 ensures that when the dial button 700 rotates, the rotation path of the arc structure 730 is a precisely controllable arc. When the dial button 700 rotates, the arc structure 730 always slides smoothly along the preset arc without occupying too much space in the handle 300. The switching opening 310 of the handle 300 does not need to be set to a larger size, and only needs to match the local outer diameter of the arc structure 730 to meet its smooth rotation requirements.

[0078] The surgical instrument also includes a switching structure. An adjusting member 520 is movably connected to the handle 300 and includes a hinge portion 521 connected to the receiving portion 522. One portion of the dial button 700 is rotatably connected to the handle 300, while another portion of the dial button 700 is connected to the hinge portion 521 via the switching structure.

[0079] When the locking mechanism is in the unlocked state, in response to the dial button 700 rotating in the first rotational direction to the locked position, the switching structure moves to drive the adjusting member 520 to move to the first portion and / or the second portion to be accommodated in the tightening section 5220, thereby placing the locking mechanism in the locked state. When the locking mechanism is in the locked state, in response to the dial button 700 rotating in the second rotational direction to the unlocked position, the switching structure moves to drive the adjusting member 520 to move to the first portion and / or the second portion to be accommodated in the releasing section 5221, thereby placing the locking mechanism in the unlocked state.

[0080] For example, the adjusting member 520 is movably connected to the handle 300. In response to pressing the first pressing portion 710 to rotate the dial button 700 in a first rotational direction to the locked position, the switching structure moves to drive the adjusting member 520 to move until the first portion and / or the second portion are accommodated in the tightening section 5220, thereby placing the locking mechanism in a locked state. In response to pressing the second pressing portion 720 to rotate the dial button 700 in a second rotational direction to the unlocked position, the switching structure moves to drive the adjusting member 520 to move until the first portion and / or the second portion are accommodated in the releasing section 5221, thereby placing the locking mechanism in an unlocked state.

[0081] If the movable member 523 is moved by pushing or pulling, multiple fingers are required to coordinate the pushing and pulling movements, which is inconvenient to operate. The present invention switches the rotational movement of the dial button 700 to the movement of the movable member 523. The doctor only needs to use the thumb or index finger to turn the dial button 700 to switch the state of the locking mechanism. This rotational control method conforms to ergonomic principles, exerts force naturally and smoothly, and is easy to operate.

[0082] refer to Figure 12 、 Figure 17 and Figure 21The switching structure includes a waist-shaped groove 5210 and a switching shaft 750. The waist-shaped groove 5210 is formed in the hinge portion 521. One portion of the dial button 700 is rotatably connected to the handle 300 via the rotation shaft 740, and the other portion is connected to the switching shaft 750. The switching shaft 750 is movably received in the waist-shaped groove 5210. In response to the dial button 700 rotating about the rotation shaft 740, which drives the switching shaft 750 to rotate in the waist-shaped groove 5210 and move along the length of the waist-shaped groove 5210, the adjusting member 520 is driven to move.

[0083] As described above, one of the first and second fitting members is disposed on the locking mechanism, and the other is disposed on the handle. For example, one of the first and second fitting members is disposed on the adjusting member 520 , and the other is disposed on the handle 300 .

[0084] The motion structure is configured as follows: when the dial button 700 is rotated to the locking position to drive the adjusting member 520 to move until the locking mechanism is in a locked state, the first mating member abuts against the first point of the second mating member and the first mating member is separated from the second point of the second mating member; when the dial button 700 is rotated to the unlocking position to drive the adjusting member 520 to move until the locking mechanism is in an unlocked state, the first mating member abuts against the second point of the second mating member and the first mating member is separated from the first point of the second mating member.

[0085] The motion structure limits the movement of the adjusting member 520, forcing it to follow a preset path. It also limits the movement of the dial button 700. When the dial button 700 is rotated to the locked position, the first mating member abuts against the first point of the second mating member, preventing further movement of the adjusting member 520 and further rotation of the dial button 700, resulting in the dial button 700 remaining in the locked position. When the dial button 700 is rotated to the unlocked position, the first mating member abuts against the second point of the second mating member, preventing further movement of the adjusting member 520 and further rotation of the dial button 700, resulting in the dial button 700 remaining in the unlocked position. The motion structure's limiting function precisely defines the rotation range of the dial button 700, allowing it to move between locked and unlocked positions. Furthermore, this limiting design significantly improves the clarity of operational feedback. When the dial button 700 is rotated to the locked or unlocked position, the motion structure's limiting abutment produces distinct tactile feedback, allowing the physician to quickly and accurately determine whether the dial button 700 has reached the target position. The second mating member has a slot, and the first mating member moves within the slot of the second mating member along the length of the slot. The slot has a first end and a second end that are opposite each other along its length, with the first end constituting a first location of the second mating member and the second end constituting a second location of the second mating member. When the dial button 700 is rotated to the locked position, the adjusting member 520 moves until the first mating member abuts against the first end of the slot along its length. When the dial button 700 is rotated to the unlocked position, the adjusting member 520 moves until the first mating member abuts against the second end of the slot along its length, which is opposite each other.

[0086] For example, reference Figure 3 and Figure 12 The motion structure includes a moving groove 320 and a moving member 523 movably arranged in the moving groove 320. The moving groove 320 is the second matching member, and the moving member 523 is the first matching member. The moving groove 320 is arranged on one of the adjusting member 520 and the handle 300, and the moving member 523 is arranged on the other. For example, the moving groove 320 is arranged on the handle 300, and the moving member 523 is arranged on the adjusting member 520. Thus, a flexible and stable connection relationship between the adjusting member 520 and the handle 300 is realized. By sliding the moving member 523 in the moving groove 320, the smooth displacement of the adjusting member 520 relative to the handle 300 is realized, thereby accurately controlling the state switching of the locking mechanism. refer to Figure 3 and Figure 12 , the adjusting member 520 is movably connected to the handle 300 via two motion structures. In some embodiments of the present disclosure, the mobile groove 320 is provided on the handle 300, and the mobile member 523 is provided on the adjusting member 520. The outer sides of the two extensions 5226 of the adjusting member 520 are provided with mobile members 523, and the number of the mobile members 523 on the outer side of each extension 5226 can be one to two or more. The two mobile grooves 320 are respectively provided with the positions of the two extensions 5226, so that the mobile member 523 of each extension 5226 can be movably provided in the corresponding mobile groove 320. In response to the movement of the adjusting member 520, each mobile member 523 moves in the corresponding mobile groove 320.

[0087] In other embodiments, the movable slot 320 is provided in the adjusting member 520, and the movable member 523 is provided in the handle 300. A movable slot 320 is provided on the outer side of each extension 5226 of the adjusting member 520. The movable slot 320 does not penetrate the extension 5226 to avoid interfering with the movement of the lasso member 510 within the receiving portion 522. The movable members 523 are positioned corresponding to the movable slots 320. Each movable member 523 is movably disposed in a corresponding movable slot 320. In response to movement of the adjusting member 520, each movable slot 320 moves relative to its corresponding movable member 523.

[0088] As described above, the handle 300 is connected to the outer base 420 of the coupling mechanism 400, and the drive mechanism 100 is connected to the inner base 410 of the coupling mechanism 400. Because the inner base 410 and the outer base 420 are movably connected, the handle 300 and the drive mechanism 100 are movably connected via the coupling mechanism 400. The structure and principle of the coupling mechanism 400 are further described below.

[0089] The outer base 420 is configured such that when the lasso 510 is contracted, it is squeezed and elastically deformed, thereby being constrained to the surface of the inner base 410. This restricts relative movement between the outer base 420 and the inner base 410. The relative movement between the handle 300 and the drive mechanism 100, connected via the coupling mechanism 400, is also restricted, restricting the drive mechanism 100 from driving the end effector 600, thereby maintaining the angle of the end effector 600. In response to the lasso 510 being decompressed, releasing the squeeze on the outer base 420, the outer base 420 elastically recovers, resuming relative movement between the outer base 420 and the inner base 410. The end effector 600 can then be driven to adjust its angle by manipulating the relative movement of the handle 300 and the drive mechanism 100. Once the desired angle is reached, the outer base 420 is again constrained to the surface of the inner base 410 to lock the current angle, facilitating the physician's next operation.

[0090] refer to Figure 6 The outer base 420 includes a plurality of circumferentially spaced and connected adjustment tabs 423, with gaps between adjacent adjustment tabs 423. In response to the outer base 420 being squeezed, each adjustment tab 423 approaches the surface of the inner base 410, causing the outer base 420 to elastically deform and be constrained to the surface of the inner base 410. When the outer base 420 is squeezed, the plurality of adjustment tabs 423 converge inward, adjacent adjustment tabs 423 approach each other, and the gaps between the adjustment tabs 423 decrease, compressing the space within the outer base 420, thereby creating a constraint between the outer base 420 and the inner base 410.

[0091] refer to Figure 5 The inner base 410 and the outer base 420 both have a spherical portion 424. The spherical portion 424 of the outer base 420 is sleeved within the spherical portion 424 of the inner base 410, thereby forming a precisely nested ball-hinged connection structure between the outer base 420 and the inner base 410. The nested design of the spherical portions 424 of the inner base 410 and the outer base 420 provides multi-dimensional freedom of movement between the inner base 410 and the outer base 420. The inner base 410 also has a connecting portion 411 connected to its spherical portion 424. The connecting portion 411 extends from the outer base 420 and is connected to the drive mechanism 100. The outer wall of the spherical portion 424 of the outer base 420 is connected to the handle 300.

[0092] A friction strip can be provided between the inner base 410 and the outer base 420 to increase friction between the two bodies, thereby further stabilizing the connection. The friction strip can be, for example, an elastic strip with a roughened surface. The friction strip can be connected to the inner wall of the outer base 420 and can be positioned along the extension direction of the annular portion 512 of the lasso 510.

[0093] The coupling mechanism 400 also includes a pivot structure. Figure 5 and Figure 8 The pivot structure includes a limiting slot 425 and a limiting shaft 412. The limiting slot 425 is provided in one of the outer base 420 and the inner base 410, and the limiting shaft 412 is provided in the other of the outer base 420 and the inner base 410. The limiting shaft 412 is movably provided in the limiting slot 425, so that the inner base 410 and the outer base 420 are movably connected.

[0094] The pivot structure is configured to: allow the limiting shaft 412 and the limiting slot 425 to move relative to each other along the length direction of the limiting slot 425 and allow the limiting shaft 412 and the limiting slot 425 to rotate relative to each other, thereby allowing the handle 300 to rotate relative to the driving mechanism 100 about a first axis so that the driving mechanism 100 drives the end effector 600 to perform a first movement, and allowing the handle 300 to rotate relative to the driving mechanism 100 about a second axis so that the driving mechanism 100 drives the end effector 600 to perform a second movement; The pivot structure is configured such that the limiting shaft 412 and the limiting slot 425 abut against each other along the width direction of the limiting slot 425 to prevent the handle 300 from rotating around its rotation axis relative to the driving mechanism 100 .

[0095] By setting up the pivot structure, the multi-dimensional movement of the handle 300 relative to the drive mechanism 100 around the first axis or the second axis is achieved, while the rotation of the handle 300 is restricted, thereby avoiding damage to internal components caused by the rotation of the handle 300 and avoiding internal transmission disorder.

[0096] The first axis, the second axis and the rotation axis of the handle 300 are perpendicular to each other. Figure 1 The angle of is a reference, the first axis is perpendicular to the paper direction, the second axis is the up and down direction, and the rotation axis is the left and right direction.

[0097] In some embodiments, when the handle 300 rotates about the first axis to cause the end effector 600 to perform a first motion, the limiting shaft 412 and the limiting slot 425 move relative to each other along the length of the limiting slot 425. When the handle 300 rotates about the second axis to cause the end effector 600 to perform a second motion, the limiting shaft 412 and the limiting slot 425 move relative to each other along the length of the limiting slot 425 and the limiting shaft 412 and the limiting slot 425 rotate relative to each other.

[0098] Rotation of the handle 300 about the first axis enables the drive mechanism 100 to drive the end effector 600 to perform a first motion, such as pitching the end effector 600. Rotation of the handle 300 about the second axis enables the end effector 600 to perform a second motion, such as yawing the end effector 600 left or right. These two mutually perpendicular rotational degrees of freedom provide the end effector 600 with flexible posture adjustment capabilities. Furthermore, the handle 300's rotation about its own axis is restricted, effectively preventing damage to internal components and internal transmission disruptions caused by the handle 300's rotation.

[0099] refer to Figure 5 The limiting groove 425 is constructed as follows: the limiting groove 425 extends along the rotation axis of the handle 300, and the width direction of the limiting groove 425 is perpendicular to the rotation axis of the handle 300. When the handle 300 has a tendency to rotate, the limiting shaft 412 will abut against the groove wall of the limiting groove 425 in the width direction, thereby preventing the handle 300 from rotating. When the handle 300 rotates around the first axis, the relative movement trajectory of the limiting shaft 412 and the limiting groove 425 is parallel to the extension direction of the limiting groove 425. The movement path of the limiting shaft 412 is strictly constrained, and the rotation of the handle 300 is accurately converted into the first movement of the end effector 600 driven by the driving mechanism 100.

[0100] The pivot structure is configured to allow one of the limiting shaft 412 and the limiting slot 425 to move forward or backward relative to the other along the length of the limiting slot 425, and to allow one of the limiting shaft 412 and the limiting slot 425 to rotate forward or backward relative to the other. Thus, the handle 300 is allowed to rotate forward or backward relative to the drive mechanism 100 about a first axis, causing the end effector 600 to perform a first motion in a forward direction or a first motion in a reverse direction, such as an up-and-down pitch motion of the end effector 600. Furthermore, the handle 300 is allowed to rotate forward or backward relative to the drive mechanism 100 about a second axis, causing the end effector 600 to perform a second motion in a forward direction or a second motion in a reverse direction, such as a left-and-right yaw motion of the end effector 600. The terms "forward" and "reverse" are merely intended to indicate two different directions and do not indicate a specific direction. The bidirectional displacement and bidirectional rotation configuration between the limiting shaft 412 and the limiting slot 425 enables the doctor to achieve multi-degree-of-freedom movement of the end effector 600 by manipulating the handle 300 . As described above, both the outer base 420 and the inner base 410 have a spherical portion 424, which is nested within the spherical portion 424 of the inner base 410. One of the spherical portion 424 of the outer base 420 or the spherical portion 424 of the inner base 410 defines a limiting slot 425, while the other is connected to a limiting shaft 412. The limiting slot 425 is arc-shaped, with its center coinciding with the center of the spherical portion 424 within which it resides. The nested design of the spherical portion 424 between the outer base 420 and the inner base 410 provides multi-dimensional freedom of movement between the outer base 420 and the inner base 410, enabling the drive mechanism 100 to flexibly drive the end effector 600 to achieve posture adjustment. The coordination between the limiting slot 425 and the limiting shaft 412 ensures flexibility while precisely limiting the range of motion between the outer base 420 and the inner base 410. The limiting groove at least has an opening toward the spherical portion where the limiting shaft is located. For example, the limiting groove passes through the spherical portion where the limiting groove is located.

[0101] The coupling mechanism 400 includes two sets of pivot structures, which are symmetrically arranged about the center of the spherical portion 424 where they are located, forming a stable and balanced mechanical support, which significantly enhances the smoothness and accuracy of the movement.

[0102] refer to Figure 5 and Figure 8 In the embodiment of the present disclosure, each set of limiting slots 425 of the pivot structure is defined in the spherical portion 424 of the outer base 420, and the limiting shaft 412 is connected to the spherical portion 424 of the inner base 410. In response to the handle 300 rotating relative to the drive mechanism 100 about the first axis, causing the drive mechanism 100 to drive the end effector 600 to perform a first motion, each limiting slot 425 moves along its length relative to its corresponding limiting shaft 412, and the movement directions of the limiting slots 425 of the two sets of pivot structures are opposite. In response to the handle 300 rotating relative to the drive mechanism 100 about the second axis, causing the drive mechanism 100 to drive the end effector 600 to perform a second motion, each limiting slot 425 moves along its length relative to its corresponding limiting shaft 412 and rotates relative to its corresponding limiting shaft 412. The movement directions of the limiting slots 425 of the two sets of pivot structures are opposite, and the rotation directions of the limiting slots 425 of the two sets of pivot structures are also opposite.

[0103] As described above, the outer base 420 includes a plurality of adjustment pieces 423 that are spaced apart and connected along the circumferential direction, and a gap exists between two adjacent adjustment pieces 423. Figure 5 The gap between two of the multiple adjustment pieces 423 is formed by one of the limiting grooves 425 , and the gap between the other two is formed by the other limiting groove 425 .

[0104] The structure and principle of the signal generation module are further explained below. Figure 9-10The signal generator 1000 includes a base 1001 , a moving element 1002 and a signal generating module. The signal generating module is disposed in the base 1001 .

[0105] refer to Figure 9-10 and Figure 24 The base 1001 is connected to the inner base 410. One end of the moving element is movably connected to the base 1001, and the other end extends from the inner base 410 and the outer base 420 and is connected to the handle 300. In response to the relative movement between the handle 300 and the drive mechanism 100, the moving element 1002 moves relative to the base 1001 and is captured by the signal generating module, causing the signal generating module to send a signal to the drive mechanism 100, thereby driving the end effector 600 to move.

[0106] refer to Figure 3-Figure 5 The outer base 420 has a first opening and a second opening that are oppositely arranged along the direction of the rotation axis of the handle 300. The connecting portion 411 of the inner base 410 extends from the first opening of the outer base 420 and from the handle 300 and is connected to the driving mechanism 100. Figure 8-9 The inner base 410 has an open portion, and the open portion and its connecting portion 411 are arranged opposite to each other along the direction of the rotation axis of the handle 300. Figure 24 The base 1001 of the signal generating module is fixed in the inner base 410 , and the moving element 1002 extends from the open portion of the inner base 410 and extends from the second open portion of the outer base 420 and is connected to the handle 300 .

[0107] refer to Figure 22-24 The handle 300 includes a housing composed of a first housing 330 and a second housing symmetrically arranged along the rotation axis of the handle 300. Each of the first housing 330 and the second housing is provided with a first engaging portion 331, and each first engaging portion 331 is provided with a first engaging slot 332. The motion element 1002 of the signal generating module includes a motion rod 1003 and a circular flange 1004 extending circumferentially along the motion rod 1003. One end of the motion rod 1003 is movably connected to the base 1001. A portion of the circular flange 1004 engages with the first engaging slot 332 of the first housing 330, while the other portion engages with the first engaging slot 332 of the second housing, thereby achieving a connection between the motion element 1002 and the handle 300.

[0108] refer to Figure 22-23The first and second housings 330 and 333 are each provided with a second engaging portion 333, each of which is provided with a second engaging groove 334. The outer base 420 is provided with a protrusion 421. The protrusion 421 extends along the circumference of the outer base 420. A portion of the protrusion 421 engages with the second engaging groove 334 of the first housing 330, while another portion engages with the second engaging groove 334 of the second housing, thereby achieving a connection between the outer base 420 and the handle 300.

[0109] As mentioned above, the outer base 420 is provided with a circumferentially extending receiving groove 422 , and the annular portion 512 is movably disposed in the receiving groove 422 to limit its deformation direction to the radial direction.

[0110] The signal generation module can be, for example, a 3D joystick control sensor. The motion element 1002 is the joystick of the 3D joystick component. The signal generation module captures the movement of the joystick and outputs a corresponding electrical signal, which is then transmitted to the drive mechanism 100 to drive the end effector 600 to move.

[0111] The structure and principle of the driving mechanism 100 are further described below.

[0112] The drive mechanism 100 includes a housing 106 and a control motor. The housing 106 is connected to the inner base 410. The control motor is disposed within the housing 106 and is electrically connected to a signal generator 1000. The control motor is drivably connected to the motion joint 800, which is in turn drivably connected to the end effector 600. In response to relative movement between the handle 300 and the drive mechanism 100, the signal generator 1000 triggers the control motor to operate, causing the control motor to drive the motion joint 800 to move, thereby moving the end effector 600.

[0113] The drive mechanism 100 also includes a retractable unit and at least one pair of transmission controls 900. Each transmission control 900 is partially retracted in the retractable unit; the control motor is drivably connected to the retractable unit. The motion joint 800 includes a plurality of serpentine bones arranged in sequence. Each serpentine bone has a traction channel corresponding to the transmission control 900, and each transmission control 900 passes through each corresponding traction channel in sequence. The design of the traction channel enables the transmission control 900 to smoothly pass through each serpentine bone and control each serpentine bone. In response to the control motor driving the retractable unit to move, one of the pair of transmission controls 900 is retracted and the other is released, so that the motion joint 800 is driven to move to drive the end effector 600 to move.

[0114] For example, the drive mechanism 100 includes two pairs of transmission controls 900. In response to the handle 300 rotating relative to the drive mechanism 100 about a first axis, the motor is controlled to drive the retraction and extension unit to move so that one of the pair of transmission controls 900 is retracted and the other is released, thereby moving the motion joint 800 to drive the end effector 600 to perform a first movement. In response to the handle 300 rotating relative to the drive mechanism 100 about a second axis, the drive unit drives the second retraction and extension unit to move so that one of the other pair of transmission controls 900 is retracted and the other is released, thereby moving the motion joint 800 to drive the end effector 600 to perform a second movement.

[0115] The specific structure of the motion joint 800 is further described below.

[0116] refer to Figure 25 The surgical instrument further includes a sleeve 105 extending distally from the housing 106 . The proximal end of the sleeve 105 is connected to the housing 106 of the drive mechanism 100 , and the distal end is connected to the motion joint 800 .

[0117] refer to Figure 25 The surgical instrument further includes a distal support structure. The motion joint 800 is disposed at the distal end of the sleeve 105, and the distal support structure is disposed at the distal end of the motion joint 800. The end effector 600 is movably disposed at the distal end of the distal support structure.

[0118] refer to Figure 26 The multiple snake bones include a first snake bone 802, a last snake bone 801 and a plurality of intermediate snake bones 810 located between the first snake bone 802 and the last snake bone 801. The first snake bone 802 is connected to the sleeve 105, and the last snake bone 801 is connected to the distal support structure. Each transmission control 900 passes through the corresponding traction channel of each snake bone in turn and is fixedly connected to the last snake bone 801. The intermediate snake bone 810 is the basic bendable unit of the motion joint 800, and the multiple intermediate snake bones 810 together realize the bending and steering functions of the motion joint 800. Each intermediate snake bone 810 is disc-shaped, and the last snake bone 801 and the first snake bone 802 are both cylindrical.

[0119] refer to Figures 27-28Each intermediate snake bone 810 includes a first surface 811 and a second surface 812 that are opposite to each other. A protrusion 813 is provided on the first surface 811, and the protrusion 813 extends radially along the first surface 811. A groove 814 is provided on the second surface 812, and the groove 814 extends radially along the second surface 812. The protrusion 813 of each intermediate snake bone 810 is perpendicular to the extension direction of its groove 814. The protrusion 813 is a semicircular protrusion 813, and the groove 814 is a semicircular groove 814. The semicircular protrusion 813 and the semicircular groove 814 make the two smoothly connected and flexible. Multiple intermediate snake bones 810 are connected in sequence, and the first surface 811 and the second surface 812 of each adjacent two intermediate snake bones 810 are connected, so that the protrusion 813 of each intermediate snake bone 810 is embedded in the groove 814 adjacent to it.

[0120] refer to Figure 29 The last snake bone 801 is provided with a groove 814, and the protrusion 813 of the middle snake bone 810 adjacent to the last snake bone 801 is embedded in the groove 814 of the last snake bone 801. Figure 30 The first snake bone 802 is provided with a protrusion 813, and the protrusion 813 of the first snake bone 802 is embedded in the groove 814 of the adjacent middle snake bone 810. When the motion joint 800 is subjected to external tension in different directions, the multiple middle snake bones 810 bend in different directions.

[0121] refer to Figures 27-30 Each snake bone has a positioning hole 815, which passes through the first surface 811 and the second surface 812 of the snake bone. The positioning hole 815 of each snake bone is its traction channel. Each snake bone has four positioning holes 815.

[0122] refer to Figures 27-28 Two of the positioning holes 815 of each middle snake bone 810 are arranged opposite to each other along the extension direction of the protrusion 813, and the other two positioning holes 815 are arranged opposite to each other along the extension direction of the groove 814.

[0123] refer to Figure 29 Two of the positioning holes 815 of the last snake bone 801 are arranged relatively along the extension direction of its groove 814, and the other two positioning holes 815 of the last snake bone 801 are arranged relatively, and the line between the other two positioning holes 815 is perpendicular to the extension direction of the groove 814 of the last snake bone 801.

[0124] refer to Figure 30 Two of the positioning holes 815 of the first snake bone 802 are relatively arranged along the extension direction of its protrusion 813. The other two positioning holes 815 of the first snake bone 802 are relatively arranged, and the line between the other two positioning holes 815 is perpendicular to the extension direction of the protrusion 813 of the first snake bone 802.

[0125] The transmission control 900 is a flexible component. For example, it is made of multiple strands of stainless steel or tungsten wire. This ensures that it does not break during force transmission and can adapt to the deformation of the motion joint 800 during bending. Each transmission control 900 is partially retracted within the retractable unit. For example, each transmission control 900 has a connecting section, and the connecting section is at least partially retracted within the retractable unit.

[0126] The drive mechanism 100 includes two pairs of transmission controls 900. Each pair of transmission controls 900 includes two corresponding transmission controls 900. One pair of transmission controls 900 is defined as a first pitch control 910 and a second pitch control 911. The other pair of transmission controls 900 is defined as a first yaw control 920 and a second yaw control 921. The retractable unit includes a pitch retractable member 912 and a yaw retractable member. The control motor includes a pitch motor 913 and a yaw motor. Both the retractable unit and the control motor are disposed within the housing 106.

[0127] refer to Figure 31 The pitch motor 913 is drivably connected to the pitch retractable member 912. A rope groove is provided on the outer wall of the pitch retractable member 912. The connecting sections of the first pitch control 910 and the second pitch control 911 are both connected to the pitch retractable member 912 and at least partially wound in the rope groove of the pitch retractable member 912. The winding direction of the first pitch control 910 is opposite to the winding direction of the second pitch control 911.

[0128] As described above, the surgical instrument has an initial state, in which the handle 300 and the drive mechanism 100 do not move relative to each other, the motion joint 800 does not rotate, and the extension direction of the motion joint 800 is parallel to the axial direction, which is the longitudinal axis of the sleeve 105. The surgical instrument also has a rotational state, in which the motion joint 800 rotates and the extension direction of the motion joint 800 deviates from the axial direction.

[0129] When the surgical instrument is in its initial state, the positioning holes 815 of the terminal serpentine 801, the plurality of intermediate serpentines 810, and the first serpentine 802 are arranged in four rows along the axial direction. These four rows of positioning holes 815 are defined as a first group of holes, a second group of holes, a third group of holes, and a fourth group of holes. Within each group, some positioning holes 815 are located in the groove 814, while some positioning holes 815 are located in the protrusion 813. For example, the first and second groups of holes are positioned opposite each other and are both located in the groove 814, while the third and fourth groups of holes are positioned opposite each other and are both located in the protrusion 813.

[0130] One end of the first pitch control 910 is connected to the pitch retractable member 912, and the other end passes through the sleeve 105, then through the first set of holes, and is fixedly connected to the distal snake 801. One end of the second pitch control 911 is connected to the pitch retractable member 912, and the other end passes through the sleeve 105, then through the second set of holes, and is fixedly connected to the distal snake 801.

[0131] In response to the handle 300 rotating forward relative to the drive mechanism 100 about the first axis, causing the signal generator 1000 to generate a corresponding signal, the pitch motor 913 rotates forward, driving the pitch retractable member 912 to rotate forward, thereby tightening the first pitch control 910 and simultaneously releasing the second pitch control 911, causing each intermediate snake 810 to move, causing the motion joint 800 to swing in the first pitch direction, thereby causing the end effector 600 to swing in the first pitch direction (i.e., the end effector 600 performs the first motion in the forward direction). As described above, the terms "forward" and "reverse" simply refer to two opposite directions and do not represent specific directions.

[0132] In response to the handle 300 rotating in the opposite direction relative to the driving mechanism 100 around the first axis so that the signal generator 1000 generates a corresponding signal, the pitch motor 913 rotates in the opposite direction to drive the pitch retracting and extending member 912 to rotate in the opposite direction, so that the first pitch control 910 is released, and at the same time the second pitch control 911 is tightened, so that each intermediate snake bone 810 moves to make the motion joint 800 swing along the second pitch direction, thereby making the end effector 600 swing along the second pitch direction (that is, the end effector 600 makes the first movement in the opposite direction).

[0133] The yaw retractable member is drivably connected to the yaw motor. A rope groove is provided on the outer wall of the yaw retractable member. The connecting sections of the first yaw control 920 and the second yaw control 921 are both connected to the yaw retractable member and partially wound in the rope groove of the yaw retractable member. The winding direction of the first yaw control 920 is opposite to the winding direction of the second yaw control 921.

[0134] One end of the first yaw control 920 is connected to the yaw retractable member, and the other end passes through the sleeve 105, then through the third set of holes, and is fixedly connected to the distal snake 801. One end of the second yaw control 921 is connected to the yaw retractable member, and the other end passes through the sleeve 105, then through the fourth set of holes, and is fixedly connected to the distal snake 801.

[0135] In response to the handle 300 rotating forwardly relative to the drive mechanism 100 around the second axis so that the signal generator 1000 generates a corresponding signal, the yaw motor rotates forwardly to drive the yaw retractable member to rotate forwardly, so that the first yaw control 920 is tightened, and at the same time the second yaw control 921 is released, so that each intermediate snake bone 810 moves to make the motion joint 800 swing along the first yaw direction, thereby making the end effector 600 swing along the first yaw direction (that is, the end effector 600 makes a second movement in the forward direction).

[0136] In response to the handle 300 rotating in the opposite direction relative to the driving mechanism 100 around the second axis so that the signal generator 1000 generates a corresponding signal, the yaw motor rotates in the opposite direction to drive the yaw retracting and extending member to rotate in the opposite direction, so that the first yaw control 920 is released, and at the same time the second yaw control 921 is tightened, so that each intermediate snake bone 810 moves to make the motion joint 800 swing along the second yaw direction, thereby making the end effector 600 swing along the second yaw direction (that is, the end effector 600 makes a second movement in the opposite direction).

[0137] It should be noted that each transmission control 900 is always kept in a tensioned state and remains in a tensioned state when released.

[0138] The surgical instrument further includes a driving device configured to drive the end effector 600 to move so that the end effector 600 performs a clamping function and a self-rotation function.

[0139] refer to Figures 25-26 In some embodiments of the present disclosure, the end effector 600 includes a first clamp arm 610 and a second clamp arm 620. When the end effector 600 is open, the first clamp arm 610 and the second clamp arm 620 are spaced apart from each other. When the end effector 600 is closed, the first clamp arm 610 and the second clamp arm 620 are moved closer to each other to clamp an object therebetween.

[0140] refer to Figures 25-26 The distal support structure includes a base 103 and a rotating base 104. The base 103 is rotatably connected to the rotating base 104. The base 103 is connected to the distal snake bone 801 of the motion joint 800. The rotating base 104 is disposed at the distal end of the base 103.

[0141] refer to Figures 32-34 The driving device includes a driving rod 102, which is configured to be drivably connected to the end effector 600 to drive its movement. The driving rod 102 can be movably passed through the sleeve 105, the motion joint 800 and the distal support structure and then drivably connected to the end effector 600. For example, referring to Figures 27-30Each snake bone is also provided with a central hole 816, and the central hole 816 positioning hole 815 passes through the first surface 811 and the second surface 812 of the snake bone. The central hole 816 is configured to allow the driving rod 102 to pass through the motion joint 800. The central hole 816 of each snake bone is located at its central axis. Figures 33-34 The driving rod 102 passes through the sleeve 105, the center hole 816 of the first snake bone 802, the center hole 816 of each intermediate snake bone 810 and the center hole 816 of the last snake bone 801 in sequence, and then passes through the base 103 and the rotating seat 104 to be pivotally connected to the end effector 600.

[0142] The drive rod 102 has a flexible region corresponding to the motion joint 800 to accommodate the movement of the motion joint 800. The flexible region is a braided steel wire shaft, made from multiple strands of fine steel wire, capable of large-angle bending and restoring its original shape. Other regions of the drive rod 102 can be machined to have a more rigid structure, such as a solid structure. This prevents the drive rod 102 from excessively bending during movement, resulting in smoother movement of the drive rod 102.

[0143] refer to Figures 32-34 One portion of the first clamp arm 610 is hinged to one portion of the second clamp arm 620 via a first shaft 631 , and the distal end of the driving rod 102 is hinged to another portion of the first clamp arm 610 via a second shaft 632 . The rotating base 104 is hinged to another portion of the second clamp arm 620 via a third shaft 633 .

[0144] In response to the axial movement of the driving rod 102 , the driving rod 102 drives the first clamp arm 610 to rotate relative to the second clamp arm 620 , and causes the second clamp arm 620 to rotate relative to the rotating base 104 , thereby opening or closing the end effector 600 .

[0145] In response to the drive rod 102 rotating about the rotation axis, the drive rod 102 drives the first clamp arm 610 to rotate about the rotation axis, causing the second clamp arm 620 to also rotate about the rotation axis, thereby causing the end effector 600 to rotate about the rotation axis. Under the drive of the second clamp arm 620, the rotating base 104 adaptively rotates about the rotation axis to avoid interfering with the rotational movement of the end effector 600. The rotation axis is the central axis of the drive rod 102 in the longitudinal direction.

[0146] refer to Figure 25 The rotating seat 104 includes a base portion 1041 and two extension portions 1042 extending from the base portion 1041 . The second clamp arm 620 is hinged to the two extension portions 1042 .

[0147] refer to Figures 33-34The base portion 1041 of the rotating base 104 is provided with a circumferentially extending sliding groove 1043, and the base 103 is provided with a slider 1031. The slider 1031 is rotatably disposed in the sliding groove 1043, thereby achieving a rotatable connection between the rotating base 104 and the base 103. When the end effector 600 rotates about the rotation axis, the rotating base 104 rotates relative to the base 103, and the sliding groove 1043 rotates relative to the slider 1031.

[0148] The driving device further includes a first motor 230 , a second motor 250 and a moving unit 200 , all of which are disposed in the housing 106 . The moving unit 200 includes a first moving member 201 , a second moving member 210 and a third moving member 240 .

[0149] refer to Figure 37 and Figure 39 , the housing 106 has a mounting portion 101, reference Figures 35-37 The first moving member 201 is rotatably mounted on the mounting portion 101. The second moving member 210 is circumferentially fixed and axially movable to the mounting portion 101, so that the mounting portion 101 restricts the movement of the second moving member 210, allowing the second moving member 210 to move relative to the mounting portion 101 but not to rotate relative to the mounting portion 101.

[0150] refer to Figure 39 The mounting portion 101 is provided with a first slot 1011, referring to Figure 38 The second moving member 210 is provided with a first plug-in portion 212. The first slot 1011 and the first plug-in portion 212 are both provided with two first planes 260. The first plug-in portion 212 is movably located in the first slot 1011, one of the first planes 260 of the first plug-in portion 212 cooperates with one of the first planes 260 of the first slot 1011, and the other first plane 260 of the first plug-in portion 212 cooperates with the other first plane 260 of the first slot 1011, so that the second moving member 210 is circumferentially fixed and axially movably connected to the mounting portion 101. When the second moving member 210 has a tendency to rotate, each first plane 260 of the second moving member 210 abuts against the corresponding first plane 260 of the mounting portion 101, so that the second movement is restricted from rotating. When the second moving member 210 moves, the first plane 260 of the second moving member 210 moves along the first plane 260 of the mounting portion 101, and the movement of the second moving member 210 is not restricted.

[0151] refer to Figure 37The first moving member 201 is sleeved on the second moving member 210, and a sliding screw transmission is formed between the first moving member 201 and the second moving member 210. The inner wall of the first moving member 201 is provided with an internal thread 204, and the outer wall of the second moving member 210 is provided with an external thread 215. The internal thread 204 and the external thread 215 are, for example, trapezoidal threads. In response to the rotation of the first moving member 201, the internal thread 204 of the first moving member 201 cooperates with the external thread 215 of the second moving member 210, so that the second moving member 210 is driven to move.

[0152] The drive rod 102 is axially fixed and circumferentially movably connected to the second moving part 210, and the drive rod 102 is circumferentially fixed and axially movably connected to the third moving part 240, so that the second moving part 210 will not restrict the rotation of the drive rod 102, and the third moving part 240 will not restrict the movement of the drive rod 102.

[0153] In response to the movement of the second moving member 210, the second moving member 210 drives the drive rod 102 to move axially relative to the third moving member 240, thereby opening or closing the end effector 600. In response to the rotation of the third moving member 240, the third moving member 240 drives the drive rod 102 to rotate relative to the second moving member 210 about the rotation axis, thereby rotating the end effector 600.

[0154] refer to Figure 37 and Figure 40 The third moving member 240 is provided with a second plug-in portion 241, and the driving rod 102 is provided with a second slot 1021. The second slot 1021 and the second plug-in portion 241 each have two second flat surfaces 270. The second plug-in portion 241 is movably located in the second slot 1021. One of the second flat surfaces 270 of the second plug-in portion 241 cooperates with one of the second flat surfaces 270 of the second slot 1021, and the other second flat surface 270 of the second plug-in portion 241 cooperates with the other second flat surface 270 of the second slot 1021, so that the driving rod 102 and the third moving member 240 are fixed in the circumferential direction and movably connected in the axial direction.

[0155] In response to the rotation of the third moving member 240, each second flat surface 270 of the second slot 1021 abuts against the corresponding second flat surface 270 of the second plug-in portion 241, so that the third moving member 240 drives the drive rod 102 to rotate about the rotation axis. In response to the movement of the drive rod 102, the second flat surface 270 of the drive rod 102 moves along the second flat surface 270 of the third moving member 240, thereby not restricting the movement of the drive rod 102.

[0156] refer to Figure 37The proximal end of the driving rod 102 is disposed in the second moving member 210. The inner wall of the second moving member 210 is provided with a push portion 214. The push portion 214 extends in a circular ring shape along the circumferential direction of the second moving member 210. Figure 40 The outer wall of the drive rod 102 is provided with a drive groove 1022 extending along its circumferential direction. The push portion 214 is movably located in the drive groove 1022, so that the drive rod 102 and the second moving member 210 are axially fixed and circumferentially movable. In response to the movement of the second moving member 210, the push portion 214 pushes against the inner wall of the drive groove 1022, so that the second moving member 210 drives the drive rod 102 to move. In response to the third moving member 240 driving the drive rod 102 to rotate, the push portion 214 rotates relatively in the drive groove 1022.

[0157] refer to Figure 36-Figure 37 and Figure 41 The drive mechanism 100 further includes a transmission gear 232. The output shaft of the first motor 230 is connected to the transmission gear 232. The outer wall of the first moving member 201 is provided with a toothed portion 203, and the transmission gear 232 is meshed with the toothed portion 203 of the first moving member 201. In response to the rotation of the first motor 230, the first motor 230 drives the transmission gear 232 to rotate, causing the first moving member 201 to rotate, thereby driving the second moving member 210 to move, thereby moving the drive rod 102.

[0158] refer to Figure 41 , the output shaft of the second motor 250 is connected to the third moving member 240 to drive the third moving member 240 to rotate. Figure 37 The third moving member 240 partially penetrates into the mounting portion 101 and partially penetrates into the second moving member 210 to be operably connected to the driving rod 102 .

[0159] The surgical instrument disclosed herein further includes a control mechanism, such as a button, which controls the control mechanism to send instructions to the first motor 230 and the second motor 250 so that each motor is started or stopped, thereby causing the end effector 600 to perform corresponding actions.

[0160] In summary, the disclosed locking mechanism utilizes a wraparound design, with the lasso 510 encircling the outer base 420, creating a uniform and stable pressure distribution on the coupling mechanism 400. Locking the lasso 510 within the adjusting member 520 effectively resists external interference during surgery, providing a strong, stable angular locking effect. Furthermore, simply controlling the movement of the adjusting member 520 allows for rapid switching between locked and released states, enabling efficient and precise surgical control.

[0161] The pressing part in the operating state corresponds to another state opposite to the current state of the locking mechanism (for example, if the locking mechanism is currently in the locked state, then the pressing part in the operating state must correspond to the unlocked state of the locking mechanism). The pressing part in the operating state must correspond to the state of the locking mechanism that the doctor wants to achieve. At any time, as long as the doctor wants to switch the state of the locking mechanism, he only needs to press the pressing part of the button.

[0162] By setting up the pivot structure, the handle 300 can achieve multi-dimensional movement around the first axis or the second axis relative to the drive mechanism 100, while limiting the rotation of the handle 300, avoiding damage to internal components caused by the rotation of the handle 300 and avoiding internal transmission disorder.

[0163] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0164] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the scope of protection of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A surgical instrument, characterized in that: include: handle; a driving mechanism disposed on the distal side of the handle; a motion joint, which is drivably connected to the drive mechanism; an end effector, which is drivably connected to the motion joint; a signal generator electrically connected to the drive mechanism, the signal generator being configured to capture the relative motion between the handle and the drive mechanism and convert the signal into an electrical signal for transmission to the drive mechanism, so that the drive mechanism drives the motion joint to move and thereby drives the end effector to move; The coupling mechanism comprises an inner base and an outer base movably sleeved on the inner base, the handle is connected to the outer base, and the driving mechanism is connected to the inner base; The locking mechanism includes a lasso member and an adjusting member, wherein the lasso member is sleeved on the outer base; the adjusting member has a receiving portion, wherein the receiving portion has a tightening section and a releasing section; the lasso member has a first portion and a second portion that are movable relative to each other, and when the adjusting member moves so that the first portion and / or the second portion is received in the tightening section or the releasing section, the distance between the first portion and the second portion changes; the locking mechanism has a locked state and a released state; In response to the movement of the adjusting member so that the first part and / or the second part are accommodated in the tightening section, the locking mechanism is in a locked state, the lasso member is contracted to constrain the outer base to the surface of the inner base, so that the handle and the driving mechanism are restricted from relative movement; In response to the movement of the adjusting member so that the first part and / or the second part are accommodated in the release section, the locking mechanism is in a released state, the lasso member is reset to release the constraint on the outer base, so that the handle and the driving mechanism are allowed to move relative to each other to drive the end effector to move.

2. The surgical instrument according to claim 1, wherein: The tightening section is configured such that the tightening section pushes against the first portion and / or the second portion received in the tightening section to cause a first change in the distance between the first portion and the second portion, so that the lasso member is elastically deformed to be contracted; The release section is configured to, in response to the lasso member elastically resetting to cause the distance between the first portion and the second portion to undergo a second change opposite to the first change, the release section stopper being received in the first portion and / or the second portion of the release section.

3. The surgical instrument according to claim 1 or 2, characterized in that: The size of the tightening section is smaller than that of the releasing section.

4. The surgical instrument according to claim 1, wherein: The lasso further comprises an open annular portion, one end of which is connected to the first portion, and the other end of which is connected to the second portion; the annular portion is sleeved on the outer base; In response to the first portion and / or the second portion being received in the tightening section so that the distance between the first portion and the second portion changes first, the annular portion elastically deforms radially to be contracted, thereby constraining the outer base to the surface of the inner base, and the locking mechanism is in a locked state; In response to the first part and / or the second part being accommodated in the release section so that the annular portion elastically returns to its original position and the constraint on the outer base is released, the distance between the first part and the second part undergoes a second change opposite to the first change, so that the locking mechanism is in an unlocked state.

5. The surgical instrument according to claim 2 or 4, characterized in that: The first change is that the distance between the first part and the second part becomes smaller; the second change is that the distance between the first part and the second part becomes larger.

6. The surgical instrument according to claim 4, characterized in that The surface of the outer base body is provided with a circumferentially extending receiving groove, and the annular portion is movably arranged in the receiving groove.

7. The surgical instrument according to claim 1, wherein: The locking mechanism also includes a rolling structure; the first part and the receiving portion are movably abutted via the rolling structure, so that when the first part moves in the receiving portion, the rolling structure rolls relative to the receiving portion and the first part, and / or the second part and the receiving portion are movably abutted via the rolling structure, so that when the second part moves in the receiving portion, the rolling structure rolls relative to the receiving portion and the second part.

8. The surgical instrument according to claim 1 or 2, characterized in that: The locking mechanism also includes a rolling structure; the first part and the second part are both accommodated in the accommodating portion; the accommodating portion has two abutting walls, and the rolling structure includes a first rolling structure and a second rolling structure, the first rolling structure can be movably abutted between the first part and one of the abutting walls, and the second rolling structure can be movably abutted between the second part and the other abutting wall.

9. The surgical instrument according to claim 7 or 8, characterized in that: Each of the rolling structures includes at least one rolling element, and the outer surface of the rolling element is a smooth curved surface.

10. The surgical instrument according to claim 1, wherein: The outer base is configured such that when the lasso is contracted, the outer base is squeezed and elastically deformed to be constrained to the surface of the inner base, so that the outer base and the inner base are restricted from relative movement; in response to the lasso being reset to release the squeezing of the outer base, the outer base elastically recovers.

11. The surgical instrument according to claim 10, characterized in that: The outer substrate includes a plurality of adjustment plates arranged at intervals and connected along the circumferential direction, with a gap between two adjacent adjustment plates; in response to the outer substrate being squeezed, each adjustment plate approaches the surface of the inner substrate, causing the outer substrate to elastically deform to be constrained to the surface of the inner substrate.

12. The surgical instrument according to claim 1, wherein: The coupling mechanism also includes a pivot structure; the pivot structure includes a limit groove and a limit shaft; the limit groove is opened in one of the outer base and the inner base, and the limit shaft is arranged in the other of the outer base and the inner base; the limit shaft is movably arranged in the limit groove, so that the inner base and the outer base can be movably connected.

13. The surgical instrument according to claim 1, wherein: The inner base and the outer base both have a spherical portion, the spherical portion of the outer base is sleeved on the spherical portion of the inner base, and the inner base also has a connecting portion connected to its spherical portion, the connecting portion extends from the outer base and is connected to the driving mechanism; the outer wall of the spherical portion of the outer base is connected to the handle.

14. The surgical instrument according to claim 1, wherein: The signal generator includes a base, a motion element and a signal generating module; the signal generating module is arranged on the base; The base is connected to the inner base, one end of the moving element is movably connected to the base, and the other end extends from the inner base and the outer base and is connected to the handle; In response to the relative movement of the handle and the drive mechanism, the moving element moves relative to the base and is captured by the signal generating module, so that the signal generating module sends a signal to the drive mechanism to drive the end effector to move.

15. The surgical instrument according to claim 1, wherein: The driving mechanism includes a housing and a control motor; the housing is connected to the inner base, the control motor is arranged in the housing, the control motor is electrically connected to the signal generator, and the control motor is drivably connected to the motion joint; In response to the relative movement between the handle and the driving mechanism, the signal generator triggers the control motor to operate, so that the control motor drives the motion joint to move so as to move the end effector.

16. The surgical instrument according to claim 15, characterized in that The drive mechanism further includes a retractable unit and at least one pair of transmission controls; each of the transmission controls is partially received in the retractable unit; the control motor is drivably connected to the retractable unit; The motion joint includes a plurality of snake bones arranged in sequence; each of the snake bones has a traction channel corresponding to the transmission control, and each of the transmission controls passes through each of the corresponding traction channels in sequence; In response to the control motor driving the retracting and extending unit to move, one of a pair of transmission controls is retracted and the other is released, so that the motion joint is driven to move to drive the end effector to move.

17. The surgical instrument according to claim 1, wherein: The surgical instrument further includes a dial button and a switching structure; the adjusting member is movably connected to the handle; one portion of the dial button is rotatably connected to the handle, and the other portion of the dial button is connected to the adjusting member via the switching structure; When the locking mechanism is in the unlocked state, in response to the dial button rotating in the first rotation direction to the locked position, the switching structure moves to drive the adjusting member to move until the first portion and / or the second portion are accommodated in the tightening section, so that the locking mechanism switches to the locked state; When the locking mechanism is in the locked state, in response to the button rotating along the second rotation direction to the unlocked position, the switching structure moves to drive the adjusting member to move to the first part and / or the second part to be accommodated in the release section, so that the locking mechanism switches to the unlocked state.

18. The surgical instrument according to claim 17, wherein: The adjusting member further comprises a hinge portion connected to the receiving portion; the switching structure comprises a waist-shaped groove and a switching shaft; the waist-shaped groove is provided in the hinge portion; The dial button is connected to the switching shaft, and the switching shaft is movably accommodated in the waist-shaped groove; In response to the dial button rotating to drive the switching shaft to rotate in the waist-shaped groove and move along the length direction of the waist-shaped groove, the adjusting member is driven to move.

19. The surgical instrument according to claim 17, wherein: The adjusting member and the handle are movably connected via a motion structure; the motion structure includes a motion groove and a moving member movably arranged in the motion groove, the motion groove is arranged in one of the adjusting member and the handle, and the moving member is arranged in the other.

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