Electric bendable endoscopic surgical instrument

Abstract

The invention relates to the field of medical instruments, and particularly discloses an electric bendable endoscopic surgical instrument. The electric bendable endoscopic surgical instrument comprises a holding part, a middle rod and a head part, wherein the middle rod comprises a straight pipe section and a snake bone section; the bending driving module comprises a driving assembly, a transmission assembly and a pulling rope, the transmission assembly comprises a winch, the winch is limited to be arranged in a rotating and movable mode, and the driving assembly is used for driving the winch to rotate; one end of the traction rope is fixedly connected with the snake bone section, and the other end of the traction rope is fixedly connected with the winch. The electric bendable endoscope surgical instrument has the advantages of being stable in structure, small in driving force and reliable in movement on the basis of achieving bending control of the middle rod.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to an electrically powered bendable endoscope surgical device. BACKGROUND

[0002] In the medical field, especially in the field of minimally invasive surgery, endoscopic surgical devices are increasingly widely used. Endoscopic surgical devices are special tools for laparoscopy, hysteroscopy, thoracoscopy and other minimally invasive surgeries, which can enter the body through a small incision in the human body, cooperate with an endoscope to complete surgical operations, and have the advantages of "small trauma and fast recovery" in line with endoscopic surgery.

[0003] Common endoscopic surgical devices usually include a holding portion, an intermediate rod and a head portion, the intermediate rod is used to connect the holding portion and the head portion, and the head portion includes grasping forceps, separating forceps, scissors, hemostatic forceps, needle holders and the like according to different functions. During surgery, the surgeon holds the holding portion and performs the corresponding operation, the intermediate rod passes through the incision in the human body, and the head portion performs surgical operations in the body cavity.

[0004] According to the structure of the intermediate rod, it is divided into a straight rod type and a bendable rod type. The straight rod type surgical device is difficult to meet the demand of complex operation due to limited operation space and single function, so the bendable rod type surgical device is more widely used. The bendable rod type surgical device usually has a snake bone section that can be bent on the intermediate rod. By controlling the bending of the snake bone, the steering of the head portion is realized to meet the operation demand of different angles.

[0005] A Chinese invention patent with the publication number CN 103110456 B discloses a powered articulating motion and wristed rotary surgical device, which includes a housing and a shaft having an articulating portion and an end effector; further includes a first outer housing connected to and rotating with a proximal end of the shaft; further includes an inner frame housed within the first outer housing; further includes a plurality of posts supported by the inner frame and connected at their distal ends to at least one drive wire and at their proximal ends to a threaded shaft; further includes a second outer housing connected to and rotating with the first outer housing, the second outer housing housing the threaded shaft. Further includes a first motor driving a first gear, the first gear engaging the threaded shaft such that a first pair of the plurality of threaded shafts rotate in the same direction and cause the articulating portion to articulate in a first plane. The above-mentioned surgical device discloses a specific structure of a bendable rod type. The rotation of the two pairs of screw rod mechanisms can change the tightness of the two matching drive wires, and then realize the steering operation of the head portion.

[0006] To ensure the smooth operation of the surgery, the bendable part needs to be reliably maintained, that is, the driving rope needs to provide sufficient tension to the bendable snake bone part, provide sufficient resistance to the external driving bending of the snake bone part, and further reliably maintain the snake bone part at any angle.

[0007] In the above surgical device, each snake bone segment is connected to a screw mechanism by two driving ropes, and the extension and contraction of the two driving ropes are achieved by the rotation of the two screw mechanisms, and further the bending adjustment of the snake bone is achieved. The driving form of the snake bone part in the above surgical device is not only too complex in structure, but also because the load of the driving line is completely borne by the corresponding screw mechanism, the screw mechanism is always in a loaded state, and after long-term use, the stability of the structure and the reliability of the movement are affected to a certain extent. In addition, the always-loaded state of the screw mechanism also inevitably leads to excessive driving force required by the whole. SUMMARY

[0008] The technical problem to be solved by the present application is to provide an electrically bendable laparoscope surgical instrument which has the advantages of stable structure, small driving force and reliable movement on the basis of realizing intermediate rod bending control.

[0009] To solve the above technical problems, the technical solution provided by the present application is as follows: an electrically bendable laparoscope surgical instrument, comprising a holding part, an intermediate rod and a head part, the holding part and the head part being connected by the intermediate rod, the intermediate rod comprising straight pipe segments and snake bone segments; It also comprises a bending driving module, the bending driving module comprising a driving assembly, a transmission assembly and a traction rope, the driving assembly and the transmission assembly being arranged in the holding part; the transmission assembly comprises a winch, the winch being arranged in rotation, the driving assembly being used to drive the winch to rotate; one end of the traction rope is fixedly connected with the snake bone segment, and the other end is fixedly connected with the winch.

[0010] In use, the driving assembly controls the rotation of the winch, the winch drives the traction rope to be tightened or loosened, and the bending and straightening of the snake bone segment are realized. The reaction load transmitted by the traction rope to the snake bone segment is basically borne by the winch, and the driving force required for bending operation is small, so that small power driving bending can be realized. From another angle, compared with the prior art surgical device, under the premise of the same output power of the motor, the tension of the traction rope on the snake bone segment can be set larger, and further a larger resistance to external driving deformation is provided to the snake bone segment, so as to ensure that the snake bone segment is better and more stably maintained at a specific angle, and the operation convenience and reliability during surgery are improved.

[0011] As a preferred embodiment, the number of traction ropes connected to each winch is two, and the two traction ropes are located on different sides of the rotation center of the winch.

[0012] When the winch rotates, one of the traction ropes is pulled tight, the other is loosened, and the bending of the snake bone segment is matched and synchronized well.

[0013] As preferred, the bending driving module further comprises a traction connector, the winch is provided with a traction gap, and the traction connector is arranged in the traction gap. Both of the traction ropes are fixedly connected with the traction connector, and the two traction ropes are discontinuously arranged or continuously arranged at the traction connector.

[0014] The traction ropes and the winch are fixedly connected through the cooperation of the traction connector and the traction gap, and the traction connector and the winch are synchronously rotated through the cooperation of the traction connector and the traction gap.

[0015] As preferred, the transmission assembly further comprises a driving slider and a push-pull disc, the driving slider is defined to be slidingly arranged perpendicularly to the straight pipe segment, the push-pull disc is defined to be slidingly arranged along the axial direction of the straight pipe segment, and the driving assembly is used to drive the driving slider to slide. The push-pull disc is provided with a push-pull block slidingly arranged in the push-pull slot, and the push-pull disc and the winch are provided with a push-pull connecting rod.

[0016] In use, the driving assembly controls the driving slider to slide, the sliding of the driving slider is converted into the sliding of the push-pull disc through the cooperation of the push-pull slot and the push-pull block, the winch is driven to rotate through the push-pull connecting rod, the traction ropes are pulled tight or loosened by the winch, and the bending and straightening of the snake bone segment are realized.

[0017] Compared with the existing surgical device, the bending driving of the snake bone segment is realized through the step-by-step transmission of the driving slider, the push-pull disc and the winch, the bending control precision is improved, and the device has the advantages of reliable structure and high transmission precision.

[0018] As preferred, the intermediate rod further comprises a spline segment, the spline segment is coaxially fixedly connected with the straight pipe segment, the spline segment is rotationally arranged on the holding part around the axis, a hand wheel is sleeved on the spline segment or the straight pipe segment, a wire guide groove is formed on the outer side surface of the spline segment, the wire guide groove extends to communicate with the channel in the straight pipe segment, and the traction rope is arranged in the wire guide groove.

[0019] The spline segment is used to guide the distribution of the traction rope, and simultaneously realizes the rotational arrangement between the intermediate rod and the holding part, and the hand wheel is used to operate the rotational action of the intermediate rod.

[0020] As preferred, the push-pull disc comprises an inner ring and an outer ring, the inner ring is sleeved on the spline segment, the outer ring is rotatably sleeved on the inner ring, and the push-pull connecting rod is connected with the inner ring; the capstan is rotatably connected with the spline segment, and the rotation center of the capstan is arranged along the radial direction of the spline segment.

[0021] The push-pull disc and the capstan are arranged on the spline segment, which can well adapt to the rotation requirement of the intermediate rod. The inner and outer rings of the push-pull disc can realize the movement cooperation with the driving slider and the spline segment at the same time, and can meet the requirements of sliding and rotating movement. Correspondingly, the driving assembly can be fixedly arranged on the holding part to facilitate the operation of bending, and the spline segment can be rotatably arranged and can realize movement transmission through the cooperation of the inner and outer rings, which can well adapt to the overall rotation requirement of the intermediate rod in the laparoscopic surgical instrument, and can take into account the convenience of operation and the flexibility of use.

[0022] As preferred, the driving slider is provided with an avoiding slot, the spline segment is arranged through the avoiding slot, and the two side walls of the avoiding slot are respectively provided with a push-pull slot; the push-pull block is located outside the outer ring and corresponds to the push-pull slot one by one.

[0023] The driving slider is matched with the push-pull block from both sides to ensure that the driving slider can drive the push-pull disc to stably and reliably slide axially.

[0024] As preferred, the bending driving module further comprises a guide block, and the guide block is fixedly arranged on the side surface of the spline segment; the inner side of the guide block is provided with a guide slot, one end of the guide slot is arranged towards the capstan, and the other end is communicated with the wire slot.

[0025] The guide block is used for guiding the movement extension and direction of the traction rope, so as to ensure that the traction rope can smoothly and reliably transition between the capstan and the wire slot.

[0026] As preferred, the number of the snake bone segments is two, the two snake bone segments are sequentially distributed along the axial direction of the intermediate rod, and a transition short pipe is arranged between the two snake bone segments; the bending driving module corresponds to the snake bone segment one by one.

[0027] The two snake bone segments can independently realize bending through the corresponding bending driving module, and the cooperation of the two snake bone segments can realize the bidirectional bending of the head in the coronal plane and the sagittal plane, so that the movement flexibility of the head is greatly improved.

[0028] Especially when two or more surgical instruments are used for surgical operation, due to the small incision, the operation space of the intermediate rod after passing through the incision is limited, and the two surgical instruments are easily interfered with each other. Through the cooperation of the two snake bone segments, the movement range of the head can be greatly improved, and the tacit cooperation of two or more surgical instruments in the cavity can be realized, so that the surgical operation can be performed on the lesion from various angles.

[0029] Preferably, the driving assembly comprises a motor, which drives the main sliding block to slide through a screw rod mechanism.

[0030] Preferably, the driving assembly further comprises a battery unit, which is integrally arranged with the motor in a power pack, the power pack is detachably connected with the holding part; the motor is connected with the screw rod mechanism through a quick release joint.

[0031] The battery unit and the motor can be modularly disassembled as a whole in the form of the power pack, which facilitates the maintenance and update of the driving assembly. In addition, the driving assembly can be disassembled for sterilization, while the remaining part is mainly a mechanical structure, which is more flexible in the sterilization process, fully meeting the aseptic requirements of the operation.

[0032] Preferably, the head part comprises an execution unit and an operation soft rope, the head part is connected with the execution unit at the first end of the operation soft rope, and the tail end of the operation soft rope passes through the intermediate rod; Further comprising a head driving module, the head driving module comprises an operation handle, a tension link and a driving arm, the operation handle and the driving arm are respectively hinged with the holding part, and the tension link is respectively hinged with the operation handle and the driving arm; the tail end of the operation soft rope is connected with the driving arm.

[0033] The holding part, the operation handle, the tension link and the driving arm jointly constitute a four-bar mechanism, by gripping or loosening the operation handle, the driving arm can be operated to move, and the operation soft rope is pulled back or pushed forward with the rotation of the driving arm, thereby indirectly driving the head part to perform corresponding actions.

[0034] Preferably, the head driving module further comprises a head rotating assembly, the head rotating assembly comprises a rotating wheel, the rotating wheel is rotatably connected with the holding part, the rotating wheel is sleeved outside the operation soft rope and rotates synchronously with the operation soft rope. The rotating wheel can drive the operation soft rope to rotate and synchronously drive the head to rotate, thereby improving the flexibility of the head movement.

[0035] Preferably, the driving arm is located at the end of the intermediate rod away from the head part, a limiting sliding groove is arranged on the side of the driving arm facing the intermediate rod, and the limiting sliding groove is provided with a plug-in interface; the tail end of the operation soft rope is provided with a limiting sliding block matched with the limiting sliding groove. The driving arm has at least two position states, in the first position state, the plug-in interface is arranged in alignment with the center of the intermediate rod, in the second position state, the plug-in interface is arranged in misalignment with the center of the intermediate rod; the operation handle and the tension link are used for controlling the rotation of the driving arm and switching between the two position states.

[0036] When the driving arm is in the first position state, the insertion port is aligned with the center of the intermediate rod, and the limiting slider can freely enter and exit the limiting sliding groove from the insertion port. At this time, the head and the operation soft rope can be disassembled and assembled. When the limiting slider is installed in the insertion port, the driving arm rotates to the second position state, and the limiting slider synchronously slides in the limiting sliding groove to be misaligned with the insertion port. At this time, the limiting slider is reliably limited in the limiting sliding groove and can be reliably connected with the driving arm to perform the operation of the head. The detachable design of the head and the operation soft rope facilitates the replacement of different types and specifications of heads to realize different functions, and also facilitates the disinfection and maintenance operation of the head. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the electrically bendable laparoscope surgical instrument of the embodiment; Figure 2 It is a sectional view of the electrically bendable laparoscope surgical instrument of the embodiment; Figure 3 It is a structural schematic diagram of the electrically bendable laparoscope surgical instrument of the embodiment in a state of removing the holding part; Figure 4 It is a structural schematic diagram of the cooperation of the bending driving module and the head driving module in the electrically bendable laparoscope surgical instrument of the embodiment; Figure 5 It is a structural schematic diagram of the cooperation of the transmission assembly, the spline segment, and the traction rope in the electrically bendable laparoscope surgical instrument of the embodiment, and the driving slider is located at the lower limit position; Figure 6 It is a structural schematic diagram of the cooperation of the transmission assembly, the spline segment, and the traction rope in the electrically bendable laparoscope surgical instrument of the embodiment, and the driving slider is located at the upper limit position; Figure 7 It is a structural schematic diagram of the cooperation of the transmission assembly, the spline segment, and the traction rope in the electrically bendable laparoscope surgical instrument of the embodiment, and the driving slider is in a hidden state; Figure 8 It is a structural schematic diagram of the driving slider in the electrically bendable laparoscope surgical instrument of the embodiment; Figure 9 It is a structural schematic diagram of the two snake bone segments in the driving slider in the electrically bendable laparoscope surgical instrument of the embodiment, which is used to realize the transition of the traction rope between the two snake bone segments; Figure 10 It is a front view of the bone segment in the electrically bendable laparoscope surgical instrument of the embodiment; Figure 11 It is a local schematic diagram of the cooperation of the snake bone segment and the head in the electrically bendable laparoscope surgical instrument of the embodiment, and the two snake bone segments are in a straightened state; Figure 12This is a partial schematic diagram of the snake bone segment and head in the electrically flexible laparoscopic surgical instrument of this embodiment, wherein the snake bone segment near the head is in a bent state; Figure 13 This is a partial schematic diagram of the snake bone segment and head in the electrically flexible laparoscopic surgical instrument of this embodiment, wherein the snake bone segment near the grip is in a bent state; Figure 14 This is a partial schematic diagram of two electrically powered flexible laparoscopic surgical instruments used in this embodiment, one of which is in a straight position and the other is in a bent position. Figure 15 This is a partial schematic diagram of two electrically powered flexible laparoscopic surgical instruments used in this embodiment, both of which are in a bent state. Figure 16 This is a schematic diagram of the power pack in the disassembled state of the electrically powered flexible laparoscopic surgical instrument in this embodiment; Figure 17 This is a schematic diagram showing the connection between the power unit and the transmission unit in the electrically powered flexible laparoscopic surgical instrument of this embodiment; Figure 18 This is a schematic diagram of the structure of the power pack and transmission unit of the electric flexible laparoscopic surgical instrument in the separated state in this embodiment; Figure 19 This is a schematic diagram of the head drive module in the electrically flexible laparoscopic surgical instrument of this embodiment. The drive arm is in the second position at this time. Figure 20 This is a schematic diagram of the head drive module in the electrically flexible laparoscopic surgical instrument of this embodiment. The drive arm is in the first position at this time. Figure 21 This is a schematic diagram of the drive arm in the electrically powered flexible laparoscopic surgical instrument of this embodiment. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Example

[0039] like Figures 1-3 As shown, an electrically powered, flexible laparoscopic surgical instrument includes a grip 1, a central rod, and a head 4. The grip 1 includes a handle 12 and a mounting housing 11. The grip 1 and the head 4 are connected via the central rod. The central rod includes a straight tube segment 31 and a snake-bone segment 32.

[0040] like Figures 2-4As shown, it also includes a bending drive module, which comprises a drive assembly, a transmission assembly 7, and a traction rope 75. The drive assembly and transmission assembly 7 are disposed on the grip portion 1. The transmission assembly 7 includes a winch 73, which is configured for rotational movement. The drive assembly drives the winch 73 to rotate. One end of the traction rope 75 is fixedly connected to the snake-bone segment 32, and the other end is fixedly connected to the winch 73. In use, the drive assembly controls the rotation of the winch 73, and the traction rope 75 moves axially in the same direction as the winch 73. The winch 73 tightens or loosens the traction rope 75, realizing the bending and straightening of the snake-bone segment.

[0041] In one specific implementation, each winch 73 corresponds to a traction rope 75, and each snake bone segment 32 achieves bending operation through the cooperation of two winches 73.

[0042] In another specific implementation, each winch 73 is connected to two traction ropes 75, which are located on different sides of the rotation center of the winch 73. When the winch 73 rotates, one traction rope 75 is tightened while the other traction rope 75 is loosened, which is well synchronized with the bending of the snake bone segment 32.

[0043] Specifically, such as Figures 5-8 As shown, the traction rope 75 is wound around the winch 73, with both ends connected to the snake-bone segment 32. A traction connector is fixedly installed on the traction rope 75, and the winch 73 has a traction notch 731, with the traction connector located within the traction notch 731. The traction rope 75 engages with the winch 73 in a wound manner, and the traction connector and traction notch 731 work together to achieve synchronous rotation, thereby achieving synchronous tension and relaxation at both ends of the traction rope 75. When the winch 73 rotates, the traction rope 75 moves accordingly, with one end of the traction rope 75 being tightened by force, causing the corresponding snake-bone segment 32 to bend in that direction, while the end of the traction rope 75 connected to the other direction of the snake-bone segment 32 relaxes and elongates. When the winch 73 rotates in the opposite direction, the snake-bone segment 32 bends in the opposite direction. Since there is no direct connection between the traction rope 75 and the winch 73, the bending moment load of the traction rope 75 on the winch 73 is small, resulting in higher structural stability of the winch 73.

[0044] like Figures 5-8 As shown, in a preferred embodiment, the transmission assembly 7 further includes an active slider 71 and a push-pull plate 72. The active slider 71 is configured to slide perpendicular to the straight pipe segment 31, the push-pull plate 72 is configured to slide along the axial direction of the straight pipe segment 31, the winch 73 is configured to rotate, and the drive assembly is used to drive the active slider 71 to slide.

[0045] like Figures 5-8As shown, the active slider 71 is provided with a push-pull slot 711, which is arranged obliquely relative to the axis of the straight pipe segment 31. The push-pull disc 72 is provided with a push-pull block 721, which is slidingly arranged in the push-pull slot 711. The push-pull disc 72 and the winch 73 are connected by a push-pull connecting rod 76. The traction rope 75 is used to connect the snake bone segment 32 and the winch 73. As a specific embodiment, the push-pull connecting rod is hingedly connected with the push-pull disc and the winch, respectively. As another preferred embodiment, one end of the push-pull connecting rod is hingedly connected with the push-pull disc, and the other end is provided with an elongated hole extending perpendicularly to the length direction of the push-pull connecting rod. The winch is provided with a connecting block, which is slidingly arranged in the elongated hole. When the push-pull block pushes the winch to rotate, the connecting block can slide in the elongated hole, thereby reducing the swing amplitude of the push-pull connecting rod to adapt to the smaller space environment inside the holding part.

[0046] In use, the driving assembly controls the sliding of the active slider 71, which is converted into the sliding of the push-pull disc 72 through the cooperation of the push-pull slot 711 and the push-pull block 721. Further, the winch 73 is driven to rotate by the push-pull connecting rod 76, the traction rope 75 is pulled tight or loosened, and the bending and straightening of the snake bone segment 32 are realized.

[0047] Compared with the existing surgical device, the bending drive of the snake bone segment 32 is realized by the step-by-step transmission of the active slider 71, the push-pull disc 72 and the winch 73, the bending control precision is improved, and the device has the advantages of reliable structure and high transmission precision. At the same time, the reaction load transmitted by the traction rope 75 is completely borne by the winch 73, and the active slider 71 and the push-pull disc 72 are not subjected to additional load. The driving force required for bending operation is small, and small-power driving bending can be realized. From another perspective, compared with the prior art, the pulling force of the traction rope 75 on the snake bone segment 32 can be set larger under the premise of the same output power of the motor, thereby providing greater resistance to external driving deformation of the snake bone segment 32 to ensure that the snake bone segment 32 is better and more stably maintained at a specific angle, and the operation convenience and reliability during surgery are improved.

[0048] As a specific embodiment, as shown in Figure 2 The intermediate rod is fixedly connected with the holding part 1, and the active slider 71, the push-pull disc 72 and the winch 73 are arranged in the mounting shell 11, or the active slider 71 is arranged in the shell, and the push-pull disc 72 and the winch 73 are arranged on the intermediate rod.

[0049] As another specific embodiment, as shown in Figures 4-8As shown, the intermediate rod further comprises a spline segment 34, which is coaxially fixedly connected with the straight pipe segment 31, is arranged in the mounting shell 11 and is rotatably arranged around the axis, and a hand wheel 5 is sleeved on the spline segment 34 or the straight pipe segment 31. A wire groove is formed in the outer side of the spline segment 34 and extends to the channel in the straight pipe segment 31. The traction rope 75 is arranged in the wire groove. The spline segment 34 is used for guiding the distribution of the traction rope 75 and simultaneously realizing the rotational arrangement between the intermediate rod and the holding part 1. The hand wheel 5 is used for operating the rotational action of the intermediate rod.

[0050] Further, as shown in Figures 5-8 As shown, the push-pull disc 72 comprises an inner ring and an outer ring, the inner ring is slidably sleeved outside the spline segment 34, the outer ring is rotatably sleeved outside the inner ring, and the push-pull connecting rod 76 is connected with the inner ring. The capstan 73 is rotatably connected with the spline segment 34, and the rotation center of the capstan 73 is arranged along the radial direction of the spline segment 34. The push-pull disc 72 and the capstan 73 are both arranged on the spline segment 34, which can well adapt to the rotational requirement of the intermediate rod. The inner and outer rings of the push-pull disc 72 can simultaneously realize the motion cooperation with the driving slider 71 and the spline segment 34, and simultaneously meet the requirements of sliding and rotational motion. Correspondingly, the driving assembly can be fixedly arranged on the holding part, which facilitates the operation of bending. The spline segment can be rotatably arranged and realizes the motion transmission through the cooperation of the inner ring and the outer ring, which can well adapt to the requirement of the overall rotation of the intermediate rod in the laparoscopic surgical instrument, and takes into account the convenience of operation and the flexibility of use.

[0051] Further, the driving slider 71 is provided with an avoiding groove, the spline segment 34 is arranged through the avoiding groove, and the two side walls of the avoiding groove are respectively provided with a push-pull groove 711. The push-pull block 721 is located outside the outer ring and corresponds to the push-pull groove 711 one by one. The driving slider cooperates with the push-pull block from both sides to ensure that the driving slider drives the push-pull disc to stably and reliably slide axially.

[0052] Further, as shown in Figures 5-8 As shown, the bending driving module further comprises a guide block 74, which is fixedly arranged on the side surface of the spline segment 34. A guide groove is formed in the inner side of the guide block 74, one end of the guide groove is arranged towards the capstan 73, and the other end is in communication with the wire groove. The guide block 74 is used for guiding the motion extension and motion direction of the traction rope 75, so as to ensure that the traction rope 75 can smoothly and reliably transition between the capstan 73 and the wire groove.

[0053] As a specific embodiment, the number of the snake bone segments 32 is only one.

[0054] As a preferred embodiment, as shown inFigure 2 and Figure 3 As shown, the number of snake bone segments 32 is no less than two, and each snake bone segment 32 is distributed sequentially along the axial direction of the intermediate rod, with a transition short tube 33 provided between each two adjacent snake bone segments 32. The bending drive module corresponds one-to-one with each snake bone segment 32. Each snake bone segment 32 can be bent independently through its corresponding bending drive module, and the cooperation of each snake bone segment 32 can achieve multi-directional bending of the head 4 in the coronal and sagittal planes, such as... Figure 1 Both snake bone segments shown are in a curved state, as... Figure 11 Both snake bone segments shown are in a straight position, as... Figure 12 The snake bone segments near the head are shown to be in a curved state, as... Figure 13 The snake bone segment near the gripping part is in a bent state, which greatly improves the mobility of the head 4.

[0055] Especially when two or more surgical instruments are used in conjunction, the small incision and limited operating space after the central rod passes through the incision make it easy for the two instruments to interfere with each other. However, by using two segmented snake bones, the range of motion of the head can be greatly increased, allowing for seamless coordination between two or more surgical instruments within the cavity, enabling surgical manipulation of the lesion from various angles. For example... Figure 14 The diagram shows a partial view of two electrically powered flexible laparoscopic surgical instruments in operation, with one instrument in a straight position and the other in a bent position. Figure 15 This is a partial schematic diagram of two electrically powered flexible laparoscopic surgical instruments in use, both of which are in a bent state.

[0056] like Figure 9 and Figure 10 As shown, each snake bone segment 32 includes several vertebrae, which are stacked sequentially and rotated relative to each other between adjacent segments. The axis of rotation coincides with one of the diameter lines of the snake bone segment 32. Each segment has two curved holes 321, which are offset from the axis of rotation of the segment. The two curved holes 321 are symmetrically distributed about the axis of rotation of the snake bone segment 32, and the curved holes 321 of each segment are aligned to form two traction channels. The two ends of the traction rope 75 pass through one traction channel and are connected to the segment of the corresponding snake bone segment 32 away from the gripping part 1.

[0057] like Figure 9 and Figure 10As shown, when the number of snake bone segments 32 is two, since two snake bone segments 32 need to be controlled to bend separately, that is, there will be two groups of bending driving modules, and correspondingly, there will be two groups of traction ropes 75. Define the snake bone segment 32 relatively close to the holding part 1 as the first segment, and the snake bone segment 32 relatively far away from the holding part 1 as the second segment, the first segment and the second segment are distributed in turn along the holding part 1 to the head part 4. In order to avoid mutual interference of each snake bone segment 32 when bending through the traction rope 75, a transition hole 322 is formed on the bone joint in the first segment, the transition hole 322 is located on the rotation axis of the bone joint, and the transition holes 322 of each bone joint are aligned and form a transition passage. The traction rope 75 corresponding to the second segment passes through the transition passage and enters the traction passage of the first segment, and is connected with the bone joint at the end of the first segment away from the holding part 1. When the first segment bends, the length of the transition passage basically does not change, and the corresponding influence on the second segment is also small.

[0058] Specifically, as shown in Figure 10 , the transition hole 322 is a waist-shaped hole extending perpendicular to the rotation axis of the bone joint.

[0059] It should be noted that the overall bending structure of the snake bone segment 32 is not the innovation point of the present application, and the snake bone type driven by the traction rope 75 in the prior art can be used in the present application. The modification of the snake bone segment 32 in the present application is limited to the layout design of the traction rope 75 passing through the passage, so the specific structure of the snake bone is not described here.

[0060] As a specific embodiment, the driving assembly adopts a manual driving form. Specifically, the driving assembly includes an operation wheel arranged on the holding part 1, and the operation wheel is connected with the driving block 71 through a screw rod mechanism, and the driving block 71 is driven to slide by rotating the operation wheel.

[0061] As a preferred embodiment, as shown in Figure 2 and Figure 3 , the driving assembly adopts an electric form. Specifically, the driving assembly includes a motor 82, and the motor 82 drives the driving block 71 to slide through a screw rod mechanism. The motor 82 and the screw rod mechanism are further provided with a speed changing unit 9, and the speed changing unit 9 plays a role of transition connection and speed reduction.

[0062] Specifically, as shown in Figure 2 , Figure 3 and Figure 16As shown, the driving assembly further comprises a battery unit 81 and an integrated cylinder, the battery unit 81 and the motor 82 are arranged in the integrated cylinder and form a power pack 8, the power pack 8 is detachably connected with the holding part 1, and the transmission unit 9 is fixedly arranged in the holding part 1. As a specific embodiment, the power pack 8 is detachably arranged in the handle 12, the lower end of the handle 12 is provided with a cover plate 14, the cover plate 14 is arranged as a flip cover, and the disassembly and assembly of the power pack 8 can be realized by opening the cover plate.

[0063] Specifically, as shown in the figure, Figures 16-19 One end of the power pack 8 is provided with a pull ring 83 for facilitating disassembly and assembly, and the other end is connected with the screw rod mechanism through a quick release connector 84. The quick release connector 84 comprises a male connector 841 and a female connector 842, one of the male connector 841 and the female connector 842 is connected with the output shaft of the motor 82, and the other is connected with the input end of the transmission unit 9. An electric signal transmission assembly 85 is arranged between the power pack 8 and the holding part 1, and the electric signal transmission assembly 85 comprises two matched electric signal contacts 851, one of the two electric signal contacts 851 is arranged on the power pack 8, and the other is arranged on the transmission unit 9.

[0064] The battery unit 81 and the motor 82 can be modularly disassembled as a whole in the form of the power pack 8, which is convenient for the maintenance and updating of the driving assembly. In addition, the driving assembly can be disassembled and sterilized separately, and the remaining part is mainly a mechanical structure, so that the sterilization treatment can be more flexible, and the aseptic requirement of the operation can be fully met.

[0065] Further, as shown in the figure, Figure 1 The holding part 1 is further provided with a control panel 13, and the control panel 13 is electrically connected with the power pack 8 through the electric signal transmission assembly 85. Specifically, the control panel 13 is arranged on the side of the mounting shell 11, and the control panel 13 is provided with operation buttons.

[0066] Further comprising a control module, the control module comprises a processor, the processor is electrically connected with the power pack 8, the processor is electrically connected with the control panel 13, and the processor controls the working state of the power pack 8 according to the interaction signal of the control panel 13. The control module further comprises a pressure sensor, and the pressure sensor is arranged on the head 4. When the head 4 is moved and subjected to external resistance, the pressure sensor detects the resistance and feeds back to the processor, and the processor controls the power pack 8 to stop working or reduce the output power.

[0067] As shown in the figure, Figure 19 And Figure 20As shown in the figure, the head 4 includes an execution unit and an operating soft rope 24, the specific structure of the head 4 is the prior art, and the head 4 capable of realizing operation through the back pull and forward push of the operating soft rope 24 can be used in the application. The application only relates to the specific application of the existing head 4, and does not involve the innovation of the structure of the head 4, so the specific structure of the head 4 is not described here.

[0068] As shown in the figure, Figure 19 and Figure 20 the head end of the operating soft rope 24 is connected with the execution unit, the tail end passes through the middle rod and extends from the other end of the middle rod. Further comprising a head driving module, the head driving module comprises an operating handle 21, a tension link 23 and a driving arm 22, the operating handle 21 and the driving arm 22 are respectively hinged with the holding part 1, and the tension link 23 is respectively hinged with the operating handle 21 and the driving arm 22. The tail end of the operating soft rope 24 is connected with the driving arm 22.

[0069] As shown in the figure, Figure 19 and Figure 20 specifically, the operating handle 21 comprises an operating segment, the operating segment extends to the front side of the handle 12, so as to facilitate the operation of the handle 12 and the operating handle 21 at the same time.

[0070] As shown in the figure, Figure 19 and Figure 21 the driving arm 22 is located at the end of the middle rod away from the head 4, and a limiting sliding groove 221 is formed on the side of the driving arm 22 facing the middle rod, and the limiting sliding groove 221 is provided with a plug-in interface. The tail end of the operating soft rope 24 is provided with a limiting sliding block matched with the limiting sliding groove 221.

[0071] As shown in the figure, Figure 19 and Figure 21 the driving arm 22 has at least two position states, in the first position state, the plug-in interface is arranged in alignment with the center of the middle rod, and in the second position state, the plug-in interface is arranged in misalignment with the center of the middle rod; the operating handle 21 and the tension link 23 are used for controlling the rotation of the driving arm 22 and switching between the two position states.

[0072] Specifically, as shown in the figure, Figure 19 and Figure 21As shown, the limiting sliding groove 221 is a T-shaped groove, the limiting sliding groove 221 extends to the free end of the driving arm 22, and forms an opening at the free end, the free end of the driving arm 22 is provided with an inclined angle 222 facing one side of the intermediate rod, the limiting sliding groove 221 extends to the inclined angle 222, and the limiting sliding groove 221 forms a plug-in interface at the inclined angle 222. When the driving arm 22 is in the first position state, the inclined angle 222 is perpendicular to the center line of the intermediate rod, at this time, the limiting sliding block can freely enter and exit the plug-in interface. When the limiting block is inserted into the plug-in interface, the driving arm 22 rotates from the first position state to the second position state, the driving arm 22 rotates away from the side of the intermediate rod, the limiting sliding block moves relative to the limiting sliding groove 221, and finally realizes the sliding connection with the limiting sliding groove 221.

[0073] The holding part 1, the operation handle 21, the tensioning connecting rod 23 and the driving arm 22 jointly constitute a four-bar mechanism, by tightening or loosening the operation handle 21, the driving arm 22 can be operated to move, the operation soft rope 24 is pulled back or pushed forward along with the rotation of the driving arm 22, and the driving head 4 is indirectly driven to perform corresponding actions.

[0074] When the driving arm 22 is in the first position state, the plug-in interface is aligned with the center of the intermediate rod, the limiting sliding block can freely enter and exit the limiting sliding groove 221 from the plug-in interface, at this time, the disassembly and assembly of the head 4 and the operation soft rope 24 can be performed. When the limiting block is inserted into the plug-in interface, the driving arm 22 rotates to the second position state, the limiting sliding block synchronously slides in the limiting sliding groove 221 to be misaligned with the plug-in interface, at this time, the limiting sliding block can be reliably limited in the limiting sliding groove 221, can be reliably connected with the driving arm 22, and the operation action of the head 4 can be performed. The detachable design of the head 4 and the operation soft rope 24 facilitates the replacement of different types and specifications of the head 4, realizes different functions, and also facilitates the disinfection and maintenance operation of the head 4.

[0075] As shown in Figure 2 and Figure 3 As shown, the head driving module further comprises a head rotating assembly, the head rotating assembly comprises a rotating wheel 6, the rotating wheel 6 is rotatably connected with the holding part 1, the rotating wheel 6 is sleeved outside the operation soft rope 24 and synchronously rotates with the operation soft rope 24. The rotating wheel 6 can drive the operation soft rope 24 to rotate, and synchronously drive the head 4 to rotate, thereby improving the flexibility of the movement of the head 4. Specifically, the rotating wheel 6 and the operation soft rope 24 are connected through a pin transmission.

[0076] In summary, the above only describes the preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An electrically powered bendable laparoscope surgical instrument comprising a holding portion, an intermediate rod and a head portion, the holding portion and the head portion being connected by the intermediate rod, the intermediate rod comprising a straight tube segment and a snake bone segment, characterized in that: a bending driving module is further included, the bending driving module comprising a driving assembly, a transmission assembly and a traction rope, the driving assembly and the transmission assembly being arranged in the holding portion; the transmission assembly comprises a winch, the winch being defined as being rotatably arranged, the driving assembly being used to drive the winch to rotate; one end of the traction rope is fixedly connected with the snake bone segment, and the other end of the traction rope is fixedly connected with the winch. The number of the traction ropes connected with each winch is two, and the two traction ropes are located on different sides of the rotation center of the winch.

2. The electrically bendable laparoscopic surgical instrument of claim 1, wherein: The bending driving module further comprises a traction connecting piece, the winch is provided with a traction notch, and the traction connecting piece is arranged in the traction notch.

3. The electrically powered flexible scope surgical instrument of claim 2, wherein: Both of the traction ropes are fixedly connected with the traction connecting piece, and the two traction ropes are discontinuously arranged or continuously arranged at the traction connecting piece. The transmission assembly further comprises a driving slider and a push-pull disc, the driving slider is defined as being slidably arranged perpendicularly to the straight tube segment, and the push-pull disc is defined as being slidably arranged along the axial direction of the straight tube segment, the driving assembly being used to drive the driving slider to slide; 4. The electrically bendable endoscope surgical instrument of claim 1, wherein: The driving slider is provided with a push-pull groove, the push-pull groove is arranged obliquely relative to the axis of the straight tube segment, the push-pull disc is provided with a push-pull block, and the push-pull block is slidably arranged in the push-pull groove; the push-pull disc is provided with a push-pull connecting rod between the winch. The intermediate rod further comprises a spline segment, the spline segment is fixedly connected coaxially with the straight tube segment; the spline segment is rotatably arranged on the holding portion around the axis, a hand wheel is sleeved on the spline segment or the straight tube segment; the outer side surface of the spline segment is provided with a wire guide groove, the wire guide groove extends to communicate with the channel in the straight tube segment; the traction rope is arranged in the wire guide groove.

5. The electrically bendable endoscope surgical instrument of claim 4, wherein: The push-pull disc comprises an inner ring and an outer ring, the inner ring is slidably sleeved outside the spline segment, the outer ring is rotatably sleeved outside the inner ring, and the push-pull connecting rod is connected with the inner ring; the winch is rotatably connected with the spline segment, and the rotation center of the winch is arranged along the radial direction of the spline segment.

6. The electrically bendable endoscope surgical instrument of claim 5, wherein: The driving slider is provided with an avoiding groove, the spline segment is arranged through the avoiding groove, and the two side walls of the avoiding groove are respectively provided with the push-pull groove; the push-pull block is located outside the outer ring and corresponds to the push-pull groove one by one.

7. The electrically powered flexible scope surgical instrument of claim 6, wherein: The bending driving module further comprises a guide block, the guide block is fixedly arranged on the side surface of the spline segment; the inner side of the guide block is provided with a guide groove, one end of the guide groove is arranged towards the winch, and the other end of the guide groove communicates with the wire guide groove.

8. The electrically bendable scope surgical instrument of claim 5, wherein: The number of the snake bone segments is two, the two snake bone segments are sequentially arranged along the axial direction of the intermediate rod, and a transition short tube is arranged between the two snake bone segments; the bending driving module corresponds to the snake bone segment one by one.

9. The electrically powered flexible scope surgical instrument of claim 1, wherein: The driving assembly comprises a motor, and the motor drives the driving slider to slide through a screw mechanism.

10. The electrically powered flexible scope surgical instrument of claim 1, wherein: ​ 11. The electrically bendable scope surgical instrument of claim 10, wherein: The driving assembly further comprises a battery unit, which is integrally arranged with the motor in a power pack, the power pack being detachably connected with the holding part; the motor is connected with the screw rod mechanism through a quick-release joint.

12. The electrically powered flexible laparoscopic surgical instrument of any of claims 1-11, wherein: The head comprises an execution unit and an operating soft rope, a head of the operating soft rope being connected with the execution unit, and a tail end of the operating soft rope penetrating through the middle rod; The head further comprises a head driving module, the head driving module comprising an operating handle, a tensioning connecting rod and a driving arm, the operating handle and the driving arm being respectively hingedly connected with the holding part, and the tensioning connecting rod being respectively hingedly connected with the operating handle and the driving arm; a tail end of the operating soft rope being connected with the driving arm.

13. The electrically powered flexible scope surgical instrument of claim 12, wherein: The head driving module further comprises a head rotating assembly, the head rotating assembly comprising a rotating wheel, the rotating wheel being rotatably connected with the holding part, the rotating wheel being sleeved outside the operating soft rope and being synchronously rotated with the operating soft rope.

14. The electrically powered flexible scope surgical instrument of claim 12, wherein: The driving arm is located at an end of the middle rod away from the head, one side of the driving arm facing the middle rod being provided with a limiting sliding groove, the limiting sliding groove being provided with an insertion port; a tail end of the operating soft rope being provided with a limiting sliding block matched with the limiting sliding groove; The driving arm has at least two position states, in a first position state, the insertion port is arranged in alignment with a center of the middle rod, in a second position state, the insertion port is arranged in misalignment with the center of the middle rod; the operating handle and the tensioning connecting rod being used for controlling rotation of the driving arm and switching between the two position states.

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