Driving mechanism for leftward and rightward swinging of working head and minimally invasive surgical instrument

Abstract

The invention provides a working head left-right swing driving mechanism and a minimally invasive surgery instrument, and relates to the technical field of medical instruments. The working head left-right swing driving mechanism comprises a handle, a sleeve arm, a working head, a transmission pull wire and an execution control piece. The handle comprises a top shell and a grab handle rotationally connected with the top shell; the working head is installed at the front end of the sleeve arm, and the rear end of the sleeve arm is connected to the top shell. The execution control piece is movably installed on the grab handle and is in transmission connection with the working head through the transmission pull wire. According to the working head left-right swing driving mechanism, the opening and closing action and the left-right tilting and swinging action of the working head can be achieved through transmission of the transmission pull wire, high integration of action control is achieved, the structural compactness is improved, mutual interference of related actions can be avoided, and flexible operation in a limited operation position space can be achieved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a working head left-right swing drive mechanism and a minimally invasive surgical instrument. Background Technology

[0002] In minimally invasive surgery, the working head not only needs to open and close, but also needs to swing left and right to adjust the jaw direction. Typically, to achieve these two functions, separate control mechanisms are required, and the independent operation of the two systems ensures that the actions do not interfere with each other. However, this design inevitably leads to a more complex instrument structure, significantly increasing the difficulty of designing control mechanisms within a limited space. Summary of the Invention

[0003] The purpose of this invention is to provide a working head left and right swing drive mechanism and a minimally invasive surgical instrument, so as to improve the structural compactness of the working head motion drive mechanism and avoid mutual interference between related motion controls.

[0004] In a first aspect, the working head left and right swing drive mechanism provided by the present invention includes: a handle, a sleeve arm, a working head, a transmission cable, and an actuating control component; The handle includes: a top shell and a grip rotatably connected to the top shell; The working head is installed at the front end of the sleeve arm, and the rear end of the sleeve arm is connected to the top shell; The actuator is movably mounted on the handle, and the actuator is connected to the working head via the transmission cable.

[0005] In conjunction with the first aspect, the present invention provides a first possible implementation of the first aspect, wherein the actuating control element includes: a first shifter, a second shifter, a first winding reel, and a second winding reel; The working head has a first movable part and a second movable part; The transmission cable includes: a first cable connecting the first winding wheel and the first movable part, and a second cable connecting the second winding wheel and the second movable part; The first winding wheel and the second winding wheel are rotatably connected to the handle, the first shifter is connected to the first winding wheel, and the second shifter is connected to the second winding wheel.

[0006] In conjunction with the first possible implementation of the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the first winding wheel is mounted on a first rotating shaft, the second winding wheel is mounted on a second rotating shaft, and the first rotating shaft and the second rotating shaft are arranged parallel to each other; The first rotating shaft is connected to a first synchronous gear, and the second rotating shaft is connected to a second synchronous gear, wherein the first synchronous gear meshes with the second synchronous gear.

[0007] In conjunction with the second possible implementation of the first aspect, the present invention provides a third possible implementation of the first aspect, wherein the handle is connected to a movable frame, and the first winding wheel and the second winding wheel are respectively rotatably connected to the movable frame; Both the handle and the movable frame are rotatably connected to the top shell about a pivot axis.

[0008] In conjunction with the second possible implementation of the first aspect, the present invention provides a fourth possible implementation of the first aspect, wherein the handle is connected to a limiting member; The top shell is equipped with a pivot locking element that is compatible with the limiting element.

[0009] In conjunction with the first possible implementation of the first aspect, the present invention provides a fifth possible implementation of the first aspect, wherein the first winding wheel and the second winding wheel are both rotatably connected to the same movable shaft; The handle is rotatably connected to the top shell around a pivot axis. The top shell is provided with an arc-shaped groove extending around the pivot axis. The movable shaft is slidably fitted within the arc-shaped groove.

[0010] In conjunction with the fifth possible implementation of the first aspect, the present invention provides a sixth possible implementation of the first aspect, wherein a limiting member is rotatably connected to the pivot shaft, and the limiting member is connected to the movable shaft; The top shell is equipped with a pivot locking element that is compatible with the limiting element.

[0011] In conjunction with the fifth possible implementation of the first aspect, the present invention provides a seventh possible implementation of the first aspect, wherein a central guide wheel assembly is rotatably connected to the pivot shaft, the first pull line extends from the first winding wheel through the central guide wheel assembly and is connected to the first movable part, and the second pull line extends from the second winding wheel through the central guide wheel assembly and is connected to the second movable part.

[0012] In conjunction with the sixth possible implementation of the first aspect, the present invention provides an eighth possible implementation of the first aspect, wherein the pivot locking member includes: a release member, a release transmission member, a locking pin, and a swing locking elastic member; The release element is movably mounted on the handle, and the release element is connected to the lock pin via the release transmission element; The locking pin is adapted to the limiting member, and the locking pin is movably connected to the top shell; The sway-locking elastic element is installed between the top shell and the locking pin, and the sway-locking elastic element has a tendency to make the locking pin engage with the limiting element.

[0013] Secondly, the minimally invasive surgical instrument provided by the present invention is equipped with the working head left and right swing drive mechanism described in the first aspect.

[0014] The embodiments of the present invention bring the following beneficial effects: the handle includes a top shell and a grip that is rotatably connected to the top shell, the working head is installed at the front end of the cannula arm, the rear end of the cannula arm is connected to the top shell, the actuator is movably installed on the grip, and the actuator is connected to the working head via a transmission cable. The opening and closing action and the left and right tilting action of the working head can be realized by the transmission cable, which realizes a high degree of integration of action control, improves the structural compactness, avoids mutual interference between related actions, and enables flexible operation in limited surgical space.

[0015] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the minimally invasive surgical instruments provided in an embodiment of the present invention; Figure 2 A partial schematic diagram of the handle of the minimally invasive surgical instrument provided in an embodiment of the present invention. Figure 1 ; Figure 3 A schematic diagram of the upper and lower locking device of the minimally invasive surgical instrument provided in an embodiment of the present invention; Figure 4 A partial schematic diagram of the handle of the minimally invasive surgical instrument provided in an embodiment of the present invention. Figure 2 ; Figure 5 A partial schematic diagram of the handle of the minimally invasive surgical instrument provided in an embodiment of the present invention. Figure 3 ; Figure 6 This is a partial schematic diagram of the working head of the minimally invasive surgical instrument provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the working head, first pull wire, and execution control component of the minimally invasive surgical instrument provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the working head, second pull wire, and execution control component of the minimally invasive surgical instrument provided in an embodiment of the present invention; Figure 9 A schematic diagram of the upper and lower swing wheel shafts, the first coupling wheel group, the tension wheel, the transmission cable, and the working head of the minimally invasive surgical instrument provided in the embodiments of the present invention; Figure 10 This is a schematic diagram of the working head, the upper and lower swing cable, and the transmission cable of the minimally invasive surgical instrument provided in an embodiment of the present invention. Figure 11 for Figure 7 An enlarged view of position A in the middle; Figure 12 for Figure 8 An enlarged view of position B in the middle.

[0018] Icons: 001-Handle; 101-Up and down swing wheel shaft; 102-First coupling wheel assembly; 103-Second coupling wheel assembly; 110-Top shell; 111-Arc-shaped slide groove; 120-Grip; 130-Moving frame; 140-Pivot shaft; 150-Central guide wheel assembly; 160-Limiting component; 002-Sleeve arm; 201-Up and down swing shaft frame; 202-Tensioning wheel; 203-Locking gear; 204-Pull cable guide; 003-Working head; 301-First moving part; 302-Second moving part; 303-Swing wheel; 304-First decoupling pulley assembly; 305-Second decoupling pulley assembly; 004-Up and down swing pull cable; 005-Up and down locking device; 510-Knob; 520-Cam shaft; 530-Locking anti-slip Block; 540-Control key; 541-Button; 542-Reset spring; 543-Link rod; 544-Telescopic component; 550-Transmission component; 560-Upper and lower locking elastic component; 006-Transmission cable; 601-First cable; 602-Second cable; 007-Actuation control component; 710-First shifter; 720-Second shifter; 730-First winding wheel; 740-Second winding wheel; 750-First shaft; 760-Second shaft; 770-First synchronizing gear; 780-Second synchronizing gear; 790-Moving shaft; 008-Pivot locking component; 810-Release component; 820-Release transmission component; 830-Locking pin; 840-Swing locking elastic component; 009-Transmission guide wheel assembly; 010-Tension adjustment component. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used only to describe differences in name and should not be construed as indicating or implying relative importance. Physical quantities in formulas, unless otherwise specified, should be understood as basic quantities in the International System of Units (SI), or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation, or integration.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the minimally invasive surgical instrument provided in this embodiment of the invention includes: a handle 001, a cannula arm 002, a working head 003, a transmission cable 006, and an execution control component 007; the handle 001 includes: a top shell 110 and a grip 120 rotatably connected to the top shell 110; the working head 003 is installed at the front end of the cannula arm 002, and the rear end of the cannula arm 002 is connected to the top shell 110; the execution control component 007 is movably installed on the grip 120, and the execution control component 007 is connected to the working head 003 via the transmission cable 006.

[0023] The actuator 007 drives the transmission cable 006, which in turn drives the working head 003 to open and close. Additionally, a return spring can be installed at least at one location, either the working head 003 or the actuator 007, to give the working head 003 a tendency to open or close. The cannula arm 002 serves as an insertion device that passes through a minimally invasive surgical incision, supporting the working head 003 and the handle 001. The transmission cable 006 passes through the cannula arm 002, extending from the handle 001 to the working head 003. When it is necessary to control the left and right tilting of the working head 003, the wrist rotates left and right, causing the handle 120 to rotate relative to the top shell 110. The handle 120 drives the transmission cable 006, thereby causing the movable part of the working head 003 to tilt left and right.

[0024] In an optional embodiment, the actuator 007 can move relative to the handle 120 by pivoting, sliding, or other means, thereby driving the transmission cable 006 and controlling the opening and closing of the working head 003 through the transmission cable 006. When the handle 120 rotates relative to the top shell 110, the actuator 007 moves with the handle 120 relative to the top shell 110, thereby driving the working head 003 to swing left and right through the transmission cable 006.

[0025] In an optional embodiment, the working head 003 is hinged to the front end of the sleeve arm 002, and the rear end of the sleeve arm 002 is connected to an upper and lower swing shaft frame 201; the front end of the top shell 110 is connected to an upper and lower swing wheel shaft 101, which is rotatably connected to the upper and lower swing shaft frame 201; the upper and lower swing wheel shaft 101 and the working head 003 are driven by an upper and lower swing pull cable 004. The sleeve arm 002 is internally accommodating the upper and lower swing pull cable 004 and the transmission pull cable 006.

[0026] When operating minimally invasive surgical instruments, the cannula arm 002 remains fixed, and the hand holds the handle 001, making an upward or downward wrist movement. At this time, the upper and lower swing wheel shaft 101 rotates with the top shell 110 relative to the upper and lower swing shaft frame 201, thereby driving the upper and lower swing pull cable 004 to move. Through the upper and lower swing pull cable 004, the working head 003 is acted upon, so that the upper and lower swing pull cable 004 at one position above and below the hinge shaft at the front end of the working head 003 is relaxed, and the upper and lower swing pull cable 004 at the other position is tightened, thereby realizing the control of the up and down swing of the working head 003.

[0027] In this embodiment of the invention, the handle 001 is provided with an up-down locking device 005, which is used to lock the up-down swing wheel shaft 101 relative to the up-down swing shaft frame 201 in a specific operating state, thereby restricting its swing freedom in the vertical direction.

[0028] Specifically, the upper and lower locking device 005 includes a locking mechanism, which may take the form of, but is not limited to, a mechanical latch, an elastic engagement structure, or a threaded fastener. When the user operates the handle 001 to a certain preset angle or position, the upper and lower locking device 005 can be manually or automatically triggered to engage with the mating structure (such as a groove, hole, or limiting surface) on the upper and lower swing shaft frame 201, thereby fixing the upper and lower swing wheel shaft 101.

[0029] Furthermore, the upper and lower locking device 005 is equipped with an unlocking operation part, such as a button, lever, or knob, for releasing the locked state when the angle needs to be readjusted. The unlocking operation part and the locking mechanism can be connected by a linkage structure (such as a lever, linkage, or spring return device), so that after the lock is released, the upper and lower swing wheel shaft 101 can restore its swing freedom relative to the upper and lower swing shaft frame 201. Through the above structural design, this embodiment achieves flexible control of the handle's swing state, improves the stability and safety of operation, and is especially suitable for usage scenarios that require maintaining a fixed posture at a specific angle.

[0030] See Figure 2 and Figure 4 In this embodiment, the upper and lower swing shaft frame 201 is connected to a locking gear 203 that is adapted to the upper and lower locking device 005. When the upper and lower locking device 005 is switched to the locked state, the upper and lower locking device 005 cooperates with the locking gear 203, thereby locking the upper and lower swing shaft frame 201 relative to the top shell 110, and thus preventing the working head 003 from swinging up and down relative to the sleeve arm 002.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, in an optional embodiment, the upper and lower locking device 005 includes: a knob 510, a camshaft 520, and a locking slider 530; the locking slider 530 is slidably engaged with the handle 001; the knob 510 is rotatably connected to the handle 001, the camshaft 520 is connected to the knob 510, and the axes of the camshaft 520 and the knob 510 are parallel; the camshaft 520 is drively connected to the locking slider 530. When the knob 510 is rotated, the camshaft 520 can drive the locking slider 530 to slide relative to the handle 001, thereby realizing the reciprocating movement of the locking slider 530 between the locking position and the unlocking position.

[0032] See Figure 4 and Figure 5In another embodiment, the upper and lower locking device 005 includes a locking slider 530, a control key 540, and a transmission component 550. The locking slider 530 is adapted to and opposite to the upper and lower swing shaft frame 201. The locking slider 530 and the control key 540 are movably connected to the handle 001, and the locking slider 530 and the control key 540 are connected by transmission component 550. The transmission component 550 includes a pull wire or a connecting rod, etc. The control key 540 drives the locking slider 530 to move through the transmission component 550, thereby realizing the locking and unlocking control of the upper and lower swing shaft frame 201.

[0033] See Figure 1 and Figure 4 The upper and lower locking device 005 also includes an upper and lower locking elastic element 560; the upper and lower locking elastic element 560 is installed between the locking slider 530 and the handle 001, and the upper and lower locking elastic element 560 has the tendency to keep the locking slider 530 locked to the upper and lower swing shaft frame 201, which can ensure that the upper and lower swing shaft frame 201 is locked when the surgical instrument is in use, and prevent the working head 003 from tilting up and down when not in operation.

[0034] See Figure 5In an optional embodiment, the control key 540 includes: a button 541, a return spring 542, a connecting rod 543, and a telescopic member 544; the button 541 is slidably connected to the handle 001, and the return spring 542 is installed between the handle 001 and the button 541; the telescopic member 544 is slidably fitted to the handle 001 and is connected to the transmission member 550; one end of the connecting rod 543 is hinged to the button 541, and the other end of the connecting rod 543 is hinged to the telescopic member 544. A sliding hole is provided on the housing of the handle 120 to expose part of the button 541, allowing the button 541 to reciprocate within the sliding hole in a set direction (e.g., axial direction). The return spring 542 can be disposed between the button 541 and the handle 001 to automatically reset after the button 541 is pressed. One end of the return spring 542 abuts against the inner end of the button 541, and the other end abuts against the internal structure of the handle 001 to provide an elastic reset force. The telescopic component 544 is slidably fitted inside the handle 001, and can slide in the same or different directions as the button 541. One end of the telescopic component 544 is connected to the transmission component 550, which is used to drive the transmission component 550 to move when the telescopic component 544 moves, thereby triggering a corresponding mechanical or electrical control response. Both ends of the connecting rod 543 are hinged to the button 541 and the telescopic component 544, respectively. Specifically, one end of the connecting rod 543 is hinged to the bottom or side of the button 541 via a pivot, and the other end is hinged to the top or side of the telescopic component 544 via another pivot, thus forming a lever linkage structure. When the user presses the button 541, the button 541 moves downward and pushes the telescopic component 544 toward the transmission component 550 through the connecting rod 543; when the button 541 is released, the return spring 542 pushes the button 541 back to its original position, while simultaneously driving the connecting rod 543 to reset, thereby driving the telescopic component 544 back to its initial position.

[0035] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, in this embodiment, the control unit 007 includes: a first shifter 710, a second shifter 720, a first winding reel 730, and a second winding reel 740; the working head 003 has a first movable part 301 and a second movable part 302; the transmission cable 006 includes: a first cable 601 connecting the first winding reel 730 and the first movable part 301, and a second cable 602 connecting the second winding reel 740 and the second movable part 302; the first winding reel 730 and the second winding reel 740 are rotatably connected to the handle 120, the first shifter 710 is connected to the first winding reel 730, and the second shifter 720 is connected to the second winding reel 740. The first lever 710 drives the first winding wheel 730 to rotate, and the rotating first winding wheel 730 can wind or release the first pull line 601, thereby pulling or releasing the first movable part 301 through the first pull line 601. The second lever 720 drives the second winding wheel 740, and the rotating second winding wheel 740 can wind or release the second pull line 602, thereby pulling or releasing the second movable part 302 through the second pull line 602. When the first movable part 301 and the second movable part 302 are pulled together by the transmission pull line 006, the first movable part 301 and the second movable part 302 move synchronously to achieve a closing action; when the transmission pull line 006 is released, the first movable part 301 and the second movable part 302 can be driven by a torsion spring to achieve an opening action. In another alternative embodiment, the opening action can also be achieved when the first movable part 301 and the second movable part 302 are pulled together by the transmission cable 006, and when the transmission cable 006 is released, the first movable part 301 and the second movable part 302 can be driven to close relative to each other by a torsion spring.

[0036] See Figures 6 to 12 As shown, the working head 003 is equipped with a swing wheel 303, and the working head 003 is hinged to the sleeve arm 002 around the axis of the swing wheel 303; the upper and lower swing pull lines 004 extending forward from the upper and lower swing wheel shafts 101 pass around the swing wheel 303 and then extend backward to the upper and lower swing wheel shafts 101; the swing wheel 303 is coaxially rotatably connected to the first decoupling pulley group 304 and the second decoupling pulley group 305, and the upper and lower swing wheel shafts 101 are coaxially rotatably connected to the first coupling wheel group 102 and the second coupling wheel group 103; the tension section and the slack section of the first pull line 601 are both fitted together. The first decoupling pulley group 304 is located on one side and is coupled to the first coupling pulley group 102 on one side; the tension section and slack section of the second pull cable 602 are both coupled to the other side of the second decoupling pulley group 305 and the other side of the second coupling pulley group 103; when one of the control element 007 and the handle 001 is fixed and the other is in motion, the driving effects of the first decoupling pulley group 304 and the first coupling pulley group 102 on the first pull cable 601 are opposite, and the driving effects of the second decoupling pulley group 305 and the second coupling pulley group 103 on the second pull cable 602 are opposite.

[0037] The first decoupling pulley group 304 includes a small decoupling pulley I 3041 and a large decoupling pulley I 3042, and the second decoupling pulley group 305 includes a small decoupling pulley II 3051 and a large decoupling pulley II 3052. The first coupling pulley group 102 includes a coupling small pulley I 1021 and a coupling large pulley I 1022, and the second coupling pulley group 103 includes a coupling small pulley II 1031 and a coupling large pulley II 1032. The diameter ratio of the small decoupling pulley I 3041 to the large decoupling pulley I 3042 is equal to the diameter ratio of the coupling small pulley I 1021 to the coupling large pulley I 1022, and the diameter ratio of the small decoupling pulley II 3051 to the large decoupling pulley II 3052 is equal to the diameter ratio of the coupling small pulley II 1031 to the coupling large pulley II 1032. Small decoupling pulley I 3041, large decoupling pulley I 3042, small decoupling pulley II 3051, large decoupling pulley II 3052 and pendulum wheel 303 are coaxially arranged, and coupling small wheel I 1021, coupling large wheel I 1022, coupling small wheel II 1031, coupling large wheel II 1032 and upper and lower pendulum wheel shaft 101 are coaxially arranged.

[0038] One end of the first pull wire 601 is connected to the circumference of the first winding wheel 730, and the other end extends through the partial transmission guide wheel group 009 to engage with the coupling large wheel I 1022. It then passes through the large decoupling pulley I 3042, around the axle of the first movable part 301, and then through the small decoupling pulley I 3041 to engage with the coupling small wheel I 1021. It continues to extend through the partial transmission guide wheel group 009 and connects to the circumference of the first winding wheel 730. Similarly, one end of the second pull wire 602 is connected to the circumference of the second winding wheel 740, and the other end extends through the partial transmission guide wheel group 009 to engage with the coupling large wheel II 1032. It then passes through the large decoupling pulley II 3052, around the axle of the second movable part 302, and then through the small decoupling pulley II 3051 to engage with the coupling large wheel I 1022. It continues to extend through the partial transmission guide wheel group 009 and connects to the circumference of the second winding wheel 740.

[0039] When the swing wheel shaft 101 drives the working head 003 to swing up and down around the axis of the swing wheel 303 via the swing pull line 004, the driving forces of the first decoupling pulley group 304 and the first coupling pulley group 102 on the first pull line 601 cancel each other out, and the driving forces of the second decoupling pulley group 305 and the second coupling pulley group 103 on the second pull line 602 cancel each other out, thereby preventing the swing of the working head 003 from affecting the stability of the opening and closing action of the first movable part 301 and the second movable part 302.

[0040] See Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8In an optional embodiment, the first winding wheel 730 is mounted on the first rotating shaft 750, and the second winding wheel 740 is mounted on the second rotating shaft 760. The first rotating shaft 750 and the second rotating shaft 760 are arranged parallel to each other. The first rotating shaft 750 is connected to a first synchronous gear 770, and the second rotating shaft 760 is connected to a second synchronous gear 780. The first synchronous gear 770 and the second synchronous gear 780 mesh, thereby ensuring that the first winding wheel 730 and the second winding wheel 740 rotate synchronously, thereby realizing synchronous driving of the first movable part 301 and the second movable part 302.

[0041] Furthermore, the handle 120 is connected to a movable frame 130, and the first winding wheel 730 and the second winding wheel 740 are rotatably connected to the movable frame 130 respectively; both the handle 120 and the movable frame 130 are rotatably connected to the top shell 110 about a pivot axis 140. The movable frame 130 is connected to the handle 120, and the movable frame 130 can rotate with the handle 120 relative to the top shell 110 about the pivot axis 140, thereby driving the first winding wheel 730 and the second winding wheel 740 to move relative to the top shell 110 about the pivot axis 140. During this process, the first pull cable 601 and the second pull cable 602 synchronously and in the same direction drive the first movable part 301 and the second movable part 302 to produce a left-right swinging motion.

[0042] Furthermore, the handle 120 is connected to a limiting member 160; a pivot locking member 008 adapted to the limiting member 160 is installed on the top shell 110. The limiting member 160 extends around the pivot axis 140 and has multiple limiting holes spaced apart. The pivot locking member 008 can be detachably inserted into any of the limiting holes, thereby locking the handle 120 relative to the top shell 110, and thus locking the orientation of the first movable part 301 and the second movable part 302 after left and right rotation.

[0043] See Figure 1 , Figure 2 and Figure 4 In another optional embodiment, the first winding wheel 730 and the second winding wheel 740 are both rotatably connected to the same movable shaft 790; the handle 120 is rotatably connected to the top shell 110 about the pivot shaft 140, the top shell 110 is provided with an arc-shaped groove 111 extending about the pivot shaft 140, the movable shaft 790 is parallel to the pivot shaft 140, and the movable shaft 790 is slidably fitted in the arc-shaped groove 111, thereby making the structure of the actuator 007 more compact.

[0044] Furthermore, a limiting member 160 is rotatably connected to the pivot shaft 140, and the limiting member 160 is connected to the movable shaft 790; a pivot locking member 008 adapted to the limiting member 160 is installed on the top shell 110. The limiting member 160 is configured as a circular or arc-shaped structure extending around the pivot shaft 140, and the limiting member 160 has multiple limiting holes or teeth distributed around the pivot shaft 140. By engaging the pivot locking member 008 with the limiting member 160, the position of the movable shaft 790 relative to the top shell 110 is locked, thereby preventing the working head 003 from swinging left and right.

[0045] See Figure 4 A central guide wheel assembly 150 is rotatably connected to the pivot shaft 140. A first pull cable 601 extends from the first winding wheel 730 through the central guide wheel assembly 150 and connects to the first movable part 301. A second pull cable 602 extends from the second winding wheel 740 through the central guide wheel assembly 150 and connects to the second movable part 302. The central guide wheel assembly 150 includes several central guide wheels rotatably connected to the pivot shaft 140. The first pull cable 601 and the second pull cable 602 respectively wind through their corresponding central guide wheels and then extend to the transmission guide wheel assembly 009 rotatably connected to the handle 001, thereby realizing the reversal and tensioning of the pull cables within a compact space.

[0046] Specifically, a plurality of transmission guide wheel groups 009 are rotatably connected to the handle 001, and the plurality of transmission guide wheel groups 009 are arranged at intervals around the central guide wheel group 150; the first pull cable 601 extends from the central guide wheel group 150 through a portion of the transmission guide wheel group 009 and is connected to the first movable part 301, and the second pull cable 602 extends from the central guide wheel group 150 through another portion of the transmission guide wheel group 009 and is connected to the second movable part 302.

[0047] like Figure 1 , Figure 4 and Figure 5 As shown, in an optional embodiment, the pivot locking member 008 includes: a release member 810, a release transmission member 820, a locking pin 830, and a swing locking elastic member 840; the release member 810 is movably mounted on the handle 001, and the release member 810 is connected to the locking pin 830 via the release transmission member 820; the locking pin 830 is adapted to the limiting member 160, and the locking pin 830 is movably connected to the top shell 110; the swing locking elastic member 840 is installed between the top shell 110 and the locking pin 830, and the swing locking elastic member 840 has a tendency to engage the locking pin 830 with the limiting member 160.

[0048] In an alternative embodiment, the release member 810 may have a structure similar to the control key 540 and be disposed on the handle 120, thereby facilitating the operation of the pivot lock member 008 while holding the handle 120.

[0049] See Figure 1 , Figure 4 , Figure 7 , Figure 8 and Figure 9 As shown, the upper and lower swing shaft frame 201 is rotatably connected to a tensioning wheel 202, and the upper and lower swing pull wire 004 extends from the upper and lower swing shaft 101, around the tensioning wheel 202, to the working head 003. Multiple tensioning wheels 202 are coaxially arranged, and the upper and lower swing pull wire 004, the first pull wire 601, and the second pull wire 602 respectively wrap around the corresponding tensioning wheel 202, which on the one hand realizes the reversal of the pull wire arrangement, and on the other hand ensures the tension of the pull wire.

[0050] See Figure 2 The upper and lower swing shaft bracket 201 is connected to a cable guide 204, which has a cable hole adapted to the upper and lower swing cable 004. The upper and lower swing cable 004 extends from the upper and lower swing wheel shaft 101 through the cable hole into the sleeve arm 002. The cable hole can be correspondingly matched with the upper and lower swing cable 004, the first cable 601 and the second cable 602, thereby providing corresponding damping effect for the cable and improving the operation stability while maintaining the tension of the cable.

[0051] See Figure 2 , Figure 6 and Figure 9 Multiple tension adjustment components 010 can be provided on the side wall of the top shell 110. The tension adjustment components 010 are installed on the side wall of the top shell 110 by means of sliding fit or threaded fit. By pushing or pulling the first pull wire 601 and the second pull wire 602 through multiple tension adjustment components 010, it can be ensured that the pull wires extending between two adjacent transmission guide wheel sets 009 remain taut.

[0052] The minimally invasive surgical instrument provided in this embodiment is equipped with the working head left and right swing drive mechanism described in the above embodiments. The minimally invasive surgical instrument has the technical effects of the working head left and right swing drive mechanism described above, which will not be repeated here.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A working head left-right swing drive mechanism, characterized in that, include: Handle (001), sleeve arm (002), working head (003), transmission cable (006) and actuation control element (007); The handle (001) includes: a top shell (110) and a grip (120) rotatably connected to the top shell (110). The working head (003) is installed at the front end of the sleeve arm (002), and the rear end of the sleeve arm (002) is connected to the top shell (110). The actuator (007) is movably mounted on the handle (120), and the actuator (007) is connected to the working head (003) via the transmission cable (006).

2. The working head left and right swing drive mechanism according to claim 1, characterized in that, The actuator (007) includes: a first shifter (710), a second shifter (720), a first winding wheel (730), and a second winding wheel (740); The working head (003) has a first movable part (301) and a second movable part (302); The transmission cable (006) includes: a first cable (601) connecting the first winding wheel (730) and the first movable part (301), and a second cable (602) connecting the second winding wheel (740) and the second movable part (302). The first winding wheel (730) and the second winding wheel (740) are rotatably connected to the handle (120), the first shifter (710) is connected to the first winding wheel (730), and the second shifter (720) is connected to the second winding wheel (740).

3. The working head left and right swing drive mechanism according to claim 2, characterized in that, The first winding wheel (730) is mounted on the first rotating shaft (750), and the second winding wheel (740) is mounted on the second rotating shaft (760). The first rotating shaft (750) and the second rotating shaft (760) are arranged parallel to each other. The first rotating shaft (750) is connected to a first synchronous gear (770), and the second rotating shaft (760) is connected to a second synchronous gear (780). The first synchronous gear (770) meshes with the second synchronous gear (780).

4. The working head left and right swing drive mechanism according to claim 3, characterized in that, The handle (120) is connected to a movable frame (130), and the first winding wheel (730) and the second winding wheel (740) are rotatably connected to the movable frame (130). Both the handle (120) and the movable frame (130) are rotatably connected to the top shell (110) about the pivot axis (140).

5. The working head left and right swing drive mechanism according to claim 3, characterized in that, The handle (120) is connected to a limiting member (160); The top shell (110) is fitted with a pivot locking member (008) adapted to the limiting member (160).

6. The working head left and right swing drive mechanism according to claim 2, characterized in that, The first winding wheel (730) and the second winding wheel (740) are both rotatably connected to the same movable shaft (790). The handle (120) is rotatably connected to the top shell (110) about a pivot (140). The top shell (110) is provided with an arc-shaped groove (111) extending about the pivot (140). The movable shaft (790) is slidably fitted in the arc-shaped groove (111).

7. The working head left and right swing drive mechanism according to claim 6, characterized in that, A limiting member (160) is rotatably connected to the pivot shaft (140), and the limiting member (160) is connected to the movable shaft (790); The top shell (110) is fitted with a pivot locking member (008) adapted to the limiting member (160).

8. The working head left and right swing drive mechanism according to claim 4 or 6, characterized in that, A central guide wheel assembly (150) is rotatably connected to the pivot shaft (140). The first pull line (601) extends from the first winding wheel (730) through the central guide wheel assembly (150) and is connected to the first movable part (301). The second pull line (602) extends from the second winding wheel (740) through the central guide wheel assembly (150) and is connected to the second movable part (302).

9. The working head left-right swing drive mechanism according to claim 5 or 7, characterized in that, The pivot locking member (008) includes: a release member (810), a release transmission member (820), a locking pin (830), and a swing locking elastic member (840). The release element (810) is movably mounted on the handle (001), and the release element (810) is connected to the locking pin (830) via the release transmission element (820); The locking pin (830) is adapted to the limiting member (160), and the locking pin (830) is movably connected to the top shell (110). The swing locking elastic element (840) is installed between the top shell (110) and the locking pin (830), and the swing locking elastic element (840) has a tendency to make the locking pin (830) engage with the limiting element (160).

10. A minimally invasive surgical instrument, characterized in that, The minimally invasive surgical instrument is equipped with a working head left-right oscillation drive mechanism as described in any one of claims 1 to 9.

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